Serial Telemetry

serial telemetry has the following operating modes available dshot/bidirectional dshot sends a serial esc telemetry packet on dshot request periodic sends a uart packet (legacy format on firmware versions below 3 0 0) at the configured frequency (10 hz default) rpm output sends a pulse per erpm when operating with bidirectional dshot signalling the esc will respond with the standard bidirectional dshot rpm telemetry details about bidirectional dshot can be found here https //brushlesswhoop com/dshot and bidirectional dshot/ serial esc telemetry format this format is supported by most betaflight and ardupilot controllers this format is sometimes referred to as the kiss telemetry format http //www rcgroups com/forums/showatt php?attachmentid=8524039\&d=1450424877 betaflight refers to this format as serial esc telemetry https //betaflight com/docs/wiki/guides/current/esc telemetry#serial esc telemetry , ardupilot refers to this format as esc telemetry https //ardupilot org/copter/docs/common esc telemetry html uart port settings the settings applied to the uart connection that supplies the telemetry packet can be found below baud rate 115200 baud word length 8b stop bits 1 parity none no flow control byte order big endian packet structure the following packet is output at the configured rate (on firmware versions 3 0 0 and greater) or upon dshot request no partial packets are transmitted data field size comments temperature signed 8 bit integer the temperature of the 3 phase bridge this is the primary heat source with the esc units are in degrees celcius bus voltage unsigned 16 bit integer the measured input voltage to the esc units are volts 100 bus current unsigned 16 bit integer the measured input current to the esc units are amps 100 negative values are truncated to 0 consumption unsigned 16 bit integer unused value fixed at 0 rpm unsigned 16 bit integer the electrical rpm of the motor, can be toggled to send mechanical rpm units are rpm / 100 checksum (crc8) unsigned 8 bit integer