airframe_reference.md

Airframes Reference

Note This list is auto-generated from the source code.

AUX channels may not be present on some flight controllers. If present, PWM AUX channels are commonly labelled 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.

Airship

Airship

Common Outputs
MAIN1: starboard thruster MAIN2: port thruster MAIN3: thrust tilt MAIN4: tail thruster

Name
Cloudship	Maintainer: John Doe SYS_AUTOSTART = 2507

Autogyro

Autogyro

Common Outputs
MAIN1: rotor_head_L MAIN2: rotor_head_R MAIN3: elevator MAIN4: rudder MAIN5: rudder (second, optional) MAIN6: throttle MAIN7: wheel AUX1: feed-through of RC AUX1 channel for prerotator (optional) AUX2: feed-through of RC AUX2 channel for release device (optional)

Name
ThunderFly Auto-G2	Maintainer: ThunderFly s.r.o., Roman Dvorak SYS_AUTOSTART = 17002

Copter

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

Dodecarotor cox

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 SYS_AUTOSTART = 24001

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: Lorenz Meier 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 Hexarotor 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

Name
Generic Hexarotor x geometry	Maintainer: Lorenz Meier SYS_AUTOSTART = 6001 Specific Outputs: AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel
UVify Draco-R	Maintainer: Hyon Lim SYS_AUTOSTART = 6002 Specific Outputs: AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel

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: Lorenz Meier 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: Lorenz Meier SYS_AUTOSTART = 8001

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: Lorenz Meier SYS_AUTOSTART = 5001

Quadrotor H

Name
Reaper 500 Quad	Maintainer: Blankered SYS_AUTOSTART = 4040 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
BetaFPV Beta75X 2S Brushless Whoop	Maintainer: Beat Kueng SYS_AUTOSTART = 4041 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4

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	Maintainer: Lorenz Meier 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 SYS_AUTOSTART = 10016 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
Steadidrone QU4D	Maintainer: Lorenz Meier 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 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 SYS_AUTOSTART = 4051

Quadrotor x

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
Generic Quadcopter	Maintainer: Lorenz Meier SYS_AUTOSTART = 4001 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
Lumenier QAV-R (raceblade) 5" arms	Maintainer: James Goppert SYS_AUTOSTART = 4003
Lumenier QAV250	Maintainer: Lorenz Meier SYS_AUTOSTART = 4009
DJI F330 w/ DJI ESCs	Maintainer: Lorenz Meier SYS_AUTOSTART = 4010
DJI F450 w/ DJI ESCs	Maintainer: Lorenz Meier SYS_AUTOSTART = 4011
S500 Generic	Maintainer: Lorenz Meier SYS_AUTOSTART = 4014
Holybro S500	Maintainer: Lorenz Meier SYS_AUTOSTART = 4015
PX4 Vision DevKit Platform	Maintainer: John Doe SYS_AUTOSTART = 4016 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
Hobbyking Micro PCB	Maintainer: Thomas Gubler SYS_AUTOSTART = 4020
3DR Solo	Maintainer: Andreas Antener SYS_AUTOSTART = 4030
3DR DIY Quad	Maintainer: Lorenz Meier SYS_AUTOSTART = 4031
Generic 250 Racer	Maintainer: Lorenz Meier SYS_AUTOSTART = 4050
HolyBro QAV250	Maintainer: Beat Kueng SYS_AUTOSTART = 4052
Holybro Kopis 2	Maintainer: Beat Kueng SYS_AUTOSTART = 4053
DJI Matrice 100	Maintainer: James Goppert SYS_AUTOSTART = 4060
Intel Aero Ready to Fly Drone	Maintainer: Beat Kueng SYS_AUTOSTART = 4070
UVify IFO	Maintainer: Hyon Lim SYS_AUTOSTART = 4071 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
UVify Draco	Maintainer: Hyon Lim SYS_AUTOSTART = 4072 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
UVify IFO	Maintainer: Hyon Lim SYS_AUTOSTART = 4073 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
ZMR250 Racer	Maintainer: Anton Matosov SYS_AUTOSTART = 4080
NanoMind 110 Quad	Maintainer: Henry Zhang SYS_AUTOSTART = 4090
Teal One	Maintainer: Matt McFadden SYS_AUTOSTART = 4250 Specific Outputs: MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4
COEX Clover 4	Maintainer: Oleg Kalachev SYS_AUTOSTART = 4500
Crazyflie 2	Maintainer: Dennis Shtatov SYS_AUTOSTART = 4900

Simulation (Copter)

Name
HIL Quadcopter X	Maintainer: Lorenz Meier SYS_AUTOSTART = 1001
SIH Quadcopter X	Maintainer: Romain Chiappinelli SYS_AUTOSTART = 1100

Tilt-Quad

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 AUX1: Outer servo motor for rotor 2 arm AUX2: Outer servo motor for rotor 4 arm AUX3: Inner servo motor for rotor 2 arm AUX4: Inner servo motor for rotor 4 arm

Name
Tilt-Quadrotor	Maintainer: Ricardo Marques SYS_AUTOSTART = 4100

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

Plane

Flying Wing

Common Outputs
AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

Name
Generic Flying Wing	SYS_AUTOSTART = 3000 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
IO Camflyer	Maintainer: Simon Wilks SYS_AUTOSTART = 3030 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
Phantom FPV Flying Wing	Maintainer: Simon Wilks SYS_AUTOSTART = 3031 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
Skywalker X5 Flying Wing	Maintainer: Julian Oes SYS_AUTOSTART = 3032 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
Wing Wing (aka Z-84) Flying Wing	Maintainer: Lorenz Meier SYS_AUTOSTART = 3033 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
FX-79 Buffalo Flying Wing	Maintainer: Simon Wilks SYS_AUTOSTART = 3034 Specific Outputs: MAIN1: right aileron MAIN2: left aileron MAIN4: throttle
Viper	Maintainer: Simon Wilks SYS_AUTOSTART = 3035 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
Sparkle Tech Pigeon	Maintainer: Simon Wilks SYS_AUTOSTART = 3036 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
Modified Parrot Disco	Maintainer: Jan Liphardt SYS_AUTOSTART = 3037 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle
TBS Caipirinha	Maintainer: Lorenz Meier SYS_AUTOSTART = 3100 Specific Outputs: MAIN1: left aileron MAIN2: right aileron MAIN4: throttle

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

Plane V-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
X-UAV Mini Talon	Maintainer: Friedrich Beckmann SYS_AUTOSTART = 2200

Simulation (Plane)

Common Outputs
MAIN1: aileron MAIN2: elevator MAIN3: rudder MAIN4: throttle MAIN5: flaps MAIN6: gear

Name
HILStar (XPlane)	Maintainer: Lorenz Meier SYS_AUTOSTART = 1000

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 Plane	Maintainer: Lorenz Meier SYS_AUTOSTART = 2100 Specific Outputs: MAIN1: aileron MAIN2: elevator MAIN3: throttle MAIN4: rudder MAIN5: flaps MAIN6: gear
Bormatec Maja	Maintainer: Andreas Antener SYS_AUTOSTART = 2105 Specific Outputs: MAIN1: aileron MAIN2: aileron MAIN3: elevator MAIN4: rudder MAIN5: throttle MAIN6: wheel MAIN7: flaps

Rover

Rover

Name
Generic Ground Vehicle	SYS_AUTOSTART = 50000 Specific Outputs: MAIN2: steering MAIN4: throttle
Axial Racing AX10	Maintainer: John Doe 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
Aion Robotics R1 UGV	Maintainer: Timothy Scott SYS_AUTOSTART = 50003 Specific Outputs: MAIN0: Speed of left wheels MAIN1: Speed of right wheels
NXP Cup car: DF Robot GPX	Maintainer: Katrin Moritz SYS_AUTOSTART = 50004 Specific Outputs: MAIN2: Steering servo MAIN3: Speed of left wheels MAIN4: Speed of right wheels

Underwater Robot

Underwater Robot

Name
Generic Underwater Robot	SYS_AUTOSTART = 60000
HippoCampus UUV (Unmanned Underwater Vehicle)	Maintainer: Daniel Duecker SYS_AUTOSTART = 60001

VTOL

Standard VTOL

Name
HIL Standard VTOL QuadPlane	Maintainer: Roman Bapst SYS_AUTOSTART = 1002
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 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 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 SYS_AUTOSTART = 13007
QuadRanger	Maintainer: Sander Smeets SYS_AUTOSTART = 13008
Sparkle Tech Ranger VTOL	Maintainer: Andreas Antener SYS_AUTOSTART = 13009
Vertical Technologies DeltaQuad	Maintainer: Sander Smeets 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
BabyShark VTOL	Maintainer: Silvan Fuhrer SYS_AUTOSTART = 13014 Specific Outputs: MAIN1: Ailerons MAIN2: A-tail left MAIN3: Pusher motor MAIN4: A-tail right MAIN5: motor 1 MAIN6: motor 2 MAIN7: motor 3 MAIN8: motor 4

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
Generic Tailsitter	Maintainer: Roman Bapst SYS_AUTOSTART = 13200

VTOL Octoplane

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

Name
Generic Octoplane VTOL	Maintainer: John Doe SYS_AUTOSTART = 13050

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 X Tailsitter	Maintainer: Roman Bapst SYS_AUTOSTART = 13003
Quadrotor + Tailsitter	Maintainer: Roman Bapst SYS_AUTOSTART = 13004

VTOL Tiltrotor

Common Outputs
AUX1: Tilt servo AUX2: Elevon 1 AUX3: Elevon 2 AUX4: Gear

Name
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
CruiseAder Claire	Maintainer: Samay Siga SYS_AUTOSTART = 13010
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