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Airframes Reference

:::note This list is auto-generated from the source code using the build command: make airframe_metadata. :::

This page lists all supported airframes and types including the motor assignment and numbering. The motors in green rotate clockwise, the ones in blue counterclockwise.

AUX channels may not be present on some flight controllers. If present, PWM AUX channels are commonly labelled AUX OUT.

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Airship

Airship

Common Outputs
  • Motor1: starboard thruster
  • Motor2: port thruster
  • Motor3: tail thruster
  • Servo1: thrust tilt
Name
Cloudship Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 2507

Autogyro

Autogyro

Common Outputs
  • Motor1: throttle
  • Servo1: rotor_head_L
  • Servo2: rotor_head_R
Name
ThunderFly Auto-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <[email protected]>

SYS_AUTOSTART = 17002

Specific Outputs:

  • Servo3: elevator
  • Servo4: rudder
  • Servo5: rudder (second, optional)
  • Servo6: wheel
ThunderFly TF-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <[email protected]>

SYS_AUTOSTART = 17003

Specific Outputs:

  • Servo3: rudder

Balloon

Balloon

Name
ThunderFly balloon TF-B1 Maintainer: ThunderFly s.r.o.

SYS_AUTOSTART = 18001

Copter

Dodecarotor cox

Name
Generic Dodecarotor cox geometry Maintainer: William Peale <[email protected]>

SYS_AUTOSTART = 24001

Helicopter

Name
Generic Helicopter (Tail ESC) Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 16001

Hexarotor +

Name
Generic Hexarotor + geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 7001

Hexarotor Coaxial

Common Outputs
  • Motor1: front right top, CW; angle:60; direction:CW
  • Motor2: front right bottom, CCW; angle:60; direction:CCW
  • Motor3: back top, CW; angle:180; direction:CW
  • Motor4: back bottom, CCW; angle:180; direction:CCW
  • Motor5: front left top, CW; angle:-60; direction:CW
  • Motor6: front left bottom, CCW;angle:-60; direction:CCW
Name
Generic Hexarotor coaxial geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 11001

Hexarotor x

Name
Generic Hexarotor x geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 6001
UVify Draco-R Maintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 6002

Octorotor +

Name
Generic Octocopter + geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 9001

Octorotor Coaxial

Common Outputs
  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Motor4: motor 4
  • Motor5: motor 5
  • Motor6: motor 6
  • Motor7: motor 7
  • Motor8: motor 8
Name
Generic 10" Octo coaxial geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 12001

Octorotor x

Name
Generic Octocopter X geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 8001

Quadrotor +

Name
Generic 10" Quad + geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 5001

Quadrotor H

Name
Reaper 500 Quad Maintainer: Blankered

SYS_AUTOSTART = 4040
BetaFPV Beta75X 2S Brushless Whoop Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4041

Quadrotor x

Name
Generic Quadcopter Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4001
S500 Generic Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4014
Holybro S500 Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4015
PX4 Vision Dev Kit v1 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 4016
NXP HoverGames Maintainer: Iain Galloway <[email protected]>

SYS_AUTOSTART = 4017
Holybro X500 V2 Maintainer: Farhang Naderi <[email protected]>

SYS_AUTOSTART = 4019
PX4 Vision Dev Kit v1.5 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 4020
Generic 250 Racer Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4050
HolyBro QAV250 Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4052
Holybro Kopis 2 Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4053
Advanced Technology Labs (ATL) Mantis EDU

SYS_AUTOSTART = 4061
UVify IFO Maintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 4071
UVify IFO Maintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 4073
COEX Clover 4 Maintainer: Oleg Kalachev <[email protected]>

SYS_AUTOSTART = 4500
Crazyflie 2 Maintainer: Dennis Shtatov <[email protected]>

SYS_AUTOSTART = 4900
Crazyflie 2.1 Maintainer: Dennis Shtatov <[email protected]>

SYS_AUTOSTART = 4901

Simulation

Name
HIL Quadcopter X Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 1001
SIH Quadcopter X Maintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1100

Tricopter Y+

Common Outputs
  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Servo1: yaw servo
Name
Generic Multirotor with tilt Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 14001

Plane

Flying Wing

Name
Generic Flying Wing Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 3000

Plane A-Tail

Common Outputs
  • Motor1: throttle
  • Servo1: aileron right
  • Servo2: aileron left
  • Servo3: v-tail right
  • Servo4: v-tail left
  • Servo5: wheel
  • Servo6: flaps right
  • Servo7: flaps left
Name
Applied Aeronautics Albatross Maintainer: Andreas Antener <[email protected]>

SYS_AUTOSTART = 2106

Simulation

Name
SIH plane AERT Maintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1101

Standard Plane

Name
Generic Standard Plane Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 2100

Rover

Rover

Name
Generic Ground Vehicle (Ackermann)

SYS_AUTOSTART = 50000

Specific Outputs:

  • Motor1: throttle
  • Servo1: steering
Aion Robotics R1 UGV Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 50003
NXP Cup car: DF Robot GPX Maintainer: Katrin Moritz

SYS_AUTOSTART = 50004

Specific Outputs:

  • Motor1: Speed of left wheels
  • Servo1: Steering servo

Underwater Robot

Underwater Robot

Name
Generic Underwater Robot

SYS_AUTOSTART = 60000
HippoCampus UUV (Unmanned Underwater Vehicle) Maintainer: Daniel Duecker <[email protected]>

SYS_AUTOSTART = 60001

Vectored 6 DOF UUV

Common Outputs
  • Motor1: motor 1 CCW, bow starboard horizontal, , propeller CCW
  • Motor2: motor 2 CCW, bow port horizontal, propeller CCW
  • Motor3: motor 3 CCW, stern starboard horizontal, propeller CW
  • Motor4: motor 4 CCW, stern port horizontal, propeller CW
  • Motor5: motor 5 CCW, bow starboard vertical, propeller CCW
  • Motor6: motor 6 CCW, bow port vertical, propeller CW
  • Motor7: motor 7 CCW, stern starboard vertical, propeller CW
  • Motor8: motor 8 CCW, stern port vertical, propeller CCW
Name
BlueROV2 (Heavy Configuration) Maintainer: Thies Lennart Alff <[email protected]>

SYS_AUTOSTART = 60002

VTOL

Simulation

Common Outputs
  • Motor1: motor right
  • Motor2: motor left
  • Servo1: elevon right
  • Servo2: elevon left
Name
SIH Tailsitter Duo Maintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1102

Standard VTOL

Name
HIL Standard VTOL QuadPlane Maintainer: Roman Bapst <[email protected]>

SYS_AUTOSTART = 1002
Generic Standard VTOL Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13000
Vertical Technologies DeltaQuad Maintainer: Sander Smeets <[email protected]>

SYS_AUTOSTART = 13013

Specific Outputs:

  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Motor4: motor 4
  • Servo1: Right elevon
  • Servo2: Left elevon
  • Servo3: Pusher motor
  • Servo4: Pusher reverse channel
BabyShark VTOL Maintainer: Silvan Fuhrer <[email protected]>

SYS_AUTOSTART = 13014

Specific Outputs:

  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Motor4: motor 4
  • Motor5: Pusher motor
  • Servo1: Ailerons
  • Servo2: A-tail left
  • Servo3: A-tail right

VTOL Tailsitter

Name
Generic VTOL Tailsitter Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13200

VTOL Tiltrotor

Name
Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030
Generic Tiltrotor VTOL Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13100