diff --git a/docs/en/connection.md b/docs/en/connection.md
index e86176ca..82cf537e 100644
--- a/docs/en/connection.md
+++ b/docs/en/connection.md
@@ -26,9 +26,10 @@ USB connection is the preferred way to connect to the flight controller.
 
 UART connection is another way for the Raspberry Pi and FCU to communicate.
 
-1. Connect Raspberry Pi to your FCU using a UART cable.
-2. [Connect to the Raspberry Pi over SSH](ssh.md).
-3. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
+1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
+2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
+3. [Connect to the Raspberry Pi over SSH](ssh.md).
+4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
@@ -40,15 +41,4 @@ UART connection is another way for the Raspberry Pi and FCU to communicate.
     sudo systemctl restart clover
     ```
 
-> **Hint** Set the `SYS_COMPANION` PX4 parameter to 921600 to enable UART on the FCU.
-
-## SITL connection
-
-In order to connect to a local or a remote [SITL](sitl.md) instance set the `fcu_conn` parameter to `udp` and `fcu_ip` to the IP address of the SITL instance (`127.0.0.1` if you are running the instance locally):
-
-```xml
-<arg name="fcu_conn" default="udp"/>
-<arg name="fcu_ip" default="127.0.0.1"/>
-```
-
 **Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)