diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 3199ae8bb029472a8bdb491236383474becfa65c..cab399848988ac31233f6a4a89716270a2375d10 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3967,7 +3967,7 @@ void Commander::data_link_check(bool &status_changed)
 
 		//if avoidance never started
 		if (_datalink_last_heartbeat_avoidance_system == 0
-		    && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _onboard_boot_timeout.get() * 1_s) {
+		    && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _oa_boot_timeout.get() * 1_s) {
 			if (!print_msg_once) {
 				mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!");
 				print_msg_once = true;
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 89a1c640c0dbb73f9a2d3a70e056efaa5752b77a..012cbd19b5ac1f9a1b952afa02733475168a5f07 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -118,7 +118,7 @@ private:
 		(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
 
 		(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
-		(ParamInt<px4::params::COM_ONB_BOOT_T>) _onboard_boot_timeout
+		(ParamInt<px4::params::COM_OA_BOOT_T>) _oa_boot_timeout
 
 	)
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index b5d442637e2004f7f3b780d05b4a50c2408be7fb..f27e9f1883d76a1756237db843d1c4f2e460fed5 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -798,7 +798,7 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
 PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
 
 /**
- * Flag to enable obstacle avoidance
+ * Flag to enable obstacle avoidance.
  *
  * @boolean
  * @group Mission
@@ -806,14 +806,14 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
 PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
 
 /**
- * Set onboard controller bootup timeout
+ * Set avoidance system bootup timeout.
  *
- * This parameter defines the bootup timeout.
- * After the timeout, a mavlink message that tells the user that the avoidance system
- * is not available is sent.
+ * The avoidance system running on the companion computer is expected to boot
+ * within this time and start providing trajectory points.
+ * If no avoidance system is detected a MAVLink warning message is sent.
  * @group Commander
  * @unit s
  * @min 0
  * @max 200
  */
-PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 100);
\ No newline at end of file
+PARAM_DEFINE_INT32(COM_OA_BOOT_T, 100);
\ No newline at end of file