diff --git a/firmware/README.md b/firmware/README.md
index 8496fad..6e2db54 100644
--- a/firmware/README.md
+++ b/firmware/README.md
@@ -61,12 +61,12 @@ The scope of this setting is per TCP session.
 | `pwm <0/1> <width> <total>`           | Set PWM duty cycle for **i_set** to manual *width / total* |
 | `pwm <0/1> pid`                       | Set PWM to be controlled by PID                            |
 | `pid`                                 | Show PID configuration                                     |
-| `pid <0/1> target <value>`            |                                                            |
-| `pid <0/1> kp <value>`                |                                                            |
-| `pid <0/1> ki <value>`                |                                                            |
-| `pid <0/1> kd <value>`                |                                                            |
-| `pid <0/1> output_min <value>`        |                                                            |
-| `pid <0/1> output_max <value>`        |                                                            |
-| `pid <0/1> integral_min <value>`      |                                                            |
-| `pid <0/1> integral_max <value>`      |                                                            |
+| `pid <0/1> target <value>`            | Set the PID controller target                              |
+| `pid <0/1> kp <value>`                | Set proportional gain                                      |
+| `pid <0/1> ki <value>`                | Set integral gain                                          |
+| `pid <0/1> kd <value>`                | Set differential gain                                      |
+| `pid <0/1> output_min <value>`        | Set mininum output                                         |
+| `pid <0/1> output_max <value>`        | Set maximum output                                         |
+| `pid <0/1> integral_min <value>`      | Set integral lower bound                                   |
+| `pid <0/1> integral_max <value>`      | Set integral upper bound                                   |
 | `postfilter <0/1> rate <rate>`        | Set postfilter output data rate                            |