diff --git a/docs/en/dronecan/escs.md b/docs/en/dronecan/escs.md
index 9742e3739e..d65b854877 100644
--- a/docs/en/dronecan/escs.md
+++ b/docs/en/dronecan/escs.md
@@ -9,3 +9,18 @@ For more information, see the following articles for specific hardware/firmware:
 - [Vertiq](../peripherals/vertiq.md) (larger modules)
 - [VESC Project](../peripherals/vesc.md)
 - [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
+
+## Hardware Configuration
+
+General DroneCAN hardware configuration is covered in [DroneCAN > Hardware Setup](../dronecan/index.md#hardware-setup).
+
+DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
+
+## PX4 Configuration
+
+DroneCAN peripherals are configured by following the procedure outlined in [DroneCAN](../dronecan/index.md).
+
+In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
+
+- Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
+- Configure the [motor order and servo outputs](../config/actuators.md).
diff --git a/docs/en/dronecan/index.md b/docs/en/dronecan/index.md
index 75a211b927..c76f18ce8f 100644
--- a/docs/en/dronecan/index.md
+++ b/docs/en/dronecan/index.md
@@ -270,6 +270,9 @@ PX4 DroneCAN parameters:
 
 [DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.
 
+Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
+Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
+
 ## QGC CANNODE Parameter Configuration
 
 QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
@@ -307,7 +310,10 @@ If successful, the firmware binary will be removed from the root directory and t
 
 **Q**: The motors aren't spinning when armed.
 
-**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
+**A**:
+
+- Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
+- Make sure `UAVCAN_ESC_IFACE` is set to enable the CAN interface(s) used for ESCs.
 
 ---