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 <[e-mail]> 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 <[e-mail]> 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 <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 24001

Helicopter

Name
Generic Helicopter (Tail ESC)	Maintainer: John Doe <[e-mail]> SYS_AUTOSTART = 16001

Hexarotor +

Name
Generic Hexarotor + geometry	Maintainer: Lorenz Meier <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 11001

Hexarotor x

Name
Generic Hexarotor x geometry	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 6001
UVify Draco-R	Maintainer: Hyon Lim <[e-mail]> SYS_AUTOSTART = 6002

Octorotor +

Name
Generic Octocopter + geometry	Maintainer: Lorenz Meier <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 12001

Octorotor x

Name
Generic Octocopter X geometry	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 8001

Quadrotor +

Name
Generic 10" Quad + geometry	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 5001

Quadrotor H

Name
Reaper 500 Quad	Maintainer: Blankered SYS_AUTOSTART = 4040
BetaFPV Beta75X 2S Brushless Whoop	Maintainer: Beat Kueng <[e-mail]> SYS_AUTOSTART = 4041

Quadrotor x

Name
Generic Quadcopter	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 4001
S500 Generic	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 4014
Holybro S500	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 4015
PX4 Vision Dev Kit v1	Maintainer: John Doe <[e-mail]> SYS_AUTOSTART = 4016
NXP HoverGames	Maintainer: Iain Galloway <[e-mail]> SYS_AUTOSTART = 4017
Holybro X500 V2	Maintainer: Farhang Naderi <[e-mail]> SYS_AUTOSTART = 4019
PX4 Vision Dev Kit v1.5	Maintainer: John Doe <[e-mail]> SYS_AUTOSTART = 4020
Generic 250 Racer	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 4050
HolyBro QAV250	Maintainer: Beat Kueng <[e-mail]> SYS_AUTOSTART = 4052
Holybro Kopis 2	Maintainer: Beat Kueng <[e-mail]> SYS_AUTOSTART = 4053
Advanced Technology Labs (ATL) Mantis EDU	SYS_AUTOSTART = 4061
UVify IFO	Maintainer: Hyon Lim <[e-mail]> SYS_AUTOSTART = 4071
UVify IFO	Maintainer: Hyon Lim <[e-mail]> SYS_AUTOSTART = 4073
COEX Clover 4	Maintainer: Oleg Kalachev <[e-mail]> SYS_AUTOSTART = 4500
Crazyflie 2	Maintainer: Dennis Shtatov <[e-mail]> SYS_AUTOSTART = 4900
Crazyflie 2.1	Maintainer: Dennis Shtatov <[e-mail]> SYS_AUTOSTART = 4901

Simulation

Name
HIL Quadcopter X	Maintainer: Lorenz Meier <[e-mail]> SYS_AUTOSTART = 1001
SIH Quadcopter X	Maintainer: Romain Chiappinelli <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 14001

Plane

Flying Wing

Name
Generic Flying Wing	Maintainer: John Doe <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 2106

Simulation

Name
SIH plane AERT	Maintainer: Romain Chiappinelli <[e-mail]> SYS_AUTOSTART = 1101

Standard Plane

Name
Generic Standard Plane	Maintainer: John Doe <[e-mail]> 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 <[e-mail]> 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 <[e-mail]> 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 <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 1102

Standard VTOL

Name
HIL Standard VTOL QuadPlane	Maintainer: Roman Bapst <[e-mail]> SYS_AUTOSTART = 1002
Generic Standard VTOL	Maintainer: John Doe <[e-mail]> SYS_AUTOSTART = 13000
Vertical Technologies DeltaQuad	Maintainer: Sander Smeets <[e-mail]> 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 <[e-mail]> 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 <[e-mail]> SYS_AUTOSTART = 13200

VTOL Tiltrotor

Name
Generic Quadplane VTOL Tiltrotor	SYS_AUTOSTART = 13030
Generic Tiltrotor VTOL	Maintainer: John Doe <[e-mail]> SYS_AUTOSTART = 13100