Modern UAV and UGV technologies are highly competitive dynamic field of applied research and development. Mainstream software stacks being used include PX4, ArduPilot, Betaflight, as well as ROS2 – a modular computing environment for processing sensor data streams, running perception and control algorithms, as well as software-in-the-loop simulations. In our research, ROS2 integration with Betaflight for on-board sensor data streaming is implemented and tested.