diff --git a/platforms/mavlink/README.md b/platforms/mavlink/README.md
index 1b127022..69ef08f9 100644
--- a/platforms/mavlink/README.md
+++ b/platforms/mavlink/README.md
@@ -2,6 +2,18 @@
 
 For information on the MAVlink communication protocol click [here](http://qgroundcontrol.org/mavlink/start).
 
+This package supports Mavlink over serial (such as a
+[SiK modem](http://ardupilot.org/copter/docs/common-sik-telemetry-radio.html))
+and Mavlink over UDP (such as via
+[mavproxy](https://github.com/ArduPilot/MAVProxy)).  Serial is useful
+for point to point links, and UDP is useful for where you have
+multiple simultaneous clients such as the robot and
+[QGroundControl](http://qgroundcontrol.com/).
+
+As at 2017-04, this package supports Mavlink 1.0 only.  If the robot
+doesn't receiving data then check that the other devices are
+configured to send version 1.0 frames.
+
 ## How to Install
 
 ```
@@ -67,3 +79,16 @@ func main() {
 	robot.Start()
 }
 ```
+
+## How to use: UDP
+
+``` go
+	adaptor := mavlink.NewUDPAdaptor(":14550")
+```
+
+To test, install Mavproxy and set it up to listen on serial and repeat
+over UDP:
+
+`$ mavproxy.py --out=udpbcast:192.168.0.255:14550`
+
+Change the address to the broadcast address of your subnet.