diff --git a/docs/Blackbox.md b/docs/Blackbox.md
index 45900a4c08d..d770955497d 100644
--- a/docs/Blackbox.md
+++ b/docs/Blackbox.md
@@ -70,7 +70,7 @@ First, tell the Blackbox to log using a serial port (rather than to an onboard d
 
 You need to let INAV know which of [your serial ports][] you connect your OpenLog to (i.e. the Blackbox port), which you can do on the Configurator's Ports tab.
 
-You should use a hardware serial port. SoftSerial ports can be used for the Blackbox. However, because they are limited to 19200 baud, your logging rate will need to be severely reduced to compensate. Therefore the use of SoftSerial is not recommended.
+You should use a hardware serial port. SoftSerial ports can be used for the Blackbox. However, because softserial is bit-banged and only reliably usable at low baud rates, your logging rate will need to be severely reduced to compensate. Therefore the use of SoftSerial is not recommended.
 
 When using a hardware serial port, Blackbox should be set to at least 115200 baud on that port. When using fast looptimes (<2500), a baud rate of 250000 should be used instead in order to reduce dropped frames.
 
diff --git a/docs/Serial.md b/docs/Serial.md
index c9790b5e6fc..ef10d4d0a3e 100644
--- a/docs/Serial.md
+++ b/docs/Serial.md
@@ -44,7 +44,7 @@ If the configuration is invalid the serial port configuration will reset to its
 * To use a port for a function, the function's corresponding feature must be also be enabled.
 e.g. after configuring a port for GPS enable the GPS feature.
 * If SoftSerial is used, then all SoftSerial ports must use the same baudrate.
-* Softserial is limited to 19200 buad.
+* Softserial has no hard baud-rate cap, but because it is bit-banged it is most reliable at low baud rates (e.g. 19200 or below); high baud rates increase CPU load and timing jitter.
 * All telemetry systems except MSP will ignore any attempts to override the baudrate.
 * MSP/CLI can be shared with EITHER Blackbox OR telemetry (LTM or MAVlink, not RX telemetry).  In shared mode blackbox or telemetry will be output only when armed.
 * Smartport telemetry cannot be shared with MSP.
diff --git a/docs/Telemetry.md b/docs/Telemetry.md
index 0adc36cb929..05dd4d1b725 100644
--- a/docs/Telemetry.md
+++ b/docs/Telemetry.md
@@ -206,7 +206,7 @@ More information about the fields, encoding and enumerations may be found [on th
 
 MAVLink is a lightweight header-only message marshalling library for micro air vehicles. INAV supports MAVLink for compatibility with ground stations, OSDs and antenna trackers built for PX4, PIXHAWK, APM and Parrot AR.Drone platforms.
 
-MAVLink implementation in INAV is transmit-only and usable on low baud rates and can be used over soft serial (requires 19200 baud). MAVLink V1 and V2 are supported.
+MAVLink implementation in INAV is bidirectional: it sends telemetry to ground stations, OSDs and antenna trackers, and also parses incoming MAVLink messages (e.g. `RADIO_STATUS` link statistics). It works at low baud rates and can be used over softserial. MAVLink V1 and V2 are supported.
 
 
 ## Cellular telemetry via text messages
@@ -233,7 +233,7 @@ To receive acceleration event messages, set one or more of the acceleration even
 Ibus telemetry requires a single connection from the TX pin of a bidirectional serial port to the Ibus sens pin on an FlySky telemetry receiver. (tested with fs-iA6B receiver, iA10 should work)
 
 It shares 1 line for both TX and RX, the rx pin cannot be used for other serial port stuff.
-It runs at a fixed baud rate of 115200, so it need hardware uart (softserial is limit to 19200).
+It runs at a fixed baud rate of 115200, so it requires a hardware UART.
 ```
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