diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index c6417c3ae8..b40507f5cd 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -757,6 +757,7 @@
     - [MAVLink Messaging](mavlink/index.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
+      - [MAVLink Profiles](mavlink/mavlink_profiles.md)
       - [Receiving Messages](mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](mavlink/custom_messages.md)
       - [Message Signing](mavlink/message_signing.md)
diff --git a/docs/en/mavlink/index.md b/docs/en/mavlink/index.md
index b38bf2d894..38c633412e 100644
--- a/docs/en/mavlink/index.md
+++ b/docs/en/mavlink/index.md
@@ -9,6 +9,7 @@ It also links instructions for how you can add PX4 support for:
 
 - [Adding Standard Messages](../mavlink/adding_messages.md)
 - [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Configuring/Using MAVLink Profiles](../mavlink/mavlink_profiles.md)
 - [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
 - [Custom MAVLink Messages](../mavlink/custom_messages.md)
 - [Message Signing](../mavlink/message_signing.md)
diff --git a/docs/en/mavlink/mavlink_profiles.md b/docs/en/mavlink/mavlink_profiles.md
new file mode 100644
index 0000000000..c95608ef27
--- /dev/null
+++ b/docs/en/mavlink/mavlink_profiles.md
@@ -0,0 +1,67 @@
+# MAVLink Profiles
+
+A MAVLink _profile_ (also called a _mode_) defines a set of messages that can be streamed by default on a MAVLink channel and their rates.
+
+This section lists the profiles, and explains how they can be used and extended.
+
+## Available Profiles
+
+The available profiles (in source-code declaration order) are:
+
+- _Normal_ (`MAVLINK_MODE_NORMAL`): Set of messages for a GCS.
+- _Onboard_ (`MAVLINK_MODE_ONBOARD`): Set of messages for a companion computer on a fast link (such as Ethernet).
+- _Gimbal_ (`MAVLINK_MODE_GIMBAL`): Messages for a gimbal. Note this also enables message forwarding.
+- _External Vision_ (`MAVLINK_MODE_EXTVISION`): Messages for offboard vision systems.
+- _External Vision Minimal_ (`MAVLINK_MODE_EXTVISIONMIN`): Messages for offboard vision systems on slower links.
+- _OSD_ (`MAVLINK_MODE_OSD`): Set of messages for an OSD system.
+- _Magic_ (`MAVLINK_MODE_MAGIC`): No messages streamed by default. Used when configuring streaming dynamically via MAVLink.
+- _Custom_ (`MAVLINK_MODE_CUSTOM`): Same as `MAVLINK_MODE_MAGIC`.
+- _Config_ (`MAVLINK_MODE_CONFIG`): Set of messages for configuration interface, sent at higher rates. This is used, for example, to send the `MAVLINK_MODE_NORMAL` message set via USB to a GCS.
+- _Iridium_ (`MAVLINK_MODE_IRIDIUM`): Streams `HIGH_LATENCY2` message to an iridium satellite phone.
+- _Minimal_ (`MAVLINK_MODE_MINIMAL`): Minimal set of messages for use with a GCS on a poor telemetry link.
+- _Onboard Low Bandwidth_ (`MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH`): Set of messages to be streamed to a companion computer for re-routing to a reduced-traffic link, such as a GCS.
+- _Low Bandwidth_ (`MAVLINK_MODE_LOW_BANDWIDTH`): Reduced message set for low bandwidth links.
+- _uAvionix_ (`MAVLINK_MODE_UAVIONIX`): Messages for a uAvionix ADS-B beacon.
+- _Distance Sensor_ (`MAVLINK_MODE_DISTANCE_SENSOR`): Streams distance sensor data at unlimited rate.
+
+:::tip
+The profile defines the _default_ messages and rates.
+A connected MAVLink system can still request the streams/rates it wants using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
+:::
+
+To find the exact messages in each profile, search for ` configure_streams_to_default` (or the above profile names) in [mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp).
+
+## Assigning Profiles to Ports
+
+[MAVLink Peripherals](../peripherals/mavlink_peripherals.md) explains how to set up a port for communicating over MAVLink.
+This uses the concept of an abstract [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) which is then assigned to a serial port.
+
+The profile associated with a particular MAVLink instance is set using the associated `MAV_X_MODE` parameter:
+
+- [MAV_0_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE)
+- [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE)
+- [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE)
+
+There are also dedicated profile parameters for ports that are not configured via MAVLink instances:
+
+- [USB_MAV_MODE](../advanced_config/parameter_reference.md#USB_MAV_MODE): Profile for the USB port (used when MAVLink is set or detected on USB).
+- [MAV_S_MODE](../advanced_config/parameter_reference.md#MAV_S_MODE): Profile for the internal SOM (System on Module) to FMU communication channel, used on boards where the FMU and companion computer are co-located on the same module.
+
+Note that not all profiles can necessarily be set on these ports.
+
+## Adding Messages to a Profile
+
+You can add messages to a profile in appropriate `case` switch in the [Mavlink::configure_streams_to_default(const char \*configure_single_stream)](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp#L1430) method (see [mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp)).
+
+If you're testing with a GCS over USB you might add the message to the `MAVLINK_MODE_CONFIG` case using the `configure_stream_local()` method.
+For example, to stream `BATTERY_STATUS_DEMO` at 5 Hz:
+
+```cpp
+	case MAVLINK_MODE_CONFIG: // USB
+		// Note: streams requiring low latency come first
+		...
+		configure_stream_local("BATTERY_STATUS_DEMO", 5.0f);
+        ...
+```
+
+See [Streaming MAVLink Messages](streaming_messages.md) for a more detailed example.
diff --git a/docs/en/mavlink/streaming_messages.md b/docs/en/mavlink/streaming_messages.md
index 3fa467a0ee..710ab3a9b6 100644
--- a/docs/en/mavlink/streaming_messages.md
+++ b/docs/en/mavlink/streaming_messages.md
@@ -4,7 +4,7 @@ This tutorial demonstrates how to stream a uORB message as a MAVLink message, an
 
 ## Overview
 
-[MAVLink messages](../middleware/mavlink.md) are streamed using a streaming class, derived from `MavlinkStream`, that has been added to the PX4 stream list.
+[MAVLink messages](../middleware/mavlink.md) are streamed using a streaming class, derived from `MavlinkStream`, that has been added to the [PX4 stream list](#add-the-new-class-to-the-streaming-list).
 The class has framework methods that you implement so PX4 can get information it needs from the generated MAVLink message definition.
 It also has a `send()` method that is called each time the message needs to be sent — you override this to copy information from a uORB subscription to the MAVLink message object that is to be sent.
 
@@ -187,15 +187,17 @@ Most streaming classes are very similar (see examples in [/src/modules/mavlink/s
 
   :::
 
-Next we include our new class in [mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp#L2193).
-Add the line below to the part of the file where all the other streams are included:
+### Add the new class to the streaming list
+
+Next we add our new class to the streaming list.
+
+First open [mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp#L2193) and add the line below to the part of the file where all the other streams are included:
 
 ```cpp
 #include "streams/BATTERY_STATUS_DEMO.hpp"
 ```
 
-Finally append the stream class to the `streams_list` at the bottom of
-[mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp)
+Then append the stream class to the `streams_list` at the bottom of [mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp)
 
 ```C
 StreamListItem *streams_list[] = {
@@ -212,24 +214,11 @@ We cover that in the next sections.
 
 ## Streaming by Default
 
-The easiest way to stream your messages by default (as part of a build) is to add them to [mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp) in the appropriate message group.
+The easiest way to stream your messages by default (as part of a build) is to add them to appropriate [MAVLink Profile](../mavlink/mavlink_profiles.md), such as `MAVLINK_MODE_NORMAL` if you're streaming to a GCS over WiFI, or `MAVLINK_MODE_OSD` for an OSD device.
 
-If you search in the file you'll find groups of messages defined in a switch statement:
+This is covered in [Adding Messages to a Profile](..//mavlink/mavlink_profiles.md#adding-messages-to-a-profile), but in summary you first open [mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp), search for the method `Mavlink::configure_streams_to_default`, and then find the profile that you wish to update.
 
-- `MAVLINK_MODE_NORMAL`: Streamed to a GCS.
-- `MAVLINK_MODE_ONBOARD`: Streamed to a companion computer on a fast link, such as Ethernet
-- `MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH`: Streamed to a companion computer for re-routing to a reduced-traffic link, such as a GCS.
-- `MAVLINK_MODE_GIMBAL`: Streamed to a gimbal
-- `MAVLINK_MODE_EXTVISION`: Streamed to an external vision system
-- `MAVLINK_MODE_EXTVISIONMIN`: Streamed to an external vision system on a slower link
-- `MAVLINK_MODE_OSD`: Streamed to an OSD, such as an FPV headset.
-- `MAVLINK_MODE_CUSTOM`: Stream nothing by default. Used when configuring streaming using MAVLink.
-- `MAVLINK_MODE_MAGIC`: Same as `MAVLINK_MODE_CUSTOM`
-- `MAVLINK_MODE_CONFIG`: Streaming over USB with higher rates than `MAVLINK_MODE_NORMAL`.
-- `MAVLINK_MODE_MINIMAL`: Stream a minimal set of messages. Normally used for poor telemetry links.
-- `MAVLINK_MODE_IRIDIUM`: Streamed to an iridium satellite phone
-
-Normally you'll be testing on a GCS, so you could just add the message to the `MAVLINK_MODE_NORMAL` case using the `configure_stream_local()` method.
+If you're just testing on a GCS, you could add the message to the `MAVLINK_MODE_NORMAL` case using the `configure_stream_local()` method.
 For example, to stream `BATTERY_STATUS_DEMO` at 5 Hz:
 
 ```cpp
diff --git a/docs/en/peripherals/mavlink_peripherals.md b/docs/en/peripherals/mavlink_peripherals.md
index 9a790a9218..1acd1d46cc 100644
--- a/docs/en/peripherals/mavlink_peripherals.md
+++ b/docs/en/peripherals/mavlink_peripherals.md
@@ -26,29 +26,8 @@ The parameters for each instance are:
 - <a id="MAV_X_CONFIG"></a>[MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) - Set the serial port (UART) for this instance "X", where X is 0, 1, 2.
   It can be any unused port, e.g.: `TELEM2`, `TELEM3`, `GPS2` etc.
   For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
-- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the telemetry mode/target (the set of messages to stream for the current instance and their rate).
-  The default values are:
-  - _Normal_: Standard set of messages for a GCS.
-  - _Custom_ or _Magic_: Nothing (in the default PX4 implementation).
-    Modes may be used for testing when developing a new mode.
-  - _Onboard_: Standard set of messages for a companion computer.
-  - _OSD_: Standard set of messages for an OSD system.
-  - _Config_: Standard set of messages and rate configuration for a fast link (e.g. USB).
-  - _Minimal_: Minimal set of messages for use with a GCS connected on a high latency link.
-  - _External Vision_: Messages for offboard vision systems.
-  - _Gimbal_: Messages for a gimbal. Note this also enables [message forwarding](#MAV_X_FORWARD)
-  - _Onboard Low Bandwidth_: Standard set of messages for a companion computer connected on a lower speed link.
-  - _uAvionix_: Messages for a uAvionix ADS-B beacon.
-
-  ::: info
-  If you need to find the specific set of message for each mode search for `MAVLINK_MODE_` in [/src/modules/mavlink/mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp).
-  :::
-
-  :::tip
-  The mode defines the _default_ messages and rates.
-  A connected MAVLink system can still request the streams/rates that it wants using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
-  :::
-
+- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the [MAVLink profile](../mavlink/mavlink_profiles.md) for the instance, such as _Normal_ or _OSD_.
+  Profiles define a particular set of streamed messages and their rates — you should choose a profile that is appropriate for your channel and the peripheral.
 - <a id="MAV_X_RATE"></a>[MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Set the maximum _data rate_ for this instance (bytes/second).
   - This is the combined rate for all streams of individual message (the rates for individual messages are reduced if the total rate exceeds this value).
   - The default setting will generally be acceptable, but might be reduced if the telemetry link becomes saturated and too many messages are being dropped.
@@ -116,6 +95,7 @@ Links to setup instructions for specific MAVLink components:
 
 ## See Also
 
+- [MAVLink Profiles](../mavlink/mavlink_profiles.md)
 - [Serial Port Configuration](../peripherals/serial_configuration.md)
 - [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
 - [Serial Port Mapping](../hardware/serial_port_mapping.md)