diff --git a/plugin/actuator/pid.cc b/plugin/actuator/pid.cc
index e73c769e..88959d4d 100644
--- a/plugin/actuator/pid.cc
+++ b/plugin/actuator/pid.cc
@@ -103,7 +103,7 @@ std::unique_ptr<Pid> Pid::Create(const mjModel* m, int instance) {
   }
 
   if (config.slew_max.value_or(0.0) < 0) {
-    mju_warning("maxslew must be non-negative");
+    mju_warning("slewmax must be non-negative");
     return nullptr;
   }
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 3eac695b..04ce63a4 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3257,7 +3257,14 @@ mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
   try {
     if (setjmp(error_jmp_buf) != 0) {
       // TryCompile resulted in an mju_error which was converted to a longjmp.
-      throw mjCError(0, "engine error: %s", errortext);
+      std::string error_msg = errortext;
+      // also include the last warning that was issued. this is useful for
+      // warnings that came out of plugin implementations.
+      if (warningtext[0]) {
+        error_msg += "\n";
+        error_msg += warningtext;
+      }
+      throw mjCError(0, "engine error: %s", error_msg.c_str());
     }
     TryCompile(*const_cast<mjModel**>(&model), *const_cast<mjData**>(&data), vfs);
   } catch (mjCError err) {
diff --git a/test/plugin/actuator/pid_test.cc b/test/plugin/actuator/pid_test.cc
index 1eec513d..a993a9ce 100644
--- a/test/plugin/actuator/pid_test.cc
+++ b/test/plugin/actuator/pid_test.cc
@@ -648,8 +648,8 @@ TEST_F(PidTest, InvalidClamp) {
   mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
   EXPECT_THAT(m, IsNull());
 
-  // TODO: b/303654852 - ensure that the compilation error includes "imax"
   EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
+  EXPECT_THAT(std::string_view(error), HasSubstr("imax"));
 }
 
 TEST_F(PidTest, InvalidSlew) {
@@ -679,8 +679,8 @@ TEST_F(PidTest, InvalidSlew) {
   mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
   ASSERT_THAT(m, IsNull());
 
-  // TODO: b/303654852 - ensure that the compilation error includes "slewmax"
   EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
+  EXPECT_THAT(std::string_view(error), HasSubstr("slewmax"));
 }
 }  // namespace
 }  // namespace mujoco