PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
      • jMAVSim Simulation
        • Multi-Vehicle Sim with JMAVSim
      • Gazebo Simulation
        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
      • FlightGear Simulation
        • FlightGear Vehicles
        • Multi-Vehicle Sim with FlightGear
      • JSBSim Simulation
      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
        • DebugKeyValue
        • DebugValue
        • DebugVect
        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
        • EstimatorAidSource2d
        • EstimatorAidSource3d
        • EstimatorBias
        • EstimatorBias3d
        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
        • EstimatorSensorBias
        • EstimatorStates
        • EstimatorStatus
        • EstimatorStatusFlags
        • Event
        • FailsafeFlags
        • FailureDetectorStatus
        • FollowTarget
        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
        • GimbalDeviceAttitudeStatus
        • GimbalDeviceInformation
        • GimbalDeviceSetAttitude
        • GimbalManagerInformation
        • GimbalManagerSetAttitude
        • GimbalManagerSetManualControl
        • GimbalManagerStatus
        • GpioConfig
        • GpioIn
        • GpioOut
        • GpioRequest
        • GpsDump
        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
        • InputRc
        • InternalCombustionEngineStatus
        • IridiumsbdStatus
        • IrlockReport
        • LandingGear
        • LandingGearWheel
        • LandingTargetInnovations
        • LandingTargetPose
        • LaunchDetectionStatus
        • LedControl
        • LogMessage
        • LoggerStatus
        • MagWorkerData
        • MagnetometerBiasEstimate
        • ManualControlSetpoint
        • ManualControlSwitches
        • MavlinkLog
        • MavlinkTunnel
        • Mission
        • MissionResult
        • ModeCompleted
        • MountOrientation
        • NavigatorMissionItem
        • NormalizedUnsignedSetpoint
        • NpfgStatus
        • ObstacleDistance
        • OffboardControlMode
        • OnboardComputerStatus
        • OrbTest
        • OrbTestLarge
        • OrbTestMedium
        • OrbitStatus
        • ParameterUpdate
        • Ping
        • PositionControllerLandingStatus
        • PositionControllerStatus
        • PositionSetpoint
        • PositionSetpointTriplet
        • PowerButtonState
        • PowerMonitor
        • PpsCapture
        • PwmInput
        • Px4ioStatus
        • QshellReq
        • QshellRetval
        • RadioStatus
        • RateCtrlStatus
        • RcChannels
        • RcParameterMap
        • Rpm
        • RtlTimeEstimate
        • SatelliteInfo
        • SensorAccel
        • SensorAccelFifo
        • SensorBaro
        • SensorCombined
        • SensorCorrection
        • SensorGnssRelative
        • SensorGps
        • SensorGyro
        • SensorGyroFft
        • SensorGyroFifo
        • SensorHygrometer
        • SensorMag
        • SensorOpticalFlow
        • SensorPreflightMag
        • SensorUwb
        • SensorSelection
        • SensorsStatus
        • SensorsStatusImu
        • SystemPower
        • TakeoffStatus
        • TaskStackInfo
        • TecsStatus
        • TelemetryStatus
        • TiltrotorExtraControls
        • TimesyncStatus
        • TrajectoryBezier
        • TrajectorySetpoint
        • TrajectoryWaypoint
        • TransponderReport
        • TuneControl
        • UavcanParameterRequest
        • UavcanParameterValue
        • UlogStream
        • UlogStreamAck
        • UwbDistance
        • UwbGrid
        • VehicleAcceleration
        • VehicleAirData
        • VehicleAngularAccelerationSetpoint
        • VehicleAngularVelocity
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        • VehicleAttitudeSetpoint
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        • VehicleCommandAck
        • VehicleConstraints
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        • VehicleLocalPositionSetpoint
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        • VehicleOpticalFlowVel
        • VehicleRatesSetpoint
        • VehicleRoi
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        • VehicleThrustSetpoint
        • VehicleTorqueSetpoint
        • VehicleTrajectoryBezier
        • VehicleTrajectoryWaypoint
        • VtolVehicleStatus
        • Wind
        • YawEstimatorStatus
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Powered by GitBook
On this page
  • Developing a Frame Configuration
  • How to add a Configuration to Firmware
  • How to add a Configuration to an SD Card
  • Configuration File Overview
  • Example - Generic Quadcopter Frame Config
  • Example - Babyshark VTOL Complete Vehicle
  • Adding a New Airframe Group
  • Tuning Gains
  • Add Frame to QGroundControl
  1. Development
  2. Hardware
  3. Airframes

Adding a New Airframe

PreviousAirframesNextDevice Drivers

Last updated 1 year ago

PX4 are shell scripts that set up some (or all) of the parameters, controllers and apps needed for a particular vehicle frame, such as a quadcopter, ground vehicle, or boat. These scripts are executed when the corresponding in QGroundControl.

The configuration files that are compiled into firmware for NuttX targets are located in the folder (configuration files for POSIX simulators are stored in ). The folder contains both complete and full configurations for specific vehicles, and partial "generic configurations" for different vehicle types. The generic configurations are often used as the starting point for creating new configuration files.

In addition, a frame configuration file can also be loaded from an SD card.

:::note You can also "tweak" the current frame configuration using text files on the SD card. This is covered in page. :::

:::note To determine which parameters/values need to be set in the configuration file, you can first assign a generic airframe and tune the vehicle, and then use to list the parameters that changed. :::

Developing a Frame Configuration

The recommended process for developing a new frame configuration is:

  1. Start by selecting an appropriate "generic configuration" for the target vehicle type in QGC, such as Generic Quadcopter.

  2. Configure the .

  3. Perform other .

  4. Tune the vehicle.

  5. Run the console command to list the parameter difference compared to the original generic airfame.

Once you have the parameters you can create a new frame configuration file by copying the configuration file for the generic configuration, and appending the new parameters.

Alternatively you can just append the modified parameters to the startup configuration files described in ("tweaking the generic configuration").

How to add a Configuration to Firmware

To add a frame configuration to firmware:

    • Give it a short descriptive filename and prepend the filename with an unused autostart ID (for example, 1033092_superfast_vtol).

    • Update the file with configuration parameters and apps (see section above).

How to add a Configuration to an SD Card

A frame configuration file to be launched from SD card is the same as one stored in firmware.

To make PX4 launch with a frame configuration, renamed it to rc.autostart and copy it to the SD card at /ext_autostart/rc.autostart. PX4 will find any linked files in firmware.

Configuration File Overview

The configuration file consists of several main blocks:

  • The controllers and apps it should start, such as multicopter or fixed wing controllers, land detectors etc.

These aspects are mostly independent, which means that many configurations share the same physical layout of the airframe, start the same applications and differ most in their tuning gains.

:::note New frame configuration files are only automatically added to the build system after a clean build (run make clean). :::

Example - Generic Quadcopter Frame Config

The first line is a shebang, which tells the NuttX operating system (on which PX4 runs) that the configuration file is an executable shell script.

#!/bin/sh
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05

Example - Babyshark VTOL Complete Vehicle

The shebang and documentation sections are similar to those for the generic frame, but here we also document what outputs are mapped to each motor and actuator. Note that these outputs are documentation only; the actual mapping is done using parameters.

#!/bin/sh
#
# @name BabyShark VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
#
# @output Motor1 motor 1
# @output Motor2 motor 2
# @output Motor3 motor 3
# @output Motor4 motor 4
# @output Motor5 Pusher motor
# @output Servo1 Ailerons
# @output Servo2 A-tail left
# @output Servo3 A-tail right
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

As for the generic frame, we then include the generic VTOL defaults.

. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 22

param set-default BAT1_N_CELLS 6

param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_PN_R_SLEW_MAX 40
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_THR_TRIM 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_P 0.15

param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3

param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO 4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default COM_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_UP 2

param set-default NAV_ACC_RAD 3

param set-default SENS_BOARD_ROT 4

param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_F_TR_OL_TM 8
param set-default VT_PSHER_SLEW 0.5
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2

Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors and servos.

param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0

param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 15
param set-default CA_SV_CS0_TRQ_R 1.0
param set-default CA_SV_CS1_TRQ_P 0.5000
param set-default CA_SV_CS1_TRQ_R 0.0000
param set-default CA_SV_CS1_TRQ_Y -0.5000
param set-default CA_SV_CS1_TYPE 13
param set-default CA_SV_CS2_TRQ_P 0.5000
param set-default CA_SV_CS2_TRQ_Y 0.5000
param set-default CA_SV_CS2_TYPE 14

param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 105
param set-default PWM_MAIN_FUNC4 203
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 103
param set-default PWM_MAIN_FUNC8 104

param set-default PWM_MAIN_TIM0 50
param set-default PWM_MAIN_DIS1 1500
param set-default PWM_MAIN_DIS2 1500
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_DIS4 1500

Adding a New Airframe Group

The airframe metadata files used by QGroundControl and the documentation source code are generated from the airframe description, via a script, using the build command: make airframe_metadata

If the airframe is for a new group you additionally need to:

  1. def GetImageName(self):
        """
        Get parameter group image base name (w/o extension)
        """
        if (self.name == "Standard Plane"):
            return "Plane"
        elif (self.name == "Flying Wing"):
            return "FlyingWing"
         ...
     ...
        return "AirframeUnknown"
  2. Update QGroundControl:

    • <qresource prefix="/qmlimages">
         ...
         <file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
         <file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
         <file alias="Airframe/Boat">src/AutoPilotPlugins/Common/Images/Boat.svg</file>
         <file alias="Airframe/FlyingWing">src/AutoPilotPlugins/Common/Images/FlyingWing.svg</file>
         ...

    :::note The remaining airframe metadata should be automatically included in the firmware (once srcparser.py is updated). :::

Tuning Gains

The following topics explain how to tune the parameters that will be specified in the config file:

Add Frame to QGroundControl

  1. Make a clean build (e.g. by running make clean and then make px4_fmu-v5_default)

  2. Open QGC and select Custom firmware file... as shown below:

You will be asked to choose the .px4 firmware file to flash (this file is a zipped JSON file and contains the airframe metadata).

  1. Navigate to the build folder and select the firmware file (e.g. PX4-Autopilot/build/px4_fmu-v5_default/px4_fmu-v5_default.px4).

  2. Press OK to start flashing the firmware.

  3. Restart QGroundControl.

The new frame will then be available for selection in QGroundControl.

Create a new config file in the folder.

Add the name of the new frame config file to the in the relevant section for the type of vehicle

the software.

Documentation (used in the and QGroundControl). Airframe-specific parameter settings

The configuration and geometry using parameters

The configuration file for a generic Quad X copter is shown below (). This is very simple, because it defines only the minimal setup common to all quadcopters.

This is followed by the frame documentation. The @name, @type and @class are used to identify and group the frame in the and QGroundControl Airframe Selection.

The next line imports generic parameters that are appropriate for all vehicles of the specified type (see ).

Finally the file lists the control allocation parameters (starting with CA_ that define the default geometry for the frame. These may be modified for your frame geometry in the , and output mappings may be added.

A more complicated configuration file for a complete vehicle is provided below. This is the configuration for the Baby Shark ().

Then we define configuration parameters and :

Airframe "groups" are used to group similar airframes for selection in and in the . Every group has a name, and an associated svg image which shows the common geometry, number of motors, and direction of motor rotation for the grouped airframes.

For a new frame belonging to an existing group, you don't need to do anything more than provide documentation in the airframe description located at .

Add the svg image for the group into user guide documentation (if no image is provided a placeholder image is displayed):

Add a mapping between the new group name and image filename in the method GetImageName() (follow the pattern below):

Add the svg image for the group into:

Add reference to the svg image into , following the pattern below:

To make a new airframe available for section in the QGroundControl :

init.d/airframes
CMakeLists.txt
Build and upload
Airframes Reference
control allocation
original file here
init.d/rc.mc_defaults
Actuators Configuration
Standard VTOL
original file here
QGroundControl
Airframe Reference
ROMFS/px4fmu_common/init.d
assets/airframes/types
srcparser.py
src/AutopilotPlugins/Common/images
qgcimages.qrc
Autotuning
Multicopter PID Tuning Guide
Fixed Wing PID Tuning Guide
VTOL Configuration
frame configuration
Tuning gains
tuning gains
airframe is selected and applied
ROMFS/px4fmu_common/init.d
ROMFS/px4fmu_common/init.d-posix
geometry and actuator outputs
basic configuration
frame configuration files
System Startup > Customizing the System Startup
System Startup > Customizing the System Startup
param show-for-airframe
param show-for-airframe
QGC flash custom firmware
API Reference