Serial Telemetry

the 4 escs on the nanodrive 4lpi share a single telemetry line telemetry messages are sent as uart packets upon dshot request, these requests should be staggered to ensure only 1 esc is using the telemetry line at a time 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 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 betaflight refers to this format as serial esc telemetry , ardupilot refers to this format as esc telemetry 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 esc microcontroller 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