you need to build a test/experimental version of ELRS, this dev branch
Note: please do not ask for help about bulding and flashing ELRS here because is off topic 
Once you flashed this ELRS dev version select a high telemetry rate of at least 50Hz (i.e 100:2, 200:4,200:2, etc).
Download my latest widget https://github.com/yaapu/FrskyTelemetryScript/archive/refs/heads/dev.zip
Flash ardupilot 4.1 or 4.2
This works on all OpenTX supported radios (ELRS requires OpenTX 2.3.12)