Airframes Reference

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 conterclockwise.

Coaxial Helicopter

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

Flying Wing

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
Name
Phantom FPV Flying Wing

Maintainer: Simon Wilks

SYS_AUTOSTART = 3031

Sparkle Tech Pigeon

Maintainer: Simon Wilks

SYS_AUTOSTART = 3036

TBS Caipirinha

Maintainer: Lorenz Meier

SYS_AUTOSTART = 3100

FX-79 Buffalo Flying Wing

Maintainer: Simon Wilks

SYS_AUTOSTART = 3034

Wing Wing (aka Z-84) Flying Wing

Maintainer: Lorenz Meier

SYS_AUTOSTART = 3033

Skywalker X5 Flying Wing

Maintainer: Thomas Gubler , Julian Oes

SYS_AUTOSTART = 3032

Viper

Maintainer: Simon Wilks

SYS_AUTOSTART = 3035

IO Camflyer

Maintainer: Simon Wilks

SYS_AUTOSTART = 3030

Helicopter

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

SYS_AUTOSTART = 16001

Hexarotor +

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: Anton Babushkin

SYS_AUTOSTART = 7001

Hexarotor Coaxial

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 Hexa coaxial geometry

Maintainer: Lorenz Meier

SYS_AUTOSTART = 11001

Hexarotor x

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: Anton Babushkin

SYS_AUTOSTART = 6001

Octo Coax Wide

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

SYS_AUTOSTART = 12002

Octorotor +

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: Anton Babushkin

SYS_AUTOSTART = 9001

Octorotor Coaxial

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

SYS_AUTOSTART = 12001

Octorotor x

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: Anton Babushkin

SYS_AUTOSTART = 8001

Plane A-Tail

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

SYS_AUTOSTART = 2106

Quadrotor +

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: Anton Babushkin

SYS_AUTOSTART = 5001

Quadrotor Wide

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 Endurance

Maintainer: Simon Wilks

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

3DR Iris Quadrotor

Maintainer: Anton Babushkin

SYS_AUTOSTART = 10016

Specific Outputs:

  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4

Team Blacksheep Discovery

Maintainer: Anton Babushkin , Simon Wilks

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

Steadidrone QU4D

Maintainer: Thomas Gubler

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

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: Mark Whitehorn

SYS_AUTOSTART = 4051

Quadrotor x

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
Generic Quadrotor X config

Maintainer: Lorenz Meier

SYS_AUTOSTART = 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

Lumenier QAV250

Maintainer: Mark Whitehorn

SYS_AUTOSTART = 4009

DJI Matrice 100

Maintainer: James Goppert

SYS_AUTOSTART = 4060

H4 680mm with Z1 Tiny2 Gimbal

Maintainer: Leon Mueller

SYS_AUTOSTART = 10021

3DR Solo

Maintainer: Andreas Antener

SYS_AUTOSTART = 4030

Lumenier QAV-R (raceblade) 5" arms

Maintainer: James Goppert

SYS_AUTOSTART = 4003

DJI Flame Wheel F330

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4010

3DR DIY Quad

Maintainer: Lorenz Meier

SYS_AUTOSTART = 10020

Generic Quadrotor X config 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

Intel Aero Ready to Fly Drone

Maintainer: Lucas de Marchi

SYS_AUTOSTART = 4070

Crazyflie 2.0

Maintainer: John Doe

SYS_AUTOSTART = 4900

NanoMind 110 Quad

Maintainer: Henry Zhang

SYS_AUTOSTART = 4090

F450-sized quadrotor with CAN

Maintainer: Pavel Kirienko

SYS_AUTOSTART = 4012

Generic 250 Racer

Maintainer: Mark Whitehorn

SYS_AUTOSTART = 4050

AR.Drone Frame

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4008

Parrot Bebop Frame

Maintainer: Michael Schaeuble

SYS_AUTOSTART = 4013

Hobbyking Micro PCB

Maintainer: Thomas Gubler

SYS_AUTOSTART = 4020

DJI Flame Wheel F450

Maintainer: Lorenz Meier

SYS_AUTOSTART = 4011

ZMR250 Racer

Maintainer: Anton Matosov

SYS_AUTOSTART = 4080

Reaper 500 Quad

Maintainer: Blankered

SYS_AUTOSTART = 4040

Rover

Common 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
Name
Axial Racing AX10

Maintainer: John Doe

SYS_AUTOSTART = 50001

Simulation

Common Outputs
  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: rudder
  • MAIN4: throttle
Name
HIL Quadcopter X

Maintainer: Anton Babushkin

SYS_AUTOSTART = 1001

HILStar (XPlane)

Maintainer: Lorenz Meier

SYS_AUTOSTART = 1000

HIL Quadcopter +

Maintainer: Anton Babushkin

SYS_AUTOSTART = 1003

Standard Plane

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 AETR Plane

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2104

Specific Outputs:

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

Multiplex Easystar

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2100

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN3: rudder
  • MAIN4: throttle

Bormatec Maja

Maintainer: Andreas Antener

SYS_AUTOSTART = 2105

Specific Outputs:

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

Skyhunter 1800

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2103

Specific Outputs:

  • MAIN1: aileron
  • MAIN2: elevator
  • MAIN4: throttle

Skywalker (3DR Aero)

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2102

Specific Outputs:

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

Standard AERT Plane

Maintainer: Lorenz Meier

SYS_AUTOSTART = 2101

Specific Outputs:

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

Standard VTOL

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: motor 4
Name
Sparkle Tech Ranger VTOL

Maintainer: Andreas Antener

SYS_AUTOSTART = 13009

Generic AAVVT v-tail plane airframe with Quad VTOL.

Maintainer: Sander Smeets

SYS_AUTOSTART = 13007

DeltaQuad

Maintainer: Sander Smeets

SYS_AUTOSTART = 13013

Specific Outputs:

  • AUX1: Right elevon
  • AUX2: Left elevon
  • AUX3: Motor

QuadRanger

Maintainer: Sander Smeets

SYS_AUTOSTART = 13008

Fun Cub Quad VTOL

Maintainer: Simon Wilks

SYS_AUTOSTART = 13005

Specific Outputs:

  • AUX1: Aileron 1
  • AUX2: Aileron 2
  • AUX3: Elevator
  • AUX4: Rudder
  • AUX5: Throttle

Generic quad delta VTOL

Maintainer: Simon Wilks

SYS_AUTOSTART = 13006

Specific Outputs:

  • AUX1: Right elevon
  • AUX2: Left elevon
  • AUX3: Motor

Tricopter Y+

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: yaw servo
Name
Generic Tricopter Y+ Geometry

Maintainer: Trent Lukaczyk

SYS_AUTOSTART = 14001

Tricopter Y-

Common Outputs
  • MAIN1: motor 1
  • MAIN2: motor 2
  • MAIN3: motor 3
  • MAIN4: yaw servo
Name
Generic Tricopter Y- Geometry

Maintainer: Trent Lukaczyk

SYS_AUTOSTART = 14002

VTOL Duo Tailsitter

Common Outputs
  • MAIN1: motor right
  • MAIN2: motor left
  • MAIN5: elevon right
  • MAIN6: elevon left
Name
Caipiroshka Duo Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13001

VTOL Quad Tailsitter

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
Name
Quadrotor + Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13004

Quadrotor X Tailsitter

Maintainer: Roman Bapst

SYS_AUTOSTART = 13003

VTOL Tiltrotor

Common Outputs
  • AUX1: Tilt servo
  • AUX2: Elevon 1
  • AUX3: Elevon 2
  • AUX4: Gear
Name
E-flite Convergence

Maintainer: Andreas Antener

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

CruiseAder Claire

Maintainer: Samay Siga

SYS_AUTOSTART = 13010

BirdsEyeView Aerobotics FireFly6

Maintainer: Roman Bapst

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

custom

Name
Passthrough mode for Snapdragon

Maintainer: Julian Oes This startup can be used on Pixhawk/Pixfalcon/Pixracer for the passthrough of RC input and PWM output.

SYS_AUTOSTART = 20000

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