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airframe_reference.md

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Airframes Reference

Note This list is auto-generated from the source code.

The AUX channels are only available on Pixhawk Boards (labeled with AUX OUT).

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

Coaxial Helicopter

Common Outputs
  • MAIN1: Left swashplate servomotor, pitch axis
  • MAIN2: Right swashplate servomotor, roll axis
  • MAIN3: Upper rotor (CCW)
  • MAIN4: Lower rotor (CW)
Name
Esky (Big) Lama v4

Maintainer: Emmanuel Roussel

SYS_AUTOSTART = 15001

Flying Wing

Common Outputs
  • MAIN1: left aileron
  • MAIN2: right aileron
  • MAIN4: throttle
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Phantom FPV Flying Wing

Maintainer: Simon Wilks

SYS_AUTOSTART = 3031
Sparkle Tech Pigeon

Maintainer: Simon Wilks

SYS_AUTOSTART = 3036
TBS Caipirinha

Maintainer: Lorenz Meier

SYS_AUTOSTART = 3100
FX-79 Buffalo Flying Wing

Maintainer: Simon Wilks

SYS_AUTOSTART = 3034
Wing Wing (aka Z-84) Flying Wing

Maintainer: Lorenz Meier

SYS_AUTOSTART = 3033
Skywalker X5 Flying Wing

Maintainer: Thomas Gubler , Julian Oes

SYS_AUTOSTART = 3032
Viper

Maintainer: Simon Wilks

SYS_AUTOSTART = 3035
IO Camflyer

Maintainer: Simon Wilks

SYS_AUTOSTART = 3030

Helicopter

Common Outputs
  • MAIN1: main motor
  • MAIN2: front swashplate servo
  • MAIN3: right swashplate servo
  • MAIN4: left swashplate servo
  • MAIN5: tail-rotor servo
Name
Blade 130X

Maintainer: Bart Slinger

SYS_AUTOSTART = 16001

Hexarotor +

Common Outputs
  • MAIN1: motor1
  • MAIN2: motor2
  • MAIN3: motor3
  • MAIN4: motor4
  • MAIN5: motor5
  • MAIN6: motor6
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Generic Hexarotor + geometry

Maintainer: Anton Babushkin

SYS_AUTOSTART = 7001

Hexarotor Coaxial

Common Outputs
  • MAIN1: front right top, CW; angle:60; direction:CW
  • MAIN2: front right bottom, CCW; angle:60; direction:CCW
  • MAIN3: back top, CW; angle:180; direction:CW
  • MAIN4: back bottom, CCW; angle:180; direction:CCW
  • MAIN5: front left top, CW; angle:-60; direction:CW
  • MAIN6: front left bottom, CCW;angle:-60; direction:CCW
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Generic Hexa coaxial geometry

Maintainer: Lorenz Meier

SYS_AUTOSTART = 11001

Hexarotor x

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: motor 5
  • MAIN6: motor 6
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Generic Hexarotor x geometry

Maintainer: Anton Babushkin

SYS_AUTOSTART = 6001

Octo Coax Wide

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: motor 5
  • MAIN6: motor 6
  • MAIN7: motor 7
  • MAIN8: motor 8
Name
Steadidrone MAVRIK

Maintainer: Simon Wilks

SYS_AUTOSTART = 12002

Octorotor +

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: motor 5
  • MAIN6: motor 6
  • MAIN7: motor 7
  • MAIN8: motor 8
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Generic Octocopter + geometry

Maintainer: Anton Babushkin

SYS_AUTOSTART = 9001

Octorotor Coaxial

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: motor 5
  • MAIN6: motor 6
  • MAIN7: motor 7
  • MAIN8: motor 8
Name
Generic 10" Octo coaxial geometry

Maintainer: Lorenz Meier

SYS_AUTOSTART = 12001

Octorotor x

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: motor 5
  • MAIN6: motor 6
  • MAIN7: motor 7
  • MAIN8: motor 8
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Generic Octocopter X geometry

Maintainer: Anton Babushkin

SYS_AUTOSTART = 8001

Plane A-Tail

Common Outputs
  • MAIN1: aileron right
  • MAIN2: aileron left
  • MAIN3: v-tail right
  • MAIN4: v-tail left
  • MAIN5: throttle
  • MAIN6: wheel
  • MAIN7: flaps right
  • MAIN8: flaps left
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Applied Aeronautics Albatross

Maintainer: Andreas Antener

SYS_AUTOSTART = 2106

Quadrotor +

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: feed-through of RC AUX1 channel
  • MAIN6: feed-through of RC AUX2 channel
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
  • AUX4: feed-through of RC FLAPS channel
Name
Generic 10" Quad + geometry

Maintainer: Anton Babushkin

SYS_AUTOSTART = 5001

Quadrotor Wide

Common Outputs
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
  • AUX4: feed-through of RC FLAPS channel
Name
Team Blacksheep Discovery Endurance

Maintainer: Simon Wilks

SYS_AUTOSTART = 10018

Specific Outputs:

  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: feed-through of RC AUX1 channel
  • MAIN6: feed-through of RC AUX2 channel
3DR Iris Quadrotor

Maintainer: Anton Babushkin

SYS_AUTOSTART = 10016

Specific Outputs:

  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
Team Blacksheep Discovery

Maintainer: Anton Babushkin , Simon Wilks

SYS_AUTOSTART = 10015

Specific Outputs:

  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: feed-through of RC AUX1 channel
  • MAIN6: feed-through of RC AUX2 channel
Steadidrone QU4D

Maintainer: Thomas Gubler

SYS_AUTOSTART = 10017

Specific Outputs:

  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: feed-through of RC AUX1 channel
  • MAIN6: feed-through of RC AUX2 channel

Quadrotor asymmetric

Common Outputs
  • MAIN1: motor1 (front right: CCW)
  • MAIN2: motor2 (back left: CCW)
  • MAIN3: motor3 (front left: CW)
  • MAIN4: motor4 (back right: CW)
  • MAIN5: feed-through of RC AUX1 channel
  • MAIN6: feed-through of RC AUX2 channel
Name
Spedix S250AQ

Maintainer: Mark Whitehorn

SYS_AUTOSTART = 4051

Quadrotor x

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • MAIN5: feed-through of RC AUX1 channel
  • MAIN6: feed-through of RC AUX2 channel
Name
Generic Quadrotor X config

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4001

Specific Outputs:

  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
  • AUX4: feed-through of RC FLAPS channel
Lumenier QAV250

Maintainer: Mark Whitehorn

SYS_AUTOSTART = 4009
DJI Matrice 100

Maintainer: James Goppert

SYS_AUTOSTART = 4060
H4 680mm with Z1 Tiny2 Gimbal

Maintainer: Leon Mueller

SYS_AUTOSTART = 10021
3DR Solo

Maintainer: Andreas Antener

SYS_AUTOSTART = 4030
Lumenier QAV-R (raceblade) 5" arms

Maintainer: James Goppert

SYS_AUTOSTART = 4003
DJI Flame Wheel F330

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4010
3DR DIY Quad

Maintainer: Lorenz Meier

SYS_AUTOSTART = 10020
Generic Quadrotor X config with mount (e.g. gimbal)

Maintainer: Leon Mueller

SYS_AUTOSTART = 4002

Specific Outputs:

  • AUX1: Mount pitch
  • AUX2: Mount roll
  • AUX3: Mount yaw
  • AUX4: Mount mode
  • AUX5: Mount retract
Intel Aero RTF

Maintainer: John Doe

SYS_AUTOSTART = 4070
Crazyflie 2.0

Maintainer: John Doe

SYS_AUTOSTART = 4900
NanoMind 110 Quad

Maintainer: Henry Zhang

SYS_AUTOSTART = 4090
F450-sized quadrotor with CAN

Maintainer: Pavel Kirienko

SYS_AUTOSTART = 4012
Generic 250 Racer

Maintainer: Mark Whitehorn

SYS_AUTOSTART = 4050
AR.Drone Frame

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4008
Parrot Bebop Frame

Maintainer: Michael Schaeuble

SYS_AUTOSTART = 4013
Hobbyking Micro PCB

Maintainer: Thomas Gubler

SYS_AUTOSTART = 4020
DJI Flame Wheel F450

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4011
ZMR250 Racer

Maintainer: Anton Matosov

SYS_AUTOSTART = 4080
Reaper 500 Quad

Maintainer: Blankered

SYS_AUTOSTART = 4040

Rover

Common Outputs
  • MAIN1: pass-through of control group 0, channel 0
  • MAIN2: pass-through of control group 0, channel 1
  • MAIN3: pass-through of control group 0, channel 2
  • MAIN4: pass-through of control group 0, channel 3
  • MAIN5: pass-through of control group 0, channel 4
  • MAIN6: pass-through of control group 0, channel 5
  • MAIN7: pass-through of control group 0, channel 6
  • MAIN8: pass-through of control group 0, channel 7
Name
Axial Racing AX10

Maintainer: John Doe

SYS_AUTOSTART = 50001

Simulation

Common Outputs
  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: rudder
  • MAIN4: throttle
Name
HIL Quadcopter X

Maintainer: Anton Babushkin

SYS_AUTOSTART = 1001
HILStar (XPlane)

Maintainer: Lorenz Meier

SYS_AUTOSTART = 1000
HIL Quadcopter +

Maintainer: Anton Babushkin

SYS_AUTOSTART = 1003

Standard Plane

Common Outputs
  • AUX1: feed-through of RC AUX1 channel
  • AUX2: feed-through of RC AUX2 channel
  • AUX3: feed-through of RC AUX3 channel
Name
Standard AETR Plane

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2104

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: throttle
  • MAIN4: rudder
  • MAIN5: flaps
Multiplex Easystar

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2100

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: rudder
  • MAIN4: throttle
Bormatec Maja

Maintainer: Andreas Antener

SYS_AUTOSTART = 2105

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: aileron
  • MAIN3: elevator
  • MAIN4: rudder
  • MAIN5: throttle
  • MAIN6: wheel
  • MAIN7: flaps
Skyhunter 1800

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2103

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN4: throttle
Skywalker (3DR Aero)

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2102

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: throttle
  • MAIN4: rudder
  • MAIN5: flaps
Standard AERT Plane

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2101

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: rudder
  • MAIN4: throttle
  • MAIN5: flaps

Standard VTOL

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
Name
Sparkle Tech Ranger VTOL

Maintainer: Andreas Antener

SYS_AUTOSTART = 13009
Generic AAVVT v-tail plane airframe with Quad VTOL.

Maintainer: Sander Smeets

SYS_AUTOSTART = 13007
DeltaQuad

Maintainer: Sander Smeets

SYS_AUTOSTART = 13013

Specific Outputs:

  • AUX1: Right elevon
  • AUX2: Left elevon
  • AUX3: Motor
QuadRanger

Maintainer: Sander Smeets

SYS_AUTOSTART = 13008
Fun Cub Quad VTOL

Maintainer: Simon Wilks

SYS_AUTOSTART = 13005

Specific Outputs:

  • AUX1: Aileron 1
  • AUX2: Aileron 2
  • AUX3: Elevator
  • AUX4: Rudder
  • AUX5: Throttle
Generic quad delta VTOL

Maintainer: Simon Wilks

SYS_AUTOSTART = 13006

Specific Outputs:

  • AUX1: Right elevon
  • AUX2: Left elevon
  • AUX3: Motor

Tricopter Y+

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: yaw servo
Name
Generic Tricopter Y+ Geometry

Maintainer: Trent Lukaczyk

SYS_AUTOSTART = 14001

Tricopter Y-

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: yaw servo
Name
Generic Tricopter Y- Geometry

Maintainer: Trent Lukaczyk

SYS_AUTOSTART = 14002

VTOL Duo Tailsitter

Common Outputs
  • MAIN1: motor right
  • MAIN2: motor left
  • MAIN5: elevon right
  • MAIN6: elevon left
Name
Caipiroshka Duo Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13001

VTOL Quad Tailsitter

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 4
  • MAIN4: motor 5
  • MAIN5: elevon left
  • MAIN6: elevon right
  • MAIN7: canard surface
  • MAIN8: rudder
Name
Quadrotor + Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13004
Quadrotor X Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13003

VTOL Tiltrotor

Common Outputs
  • AUX1: Tilt servo
  • AUX2: Elevon 1
  • AUX3: Elevon 2
  • AUX4: Gear
Name
E-flite Convergence

Maintainer: Andreas Antener

SYS_AUTOSTART = 13012

Specific Outputs:

  • MAIN1: Motor right
  • MAIN2: Motor left
  • MAIN3: Motor back
  • MAIN4: empty
  • MAIN5: Tilt servo right
  • MAIN6: Tilt servo left
  • MAIN7: Elevon right
  • MAIN8: Elevon left
CruiseAder Claire

Maintainer: Samay Siga

SYS_AUTOSTART = 13010
BirdsEyeView Aerobotics FireFly6

Maintainer: Roman Bapst

SYS_AUTOSTART = 13002

Specific Outputs:

  • MAIN1: Front right motor bottom
  • MAIN2: Front right motor top
  • MAIN3: Back motor bottom
  • MAIN4: Back motor top
  • MAIN5: Front left motor bottom
  • MAIN6: Front left motor top

custom

Name
Passthrough mode for Snapdragon

Maintainer: Julian Oes This startup can be used on Pixhawk/Pixfalcon/Pixracer for the passthrough of RC input and PWM output.

SYS_AUTOSTART = 20000