diff --git a/config.py b/config.py
index 535b2dd..039af14 100644
--- a/config.py
+++ b/config.py
@@ -149,15 +149,16 @@ ARDUPILOT_TOPICS = {
 # MAVLink configuration (for pymavlink/mavproxy)
 MAVLINK = {
     # MAVLink system IDs
-    "system_id": 1,               # Our system ID
-    "component_id": 191,          # MAV_COMP_ID_MISSIONPLANNER
+    "system_id": 255,             # GCS system ID
+    "component_id": 190,          # MAV_COMP_ID_MISSIONPLANNER
     
     # Target system (the autopilot)
     "target_system": 1,
     "target_component": 1,
     
-    # Connection - SITL listens on TCP 5760 (shown as SERIAL0)
-    "connection_string": "tcp:127.0.0.1:5760",
+    # Connection - MAVProxy outputs to UDP 14550
+    # (sim_vehicle.py uses 5760 internally, but forwards to 14550)
+    "connection_string": "udp:127.0.0.1:14550",
     
     # Timeouts (seconds)
     "heartbeat_timeout": 5.0,