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.

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 Heading	`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`

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