diff --git a/src/drivers/sPort_telemetry/sPort_data.c b/src/drivers/sPort_telemetry/sPort_data.c
index 7030212fd9..dc43e0fd40 100644
--- a/src/drivers/sPort_telemetry/sPort_data.c
+++ b/src/drivers/sPort_telemetry/sPort_data.c
@@ -131,11 +131,11 @@ static void sPort_send_byte(int uart, uint8_t value)
 	const uint8_t x7D[] = { 0x7D, 0x5D };
 
 	switch (value) {
-	case 0x5E:
+	case 0x7E:
 		write(uart, x7E, sizeof(x7E));
 		break;
 
-	case 0x5D:
+	case 0x7D:
 		write(uart, x7D, sizeof(x7D));
 		break;
 
@@ -187,9 +187,15 @@ void sPort_send_A2(int uart)
 	memset(&battery, 0, sizeof(battery));
 	orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
 	/* send data for A2 */
-//	uint32_t voltage = (int)(255 * battery.voltage_v / 18.4f);
-	uint32_t voltage = (int)(255 * 5.5f / 18.4f);
+	uint32_t voltage = (int)(255 * vehicle_status.battery_voltage / 16.8f);
+//	static uint8_t counter=0;
+//	uint32_t voltage = counter++;
 	sPort_send_data(uart, 0xf103, voltage);
 }
 
diff --git a/src/drivers/sPort_telemetry/sPort_telemetry.c b/src/drivers/sPort_telemetry/sPort_telemetry.c
index b8a382e94d..8a5c4e0e3a 100644
--- a/src/drivers/sPort_telemetry/sPort_telemetry.c
+++ b/src/drivers/sPort_telemetry/sPort_telemetry.c
@@ -182,21 +182,36 @@ static int sPort_telemetry_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit) {
 
-		/* wait for poll frame starting with value 0x7E */
+		/* wait for poll frame starting with value 0x7E
+		* note that only the bus master is supposed to put a 0x7E on the bus.
+		* slaves use byte stuffing to send 0x7E and 0x7D.
+		*/
 		int status = poll(fds, sizeof(fds) / sizeof(fds[0]), -1);
-		if (status < 1) continue;
-		
-		// read 2 bytes
-		int newBytes = read(uart, &sbuf[0], 2);
-		if (newBytes < 1 || sbuf[0] != 0x7E) continue;
-		
+
+		if (status < 1) { continue; }
+
+		// read 1 byte
+		int newBytes = read(uart, &sbuf[0], 1);
+
+		if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
+
+		/* wait for ID byte */
+		status = poll(fds, sizeof(fds) / sizeof(fds[0]), -1);
+
+		if (status < 1) { continue; }
+
+		newBytes = read(uart, &sbuf[1], 1);
+
+		// allow a minimum of 500usec before reply
+		usleep(500);
+
 		/* device ID 4 */
 		if (sbuf[1] == 0x1B) {
 			/* send battery voltage */
 			sPort_send_A2(uart);
-			
+
 			/* read it back */
-			read(uart, &sbuf[0], sizeof(sbuf));		
+			read(uart, &sbuf[0], sizeof(sbuf));
 		}
 	}