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 counterclockwise.

Copter

Coaxial Helicopter


参考机型 - 图1









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


参考机型 - 图2









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 develop707@gmail.com

SYS_AUTOSTART = 24001

Helicopter


参考机型 - 图3









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 bartslinger@gmail.com

SYS_AUTOSTART = 16001

Hexarotor +


参考机型 - 图4









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 lorenz@px4.io

SYS_AUTOSTART = 7001

Hexarotor Coaxial


参考机型 - 图5









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 lorenz@px4.io

SYS_AUTOSTART = 11001

Hexarotor x


参考机型 - 图6









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 lorenz@px4.io

SYS_AUTOSTART = 6001

Octo Coax Wide


参考机型 - 图7









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 simon@uaventure.com

SYS_AUTOSTART = 12002

Octorotor +


参考机型 - 图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 + geometry

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 9001

Octorotor Coaxial


参考机型 - 图9









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 lorenz@px4.io

SYS_AUTOSTART = 12001

Octorotor x


参考机型 - 图10









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 lorenz@px4.io

SYS_AUTOSTART = 8001

Quadrotor +


参考机型 - 图11









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 lorenz@px4.io

SYS_AUTOSTART = 5001

Quadrotor H


参考机型 - 图12









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


参考机型 - 图13









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 lorenz@px4.io

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 simon@uaventure.com

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 lorenz@px4.io

SYS_AUTOSTART = 4051

Quadrotor x


参考机型 - 图14









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












<tr id=”copter_quadrotor_x_generic_quadrotor_x_with_mount(e.g.gimbal)”>




<tr id=”copter_quadrotor_x_lumenier_qav-r(raceblade)_5”_arms”>















































































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 james.goppert@gmail.com

SYS_AUTOSTART = 4003

H4 680mm with Z1 Tiny2 Gimbal

Maintainer: Leon Mueller

SYS_AUTOSTART = 4004

Lumenier QAV250

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 4009

DJI Flame Wheel F330

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 4010

DJI Flame Wheel F450

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 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 thomas@px4.io

SYS_AUTOSTART = 4020

3DR Solo

Maintainer: Andreas Antener andreas@uaventure.com

SYS_AUTOSTART = 4030

3DR DIY Quad

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 4031

Generic 250 Racer

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 4050

DJI Matrice 100

Maintainer: James Goppert james.goppert@gmail.com

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 zhanghui629@gmail.com

SYS_AUTOSTART = 4090

Crazyflie 2.0

Maintainer: Dennis Shtatov densht@gmail.com

SYS_AUTOSTART = 4900

Simulation (Copter)













Name
HIL Quadcopter X

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 1001

Tricopter Y+


参考机型 - 图15









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












Name
Generic Tricopter Y+ Geometry

Maintainer: Trent Lukaczyk aerialhedgehog@gmail.com

SYS_AUTOSTART = 14001

Tricopter Y-


参考机型 - 图16









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












Name
Generic Tricopter Y- Geometry

Maintainer: Trent Lukaczyk aerialhedgehog@gmail.com

SYS_AUTOSTART = 14002

Plane

Flying Wing


参考机型 - 图17









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



























<tr id=”plane_flying_wing_wing_wing(aka_z-84)_flying_wing”>





























Name
Generic Flying Wing

SYSAUTOSTART = 3000

IO Camflyer

Maintainer: Simon Wilks simon@uaventure.com

SYS_AUTOSTART = 3030

Phantom FPV Flying Wing

Maintainer: Simon Wilks simon@uaventure.com

SYS_AUTOSTART = 3031

Skywalker X5 Flying Wing

Maintainer: Julian Oes julian@px4.io

SYS_AUTOSTART = 3032

Wing Wing (aka Z-84) Flying Wing

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 3033

FX-79 Buffalo Flying Wing

Maintainer: Simon Wilks simon@uaventure.com

SYS_AUTOSTART = 3034

Viper

Maintainer: Simon Wilks simon@uaventure.com

SYS_AUTOSTART = 3035

Sparkle Tech Pigeon

Maintainer: Simon Wilks simon@uaventure.com

SYS_AUTOSTART = 3036

Modified Parrot Disco

Maintainer: Jan Liphardt JTLiphardt@gmail.com

SYS_AUTOSTART = 3037

TBS Caipirinha

Maintainer: Lorenz Meier lorenz@px4.io

SYS_AUTOSTART = 3100

Plane A-Tail


参考机型 - 图18









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 andreas@uaventure.com

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 lorenz@px4.io

SYS_AUTOSTART = 1000

Standard Plane


参考机型 - 图19









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 lorenz@px4.io

SYS_AUTOSTART = 2100

Specific Outputs:

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

Bormatec Maja

Maintainer: Andreas Antener andreas@uaventure.com

SYS_AUTOSTART = 2105

Specific Outputs:

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

Rover

Rover


参考机型 - 图20





















Name
Generic Ground Vehicle

SYS_AUTOSTART = 50000

Specific Outputs:

  • MAIN2: steering
  • MAIN4: throttle

Axial Racing AX10

Maintainer: John Doe john@example.com

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

Tool

custom













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

VTOL

Standard VTOL


参考机型 - 图21









































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 simon@uaventure.com

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 sander@droneslab.com

SYS_AUTOSTART = 13008

Sparkle Tech Ranger VTOL

Maintainer: Andreas Antener andreas@uaventure.com

SYS_AUTOSTART = 13009

DeltaQuad

Maintainer: Sander Smeets sander@droneslab.com

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


参考机型 - 图22









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












Name
Caipiroshka Duo Tailsitter

Maintainer: Roman Bapst roman@px4.io

SYS_AUTOSTART = 13001

VTOL Quad Tailsitter


参考机型 - 图23









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












<tr id=”vtol_vtol_quad_tailsitter_quadrotor+_tailsitter”>




Name
Quadrotor X Tailsitter

Maintainer: Roman Bapst roman@px4.io

SYSAUTOSTART = 13003

Quadrotor + Tailsitter

Maintainer: Roman Bapst roman@px4.io

SYS_AUTOSTART = 13004

VTOL Tiltrotor


参考机型 - 图24









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






















Name
BirdsEyeView Aerobotics FireFly6

Maintainer: Roman Bapst roman@uaventure.com

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 samay_s@icloud.com

SYS_AUTOSTART = 13010

E-flite Convergence

Maintainer: Andreas Antener andreas@uaventure.com

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