Airframes Reference

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 counterclockwise.

Copter

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

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

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

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: 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
Name
Generic Hexarotor 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: 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

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: Lorenz Meier

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: 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

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

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

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

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
Spedix S250AQ

Maintainer: Lorenz Meier

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

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
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

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4009
DJI Flame Wheel F330

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4010
DJI Flame Wheel F450

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4011
F450-sized quadrotor with CAN

Maintainer: Pavel Kirienko

SYS_AUTOSTART = 4012
Parrot Bebop Frame

Maintainer: Michael Schaeuble

SYS_AUTOSTART = 4013
S500

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4014
Hobbyking Micro PCB

Maintainer: Thomas Gubler

SYS_AUTOSTART = 4020
3DR Solo

Maintainer: Andreas Antener

SYS_AUTOSTART = 4030
3DR DIY Quad

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4031
Generic 250 Racer

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4050
DJI Matrice 100

Maintainer: James Goppert

SYS_AUTOSTART = 4060
Intel Aero Ready to Fly Drone

Maintainer: Beat Kueng

SYS_AUTOSTART = 4070
ZMR250 Racer

Maintainer: Anton Matosov

SYS_AUTOSTART = 4080
NanoMind 110 Quad

Maintainer: Henry Zhang

SYS_AUTOSTART = 4090
Crazyflie 2.0

Maintainer: Dennis Shtatov

SYS_AUTOSTART = 4900

Simulation (Copter)

Name
HIL Quadcopter X

Maintainer: Lorenz Meier

SYS_AUTOSTART = 1001

Tilt-Quad

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
  • AUX1: Outer servo motor for rotor 2 arm
  • AUX2: Outer servo motor for rotor 4 arm
  • AUX3: Inner servo motor for rotor 2 arm
  • AUX4: Inner servo motor for rotor 4 arm
Name
Tilt-Quadrotor

Maintainer: Ricardo Marques

SYS_AUTOSTART = 4100

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

Plane

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
Generic Flying Wing

SYS_AUTOSTART = 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

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

SYS_AUTOSTART = 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
  • 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

Simulation (Plane)

Common Outputs
  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: rudder
  • MAIN4: throttle
  • MAIN5: flaps
  • MAIN6: gear
Name
HILStar (XPlane)

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

Maintainer: Lorenz Meier

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

Rover

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

VTOL

Standard VTOL

Name
HIL Standard VTOL QuadPlane

Maintainer: Roman Bapst

SYS_AUTOSTART = 1002
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

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

SYS_AUTOSTART = 13007
QuadRanger

Maintainer: Sander Smeets

SYS_AUTOSTART = 13008
Sparkle Tech Ranger VTOL

Maintainer: Andreas Antener

SYS_AUTOSTART = 13009
Vertical Technologies 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

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

Maintainer: Roman Bapst

SYS_AUTOSTART = 13003
Quadrotor + Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13004

VTOL Tiltrotor

Common Outputs
  • AUX1: Tilt servo
  • AUX2: Elevon 1
  • AUX3: Elevon 2
  • AUX4: Gear
Name
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
CruiseAder Claire

Maintainer: Samay Siga

SYS_AUTOSTART = 13010
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

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