ArduPilot

1. Connect receiver to a free UART (e.g., SERIAL2)

2. Set the following parameters:

SERIAL2_PROTOCOL = 23 # RCIN for ELRS
SERIAL2_BAUD = 420000 # Or 115200 (as needed)

1. ELRS telemetry will show up automatically in Mission Planner.

2. Failsafe and RSSI are handled internally by ELRS.

Use Yaapu telemetry on compatible radios for full telemetry display.