diff --git a/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg b/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg
new file mode 100644
index 000000000..a8fc841b2
--- /dev/null
+++ b/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg
@@ -0,0 +1,8 @@
+# check the KISS protocol for details: https://brushlesswhoop.com/dshot-and-bidirectional-dshot/
+
+int8 temperature  # 1 degree
+uint16 voltage  # 1000 = 10.00V
+uint16 current  # 1000 = 10.00A
+uint16 consumption  # 1mAh
+uint32 rpm  # 1 rpm
+uint8 crc_error  # calculated crc - received crc
\ No newline at end of file
diff --git a/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg b/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg
new file mode 100644
index 000000000..155f8b2f9
--- /dev/null
+++ b/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg
@@ -0,0 +1,6 @@
+time stamp
+# spinal/ESCTelemetry[] esc_telemetry_array
+spinal/ESCTelemetry esc_telemetry_1
+spinal/ESCTelemetry esc_telemetry_2
+spinal/ESCTelemetry esc_telemetry_3
+spinal/ESCTelemetry esc_telemetry_4
\ No newline at end of file