diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml
index 11e8a4a..8e946cc 100644
--- a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml
+++ b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml
@@ -48,7 +48,7 @@ Column {
             property var params: ListModel {
                 ListElement {
                     title:          qsTr("Proportional gain (MPC_XY_VEL_P_ACC)")
-                    description:    qsTr("TODO")
+                    description:    qsTr("Increase for more responsiveness, reduce if the velocity overshoots (and increasing D does not help).")
                     param:          "MPC_XY_VEL_P_ACC"
                     min:            1.2
                     max:            5
@@ -56,7 +56,7 @@ Column {
                 }
                 ListElement {
                     title:          qsTr("Integral gain (MPC_XY_VEL_I_ACC)")
-                    description:    qsTr("TODO")
+                    description:    qsTr("Increase to reduce steady-state error (e.g. wind)")
                     param:          "MPC_XY_VEL_I_ACC"
                     min:            0.2
                     max:            10
@@ -64,7 +64,7 @@ Column {
                 }
                 ListElement {
                     title:          qsTr("Differential gain (MPC_XY_VEL_D_ACC)")
-                    description:    qsTr("TODO")
+                    description:    qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
                     param:          "MPC_XY_VEL_D_ACC"
                     min:            0.1
                     max:            2
@@ -81,7 +81,7 @@ Column {
             property var params: ListModel {
                 ListElement {
                     title:          qsTr("Proportional gain (MPC_Z_VEL_P_ACC)")
-                    description:    qsTr("TODO")
+                    description:    qsTr("Increase for more responsiveness, reduce if the velocity overshoots (and increasing D does not help).")
                     param:          "MPC_Z_VEL_P_ACC"
                     min:            2
                     max:            15
@@ -89,7 +89,7 @@ Column {
                 }
                 ListElement {
                     title:          qsTr("Integral gain (MPC_Z_VEL_I_ACC)")
-                    description:    qsTr("TODO")
+                    description:    qsTr("Increase to reduce steady-state error")
                     param:          "MPC_Z_VEL_I_ACC"
                     min:            0.2
                     max:            3
@@ -97,7 +97,7 @@ Column {
                 }
                 ListElement {
                     title:          qsTr("Differential gain (MPC_Z_VEL_D_ACC)")
-                    description:    qsTr("TODO")
+                    description:    qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
                     param:          "MPC_Z_VEL_D_ACC"
                     min:            0
                     max:            2