Hi all,

I just bought an FrSky Taranis for my quad copter and needed to get the Mavlink data up on the Taranis LCD telemetry display. So here is my solution using a Teensy3.1 as a converter between MavLink and the S.Port on FrSky X8R.

See attached file below...

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The jdio board works with non-sbus frsky rx.

Hi Rolf,

Thank you for great job with this Teensy converter.

I made one for me and I'm really excited about it! I'd like to ask you about Cell and Cells because these stay zero in my Taranis. Vfas shows correct Lipo voltage but I can't see Cells. Do you know what I did wrong?

I use Taranis v2.0.12 and X8R receiver, APM (latest FW) with power module.

Thanks for any advice.


Sorry for the late reply Manuel - in the version I have, the Mavlink goes to the serial port and the S.Bus line is connected to Pin 9 and SoftSerial is used for that. It is linked to from somewhere in this thread but I can't remember what page it's on or where the git repo is! It isn't stated in the readme. If you get stuck looking for it let me know and I can post it here.


Ok I found it: http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter?...

All credit to Hector! Note that you need to change 'Serial1' to 'Serial' for Pro Mini. 




Is there a reason the article from the link above refers to the SBus for the project?



Hey Thanks, I am having some problems and didn't want to think that I was missing something that major.

Luis, Tim,


I also encountered this issue with not having the pitch and roll data being reported. I also discovered a method to get it to work reliably. In my setup, I have both a 3DR 900Mhz telemetry radio and a Teensy 3.1 board. Both of the boards are wired up with TX and RX leads. If the 3Dr radio is plugged into Telemetry port Telem#1 on the pixhawk and the Teensy plugged into the Telem2, I do not receive pitch and roll data. I discovered that if I plug the Teensy into Telem1 and the 3DR into Telem2, then I do get pitch and roll data. I did not have to make any changes to the MavLink code to get this pitch and roll data to function.


In my testing I removed TX from the Teensy board. This did not prove helpful as I never received telemetry while plugged into Telem2 with the 3Drradio in port Telem1.


Plugging the Teensy into Telem2 with nothing plugged into Telem1 also proved not to receive pitch and roll data from the pixhawk. (TX and RX were both hooked up). I did receive all the other data.


The working solution appears to have the Teensy always plugged into Telem1 port on the pixhawk. Having the 3Dr radio plugged into Telem2 or not having the 3DR plugged in did not alter the testing results results. The Teensy board must always be plugged into Telem1 in order for me to receive pitch and roll data


During all of this testing, all other parameters where passed successfully, only the pitch and roll data appeared to be missing.


Pixhawk running 3.1.5 code

Teensy 3.1 running wolke’s Mavlink code

3Dr telemetry radio at 900Mhz.

Mission planner 2.0


after some work on teensy code and lua scripts i will share my first version here. it is available at https://github.com/wolkstein/MavLink_FrSkySPort  default branch is s-c-l-v-rc. changes on teensy code are located in MavLink_FrSkySPort and Taranis Lua scripts and sounds are located in Lua_Telemetry.

The main focus of this script and teensy modification is the exact monitoring of the flight battery capacity, voltage and cell status. The consumption in mA / h and watt-hours can be calibrated on a separate model script.

the script need no special settings on taranis to work. flightmodes will displayed on lcd&&Audio Message by reported flight mode from mavlink.

the radar on the left side works different to other heading arrows. the arrow can move around to display the position relative to home. and it can rotate to display the heading relative to home.

this mod works with opentx >=2.0.12. tested up to nightly builds 2.0.13  http://jenkins.open-tx.org/nightly-20/11_15_2014/

greetings and hopefully this is usefully


simulator screen shot. values are incorrect.

teensy mod:

Great work Wolke

At the moment I'm still waiting for more detailed info on the telemetry refactoring that is planned and already partially implemented for OpenTX 2.1

From what I've seen the changes are profound and will impact severely on this project at its current form, specially the Teensy code.

As you know in the meantime I'm also after some bugs on the OpenTX, but it's a separate issue.



hi, i read the thread about opentx 2.1 and telemetry re factoring, i do not think that it will be so complicated to implement. but at first the many things beside telemetry refactoring must be done. i think this will take a long time before next opentx mayor release candidate will be ready for testing.

i am hopefully waiting for opentx 2.0.13 which fix some critical bugs and memory leaks?:)?. there are different meanings about possible memory leaks... as you maybe follow in bug https://github.com/opentx/opentx/issues/1834. :) but bertrand is somebody who do not give up. i am sure that he can circle and solve the problem which seems really hard to locate.currently i am study around in coos http://www.coocox.org/index.html to learn more about this small rt system. there are many things different to other operation systems. also i order an   http://www.exp-tech.de/Mainboards/ARM/STM32F4Discovery.html board for debugging code. hopefully to dive in deeper inside opentx.

Rolf there is a new PPM encoder firmware for the APM which supports SBUS now. Not sure if you already have it.

There is a copy on my Google Docs, Link in the footer of my site www.droneshop.biz also I have uploaded a video to YouTube showing how to use it. 


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