diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 63ae89e807..02d6573653 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -224,6 +224,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
                                                motor_compensation[0].x,
                                                motor_compensation[0].y,
                                                motor_compensation[0].z);
+#if HAL_WITH_ESC_TELEM
+            // send ESC telemetry to monitor ESC and motor temperatures
+            AP::esc_telem().send_esc_telemetry_mavlink(gcs_chan.get_chan());
+#endif
         }
     }