MAVLink Telemetry to FrSky SmartPort converter, designed for Turnigy 9XR (non PRO), using a FrSky XJT Module + X8R reciever (Works on DJT Modules, but not all data are available).
FR_ID_VARIO, mav_telemetry.climb_rate
FR_ID_ALTITUDE, mav_telemetry.bar_altitude * 100
FR_ID_VFAS, mav_telemetry.battery_voltage
FR_ID_CURRENT, mav_telemetry.battery_current
FR_ID_SPEED, mav_telemetry.gps_speed * 36 / 1000
FR_ID_LATLONG, mav_telemetry.gps_latitude (longitude)
FR_ID_GPS_ALT, mav_telemetry.gps_altitude / 10
FR_ID_ADC2, hdop_val
FR_ID_HEADING, mav_telemetry.heading * 100
FR_ID_T1, mav_telemetry.wp_dist)
FR_ID_T2, mav_telemetry.gps_satellites_visible
FR_ID_A3_FIRST, mav_telemetry.gps_speed * 36 / 1000
FR_ID_A4_FIRST, mav_telemetry.battery_remaining
https://github.com/jociz68/MAVLinkSmartPort
http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter
https://github.com/martinbudden/betaflight
https://github.com/cleanflight/cleanflight
These modifications are only for 9XR (non PRO). The 9XR-PRO does not need this modification, as it already have a Serial Port available on the Futaba connector