diff --git a/en/SUMMARY.md b/en/SUMMARY.md
index 528bf7f90..dabf84ca2 100644
--- a/en/SUMMARY.md
+++ b/en/SUMMARY.md
@@ -25,6 +25,7 @@
   - [Redundancy/Message De-duplication](guide/redundancy_deduplication.md)
   - [Packet Loss Calculation](guide/packet_loss.md)
   - [General Telemetry](guide/general_telemetry.md)
+  - [Stream Rates](guide/stream_rates.md)
   - [File Formats](file_formats/index.md)
   - [UAVCAN Interaction](guide/uavcan_interaction.md)
   - [Scripts](guide/scripts.md)
diff --git a/en/guide/stream_rates.md b/en/guide/stream_rates.md
new file mode 100644
index 000000000..20f1c769b
--- /dev/null
+++ b/en/guide/stream_rates.md
@@ -0,0 +1,27 @@
+# Stream Rates
+
+This section provides guidance on configuring MAVLink stream rates using the `MAV_CMD_SET_MESSAGE_INTERVAL` command.
+
+## Configuring Stream Rates on a Specific Port
+
+To avoid buffer overruns on high-baud serial links (e.g. 921600 baud TELEM2), you should explicitly configure only the streams required for your use case using `MAV_CMD_SET_MESSAGE_INTERVAL`.
+
+To silence a stream, set `param2` (interval in microseconds) to `-1`. To restore the default rate, set the interval to `0`. 
+Supported on PX4 v1.11+ and ArduPilot v4.0+. Behavior on older versions is undefined.
+
+### Example Configuration
+
+Disable all raw sensor streams on TELEM2, and keep only `RAW_IMU` at 200 Hz:
+
+| Message | Interval (µs) | Notes |
+|---|---|---|
+| `RAW_IMU` (id: 27) | 5000 | 200 Hz for EKF input |
+| `SCALED_IMU2` (id: 116) | -1 | Disabled |
+| `HIGHRES_IMU` (id: 105) | -1 | Disabled |
+
+## Command-like Messages
+
+Messages that are injected into the flight controller from a companion computer (such as `VISION_POSITION_ESTIMATE`) are conceptually different from the vehicle telemetry streams configured via `MAV_CMD_SET_MESSAGE_INTERVAL`. 
+For instance, you might send `VISION_POSITION_ESTIMATE` at 50-100Hz.
+
+> **Note:** When injecting high-rate external estimates alongside pulling heavy telemetry (like `RAW_IMU`), you can use SET_MESSAGE_INTERVAL for QoS — reducing or increasing the rate of telemetry streams as needed for your setup. On ArduPilot, these correspond to `SR2_*` parameters. On PX4, equivalent rates are controlled via `MAV_*_RATE` parameters.