diff --git a/config/mrs_uav_system/f330.yaml b/config/mrs_uav_system/f330.yaml
index e3c7c86..d08b5eb 100644
--- a/config/mrs_uav_system/f330.yaml
+++ b/config/mrs_uav_system/f330.yaml
@@ -6,9 +6,9 @@ motor_params:
   b: -0.17647
 
 # these model parameters can be used when
-# - 'attitude rate', and/or
+# - 'control group', and/or
 # - 'actuator control'
-# are done by the MRS system.
+# are accepted by the HW API.
 model_params:
 
   arm_length: 0.165 # [m]
diff --git a/config/mrs_uav_system/f450.yaml b/config/mrs_uav_system/f450.yaml
index 785577c..56178be 100644
--- a/config/mrs_uav_system/f450.yaml
+++ b/config/mrs_uav_system/f450.yaml
@@ -6,9 +6,9 @@ motor_params:
   b: -0.17647
 
 # these model parameters can be used when
-# - 'attitude rate', and/or
+# - 'control group', and/or
 # - 'actuator control'
-# are done by the MRS system.
+# are accepted by the HW API.
 model_params:
 
   arm_length: 0.225 # [m]
diff --git a/config/mrs_uav_system/f550.yaml b/config/mrs_uav_system/f550.yaml
index 8d6a4c2..23fbda7 100644
--- a/config/mrs_uav_system/f550.yaml
+++ b/config/mrs_uav_system/f550.yaml
@@ -6,9 +6,9 @@ motor_params:
   b: -0.17647
 
 # these model parameters can be used when
-# - 'attitude rate', and/or
+# - 'control group', and/or
 # - 'actuator control'
-# are done by the MRS system.
+# are accepted by the HW API.
 model_params:
 
   arm_length: 0.27 # [m]
diff --git a/config/mrs_uav_system/t650.yaml b/config/mrs_uav_system/t650.yaml
index e2137c6..989d324 100644
--- a/config/mrs_uav_system/t650.yaml
+++ b/config/mrs_uav_system/t650.yaml
@@ -6,9 +6,9 @@ motor_params:
   b: -0.17647
 
 # these model parameters can be used when
-# - 'attitude rate', and/or
+# - 'control group', and/or
 # - 'actuator control'
-# are done by the MRS system.
+# are accepted by the HW API.
 model_params:
 
   arm_length: 0.325  # [m]
diff --git a/config/mrs_uav_system/x500.yaml b/config/mrs_uav_system/x500.yaml
index 2637da6..7eaf95e 100644
--- a/config/mrs_uav_system/x500.yaml
+++ b/config/mrs_uav_system/x500.yaml
@@ -6,9 +6,9 @@ motor_params:
   b: -0.17647
 
 # these model parameters can be used when
-# - 'attitude rate', and/or
+# - 'control group', and/or
 # - 'actuator control'
-# are done by the MRS system.
+# are accepted by the HW API.
 model_params:
 
   arm_length: 0.25 # [m]