diff --git a/configuration/packages/configuring-savitzky-golay-smoother.rst b/configuration/packages/configuring-savitzky-golay-smoother.rst
index e063bfca65..280814a6a3 100644
--- a/configuration/packages/configuring-savitzky-golay-smoother.rst
+++ b/configuration/packages/configuring-savitzky-golay-smoother.rst
@@ -19,6 +19,28 @@ This algorithm is deterministic and low-parameter. In the below image, some odd
 Savitzky-Golay Smoother Parameters
 **********************************
 
+:window_size:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  int            7
+  ============== ===========================
+
+  Description
+    Size of the smoothing window. Must be an odd integer, with a minimum value of 3
+
+:poly_order:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  int            3
+  ============== ===========================
+
+  Description
+    Order of the polynomial used to fit the samples in each smoothing window
+
 :do_refinement:
 
   ============== ===========================
@@ -65,6 +87,8 @@ Example
         smoother_plugins: ["savitzky_golay_smoother"]
         savitzky_golay_smoother:
           plugin: "nav2_smoother::SavitzkyGolaySmoother"
+          window_size: 7
+          poly_order: 3
           do_refinement: True
           refinement_num: 2
           enforce_path_inversion: True
diff --git a/migration/Kilted.rst b/migration/Kilted.rst
index b673b83b9c..fddcb16ad7 100644
--- a/migration/Kilted.rst
+++ b/migration/Kilted.rst
@@ -347,3 +347,14 @@ Example:
         polygon_frame_blackboard_id: "polygon_frame_id"
 
 See also :ref:`configuring_bt_navigator`
+
+Option to have custom window size and poly order in Savitsky-Golay Smoother
+---------------------------------------------------------------------------
+
+In `PR #5489 <https://github.com/ros-navigation/navigation2/pull/5489>`_, option to have custom window size and polynomial order was added.
+Previously, the implementation used a fixed window size of 7 and a polynomial order of 3.
+
+Default value:
+
+- window_size: 7
+- poly_order: 3