diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 96f7de74c5..29745e57f1 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -329,6 +329,60 @@ bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
     return true;
 }
 
+#if AP_EXTENDED_ESC_TELEM_ENABLED
+// get an individual ESC's input duty cycle if available, returns true on success
+bool AP_ESC_Telem::get_input_duty(uint8_t esc_index, uint8_t& input_duty) const
+{
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
+    if (esc_index >= ESC_TELEM_MAX_ESCS
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY)) {
+        return false;
+    }
+    input_duty = telemdata.input_duty;
+    return true;
+}
+
+// get an individual ESC's output duty cycle if available, returns true on success
+bool AP_ESC_Telem::get_output_duty(uint8_t esc_index, uint8_t& output_duty) const
+{
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
+    if (esc_index >= ESC_TELEM_MAX_ESCS
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY)) {
+        return false;
+    }
+    output_duty = telemdata.output_duty;
+    return true;
+}
+
+// get an individual ESC's status flags if available, returns true on success
+bool AP_ESC_Telem::get_flags(uint8_t esc_index, uint32_t& flags) const
+{
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
+    if (esc_index >= ESC_TELEM_MAX_ESCS
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::FLAGS)) {
+        return false;
+    }
+    flags = telemdata.flags;
+    return true;
+}
+
+// get an individual ESC's percentage of output power if available, returns true on success
+bool AP_ESC_Telem::get_power_percentage(uint8_t esc_index, uint8_t& power_percentage) const
+{
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
+    if (esc_index >= ESC_TELEM_MAX_ESCS
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE)) {
+        return false;
+    }
+    power_percentage = telemdata.power_percentage;
+    return true;
+}
+#endif // AP_EXTENDED_ESC_TELEM_ENABLED
+
 // send ESC telemetry messages over MAVLink
 void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
 {
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
index e862f6bcec..cf4a5a9cc2 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
@@ -69,6 +69,20 @@ public:
     // get an individual ESC's consumption in milli-Ampere.hour if available, returns true on success
     bool get_consumption_mah(uint8_t esc_index, float& consumption_mah) const;
 
+#if AP_EXTENDED_ESC_TELEM_ENABLED
+    // get an individual ESC's input duty cycle if available, returns true on success
+    bool get_input_duty(uint8_t esc_index, uint8_t& input_duty) const;
+
+    // get an individual ESC's output duty cycle if available, returns true on success
+    bool get_output_duty(uint8_t esc_index, uint8_t& output_duty) const;
+
+    // get an individual ESC's status flags if available, returns true on success
+    bool get_flags(uint8_t esc_index, uint32_t& flags) const;
+
+    // get an individual ESC's percentage of output power if available, returns true on success
+    bool get_power_percentage(uint8_t esc_index, uint8_t& power_percentage) const;
+#endif
+
     // return the average motor frequency in Hz for dynamic filtering
     float get_average_motor_frequency_hz(uint32_t servo_channel_mask) const { return get_average_motor_rpm(servo_channel_mask) * (1.0f / 60.0f); };