diff --git a/plugins/mission/mission.h b/plugins/mission/mission.h
index 59755cc0af..0626e726ec 100644
--- a/plugins/mission/mission.h
+++ b/plugins/mission/mission.h
@@ -72,11 +72,19 @@ class Mission : public PluginBase
     typedef std::vector<std::shared_ptr<MissionItem>> mission_items_t;
 
     /**
-     * @brief Imports QGroundControl(QGC) mission and composes DroneCore mission items out of it.
-     * @param[out] mission_items Imported mission items from QGC plan.
-     * @param qgc_plan_file Path of the QGC plan.
-     * @sa [QGroundControl Plan file format](https://dev.qgroundcontrol.com/en/file_formats/plan.html) (QGroundControl Dev  Guide)
-     * @return SUCCESS if successful in importing QGC mission items, error code otherwise.
+     * @brief Imports a **QGroundControl** (QGC) mission plan.
+     *
+     * The method composes the plan into a vector of MissionItem shared pointers that can
+     * then be uploaded to a vehicle.
+     * The method will fail if any of the imported mission items are not supported
+     * by the %DroneCore API.
+     *
+     * @param[out] mission_items Vector of mission items imported from QGC plan.
+     * @param qgc_plan_file File path of the QGC plan.
+     * @sa [QGroundControl Plan file format](https://dev.qgroundcontrol.com/en/file_formats/plan.html) (QGroundControl Dev Guide)
+     * @return Result::SUCCESS if successful in importing QGC mission items.
+     *     Otherwise one of the error codes: Result::FAILED_TO_OPEN_QGC_PLAN,
+     *     Result::FAILED_TO_PARSE_QGC_PLAN, Result::UNSUPPORTED_MISSION_CMD.
      */
     static Result import_qgroundcontrol_mission(mission_items_t &mission_items,
                                                 const std::string &qgc_plan_file);
diff --git a/plugins/mission/mission_item.h b/plugins/mission/mission_item.h
index 61264c3e42..2f974a64ee 100644
--- a/plugins/mission/mission_item.h
+++ b/plugins/mission/mission_item.h
@@ -69,10 +69,11 @@ class MissionItem
     /**
      * @brief Set loiter time in seconds.
      *
-     * This can be used to wait for vehicle to slow down or a gimbal to arrive at the set
+     * This specifies the delay at a waypoint before executing next mission item.
+     * It can be used to wait for vehicle to slow down or a gimbal to arrive at the set
      * orientation.
      *
-     * @param loiter_time_s The time to wait (loiter) for, in seconds.
+     * @param loiter_time_s The time to wait (loiter), in seconds.
      */
     void set_loiter_time(float loiter_time_s);