diff --git a/.wordlist.txt b/.wordlist.txt
index 9b67ece5d..a1f807398 100644
--- a/.wordlist.txt
+++ b/.wordlist.txt
@@ -480,6 +480,8 @@ MatchTX
 feedforward
 setpoint
 unticked
+sysID
+sysIDs
 Lvl
 Pwr
 pitmode
@@ -487,4 +489,4 @@ HV
 DAC
 Bidirectionality
 VTXes
-OpenVTX
\ No newline at end of file
+OpenVTX
diff --git a/docs/software/mavlink.md b/docs/software/mavlink.md
index c4f2444ab..89bc2ae16 100644
--- a/docs/software/mavlink.md
+++ b/docs/software/mavlink.md
@@ -53,6 +53,16 @@ The minimum versions to use this feature are:
 
 1. Configure your usual power, packet rate, etc. The telemetry ratio will be preset to 1:2 (and cannot be changed while in MAVLink mode).
 
+1. (Optional) Configure Source and Target SysIDs
+
+    1. Power-cycle the receiver
+
+    2. Go to `Other Devices` and select your receiver
+
+    3. Set `Target SysID` to the vehicle SysID
+
+    4. Set `Source SysID` to preferred GCS SysID
+
 1. Wire the RX to a free UART on your flight controller that is suitable for TLM + RC. A DMA-capable UART is recommended.
 
 
@@ -115,10 +125,9 @@ When set to MAVLink mode, ELRS changes the allocation of uplink and downlink fra
 - Uplink frames from TX to RX continue to include stick/switch data in the standard ELRS format
 - Uplink frames are opportunistically replaced with MAVLink data from your GCS to your aircraft, which is limited to a maximum of 50% of the link's upstream bandwidth. In general, MAVLink from GCS to the aircraft consumes very little bandwidth, due to it being mainly GCS heartbeats.
 
-
 - Downlink telemetry frames from RX to TX are completely replaced by MAVLink data
 - Your TX converts the MAVLink telemetry into standard CRSF format which is understood by EdgeTX
 
 ### Stubborn Sender
 
-ELRS uses its stubborn telemetry sender system for MAVLink messages - this system retries packets which weren't delivered, keeping MAVLink link quality high over longer distances and/or with interference.
\ No newline at end of file
+ELRS uses its stubborn telemetry sender system for MAVLink messages - this system retries packets which weren't delivered, keeping MAVLink link quality high over longer distances and/or with interference.