I want to pass 4 rpm readings to arduino Any Help

I want to pass 4 rpm readings to arduino
Any Help

Use the arduino mavlink library to decode the ESC_TELEMETRY_1_TO_4 mavlink message and extract the values you need. Do not forget to use the SET_MESSAGE_INTERVAL mavlink message to request ArduPilot to periodically send you the ESC_TELEMETRY_1_TO_4 message