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Airframes Reference ​

INFO

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.

Airship ​

Airship ​

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

SYS_AUTOSTART = 2507

Autogyro ​

Autogyro ​

Common Outputs
  • Motor1: throttle
  • Servo1: rotor_head_L
  • Servo2: rotor_head_R
Name
ThunderFly Auto-G2Maintainer: 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-G2Maintainer: ThunderFly s.r.o., Roman Dvorak <[email protected]>

SYS_AUTOSTART = 17003


Specific Outputs:
  • Servo3: rudder

Balloon ​

Balloon ​

Name
ThunderFly balloon TF-B1Maintainer: ThunderFly s.r.o.

SYS_AUTOSTART = 18001

Copter ​

Dodecarotor cox ​

Name
Generic Dodecarotor cox geometryMaintainer: 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 + geometryMaintainer: 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 geometryMaintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 11001

Hexarotor x ​

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

SYS_AUTOSTART = 6001

UVify Draco-RMaintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 6002

Octorotor + ​

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

SYS_AUTOSTART = 12001

Octorotor x ​

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

SYS_AUTOSTART = 8001

Quadrotor + ​

Name
Generic Quad + geometryMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 5001

Quadrotor H ​

Name
BetaFPV Beta75X 2S Brushless WhoopMaintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4041

Quadrotor x ​

Name
Generic QuadcopterMaintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4001

S500 GenericMaintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4014

Holybro S500Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4015

PX4 Vision Dev Kit v1Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 4016

NXP HoverGamesMaintainer: Iain Galloway <[email protected]>

SYS_AUTOSTART = 4017

Holybro X500 V2Maintainer: Farhang Naderi <[email protected]>

SYS_AUTOSTART = 4019

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

SYS_AUTOSTART = 4020

Generic 250 RacerMaintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4050

HolyBro QAV250Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4052

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

SYS_AUTOSTART = 4053

Advanced Technology Labs (ATL) Mantis EDU

SYS_AUTOSTART = 4061

UVify IFOMaintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 4071

UVify IFOMaintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 4073

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

SYS_AUTOSTART = 4500

Droneblocks DEXI 5Maintainer: Alex klimaj <[email protected]>

SYS_AUTOSTART = 4601

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

SYS_AUTOSTART = 4901

Simulation ​

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

SYS_AUTOSTART = 1001

SIH Quadcopter XMaintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1100

SIH Hexacopter XMaintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1105

Tricopter Y+ ​

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

SYS_AUTOSTART = 14001

Plane ​

Flying Wing ​

Name
Generic Flying WingMaintainer: 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 AlbatrossMaintainer: Andreas Antener <[email protected]>

SYS_AUTOSTART = 2106

Simulation ​

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

SYS_AUTOSTART = 1101

Standard Plane ​

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

SYS_AUTOSTART = 2100

Rover ​

Rover ​

Name
SIH Rover AckermannMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 1104

Generic Rover DifferentialMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 50000

Aion Robotics R1 UGVMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 50001

Hiwonder TrackedMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 50002

Generic Rover AckermannMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 51000

Axial SCX10 2 Trail HonchoMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 51001

NXP B3RB Rover AckermannMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 51002

Hiwonder AckermannMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 51003

Generic Rover MecanumMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 52000

Hiwonder MecanumMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 52001

Spacecraft ​

Free-Flyer ​

Common Outputs
  • Motor1: back left thruster, +x thrust
  • Motor2: front left thruster, -x thrust
  • Motor3: back right thruster, +x thrust
  • Motor4: front right thruster, -x thrust
  • Motor5: front left thruster, +y thrust
  • Motor6: front right thruster, -y thrust
  • Motor7: back left thruster, +y thrust
  • Motor8: back right thruster, -y thrust
Name
KTH-ATMOSMaintainer: DISCOWER

SYS_AUTOSTART = 70000

Underwater Robot ​

Underwater Robot ​

Name
Generic Underwater RobotMaintainer: John Doe <[email protected]>

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 ​

Name
SIH Tailsitter DuoMaintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1102


Specific Outputs:
  • Motor1: motor right
  • Motor2: motor left
  • Servo1: elevon right
  • Servo2: elevon left
SIH Standard VTOL QuadPlaneMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 1103


Specific Outputs:
  • Motor1: MC motor front right
  • Motor2: MC motor back left
  • Motor3: MC motor front left
  • Motor4: MC motor back right
  • Motor5: Forward thrust motor
  • Servo1: Ailerons (single channel)
  • Servo2: Elevator
  • Servo3: Rudder

Standard VTOL ​

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

SYS_AUTOSTART = 1002


Specific Outputs:
  • Motor1: MC motor front right
  • Motor2: MC motor back left
  • Motor3: MC motor front left
  • Motor4: MC motor back right
  • Motor5: Forward thrust motor
  • Servo1: Aileron
  • Servo2: Elevator
  • Servo3: Rudder
Generic Standard VTOLMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13000

VTOL Tailsitter ​

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

SYS_AUTOSTART = 13200

VTOL Tiltrotor ​

Name
Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030

Generic Tiltrotor VTOLMaintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13100