Airframes Reference

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.

Name
Esky (Big) Lama v4	Maintainer: Emmanuel Roussel = 15001

Name

Esky (Big) Lama v4

Maintainer: Emmanuel Roussel

= 15001

Dodecarotor cox

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 AUX1: motor 7 AUX2: motor 8 AUX3: motor 9 AUX4: motor 10 AUX5: motor 11 AUX6: motor 12

Name

Generic Dodecarotor cox geometry

Name
Generic Dodecarotor cox geometry	Maintainer: William Peale `SYS_AUTOSTART` = 24001

Maintainer: William Peale

SYS_AUTOSTART = 24001

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

Name
Blade 130X	Maintainer: Bart Slinger `SYS_AUTOSTART` = 16001

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

Name
Generic Hexarotor + geometry	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 7001

Maintainer: Lorenz Meier

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

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 Hexarotor coaxial geometry

Name
Generic Hexarotor coaxial geometry	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 11001

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

Name
Generic Hexarotor x geometry	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 6001

Maintainer: Lorenz Meier

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

Name
Steadidrone MAVRIK	Maintainer: Simon Wilks `SYS_AUTOSTART` = 12002

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

Name
Generic Octocopter + geometry	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 9001

Maintainer: Lorenz Meier

SYS_AUTOSTART = 9001

Octorotor Coaxial

Common Outputs
MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 MAIN7: motor 7 MAIN8: motor 8

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

Name
Generic Octocopter X geometry	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 8001

Maintainer: Lorenz Meier

SYS_AUTOSTART = 8001

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

Name
Generic 10" Quad + geometry	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 5001

Maintainer: Lorenz Meier

SYS_AUTOSTART = 5001

Quadrotor H

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

Reaper 500 Quad

Name
Reaper 500 Quad	Maintainer: Blankered `SYS_AUTOSTART` = 4040

Maintainer: Blankered

SYS_AUTOSTART = 4040

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	Maintainer: Lorenz Meier lorenz@px4.io `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
3DR Iris Quadrotor	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 10016 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
Steadidrone QU4D	Maintainer: Lorenz Meier lorenz@px4.io `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
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

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

Name
	Maintainer: Lorenz Meier lorenz@px4.io `SYS_AUTOSTART` = 4051

Maintainer: Lorenz Meier lorenz@px4.io

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	Maintainer: Lorenz Meier lorenz@px4.io `SYSAUTOSTART` = 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
Generic Quadrotor x with mount (e.g. gimbal)	Maintainer: Leon Mueller `SYS_AUTOSTART` = 4002 Specific Outputs: AUX1: Mount pitch AUX2: Mount roll AUX3: Mount yaw AUX4: Mount retract
Lumenier QAV-R (raceblade) 5” arms	Maintainer: James Goppert `SYS_AUTOSTART` = 4003
H4 680mm with Z1 Tiny2 Gimbal	Maintainer: Leon Mueller `SYS_AUTOSTART` = 4004
Lumenier QAV250	`SYS_AUTOSTART` = 4009
DJI Flame Wheel F330	Maintainer: Lorenz Meier lorenz@px4.io `SYS_AUTOSTART` = 4010
DJI Flame Wheel F450	Maintainer: Lorenz Meier = 4011
F450-sized quadrotor with CAN	Maintainer: Pavel Kirienko pavel.kirienko@gmail.com `SYS_AUTOSTART` = 4012
Parrot Bebop Frame	Maintainer: Michael Schaeuble `SYS_AUTOSTART` = 4013
Hobbyking Micro PCB	Maintainer: Thomas Gubler `SYS_AUTOSTART` = 4020
3DR Solo	Maintainer: Andreas Antener andreas@uaventure.com `SYS_AUTOSTART` = 4030
3DR DIY Quad	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 4031
Generic 250 Racer	Maintainer: Lorenz Meier lorenz@px4.io `SYS_AUTOSTART` = 4050
DJI Matrice 100	Maintainer: James Goppert `SYS_AUTOSTART` = 4060
Intel Aero Ready to Fly Drone	Maintainer: Lucas de Marchi `SYS_AUTOSTART` = 4070
ZMR250 Racer	Maintainer: Anton Matosov anton.matosov@gmail.com `SYS_AUTOSTART` = 4080
NanoMind 110 Quad	Maintainer: Henry Zhang `SYS_AUTOSTART` = 4090
Crazyflie 2.0	Maintainer: Dennis Shtatov densht@gmail.com `SYS_AUTOSTART` = 4900

Simulation (Copter)

Name

HIL Quadcopter X

Name
HIL Quadcopter X	Maintainer: Lorenz Meier lorenz@px4.io `SYS_AUTOSTART` = 1001

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 1001

Tricopter Y+

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: yaw servo

Name

Generic Tricopter Y+ Geometry

Name
Generic Tricopter Y+ Geometry	Maintainer: Trent Lukaczyk aerialhedgehog@gmail.com `SYS_AUTOSTART` = 14001

Maintainer: Trent Lukaczyk aerialhedgehog@gmail.com

SYS_AUTOSTART = 14001

Tricopter Y-

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: yaw servo

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
Generic Flying Wing	`SYSAUTOSTART` = 3000
IO Camflyer	Maintainer: Simon Wilks `SYS_AUTOSTART` = 3030
Phantom FPV Flying Wing	Maintainer: Simon Wilks `SYS_AUTOSTART` = 3031
Skywalker X5 Flying Wing	Maintainer: Julian Oes `SYS_AUTOSTART` = 3032
Wing Wing (aka Z-84) Flying Wing	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 3033
FX-79 Buffalo Flying Wing	Maintainer: Simon Wilks simon@uaventure.com `SYS_AUTOSTART` = 3034
Viper	Maintainer: Simon Wilks `SYS_AUTOSTART` = 3035
Sparkle Tech Pigeon	Maintainer: Simon Wilks `SYS_AUTOSTART` = 3036
Modified Parrot Disco	Maintainer: Jan Liphardt JTLiphardt@gmail.com = 3037
TBS Caipirinha	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 3100

Plane A-Tail

Common Outputs
MAIN1: aileron right MAIN2: aileron left MAIN3: v-tail right MAIN4: v-tail left MAIN5: throttle MAIN6: wheel 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

Name
Applied Aeronautics Albatross	Maintainer: Andreas Antener `SYS_AUTOSTART` = 2106

Maintainer: Andreas Antener

SYS_AUTOSTART = 2106

Simulation (Plane)

Common Outputs
MAIN1: aileron MAIN2: elevator MAIN3: rudder MAIN4: throttle MAIN5: flaps MAIN6: gear

Name

HILStar (XPlane)

Name
HILStar (XPlane)	Maintainer: Lorenz Meier `SYS_AUTOSTART` = 1000

Maintainer: Lorenz Meier

SYS_AUTOSTART = 1000

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 Plane

Name
Standard Plane	`SYS_AUTOSTART` = 2100 Specific Outputs: MAIN1: aileron MAIN2: elevator MAIN3: throttle MAIN4: rudder MAIN5: flaps MAIN6: gear
Bormatec Maja	Maintainer: Andreas Antener `SYS_AUTOSTART` = 2105 Specific Outputs: MAIN1: aileron MAIN2: aileron MAIN3: elevator MAIN4: rudder MAIN5: throttle MAIN6: wheel MAIN7: flaps

SYS_AUTOSTART = 2100

Specific Outputs:

MAIN1: aileron
MAIN2: elevator
MAIN3: throttle
MAIN4: rudder
MAIN5: flaps
MAIN6: gear

Bormatec Maja

Maintainer: Andreas Antener

SYS_AUTOSTART = 2105

Specific Outputs:

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

Rover

Name

Generic Ground Vehicle

Name
Generic Ground Vehicle	`SYS_AUTOSTART` = 50000 Specific Outputs: MAIN2: steering MAIN4: throttle
Axial Racing AX10	Maintainer: John Doe `SYS_AUTOSTART` = 50001 Specific 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
Traxxas stampede vxl 2wd	Maintainer: Marco Zorzi `SYS_AUTOSTART` = 50002 Specific Outputs: MAIN2: steering MAIN4: throttle

SYS_AUTOSTART = 50000

Specific Outputs:

MAIN2: steering
MAIN4: throttle

Axial Racing AX10

Maintainer: John Doe

SYS_AUTOSTART = 50001

Specific 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

Traxxas stampede vxl 2wd

Maintainer: Marco Zorzi

SYS_AUTOSTART = 50002

Specific Outputs:

MAIN2: steering
MAIN4: throttle

custom

Name

Passthrough mode for Snapdragon

Name
Passthrough mode for Snapdragon	Maintainer: Julian Oes julian@oes.ch This startup can be used on Pixhawk/Pixfalcon/Pixracer for the passthrough of RC input and PWM output. `SYS_AUTOSTART` = 20000

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

SYS_AUTOSTART = 20000

Standard VTOL

Name
Generic Quadplane VTOL	`SYS_AUTOSTART` = 13000 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 AUX1: Aileron 1 AUX2: Aileron 2 AUX3: Elevator AUX4: Rudder AUX5: Throttle
Fun Cub Quad VTOL	Maintainer: Simon Wilks simon@uaventure.com `SYS_AUTOSTART` = 13005 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 AUX1: Aileron 1 AUX2: Aileron 2 AUX3: Elevator AUX4: Rudder AUX5: Throttle
Generic quad delta VTOL	Maintainer: Simon Wilks `SYS_AUTOSTART` = 13006 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 AUX1: Right elevon AUX2: Left elevon AUX3: Motor
Generic AAVVT v-tail plane airframe with Quad VTOL.	Maintainer: Sander Smeets sander@droneslab.com `SYS_AUTOSTART` = 13007
QuadRanger	Maintainer: Sander Smeets `SYS_AUTOSTART` = 13008
Sparkle Tech Ranger VTOL	Maintainer: Andreas Antener andreas@uaventure.com `SYS_AUTOSTART` = 13009
DeltaQuad	Maintainer: Sander Smeets `SYS_AUTOSTART` = 13013 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: Right elevon MAIN6: Left elevon MAIN7: Pusher motor MAIN8: Pusher reverse channel

VTOL Duo Tailsitter

Common Outputs
MAIN1: motor right MAIN2: motor left MAIN5: elevon right MAIN6: elevon left

Name

Caipiroshka Duo Tailsitter

Name
Caipiroshka Duo Tailsitter	Maintainer: Roman Bapst `SYS_AUTOSTART` = 13001

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 X Tailsitter

Name
Quadrotor X Tailsitter	Maintainer: Roman Bapst `SYSAUTOSTART` = 13003
Quadrotor + Tailsitter	Maintainer: Roman Bapst roman@px4.io `SYS_AUTOSTART` = 13004

Maintainer: Roman Bapst

SYSAUTOSTART = 13003

Quadrotor + Tailsitter

Maintainer: Roman Bapst roman@px4.io

SYS_AUTOSTART = 13004

Common Outputs
AUX1: Tilt servo AUX2: Elevon 1 AUX3: Elevon 2 AUX4: Gear

参考机型

Airframes Reference

Dodecarotor cox

Helicopter

Hexarotor +

Hexarotor Coaxial

Hexarotor x

Octo Coax Wide

Octorotor +

Octorotor Coaxial

Quadrotor +

Quadrotor H

Quadrotor Wide

Quadrotor asymmetric

Quadrotor x

Simulation (Copter)

Tricopter Y+

Tricopter Y-

Plane A-Tail

Simulation (Plane)

Standard Plane

Rover

custom

Standard VTOL

VTOL Duo Tailsitter

VTOL Quad Tailsitter