• Airframes Reference
    • Copter
      • Coaxial Helicopter
      • Dodecarotor cox
      • Helicopter
      • Hexarotor +
      • Hexarotor Coaxial
      • Hexarotor x
      • Octo Coax Wide
      • Octorotor +
      • Octorotor Coaxial
      • Octorotor x
      • Quadrotor +
      • Quadrotor H
      • Quadrotor Wide
      • Quadrotor asymmetric
      • Quadrotor x
      • Simulation (Copter)
      • Tricopter Y+
      • Tricopter Y-
    • Plane
      • Flying Wing
      • Plane A-Tail
      • Simulation (Plane)
      • Standard Plane
    • Rover
      • Rover
    • Tool
      • custom
    • VTOL
      • Standard VTOL
      • VTOL Duo Tailsitter
      • VTOL Quad Tailsitter
      • VTOL Tiltrotor

    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