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MAVLinkTelemetry

Commercial Solution

Get pre-built cable and software.

These guys have adopters for both DR series and X series receivers:

http://www.craftandtheoryllc.com/frsky-telemetry-cable-and-user-interface-for-pixhawk/

https://www.airborneprojects.com/product/apm-mavlink-to-frsky-smartport-converter/

DIY Solution

Software Based Solution

For PixRacer (PX4FMUv4)

If you have PixRacer, there's no need to buy the converter.

http://px4.io/docs/frsky-telemetry/

For Pixhawk (PX4FMUv2)

Use a Serial Adopter + Protocol Translator Software running on Pixhawk. If you are using Pixhawk (PX4FMUv2) and have the popular D4R-II or any of the "D" series receiver, get FrSky FUL-1 serial converter.

Hardware Based Solution

This is a Teensy based DIY solution

https://github.com/Clooney82/MavLink_FrSkySPort

PX4 Setup

# If connected to SERIAL4 (/dev/ttyS6 a.k.a "SERIAL4/5")
frsky_telemetry start -d /dev/ttyS6

# If connected to SERIAL2 (/dev/ttyS2 a.k.a "TELEM2")
frsky_telemetry start -d /dev/ttyS2

Serial port mapping on Pixhawk (PX4FMUv2)

NuttX UART Pixhawk (PX4FMUv2) UART
/dev/ttyS0 IO DEBUG (RX only)
/dev/ttyS1 TELEM1 (USART1)
/dev/ttyS2 TELEM2 (USART2)
/dev/ttyS3 GPS (UARTX)
/dev/ttyS4 N/A (UART5, IO link)
/dev/ttyS5 SERIAL5 (UART7, NSH console)
/dev/ttyS6 SERIAL4 (UART8)

Reference: https://pixhawk.org/users/wiring#serial_ports

APM Setup

Follow the instructions here.

Transmitter Update and Setup

Download the latest firmware and flash it to your Taranis.

http://www.open-tx.org

You can just use default telemetry settings screen to setup your screen.

You can also use Lua scripts to make it look pretty.

Other Scripts

NOTE: With OpenTX 2.1, telemetry scripts must be placed under SCRIPTS\TELEMETRY on the SD card, not under the model folder as was the case with 2.0. Also, older scripts need to be converted as there was a large refarctoring done on the telemetry code in 2.1. See below for details.

References