# Receive RPM data in real time

**URL:** <https://forum.opencyphal.org/t/receive-rpm-data-in-real-time/1579>\
**Category:** Applications & Usage\
**Created:** [January 26, 2022, 1:59pm UTC](https://forum.opencyphal.org/t/receive-rpm-data-in-real-time/1579 "2022-01-26T13:59:14Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![111](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/111/32/1036_2.png) [@111](https://forum.opencyphal.org/u/111)\
**Post date:** [January 26, 2022, 1:59pm UTC](https://forum.opencyphal.org/t/receive-rpm-data-in-real-time/1579/1 "2022-01-26T13:59:14Z")

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I am now using UAVCAN ESC (holybro Kotleta 20) on F450 QuadCopter and I am wondering if I can receive RPM data through Sapog Firmware

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**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\
**Post date:** [January 28, 2022, 4:51am UTC](https://forum.opencyphal.org/t/receive-rpm-data-in-real-time/1579/2 "2022-01-28T04:51:35Z")

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You need to subscribe to `uavcan.equipment.esc.Status` as described in the reference manual:

[https://files.zubax.com/products/io.px4.sapog/Sapog\_v2\_Reference\_Manual.pdf](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf)