diff --git a/ExtLibs/ArduPilot/CurrentState.cs b/ExtLibs/ArduPilot/CurrentState.cs
index 5f9ad1bc5e..aa15424b5d 100644
--- a/ExtLibs/ArduPilot/CurrentState.cs
+++ b/ExtLibs/ArduPilot/CurrentState.cs
@@ -321,7 +321,7 @@ public float alt
             get => (_alt - altoffsethome) * multiplieralt;
             set
             {
-                // check update rate, and ensure time hasnt gone backwards                
+                // check update rate, and ensure time hasnt gone backwards
                 _alt = value;
 
                 if ((datetime - lastalt).TotalSeconds >= 0.2 && oldalt != alt || lastalt > datetime)
@@ -903,6 +903,28 @@ public float groundspeed
         [GroupText("ESC")] public float esc12_rpm { get; set; }
         [GroupText("ESC")] public float esc12_temp { get; set; }
 
+        [GroupText("ESC")] public float esc13_volt { get; set; }
+        [GroupText("ESC")] public float esc13_curr { get; set; }
+        [GroupText("ESC")] public float esc13_rpm { get; set; }
+        [GroupText("ESC")] public float esc13_temp { get; set; }
+
+        [GroupText("ESC")] public float esc14_volt { get; set; }
+        [GroupText("ESC")] public float esc14_curr { get; set; }
+        [GroupText("ESC")] public float esc14_rpm { get; set; }
+        [GroupText("ESC")] public float esc14_temp { get; set; }
+
+        [GroupText("ESC")] public float esc15_volt { get; set; }
+        [GroupText("ESC")] public float esc15_curr { get; set; }
+        [GroupText("ESC")] public float esc15_rpm { get; set; }
+        [GroupText("ESC")] public float esc15_temp { get; set; }
+
+        [GroupText("ESC")] public float esc16_volt { get; set; }
+        [GroupText("ESC")] public float esc16_curr { get; set; }
+        [GroupText("ESC")] public float esc16_rpm { get; set; }
+        [GroupText("ESC")] public float esc16_temp { get; set; }
+
+
+
         [GroupText("RadioOut")]
         public float ch3percent
         {
@@ -2197,9 +2219,9 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
                 || mavLinkMessage.msgid == (uint)MAVLink.MAVLINK_MSG_ID.RADIO // propagate the RADIO/RADIO_STATUS message across all devices on this link
                 || mavLinkMessage.msgid == (uint)MAVLink.MAVLINK_MSG_ID.RADIO_STATUS
                 || ( mavLinkMessage.sysid == parent.sysid                      // Propagate NAMED_VALUE_FLOAT messages across all components within the same device
-                     && mavLinkMessage.msgid == (uint)MAVLink.MAVLINK_MSG_ID.NAMED_VALUE_FLOAT 
+                     && mavLinkMessage.msgid == (uint)MAVLink.MAVLINK_MSG_ID.NAMED_VALUE_FLOAT
                      && Settings.Instance.GetBoolean("propagateNamedFloats", true)) )
-                     
+
             {
                 switch (mavLinkMessage.msgid)
                 {
@@ -3474,6 +3496,34 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
                         }
 
                         break;
+
+                    case (uint)MAVLink.MAVLINK_MSG_ID.ESC_TELEMETRY_13_TO_16:
+
+                        {
+                            var esc = mavLinkMessage.ToStructure<MAVLink.mavlink_esc_telemetry_13_to_16_t>();
+                            esc13_volt = esc.voltage[0] / 100.0f;
+                            esc13_curr = esc.current[0] / 100.0f;
+                            esc13_rpm = esc.rpm[0];
+                            esc13_temp = esc.temperature[0];
+
+                            esc14_volt = esc.voltage[1] / 100.0f;
+                            esc14_curr = esc.current[1] / 100.0f;
+                            esc14_rpm = esc.rpm[1];
+                            esc14_temp = esc.temperature[1];
+
+                            esc15_volt = esc.voltage[2] / 100.0f;
+                            esc15_curr = esc.current[2] / 100.0f;
+                            esc15_rpm = esc.rpm[2];
+                            esc15_temp = esc.temperature[2];
+
+                            esc16_volt = esc.voltage[3] / 100.0f;
+                            esc16_curr = esc.current[3] / 100.0f;
+                            esc16_rpm = esc.rpm[3];
+                            esc16_temp = esc.temperature[3];
+                        }
+
+                        break;
+
                     case (uint)MAVLink.MAVLINK_MSG_ID.SERVO_OUTPUT_RAW:
 
                         {
@@ -3716,7 +3766,7 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
                             float value = named_float.value;
                             var field = custom_field_names.FirstOrDefault(x => x.Value == name).Key;
 
-                            //todo: if field is null then check if we have a free customfield and add the named_value 
+                            //todo: if field is null then check if we have a free customfield and add the named_value
                             if (field == null)
                             {
                                 short i;
@@ -3809,7 +3859,7 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
                             var status = mavLinkMessage.ToStructure<MAVLink.mavlink_gimbal_device_attitude_status_t>();
                             Quaternion q = new Quaternion(status.q[0], status.q[1], status.q[2], status.q[3]);
                             campointa = (float)(q.get_euler_pitch() * (180.0 / Math.PI));
-                            campointb = (float)(q.get_euler_roll() * (180.0 / Math.PI)); 
+                            campointb = (float)(q.get_euler_roll() * (180.0 / Math.PI));
                             campointc = (float)(q.get_euler_yaw() * (180.0 / Math.PI));
                             if (campointc < 0) campointc += 360; //normalization
                         }
@@ -4324,7 +4374,7 @@ public void UpdateCurrentSettings(Action<CurrentState> bs, bool updatenow,
         public void dowindcalc()
         {
             //Wind Fixed gain Observer
-            //Ryan Beall 
+            //Ryan Beall
             //8FEB10
 
             var Kw = 0.010; // 0.01 // 0.10