As a useful example, I’ve created a script that reads all the ADC values on a RP2040 and sends the values as
NAMED_VALUE_FLOAT MAVLink messages, which can be read (and graphed) by most GCS’s:
The peripheral itself is connected to a flight controller’s telemetry port, with the
SERIALn_PROTOCOL = 2 and
Full details and source code are available on GitHub.