I’ve done the FrSky Telemetry on a Pixhawk 1 and had to use the v1.8.0 Developer/Master. See my post on how I did mine. I used the Craft & Theory cable and successfully worked on FrSky X6R and X8R receivers.
So I soldered two cables on the XSR receiver and I connected them point B to Rx and point A to Tx of TELEM2… that’s it.
For my setup (mRo x2.1 running on PX4), I had to connect both the Rx and Tx cables. By connecting Tx only, PX4 told me the telemetry module was scanning but not sending anything. You can check that PX4 is sending data by typing frsky_telemetry status in the NSH console. The signals sent and received on the XSR receiver are 3.3V (I checked with an oscilloscope).