How can I make status packet, using arduino?

I bought remote controller that displays speed (Flipsky Remote VX4) with VESC TX/RX receiver.
And I want to display motor speed, using Arduino as ESC.

So I searched How to make status packet(Including speed, cuttent, temp etc.)

But I couldn't find one.

There were only codes for Instructions packets, not status packet.

This is what I want to do:
make and send status packet(speed, current) from Arduino through TX/RX Serial

Can I get code or protocol/packet for status message?