diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index aae0ec773c..8869842cb8 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -108,6 +108,7 @@
 #include "sensors/gyro.h"
 #include "sensors/sensors.h"
 #include "sensors/sonar.h"
+#include "sensors/esc_sensor.h"
 
 #include "telemetry/telemetry.h"
 
@@ -930,6 +931,16 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         break;
 #endif
 
+#ifdef USE_DSHOT
+    case MSP_ESC_SENSOR_DATA:
+        sbufWriteU8(dst, getMotorCount());
+        for (int i = 0; i < getMotorCount(); i++) {         
+            sbufWriteU8(dst, getEscSensorData(i)->temperature);
+            sbufWriteU16(dst, getEscSensorData(i)->rpm);
+        }
+        break;
+#endif
+
 #ifdef GPS
     case MSP_GPS_CONFIG:
         sbufWriteU8(dst, gpsConfig()->provider);
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index fbcc14ee4f..e74709330d 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -271,6 +271,7 @@
 #define MSP_MOTOR_CONFIG         131    //out message         Motor configuration (min/max throttle, etc)
 #define MSP_GPS_CONFIG           132    //out message         GPS configuration
 #define MSP_COMPASS_CONFIG       133    //out message         Compass configuration
+#define MSP_ESC_SENSOR_DATA      134    //out message         Extra ESC data from 32-Bit ESCs (Temperature, RPM)
 
 #define MSP_SET_RAW_RC           200    //in message          8 rc chan
 #define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed