diff --git a/uavcan/equipment/esc/1036.StatusExtended.uavcan b/uavcan/equipment/esc/1036.StatusExtended.uavcan
index 4e8c38a..b1b1ec4 100644
--- a/uavcan/equipment/esc/1036.StatusExtended.uavcan
+++ b/uavcan/equipment/esc/1036.StatusExtended.uavcan
@@ -4,11 +4,13 @@
 # Transmitted at a lower rate.
 #
 
-uint7 input_pct               # Input command to ESC, in percent, which is commanded using the setpoint messages. Range 0% to 100%.
-uint7 output_pct              # Output command from ESC to motor, in percent. Range 0% to 100%.
+uint7 input_pct               # Absolute input command to ESC, in percent, which is commanded using the setpoint messages. Range 0% to 100%.
+uint7 output_pct              # Absolute output command from ESC to motor, in percent. Range 0% to 100%.
 
 int9 motor_temperature_degC   # Temperature of connected motor, in Celsius. Range is -256 to +255 C.
-uint9 motor_angle             # Measured angle of connected angle sensor, in degrees. Range is 0 to 360. 
+uint9 motor_angle             # Measured angle of connected angle sensor, in degrees. Range is 0 to 360. The angle increases as the
+                              # motor rotates forward, using the same "forward" definition as RPMCommand. ESCs are expected to report
+                              # decreasing values if currently spinning in reverse.
 
 uint19 status_flags           # Manufacturer-specific status flags currently active.