diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index 63b144be852..8a4dc04cb71 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1031,7 +1031,7 @@
         <param index="1" label="Turns" minValue="0">Number of turns.</param>
         <param index="2">Empty</param>
         <param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
-        <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="4" label="Xtrack Location">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour.</param>
         <param index="5" label="Latitude">Latitude</param>
         <param index="6" label="Longitude">Longitude</param>
         <param index="7" label="Altitude" units="m">Altitude</param>
@@ -1041,7 +1041,7 @@
         <param index="1" label="Time" units="s" minValue="0">Loiter time.</param>
         <param index="2">Empty</param>
         <param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise.</param>
-        <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle.  NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="4" label="Xtrack Location">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour.</param>
         <param index="5" label="Latitude">Latitude</param>
         <param index="6" label="Longitude">Longitude</param>
         <param index="7" label="Altitude" units="m">Altitude</param>
@@ -1121,7 +1121,7 @@
         <param index="1" label="Heading Required" enum="MAV_BOOL">Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave when altitude reached). Values not equal to 0 or 1 are invalid.</param>
         <param index="2" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.</param>
         <param index="3">Empty</param>
-        <param index="4" label="Xtrack Location" minValue="0" maxValue="1" increment="1">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location</param>
+        <param index="4" label="Xtrack Location" minValue="0" maxValue="1" increment="1">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour.</param>
         <param index="5" label="Latitude">Latitude</param>
         <param index="6" label="Longitude">Longitude</param>
         <param index="7" label="Altitude" units="m">Altitude</param>