PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
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        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
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      • AirSim Simulation
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      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
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        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
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        • CollisionConstraints
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On this page
  • Hardware Setup
  • Pixhawk FMUv4 (and prior)
  • Pixhawk FMUv5/STM32F7 and later
  • PX4 Configuration
  • Compatible RC Transmitters
  • Taranis - LuaPilot Setup
  • Telemetry Messages
  • S-Port
  • D-port
  • FrSky Telemetry Receivers
  • Ready-Made Cables
  • DIY Cables
  • Pixracer to S-port Receivers
  • Pixracer to D-port Receivers
  • Pixhawk Pro
  • Pixhawk FMUv5 and later
  • Other Boards
  • Additional Information
  1. Hardware (Drones&Parts)
  2. Flight Controller Peripherals

FrSky Telemetry

PreviousTBS Crossfire (CRSF) TelemetryNextGimbal (Mount) Configuration

Last updated 1 year ago

FrSky telemetry allows you to access vehicle information on a compatible RC transmitter.

Available , and includes: flight mode, battery level, RC signal strength, speed, altitude etc. Some transmitters can additionally provide audible and vibration feedback, which is particularly useful for low battery and other failsafe warnings.

PX4 supports both (new) and D (old) FrSky telemetry ports.

Hardware Setup

FrSky telemetry requires:

  • An like the FrSky Taranis X9D Plus.

  • An like the XSR and X8R.

  • A cable to connect the FrSky receiver Smart Port (SPort) to a flight controller UART.

First , e.g. connect the S.Bus ports on the receiver and the flight controller.

Then set up FrSky telemetry by separately connecting the SPort on the receiver to any free UART on the flight controller, and then .

This is done slightly differently, depending on whether the SPort receiver has a pin for an uninverted output, and/or the Pixhawk version.

Pixhawk FMUv4 (and prior)

For Pixhawk FMUv4 and earlier, UART ports and receiver telemetry ports are typically incompatible (with the exception of ).

Generally SPort receivers have an inverted S.Port signal and you have to use a converter cable to split the S.Port into uninverted TX and RX for connecting to the Pixhawk UART. An example is shown below.

If using an S.Port receiver with a pin for uninverted output you can simply attach one of the UART's TX pins.

Pixhawk FMUv5/STM32F7 and later

For Pixhawk FMUv5 and later PX4 can read either inverted (or uninverted) S.Port signals directly - no special cable is required.

PX4 Configuration

drivers/telemetry/frsky_telemetry

:::

No further configuration is required; FrSky telemetry auto-starts when connected and detects D or S mode.

Compatible RC Transmitters

You will need an RC transmitter that can receive the telemetry stream (and that is bound to the FrSky receiver).

Popular alternatives include:

  • FrSky Taranis X9D Plus (recommended)

  • FrSky Taranis X9D

  • FrSky Taranis X9E

  • FrSky Taranis Q X7

  • Turnigy 9XR Pro

The above transmitters can display telemetry data without any further configuration. The following section(s) explain how you can customise telemetry display (for example, to create a better UI/UX).

Taranis - LuaPilot Setup

Compatible Taranis receivers (e.g. X9D Plus) running OpenTX 2.1.6 or newer can use the LuaPilot script to modify the displayed telemetry (as shown in the screenshot below).

If you open the LuaPil.lua script with a text editor, you can edit the configuration. Suggested modifications include:

  • local BattLevelmAh = -1 - Use the battery level calculation from the vehicle

  • local SayFlightMode = 0 - There are no WAV files for the PX4 flight modes

Telemetry Messages

FrySky Telemetry can transmit most of the more useful status information from PX4. S-Port and D-Port receivers transmit different sets of messages, as listed in the following sections.

S-Port

  • AccX, AccY, AccZ: Accelerometer values.

  • Alt: Barometer based altitude, relative to home location.

  • Curr: Actual current consumption (Amps).

  • Fuel: Remaining battery percentage if battery_capacity variable set and variable smartport_fuel_percent = ON, mAh drawn otherwise.

  • GAlt: GPS altitude, sea level is zero.

  • GPS: GPS coordinates.

  • GSpd: Current horizontal ground speed, calculated by GPS.

  • Hdg: Heading (degrees - North is 0°).

  • VFAS: Actual battery voltage value (Voltage FrSky Ampere Sensor).

  • VSpd: Vertical speed (cm/s).

  • Tmp2: GPS information. Right-most digit is GPS fix type (0 = none, 2 = 2D, 3 = 3D). Other digits are number of satellites.

:::note The following "standard" S-Port messages are not supported by PX4: ASpd, A4. :::

D-port

  • AccX, AccY, AccZ: Accelerometer values.

  • Alt: Barometer based altitude, init level is zero.

  • Cels: Average cell voltage value (battery voltage divided by cell number).

  • Curr: Actual current consumption (Amps).

  • Fuel: Remaining battery percentage if capacity is set, mAh drawn otherwise.

  • Date: Time since powered.

  • GAlt: GPS altitude, sea level is zero.

  • GPS: GPS coordinates.

  • GSpd: Current speed, calculated by GPS.

  • Hdg: Heading (degrees - North is 0°).

  • RPM: Throttle value if armed, otherwise battery capacity. Note that blade number needs to be set to 12 in Taranis.

  • Tmp1: Flight mode (as for S-Port).

  • Tmp2: GPS information (as for S-Port).

  • VFAS: Actual battery voltage value (Voltage FrSky Ampere Sensor).

  • Vspd: Vertical speed (cm/s).

FrSky Telemetry Receivers

Pixhawk/PX4 supports D (old) and S (new) FrSky telemetry. The table belows all FrSky receivers that support telemetry via a D/S.PORT (in theory all of these should work).

:::tip Note that the X series receivers listed below are recommended (e.g. XSR, X8R). The R and G series have not been tested/validated by the test team, but should work. :::

Receiver
Range
Combined output
Digital telemetry input
Dimensions
Weight

D4R-II

1.5km

CPPM (8)

D.Port

40x22.5x6mm

5.8g

D8R-XP

1.5km

CPPM (8)

D.Port

55x25x14mm

12.4g

D8R-II Plus

1.5km

no

D.Port

55x25x14mm

12.4g

X4R

1.5km

CPPM (8)

Smart Port

40x22.5x6mm

5.8g

X4R-SB

1.5km

S.Bus (16)

Smart Port

40x22.5x6mm

5.8g

X6R / S6R

1.5km

S.Bus (16)

Smart Port

47.42×23.84×14.7mm

15.4g

X8R / S8R

1.5km

S.Bus (16)

Smart Port

46.25 x 26.6 x 14.2mm

16.6g

XSR / XSR-M

1.5km

S.Bus (16) / CPPM (8)

Smart Port

26x19.2x5mm

3.8g

RX8R

1.5km

S.Bus (16)

Smart Port

46.25x26.6x14.2mm

12.1g

RX8R PRO

1.5km

S.Bus (16)

Smart Port

46.25x26.6x14.2mm

12.1g

R-XSR

1.5km

S.Bus (16) / CPPM (8)

Smart Port

16x11x5.4mm

1.5g

G-RX8

1.5km

S.Bus (16)

Smart Port + integrated vario

55.26178mm

5.8g

R9

10km

S.Bus (16)

Smart Port

43.3x26.8x13.9mm

15.8g

R9 slim

10km

S.Bus (16)

Smart Port

43.3x26.8x13.9mm

15.8g

Ready-Made Cables

Ready-made cables for use with Pixhawk FMUv4 and earlier (except for Pixracer) are available from:

DIY Cables

It is possible to create your own adapter cables. You will need connectors that are appropriate for your autopilot (e.g. JST-GH connectors for FMUv3/Pixhawk 2 "The Cube" and FMUv4/PixRacer v1, and DF-13 compatible PicoBlade connectors for older autopilots).

The Pixracer includes electronics for converting between S.PORT and UART signals, but for other boards you will need a UART to S.PORT adapter. These can be sourced from:

More information about the connections for different boards is given below.

Pixracer to S-port Receivers

Connect the Pixracer FrSky TX and RX lines together (solder the wires together) to the X series receiver's S.port pin. GND need not be attached as this will have been done when attaching to S.Bus (normal RC connection).

The S-port connection is shown below (using the provided I/O Connector).

Pixracer to D-port Receivers

:::tip The vast majority of users now prefer to use S.PORT. :::

Connect the Pixracer FrSky TX line (FS out) to the receiver's RX line. Connect the Pixracer FrSky RX line (FS in) to the receivers TX line. GND need not be connected as this will have been done when attaching to RC/SBus (for normal RC).

Pixhawk Pro

Pixhawk FMUv5 and later

Simply attach one of the UART's TX pins to the SPort inverted or uninverted pin (PX4 will auto-detect and handle either type).

Other Boards

Additional Information

For additional information, see the following links:

:::tip When connecting to an inverted S.Port it is usually cheaper and easier to buy a that contains this adapter and has the appropriate connectors for the autopilot and receiver. Creating a requires electronics assembly expertise. :::

Then .

:::note More generally this is true on autopilots with STM32F7 or later (e.g. has a STM32H7 and can read inverted or uninverted S.Port signals directly). :::

Simply attach one of the UART's TX pins to the SPort inverted or uninverted pin (PX4 will auto-detect and handle either type). Then .

on which FrSky will run using . There is no need to set the baud rate for the port, as this is configured by the driver.

:::note You can use any free UART, but typically TELEM 2 is used for FrSky telemetry (except for , which is pre-configured to use the FrSky port by default). :::

:::tip If the configuration parameter is not available in QGroundControl then you may need to :

Instructions for installing the script can be found here:

S-Port receivers transmit the following messages from PX4 (from ):

Tmp1: , sent as an integer: 18 - Manual, 23 - Altitude, 22 - Position, 27 - Mission, 26 - Hold, 28 - Return, 19 - Acro, 24 0 Offboard, 20 - Stabilized, 25 - Takeoff, 29 - Land, 30 - Follow Me.

D-Port receivers transmit the following messages (from ):

:::note The above table originates from http://www.redsilico.com/frsky-receiver-chart and FrSky . :::

. Versions are available with DF-13 compatible PicoBlade connectors (for FMUv2/3DR Pixhawk, FMUv2/HKPilot32) and JST-GH connectors (for FMUv3/Pixhawk 2 "The Cube" and FMUv4/PixRacer v1).

:

SPC: ,

can be connected to TELEM4 (no additional software configuration is needed). You will need to connect via a UART to S.PORT adapter board, or a .

Most other boards connect to the receiver for FrSky telemetry via the TELEM2 UART. This includes, for example: , , Pixhawk2.

You will need to connect via a UART to S.PORT adapter board, or a .

(Video Tutorial)

(DIY Cables)

Durandal
Pixracer
LuaPilot Taranis Telemetry script > Taranis Setup OpenTX 2.1.6 or newer
here
Flight mode
here
product documentation
Craft and Theory
FrSky FUL-1
unmannedtech.co.uk
getfpv.com
unmannedtechshop.co.uk
Pixhawk 1
mRo Pixhawk
FrSky Taranis Telemetry
Taranis X9D: Setting Up Telemetry
Px4 FrSky Telemetry Setup with Pixhawk2 and X8R Receiver
ready made cable
DIY cable
configure PX4
configure PX4
Pixhawk 3 Pro
ready-made cable
ready-made cable
Pixracer
telemetry/status
telemetry is listed here
S.Port
FrSky-compatible RC transmitter
FrSky telemetry-capable receiver
configure PX4 to run FrSky telemetry on that UART
Configure the serial port
add the driver to the firmware
connect the receiver for RC channels
FrSky-Taranis-Telemetry
Telemetry Screen on the Taranis
Grau b Pixracer FrSkyS.Port Connection
Pixracer FrSkyS.Port Connection
Purchase cable here from Craft and Theory
TEL_FRSKY_CONFIG