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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could you post which pins did you use on your teensy?  and corresponding pins on apm and smart port? 

also is the mavlink being converted into the frsky telemetry format, or is it just plain mavlink received by taranis? 

Pins description is in the file... but here is a layout Picture.


Thx, I downloaded the zip, but still can't find the pinout there. Thank you very much for the picture! 

It's in the MavLink_FrSkySPort.ino

Wow!!  This is what I'm looking for my first quadcopter build. My goal is reduce the weight by removing unecessary redundant sensory. I just ordered the teensy but unfortunately I don't have much experience in micro-controller development. 

Any resources you can point me where to start how to compile the code you shared. Or this is already compiled? I just did a quick reading on the teeny site and it is looking for .hex binaries for the program. 

Thanks again for sharing this.

This is for to start with the Arduino version of Teensy:  http://www.pjrc.com/teensy/td_download.html

Just follow the installation steps and then compile the code found in the .zip file and download it to the Teensy


Thanks! This is great. 

Awesome work ! Can you shoot a small video clip of your Transis screen and post, will be 2 much good !


I am going to order a teensy 3.1.  I have a taranis transmitter that I would like to get data from my apm.  To be clear,  you did get this up and working.  What are you showing on your taranis screen?  I am mostly interested in altitude and battery voltage.



This is the data that will bee shown on your Taranis:


Throttle as %  (Rpm)

LiPo Battery Current (Curr)

LiPo Battery Voltage (Cels) and (Cell)

Power (Pwr)

Total mAH used (Cnsp)

Barometric Altitude (Alt)

Compass Heading (Hdg)

AccX, AccY, AccZ

Climb Rate (VSpd)

Auto Pilot Mode (Armed , Not Armed) (T2)

Analog Voltage A2 (if connected to A0 on Teensy, max 3,3V)


With GPS connected you also get:

GPS Status (Number of Satelites received, Lock Mode) (T1)

GPS Altitude  (GAlt)

Groundspeed  (Spd)



Dist from home position (Dist)

Here is some pictures from the Taranis screen showing the data received from APM:

Hey there, is it posible to see a fligh tmode ie: stab, alt hold, loiter, etc... ? 

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