Airframes Reference

:::note 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

Cloudship

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 2507

Autogyro

Autogyro

Common Outputs

  • Motor1: throttle

  • Servo1: rotor_head_L

  • Servo2: rotor_head_R

Name

ThunderFly Auto-G2

Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>

SYS_AUTOSTART = 17002

Specific Outputs:

  • Servo3: elevator

  • Servo4: rudder

  • Servo5: rudder (second, optional)

  • Servo6: wheel

ThunderFly TF-G2

Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>

SYS_AUTOSTART = 17003

Specific Outputs:

  • Servo3: rudder

Balloon

Balloon

Name

ThunderFly balloon TF-B1

Maintainer: ThunderFly s.r.o.

SYS_AUTOSTART = 18001

Copter

Dodecarotor cox

Name

Generic Dodecarotor cox geometry

Maintainer: William Peale <develop707@gmail.com>

SYS_AUTOSTART = 24001

Helicopter

Name

Generic Helicopter (Tail ESC)

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 16001

Hexarotor +

Name

Generic Hexarotor + geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

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 geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 11001

Hexarotor x

Name

Generic Hexarotor x geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 6001

UVify Draco-R

Maintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 6002

Octorotor +

Name

Generic Octocopter + geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

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 geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 12001

Octorotor x

Name

Generic Octocopter X geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 8001

Quadrotor +

Name

Generic 10" Quad + geometry

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 5001

Quadrotor H

Name

Reaper 500 Quad

Maintainer: Blankered

SYS_AUTOSTART = 4040

BetaFPV Beta75X 2S Brushless Whoop

Maintainer: Beat Kueng <beat-kueng@gmx.net>

SYS_AUTOSTART = 4041

Quadrotor x

Name

Generic Quadcopter

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4001

S500 Generic

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4014

Holybro S500

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4015

PX4 Vision Dev Kit v1

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 4016

NXP HoverGames

Maintainer: Iain Galloway <iain.galloway@nxp.com>

SYS_AUTOSTART = 4017

Holybro X500 V2

Maintainer: Farhang Naderi <farhang.nba@gmail.com>

SYS_AUTOSTART = 4019

PX4 Vision Dev Kit v1.5

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 4020

Generic 250 Racer

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4050

HolyBro QAV250

Maintainer: Beat Kueng <beat-kueng@gmx.net>

SYS_AUTOSTART = 4052

Holybro Kopis 2

Maintainer: Beat Kueng <beat@px4.io>

SYS_AUTOSTART = 4053

Advanced Technology Labs (ATL) Mantis EDU

SYS_AUTOSTART = 4061

UVify IFO

Maintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 4071

UVify IFO

Maintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 4073

COEX Clover 4

Maintainer: Oleg Kalachev <okalachev@gmail.com>

SYS_AUTOSTART = 4500

Crazyflie 2

Maintainer: Dennis Shtatov <densht@gmail.com>

SYS_AUTOSTART = 4900

Crazyflie 2.1

Maintainer: Dennis Shtatov <densht@gmail.com>

SYS_AUTOSTART = 4901

Simulation

Name

HIL Quadcopter X

Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 1001

SIH Quadcopter X

Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1100

Tricopter Y+

Common Outputs

  • Motor1: motor 1

  • Motor2: motor 2

  • Motor3: motor 3

  • Servo1: yaw servo

Name

Generic Multirotor with tilt

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 14001

Plane

Flying Wing

Name

Generic Flying Wing

Maintainer: John Doe <john@example.com>

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 Albatross

Maintainer: Andreas Antener <andreas@uaventure.com>

SYS_AUTOSTART = 2106

Simulation

Name

SIH plane AERT

Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1101

Standard Plane

Name

Generic Standard Plane

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 2100

Rover

Rover

Name

Generic Ground Vehicle (Ackermann)

SYS_AUTOSTART = 50000

Specific Outputs:

  • Motor1: throttle

  • Servo1: steering

Aion Robotics R1 UGV

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50003

NXP Cup car: DF Robot GPX

Maintainer: Katrin Moritz

SYS_AUTOSTART = 50004

Specific Outputs:

  • Motor1: Speed of left wheels

  • Servo1: Steering servo

Underwater Robot

Underwater Robot

Name

Generic Underwater Robot

SYS_AUTOSTART = 60000

HippoCampus UUV (Unmanned Underwater Vehicle)

Maintainer: Daniel Duecker <daniel.duecker@tuhh.de>

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 <thies.lennart.alff@tuhh.de>

SYS_AUTOSTART = 60002

VTOL

Simulation

Common Outputs

  • Motor1: motor right

  • Motor2: motor left

  • Servo1: elevon right

  • Servo2: elevon left

Name

SIH Tailsitter Duo

Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1102

Standard VTOL

Name

HIL Standard VTOL QuadPlane

Maintainer: Roman Bapst <roman@auterion.com>

SYS_AUTOSTART = 1002

Generic Standard VTOL

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13000

Vertical Technologies DeltaQuad

Maintainer: Sander Smeets <sander@droneslab.com>

SYS_AUTOSTART = 13013

Specific Outputs:

  • Motor1: motor 1

  • Motor2: motor 2

  • Motor3: motor 3

  • Motor4: motor 4

  • Servo1: Right elevon

  • Servo2: Left elevon

  • Servo3: Pusher motor

  • Servo4: Pusher reverse channel

BabyShark VTOL

Maintainer: Silvan Fuhrer <silvan@auterion.com>

SYS_AUTOSTART = 13014

Specific Outputs:

  • Motor1: motor 1

  • Motor2: motor 2

  • Motor3: motor 3

  • Motor4: motor 4

  • Motor5: Pusher motor

  • Servo1: Ailerons

  • Servo2: A-tail left

  • Servo3: A-tail right

VTOL Tailsitter

Name

Generic VTOL Tailsitter

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13200

VTOL Tiltrotor

Name

Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030

Generic Tiltrotor VTOL

Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13100

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