diff --git a/en/SUMMARY.md b/en/SUMMARY.md
index dd794e89..9c1fa76d 100644
--- a/en/SUMMARY.md
+++ b/en/SUMMARY.md
@@ -80,7 +80,7 @@
   * [Payload Protocols](services/payload.md)
   * [Traffic Management (UTM/ADS-B)](services/traffic_management.md)
   * [Events Interface (WIP)](services/events.md)
-  * [Standard Flight Modes](services/standard_modes.md)
+  * [Standard Flight Modes (WIP)](services/standard_modes.md)
   * [Time Synchronization](services/timesync.md)
 * [Contributing](contributing/contributing.md)
 * [Support](about/support.md)
diff --git a/en/services/README.md b/en/services/README.md
index b3ab8a4d..6eb83f1f 100644
--- a/en/services/README.md
+++ b/en/services/README.md
@@ -40,6 +40,6 @@ The main microservices are shown in the sidebar (most are listed below):
 - [Payload Protocol](../services/payload.md)
 - [Traffic Management (UTM/ADS-B)](../services/traffic_management.md)
 - [Events Interface (WIP)](../services/events.md)
-- [Standard Flight Modes](../services/standard_modes.md)
+- [Standard Flight Modes (WIP)](../services/standard_modes.md)
 - [Time Synchronization](../services/timesync.md)
 - [Illuminator Protocol](../services/illuminator.md)
diff --git a/en/services/standard_modes.md b/en/services/standard_modes.md
index 936eaa96..6b3d0033 100644
--- a/en/services/standard_modes.md
+++ b/en/services/standard_modes.md
@@ -1,4 +1,7 @@
-# Standard Modes Protocol
+# Standard Modes Protocol (WIP)
+
+> **Warning** This protocol is a work in progress and may change.
+> It has an initial implementation in PX4 and QGroundControl (daily).
 
 The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.
 
@@ -8,18 +11,19 @@ The protocol provides:
   These are modes that behave similarly enough across flight stacks that users can select and control them in the same way.
   For example, modes for taking off and landing, executing missions, holding position, and so on.
 - Enumeration of all flight modes supported by the flight stack, both standard and custom.
-  This includes includes information about whether particular modes can be selected or just displayed, and if they are displayed, whether they are advanced.
-  For custom modes it includes a name string that can be used in the UI.
-- Notification of the current mode
+
+  The provided flight mode information includes:
+
+  - Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
+  - A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.
+
+- Notification of the current mode.
 - A command to set a standard mode.
 
 There are additional optional messages/features to allow:
 
-- Modes to be enabled and disabled dynamically
-- Overriding of mode metadata (provide a metadata key)
-
-A GCS can use this service to create a UI that only uses (well understood) standard modes.
-It can also choose to expose custom modes, though in this case the only information that a user can infer is the name of the mode.
+- Modes to be enabled and disabled dynamically.
+- Overriding of mode metadata (provide a metadata key).
 
 ## Background
 
@@ -27,7 +31,7 @@ MAVLink previously only standardized very high level _base modes_ (defined in [M
 More specific flight behaviour/modes are defined in _custom modes_, which are specific to each flight stack.
 
 Mechanisms are provided to set the base and custom modes ([MAV_CMD_DO_SET_MODE](../messages/common.md#MAV_CMD_DO_SET_MODE)), and the `HEARTBEAT` contains the current/active `base_mode` and `custom_mode`.
-However, prior to the addition of this service, there were no mechanisms query the available custom modes.
+However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.
 
 Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL.
 However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.
@@ -41,11 +45,11 @@ For more information see [MAVLink RFC0016 Standard modes](https://github.com/mav
 
 ### Messages
 
-| Message                                                                                                           | Description                                                                                                                                                                                                               |
-| ----------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CURRENT_MODE"></a>[CURRENT_MODE](../messages/development.md#CURRENT_MODE)                                  | .                                                                                                                                                                                                                         |
-| <a id="AVAILABLE_MODES"></a>[AVAILABLE_MODES](../messages/development.md#AVAILABLE_MODES)                         | Get information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using [MAV_CMD_REQUEST_MESSAGE](`MAV_CMD_REQUEST_MESSAGE`) (set param2=0 for all modes). |
-| <a id="AVAILABLE_MODES_MONITOR"></a>[AVAILABLE_MODES_MONITOR](../messages/development.md#AVAILABLE_MODES_MONITOR) | Provides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the [AVAILABLE_MODES](#AVAILABLE_MODES) must be re-requested.                                    |
+| Message                                                                                                           | Description                                                                                                                                                                                                                                             |
+| ----------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CURRENT_MODE"></a>[CURRENT_MODE](../messages/development.md#CURRENT_MODE)                                  | Get information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.                                                        |
+| <a id="AVAILABLE_MODES"></a>[AVAILABLE_MODES](../messages/development.md#AVAILABLE_MODES)                         | Get information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using [MAV_CMD_REQUEST_MESSAGE](`MAV_CMD_REQUEST_MESSAGE`) (set param2=0 for all modes).                               |
+| <a id="AVAILABLE_MODES_MONITOR"></a>[AVAILABLE_MODES_MONITOR](../messages/development.md#AVAILABLE_MODES_MONITOR) | Provides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the [AVAILABLE_MODES](#AVAILABLE_MODES) must be re-requested. Sent on first mode change and subsequently streamed at low rate. |
 
 ### Enums
 
@@ -57,18 +61,17 @@ For more information see [MAVLink RFC0016 Standard modes](https://github.com/mav
 
 ### Commands
 
-| Command                                                                                                                          | Description                                                     |
-| -------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------- |
-| <a id="MAV_CMD_DO_SET_STANDARD_MODE"></a>[MAV_CMD_DO_SET_STANDARD_MODE](../messages/development.md#MAV_CMD_DO_SET_STANDARD_MODE) | Enable the specified standard MAVLink mode ([MAV_STANDARD_MODE] |
-| (#MAV_STANDARD_MODE)). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.                                   |
-| <a id="MAV_CMD_REQUEST_MESSAGE"></a>[MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)                     | Used to request [AVAILABLE_MODES](#AVAILABLE_MODES) message     |
+| Command                                                                                                                          | Description                                                                                                                                                                                                   |
+| -------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MAV_CMD_DO_SET_STANDARD_MODE"></a>[MAV_CMD_DO_SET_STANDARD_MODE](../messages/development.md#MAV_CMD_DO_SET_STANDARD_MODE) | Enable the specified standard MAVLink mode ([MAV_STANDARD_MODE](#MAV_STANDARD_MODE)). ACK with [MAV_RESULT_FAILED](../messages/development.md#MAV_RESULT_FAILED) if the mode is not supported by the vehicle. |
+| <a id="MAV_CMD_REQUEST_MESSAGE"></a>[MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)                     | Used to request [AVAILABLE_MODES](#AVAILABLE_MODES) message                                                                                                                                                   |
 
 ## Operations
 
 ### Getting Available Modes
 
-All available modes can be enumerated by using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) to request the [AVAILABLE_MODES](#AVAILABLE_MODES) message, where `MAV_CMD_REQUEST_MESSAGE.param2` is set to `0`.
-Each `AVAILABLE_MODES` message includes the total number of modes and the index of the current mode, so a GCS can query for all modes, and then individually query for any `AVAILABLE_MODES` message that it missed by specifying their index in `MAV_CMD_REQUEST_MESSAGE.param2`.
+All available modes can be enumerated by using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) to request the [AVAILABLE_MODES (435)](#AVAILABLE_MODES) message.
+Each `AVAILABLE_MODES` message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (`MAV_CMD_REQUEST_MESSAGE.param2=0`), and then individually query for any `AVAILABLE_MODES` message that it missed (`MAV_CMD_REQUEST_MESSAGE.param2="missing index number"`).
 
 Notes:
 
@@ -81,6 +84,8 @@ Notes:
 - The modes that are emitted depend on the current vehicle type.
   For example, "takeoff" would not be emitted for a rover type, but would for a copter.
 
+The sequence for requesting all modes is shown below:
+
 [![Mermaid Sequence: Requesting AVAILABLE MODES](https://mermaid.ink/img/pako:eNqllF9L5DAUxb_KJU8t1EGd9aVSobZBZKf-mY4-FUpsb8dAk8wmKbsifnfTzIzuuLusOH0o4XLuOT-SmzyTRrVIYmLwx4CywZyzpWbitJLgvhXTljd8xaSFi6z8s5hrJXFdvlIWQfPlowXVjeoY5qOpscD6HoTLMRCk9-nlLD2f0bq4zmkZrnud-uDszJvFUKT3dVbk9Zze3tFyURe0LNMLGrhcJo6Sb9OTCPz6ODnc6feZpXV4YLlANdjfyHrsPNgmJM2-g97iyRYMut8HOOiUfmdfe_n2bVZ2XRTpVV47s0CjGXqbjPBzWt7NFq6a0ZsFzf_FGPRKLlGHu7A7AR-AAjmIB9S150kqIisSebiayxZ_JUfh_h7Hf_OYTCb7O8vwv4NiVtjwjjebaeGdO5snENwYLpcQPGCvfkbg7WBakRD2G5_pp8bn60e-z26NbCQiArVgvHU39Hn0rIh9RIEVid2yxY45gIpU8sVJh1XLLNKWW6VJ3LHeYETYYFX5JBsSWz3gVrS55W8q9E3F-inwL8LLK_5wSuk?type=png)](https://mermaid-js.github.io/mermaid-live-editor/edit#pako:eNqllF9L5DAUxb_KJU8t1EGd9aVSobZBZKf-mY4-FUpsb8dAk8wmKbsifnfTzIzuuLusOH0o4XLuOT-SmzyTRrVIYmLwx4CywZyzpWbitJLgvhXTljd8xaSFi6z8s5hrJXFdvlIWQfPlowXVjeoY5qOpscD6HoTLMRCk9-nlLD2f0bq4zmkZrnud-uDszJvFUKT3dVbk9Zze3tFyURe0LNMLGrhcJo6Sb9OTCPz6ODnc6feZpXV4YLlANdjfyHrsPNgmJM2-g97iyRYMut8HOOiUfmdfe_n2bVZ2XRTpVV47s0CjGXqbjPBzWt7NFq6a0ZsFzf_FGPRKLlGHu7A7AR-AAjmIB9S150kqIisSebiayxZ_JUfh_h7Hf_OYTCb7O8vwv4NiVtjwjjebaeGdO5snENwYLpcQPGCvfkbg7WBakRD2G5_pp8bn60e-z26NbCQiArVgvHU39Hn0rIh9RIEVid2yxY45gIpU8sVJh1XLLNKWW6VJ3LHeYETYYFX5JBsSWz3gVrS55W8q9E3F-inwL8LLK_5wSuk)
 
 <!--
@@ -109,12 +114,12 @@ sequenceDiagram;
 In addition to the fields for enumerating the available modes, `AVAILABLE_MODES` has the following fields:
 
 - `standard_mode`: The standard mode represented by this `AVAILABLE_MODES` ([MAV_STANDARD_MODE](#MAV_STANDARD_MODE)). `0` for a custom mode that is not also a standard mode (`MAV_STANDARD_MODE_NON_STANDARD`).
-- `custom_mode`: The id of the custom mode represented by this `AVAILABLE_MODES`.
-- `properties`: Flags indicatig the UI properties of this mode.
+- `custom_mode`: The id of the custom mode represented by this `AVAILABLE_MODES` (if any).
+- `properties`: Flags indicating the UI properties of this mode.
   These provide hints about where the mode can/should appear in the UI.
-  For example, `MAV_MODE_PROPERTY_NOT_USER_SELECTABLE` indicates that the mode should not appear in selection lists, while `MAV_MODE_PROPERTY_ADVANCED` indicates a mode that is harder to fly, and might be separated from other modes in the UI.
-- `mode_name`: Mode name, with null termination character.
-  - The field can act as both a key for determining mode metadata, or as a fallback string if the GCS has no metadata for the mode.
+  For example, `MAV_MODE_PROPERTY_NOT_USER_SELECTABLE` indicates that the mode should not be set by a user, and hence should not appear in selection lists, while `MAV_MODE_PROPERTY_ADVANCED` indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
+- `mode_name`: Mode metadata key or name, with null termination character.
+  - The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
   - It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
   - The field must be human readable and autopilot-unique.
   - Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
@@ -146,8 +151,11 @@ Note that the current custom mode is also published in the [HEARTBEAT](https://m
 
 The [AVAILABLE_MODES_MONITOR](#AVAILABLE_MODES_MONITOR) is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).
 
-The message has a sequence number field that that should be iterated sequentially whenever the set of available modes change.
-It should be streamed at low rate (nominally 0.1 Hz) and when the set of available modes change.
+The message sequence number field is iterated sequentially whenever the set of available modes change.
+A GCS can detect this change and re-request the set of [AVAILABLE_MODES](#AVAILABLE_MODES).
+
+The message should be emitted when the set of available modes changes.
+After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).
 
 ## Mode Metadata
 
@@ -174,4 +182,7 @@ Note that the `mode_name` must be human readable and unique for the autopilot.
 ## Implementations
 
 PX4 v1.15 and later supports this service, including the optional part (`AVAILABLE_MODES_MONITOR`) (this allows ROS2 modes added using the [PX4 ROS 2 Interface Library](https://docs.px4.io/main/en/ros2/px4_ros2_interface_lib.html) to be dynamically updated in a GCS).
-QGC also supports this feature.
+At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.
+
+QGC also uses this service to build the mode display/setting UI, when supported by the autopilot.
+This feature is supported in daily builds (at time of writing).