Telemetry Sensors¶

Rotorflight sends its data to your radio as telemetry sensors: battery, ESC, headspeed, governor state, profiles, attitude, GPS and more. Choose which on the Receiver tab, or with the telemetry_sensors setting.

Protocols¶

Protocol	How sensors are sent	Notes
FrSky S.Port / F.Port / F.Bus	Each sensor has an S.Port application ID (below).	The selected sensors are sent in turn.
CRSF / ExpressLRS -- Custom	Rotorflight's own frames, each sensor with a custom ID (below). Up to 40 sensors.	Needs a decoder on the radio -- see ELRS Custom Telemetry.
CRSF / ExpressLRS -- Native	Standard CRSF frames: flight mode, battery, attitude, altitude, GPS, and (2.3+) RPM and temperature.	Works on any CRSF radio, but carries far less.
FrSky Hub (D-series)	Fixed set of hub sensors.	Legacy.
FlySky iBUS / iBUS2	iBUS sensor slots.
Futaba SBUS2	Fixed slots -- see Futaba.
Jeti EX Bus	Sensors appear on the radio automatically.
Graupner HoTT, Spektrum SRXL / SRXL2, Ghost, MAVLink, LTM	Protocol-specific sets.

System Status and System Config¶

New in 2.4. Two sensors pack the flight controller's state into bit fields, so a radio dashboard can show everything at once without dozens of sensors:

System Status (ID 120; S.Port 0x5140, CRSF 0x1230) -- live state: armed, airborne, motors running, RX link, failsafe phase, GPS fix and health, spooled up, battery state, control saturated, gyro overflow, accelerometer not calibrated, override active, rescue state, Blackbox logging and governor state.

System Config (ID 121; S.Port 0x5141, CRSF 0x1231) -- slower configuration state: PID, rate and battery profile numbers, unsaved changes, saving, reboot required, beeper on, which sensors are present (accelerometer, barometer, compass, GPS), Blackbox full, RPM source active, and governor mode.

The exact bit layout is in the firmware's telemetry/status.h. Both are in the default sensor selection.

Sensor IDs¶

The ID is what goes in telemetry_sensors. A sensor can only be sent over a protocol for which it has an ID in the table.

ID	Sensor	Configurator name	S.Port ID	CRSF custom ID
1	`HEARTBEAT`	Heartbeat	`0x5100`	`0x1001`
2	`BATTERY`	Battery
3	`BATTERY_VOLTAGE`	Battery Voltage	`0x0210`	`0x1011`
4	`BATTERY_CURRENT`	Battery Current	`0x0200`	`0x1012`
5	`BATTERY_CONSUMPTION`	Battery Consumption	`0x5250`	`0x1013`
6	`BATTERY_CHARGE_LEVEL`	Battery Charge Level	`0x0600`	`0x1014`
7	`BATTERY_CELL_COUNT`	Battery Cell Count	`0x5260`	`0x1020`
8	`BATTERY_CELL_VOLTAGE`	Battery Cell Voltage	`0x0910`	`0x1021`
9	`BATTERY_CELL_VOLTAGES`	Battery Cell Voltages		`0x102F`
10	`CONTROL`	Control (hi-res)		`0x1030`
11	`PITCH_CONTROL`	Pitch Control	`0x51A0`	`0x1031`
12	`ROLL_CONTROL`	Roll Control	`0x51A1`	`0x1032`
13	`YAW_CONTROL`	Yaw Control	`0x51A2`	`0x1033`
14	`COLLECTIVE_CONTROL`	Collective Control	`0x51A3`	`0x1034`
15	`THROTTLE_CONTROL`	Throttle Control	`0x51A4`	`0x1035`
16	`ESC1_DATA`	#1 ESC Data
17	`ESC1_VOLTAGE`	#1 ESC Voltage	`0x0218`	`0x1041`
18	`ESC1_CURRENT`	#1 ESC Current	`0x0208`	`0x1042`
19	`ESC1_CAPACITY`	#1 ESC Capacity	`0x5258`	`0x1043`
20	`ESC1_ERPM`	#1 ESC ERPM	`0x0508`	`0x1044`
21	`ESC1_POWER`	#1 ESC Power	`0x5268`	`0x1045`
22	`ESC1_THROTTLE`	#1 ESC Throttle	`0x5269`	`0x1046`
23	`ESC1_TEMP1`	#1 ESC Temp 1	`0x0418`	`0x1047`
24	`ESC1_TEMP2`	#1 ESC Temp 2	`0x0419`	`0x1048`
25	`ESC1_BEC_VOLTAGE`	#1 ESC BEC Voltage	`0x0219`	`0x1049`
26	`ESC1_BEC_CURRENT`	#1 ESC BEC Current	`0x0229`	`0x104A`
27	`ESC1_STATUS`	#1 ESC Status	`0x5128`	`0x104E`
28	`ESC1_MODEL`	#1 ESC Model	`0x5129`	`0x104F`
29	`ESC2_DATA`	#2 ESC Data
30	`ESC2_VOLTAGE`	#2 ESC Voltage	`0x021A`	`0x1051`
31	`ESC2_CURRENT`	#2 ESC Current	`0x020A`	`0x1052`
32	`ESC2_CAPACITY`	#2 ESC Capacity	`0x525A`	`0x1053`
33	`ESC2_ERPM`	#2 ESC ERPM	`0x050A`	`0x1054`
34	`ESC2_POWER`	#2 ESC Power
35	`ESC2_THROTTLE`	#2 ESC Throttle
36	`ESC2_TEMP1`	#2 ESC Temp 1	`0x041A`	`0x1057`
37	`ESC2_TEMP2`	#2 ESC Temp 2
38	`ESC2_BEC_VOLTAGE`	#2 ESC BEC Voltage
39	`ESC2_BEC_CURRENT`	#2 ESC BEC Current
40	`ESC2_STATUS`	#2 ESC Status
41	`ESC2_MODEL`	#2 ESC Model	`0x512B`	`0x105F`
42	`ESC_VOLTAGE`	ESC Voltage	`0x0211`	`0x1080`
43	`BEC_VOLTAGE`	BEC Voltage	`0x0901`	`0x1081`
44	`BUS_VOLTAGE`	Bus Voltage	`0x0902`	`0x1082`
45	`MCU_VOLTAGE`	MCU Voltage	`0x0900`	`0x1083`
46	`ESC_CURRENT`	ESC Current	`0x0201`	`0x1090`
47	`BEC_CURRENT`	BEC Current	`0x0222`	`0x1091`
48	`BUS_CURRENT`	Bus Current		`0x1092`
49	`MCU_CURRENT`	MCU Current		`0x1093`
50	`ESC_TEMP`	ESC Temp	`0x0401`	`0x10A0`
51	`BEC_TEMP`	BEC Temp	`0x0402`	`0x10A1`
52	`MCU_TEMP`	MCU Temp	`0x0400`	`0x10A3`
53	`AIR_TEMP`	Air Temp
54	`MOTOR_TEMP`	Motor Temp
55	`BATTERY_TEMP`	Battery Temp
56	`EXHAUST_TEMP`	Exhaust Temp
57	`HEADING`	Heading	`0x5210`	`0x10B1`
58	`ALTITUDE`	Altitude	`0x0100`	`0x10B2`
59	`VARIOMETER`	Variometer	`0x0110`	`0x10B3`
60	`HEADSPEED`	Headspeed	`0x0500`	`0x10C0`
61	`TAILSPEED`	Tailspeed	`0x0501`	`0x10C1`
62	`MOTOR_RPM`	Motor RPM
63	`TRANS_RPM`	Transmission RPM
64	`ATTITUDE`	Attitude (hi-res)	`0x0730`	`0x1100`
65	`ATTITUDE_PITCH`	Attitude Pitch		`0x1101`
66	`ATTITUDE_ROLL`	Attitude Roll		`0x1102`
67	`ATTITUDE_YAW`	Attitude Yaw		`0x1103`
68	`ACCEL`	Accelerometer (hi-res)		`0x1110`
69	`ACCEL_X`	Accelerometer X-axis	`0x0700`	`0x1111`
70	`ACCEL_Y`	Accelerometer Y-axis	`0x0710`	`0x1112`
71	`ACCEL_Z`	Accelerometer Z-axis	`0x0720`	`0x1113`
72	`GPS`	GPS
73	`GPS_SATS`	GPS Sats	`0x0860`	`0x1121`
74	`GPS_PDOP`	GPS PDOP		`0x1122`
75	`GPS_HDOP`	GPS HDOP		`0x1123`
76	`GPS_VDOP`	GPS VDOP		`0x1124`
77	`GPS_COORD`	GPS Coord	`0x0800`	`0x1125`
78	`GPS_ALTITUDE`	GPS Altitude	`0x0820`	`0x1126`
79	`GPS_HEADING`	GPS Course	`0x0840`	`0x1127`
80	`GPS_GROUNDSPEED`	GPS Groundspeed	`0x0830`	`0x1128`
81	`GPS_HOME_DISTANCE`	GPS Home Distance		`0x1129`
82	`GPS_HOME_DIRECTION`	GPS Home Direction		`0x112A`
83	`GPS_DATE_TIME`	GPS Date Time
84	`LOAD`	Load
85	`CPU_LOAD`	CPU Load	`0x51D0`	`0x1141`
86	`SYS_LOAD`	SYS Load	`0x51D1`	`0x1142`
87	`RT_LOAD`	RT Load	`0x51D2`	`0x1143`
88	`MODEL_ID`	Model Id	`0x5120`	`0x1200`
89	`FLIGHT_MODE`	Flight Mode	`0x5121`	`0x1201`
90	`ARMING_FLAGS`	Arming Flags	`0x5122`	`0x1202`
91	`ARMING_DISABLE_FLAGS`	Arming Disable Flags	`0x5123`	`0x1203`
92	`RESCUE_STATE`	Rescue State	`0x5124`	`0x1204`
93	`GOVERNOR_STATE`	Governor State	`0x5125`	`0x1205`
94	`GOVERNOR_FLAGS`	Governor Flags
95	`PID_PROFILE`	PID Profile	`0x5130`	`0x1211`
96	`RATES_PROFILE`	Rates Profile	`0x5131`	`0x1212`
97	`BATTERY_PROFILE`	Battery Profile	`0x5133`	`0x1214`
98	`LED_PROFILE`	LED Profile	`0x5132`	`0x1213`
99	`ADJFUNC`	Adjustment Function	`0x5111`	`0x1220`
100	`DEBUG_0`	Debug 0	`0x52F0`	`0xDB00`
101	`DEBUG_1`	Debug 1	`0x52F1`	`0xDB01`
102	`DEBUG_2`	Debug 2	`0x52F2`	`0xDB02`
103	`DEBUG_3`	Debug 3	`0x52F3`	`0xDB03`
104	`DEBUG_4`	Debug 4	`0x52F4`	`0xDB04`
105	`DEBUG_5`	Debug 5	`0x52F5`	`0xDB05`
106	`DEBUG_6`	Debug 6	`0x52F6`	`0xDB06`
107	`DEBUG_7`	Debug 7	`0x52F8`	`0xDB07`
108	`RPM`	RPM
109	`TEMP`	Temperature
110	`FBUS_SENSOR_1`
111	`FBUS_SENSOR_2`
112	`FBUS_SENSOR_3`
113	`FBUS_SENSOR_4`
114	`FBUS_SENSOR_5`
115	`FBUS_SENSOR_6`
116	`FBUS_SENSOR_7`
117	`FBUS_SENSOR_8`
120	`SYSTEM_STATUS`	System Status	`0x5140`	`0x1230`
121	`SYSTEM_CONFIG`	System Config	`0x5141`	`0x1231`

Sensors 110-117 are slots for forwarding FrSky sensors connected to the flight controller -- see FBUS Master.