build custom servo controller for interface with FrSky module

I am building a micro drone using a Tiny Pepper flight control board with a built in FrSky receiver.  I am currently using a Taranis X9D transmitter, but I would like to build a custom one.

I can take the servos out of many different controllers, and read them with a micro-controller (Arduino Nano??), and use a FrSky transmitter module to send signals to the quad. However, I can't find any information of how to interface with a FrSky transmitter module.

FrSky trasmitter module:

https://hobbyking.com/en_us/frsky-xjt-2-4ghz-combo-pack-for-jr-w-te...

Could any one give me some information on how to do this?  Does anyone know of any sites that explain how to interface with a transmitter module. 

Thank You

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