Crossfire and ELRS RC Systems

Any Crossfire/ELRS compatible receiver can be used with ArduPilot.


ELRS (ExpressLRS) RC systems use the Crossfire protocol and are connected in a similar manner. However, ERLS telemetry does not provide bi-directional telemetry like Crossfire. Also, on F4/F7 based autopilots the UART MUST be DMA enabled for reliable operation. Consult Choosing an Autopilot.

If you do not wish to use telemetry then a TBS Crossfire receiver can be connected to the RCIN port using SBUS. You must configure the Receiver to output SBUS, of course.

CRSF Receivers

If you wish to use telemetry then a TBS receiver can be connected to a UART utilizing the CRSF protocol.

CRSF is a full-duplex protocol that supports integrated telemetry and a number of other features. Connect the RX pin of the UART to the CRSF TX pin of the CRSF device and vice versa. Currently a full-duplex UART connection is required. For best performance a UART with DMA capability on its RX port is desirable, but not required. A message will be displayed once on the GCS console, if connected to a UART without this capability on an F4/F7 based autopilot.

In the configuration of the serial port select the RCIN protocol. So for example for serial port 4:


The serial port baudrate is automatically set and controlled by the firmware when any serial RC protocol, such as CRSF, is detected.

With the receiver connected and configured correctly proceed with RC calibration as normal.

See TBS Crossfire Telemetry for information about telemetry data sent, display scripts for OpenTX transmitters, and adjustment of ArduPilot parameters via CRSF.


If the autopilot is rebooted via MAVLink, it will lose communication with the CRSF receiver until the receiver is power cycled. Also, the CRSF TX must be transmitting BEFORE the receiver is powered up.

ELRS Receivers

ELRS can be setup in the same manner as CRSF above , however, bit 13 of RC_OPTIONS should be set to alter the baudrate from 416KBaud that CRSF uses, to 420KBaud that ELRS uses. As mentioned above, the UART selected must have DMA capability.

CRSF Video Transmitters

TBS Video Transmitters can also be connected to ArduPilot using the CRSF protocol. This allows the VTX to be configured via parameters and, for VTXs such as the TBS Unify Evo , receive telemetry data that can be displayed using the built-in OSD.

If you are using CRSF for RC input as well then nothing more needs to be done in order to enable VTX control.

If you only wish to use CRSF for VTX control then connect the VTX to the UART in the normal way - TX to RX and RX to TX and configure the UART connection as follows: