Airframes Reference 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 MAIN1 : starboard thrusterMAIN2 : port thrusterMAIN3 : thrust tiltMAIN4 : tail thruster
Name Cloudship Maintainer: John Doe <john@example.com>SYS_AUTOSTART
= 2507
Autogyro Autogyro Name ThunderFly Auto-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>SYS_AUTOSTART
= 17002
Specific Outputs:
MAIN1 : rotor_head_LMAIN2 : rotor_head_RMAIN3 : elevatorMAIN5 : rudder (second, optional)MAIN6 : throttleMAIN7 : wheelAUX1 : feed-through of RC AUX1 channel for prerotator (optional)AUX2 : feed-through of RC AUX2 channel for release device (optional) ThunderFly TF-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>SYS_AUTOSTART
= 17003
Specific Outputs:
MAIN2 : rotor_head_LMAIN3 : rotor_head_RMAIN5 : throttle
Balloon Balloon Copter Coaxial Helicopter Common Outputs MAIN1 : Left swashplate servomotor, pitch axisMAIN2 : Right swashplate servomotor, roll axisMAIN3 : Upper rotor (CCW)MAIN4 : Lower rotor (CW)
Name Esky (Big) Lama v4 Maintainer: Emmanuel RousselSYS_AUTOSTART
= 15001
Dodecarotor cox Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : motor 5MAIN6 : motor 6AUX1 : motor 7AUX2 : motor 8AUX3 : motor 9AUX4 : motor 10AUX5 : motor 11AUX6 : motor 12
Name Generic Dodecarotor cox geometry Maintainer: William Peale <develop707@gmail.com>SYS_AUTOSTART
= 24001
Helicopter Common Outputs MAIN1 : main motorMAIN2 : front swashplate servoMAIN3 : right swashplate servoMAIN4 : left swashplate servoMAIN5 : tail-rotor servo
Name Blade 130X Maintainer: Bart Slinger <bartslinger@gmail.com>SYS_AUTOSTART
= 16001
Hexarotor + Common Outputs MAIN1 : motor1MAIN2 : motor2MAIN3 : motor3MAIN4 : motor4MAIN5 : motor5MAIN6 : motor6AUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Generic Hexarotor + geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 7001
Hexarotor Coaxial Common Outputs MAIN1 : front right top, CW; angle:60; direction:CWMAIN2 : front right bottom, CCW; angle:60; direction:CCWMAIN3 : back top, CW; angle:180; direction:CWMAIN4 : back bottom, CCW; angle:180; direction:CCWMAIN5 : front left top, CW; angle:-60; direction:CWMAIN6 : front left bottom, CCW;angle:-60; direction:CCWAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Generic Hexarotor coaxial geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 11001
Hexarotor x Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : motor 5MAIN6 : motor 6AUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channel
Name Generic Hexarotor x geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 6001
Specific Outputs:
AUX3 : feed-through of RC AUX3 channel UVify Draco-R Maintainer: Hyon Lim <lim@uvify.com>SYS_AUTOSTART
= 6002
Octorotor + Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : motor 5MAIN6 : motor 6MAIN7 : motor 7MAIN8 : motor 8AUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Generic Octocopter + geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 9001
Octorotor Coaxial Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : motor 5MAIN6 : motor 6MAIN7 : motor 7MAIN8 : motor 8
Name Generic 10" Octo coaxial geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 12001
Octorotor x Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : motor 5MAIN6 : motor 6MAIN7 : motor 7MAIN8 : motor 8AUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Generic Octocopter X geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 8001
Quadrotor + Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : feed-through of RC AUX1 channelMAIN6 : feed-through of RC AUX2 channelAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channelAUX4 : feed-through of RC FLAPS channel
Name Generic 10" Quad + geometry Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 5001
Quadrotor H Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4
Name Reaper 500 Quad Maintainer: BlankeredSYS_AUTOSTART
= 4040
Specific Outputs:
MAIN5 : feed-through of RC AUX1 channelMAIN6 : feed-through of RC AUX2 channel BetaFPV Beta75X 2S Brushless Whoop Maintainer: Beat Kueng <beat-kueng@gmx.net>SYS_AUTOSTART
= 4041
Quadrotor Wide Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4AUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channelAUX4 : feed-through of RC FLAPS channel
Name Team Blacksheep Discovery Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 10015
Specific Outputs:
MAIN5 : feed-through of RC AUX1 channelMAIN6 : feed-through of RC AUX2 channel 3DR Iris Quadrotor Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 10016
Team Blacksheep Discovery Endurance Maintainer: Simon Wilks <simon@uaventure.com>SYS_AUTOSTART
= 10018
Specific Outputs:
MAIN5 : feed-through of RC AUX1 channelMAIN6 : 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 channelMAIN6 : feed-through of RC AUX2 channel
Name Spedix S250AQ Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 4051
Quadrotor x Name Generic Quadcopter Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 4001
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : feed-through of RC AUX1 channelMAIN6 : feed-through of RC AUX2 channelAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channelAUX4 : feed-through of RC FLAPS channel Lumenier QAV-R (raceblade) 5" arms Maintainer: James Goppert <james.goppert@gmail.com>SYS_AUTOSTART
= 4003
Lumenier QAV250 Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 4009
S500 Generic Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 4014
Holybro S500 Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 4015
PX4 Vision DevKit Platform Maintainer: John Doe <john@example.com>SYS_AUTOSTART
= 4016
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4 NXP HoverGames Maintainer: Iain Galloway <iain.galloway@nxp.com>SYS_AUTOSTART
= 4017
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4 Holybro X500 V2 Maintainer: Farhang Naderi <farhang.nba@gmail.com>SYS_AUTOSTART
= 4019
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
HolyBro QAV250 Maintainer: Beat Kueng <beat-kueng@gmx.net>SYS_AUTOSTART
= 4052
Holybro Kopis 2 Maintainer: Beat Kueng <beat@px4.io>SYS_AUTOSTART
= 4053
Advanced Technology Labs (ATL) Mantis EDU SYS_AUTOSTART
= 4061
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4 UVify IFO Maintainer: Hyon Lim <lim@uvify.com>SYS_AUTOSTART
= 4071
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4 UVify Draco Maintainer: Hyon Lim <lim@uvify.com>SYS_AUTOSTART
= 4072
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4 UVify IFO Maintainer: Hyon Lim <lim@uvify.com>SYS_AUTOSTART
= 4073
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4 ZMR250 Racer Maintainer: Anton Matosov <anton.matosov@gmail.com>SYS_AUTOSTART
= 4080
NanoMind 110 Quad Maintainer: Henry Zhang <zhanghui629@gmail.com>SYS_AUTOSTART
= 4090
COEX Clover 4 Maintainer: Oleg Kalachev <okalachev@gmail.com>SYS_AUTOSTART
= 4500
Crazyflie 2 Maintainer: Dennis Shtatov <densht@gmail.com>SYS_AUTOSTART
= 4900
Crazyflie 2.1 Maintainer: Dennis Shtatov <densht@gmail.com>SYS_AUTOSTART
= 4901
Simulation (Copter) Name HIL Quadcopter X Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 1001
SIH Quadcopter X Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>SYS_AUTOSTART
= 1100
Tilt-Quad Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4AUX1 : Outer servo motor for rotor 2 armAUX2 : Outer servo motor for rotor 4 armAUX3 : Inner servo motor for rotor 2 armAUX4 : Inner servo motor for rotor 4 arm
Name Tilt-Quadrotor Maintainer: Ricardo Marques <marques.ricardo17@gmail.com>SYS_AUTOSTART
= 4100
Tricopter Y+ Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : yaw servo
Name Generic Tricopter Y+ Geometry Maintainer: Trent Lukaczyk <aerialhedgehog@gmail.com>SYS_AUTOSTART
= 14001
Tricopter Y- Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : yaw servo
Name Generic Tricopter Y- Geometry Maintainer: Trent Lukaczyk <aerialhedgehog@gmail.com>SYS_AUTOSTART
= 14002
Plane Flying Wing Common Outputs MAIN1 : left aileronMAIN2 : right aileronMAIN4 : throttleAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Generic Flying Wing SYS_AUTOSTART
= 3000
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
Sparkle Tech Pigeon Maintainer: Simon Wilks <simon@uaventure.com>SYS_AUTOSTART
= 3036
TBS Caipirinha Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 3100
Plane A-Tail Common Outputs MAIN1 : aileron rightMAIN2 : aileron leftMAIN3 : v-tail rightMAIN4 : v-tail leftMAIN5 : throttleMAIN6 : wheelMAIN7 : flaps rightMAIN8 : flaps leftAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Applied Aeronautics Albatross Maintainer: Andreas Antener <andreas@uaventure.com>SYS_AUTOSTART
= 2106
Plane V-Tail Common Outputs MAIN1 : aileron rightMAIN2 : aileron leftMAIN3 : v-tail rightMAIN4 : v-tail leftMAIN5 : throttleMAIN6 : wheelMAIN7 : flaps rightMAIN8 : flaps leftAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name X-UAV Mini Talon Maintainer: Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>SYS_AUTOSTART
= 2200
Simulation (Plane) Name HILStar (XPlane) Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 1000
Specific Outputs:
MAIN1 : aileronMAIN2 : elevatorMAIN3 : rudderMAIN4 : throttleMAIN5 : flapsMAIN6 : gear SIH plane AERT Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>SYS_AUTOSTART
= 1101
Standard Plane Common Outputs MAIN1 : aileronMAIN4 : rudderAUX1 : feed-through of RC AUX1 channelAUX2 : feed-through of RC AUX2 channelAUX3 : feed-through of RC AUX3 channel
Name Standard Plane Maintainer: Lorenz Meier <lorenz@px4.io>SYS_AUTOSTART
= 2100
Specific Outputs:
MAIN2 : elevatorMAIN3 : throttleMAIN5 : flapsMAIN6 : gear Bormatec Maja Maintainer: Andreas Antener <andreas@uaventure.com>SYS_AUTOSTART
= 2105
Specific Outputs:
MAIN2 : aileronMAIN3 : elevatorMAIN5 : throttleMAIN6 : wheelMAIN7 : flaps
Rover Rover Name Generic Ground Vehicle SYS_AUTOSTART
= 50000
Specific Outputs:
MAIN2 : steeringMAIN4 : throttle Aion Robotics R1 UGV Maintainer: Timothy ScottSYS_AUTOSTART
= 50003
Specific Outputs:
MAIN0 : Speed of left wheelsMAIN1 : Speed of right wheels NXP Cup car: DF Robot GPX Maintainer: Katrin MoritzSYS_AUTOSTART
= 50004
Specific Outputs:
MAIN2 : Steering servoMAIN3 : Speed of left wheelsMAIN4 : Speed of right wheels
Underwater Robot Underwater Robot Name Generic Underwater Robot SYS_AUTOSTART
= 60000
HippoCampus UUV (Unmanned Underwater Vehicle) Maintainer: Daniel Duecker <daniel.duecker@tuhh.de>SYS_AUTOSTART
= 60001
Vectored 6 DOF UUV Common Outputs MAIN1 : motor 1 CCW, bow starboard horizontal, , propeller CCWMAIN2 : motor 2 CCW, bow port horizontal, propeller CCWMAIN3 : motor 3 CCW, stern starboard horizontal, propeller CWMAIN4 : motor 4 CCW, stern port horizontal, propeller CWMAIN5 : motor 5 CCW, bow starboard vertical, propeller CCWMAIN6 : motor 6 CCW, bow port vertical, propeller CWMAIN7 : motor 7 CCW, stern starboard vertical, propeller CWMAIN8 : motor 8 CCW, stern port vertical, propeller CCW
Name BlueROV2 (Heavy Configuration) Maintainer: Thies Lennart Alff <thies.lennart.alff@tuhh.de>SYS_AUTOSTART
= 60002
VTOL Simulation (VTOL) Common Outputs MAIN1 : motor rightMAIN2 : motor leftMAIN5 : elevon rightMAIN6 : elevon left
Name SIH Tailsitter Duo Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>SYS_AUTOSTART
= 1102
Standard VTOL Name HIL Standard VTOL QuadPlane Maintainer: Roman Bapst <roman@auterion.com>SYS_AUTOSTART
= 1002
Generic Quadplane VTOL SYS_AUTOSTART
= 13000
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4AUX1 : Aileron 1AUX2 : Aileron 2AUX3 : ElevatorAUX4 : RudderAUX5 : Throttle Fun Cub Quad VTOL Maintainer: Simon Wilks <simon@uaventure.com>SYS_AUTOSTART
= 13005
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4AUX1 : Aileron 1AUX2 : Aileron 2AUX3 : ElevatorAUX4 : RudderAUX5 : Throttle Generic quad delta VTOL Maintainer: Simon Wilks <simon@uaventure.com>SYS_AUTOSTART
= 13006
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4AUX1 : Right elevonAUX2 : Left elevonAUX3 : 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
Vertical Technologies DeltaQuad Maintainer: Sander Smeets <sander@droneslab.com>SYS_AUTOSTART
= 13013
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : Right elevonMAIN6 : Left elevonMAIN7 : Pusher motorMAIN8 : Pusher reverse channel BabyShark VTOL Maintainer: Silvan Fuhrer <silvan@auterion.com>SYS_AUTOSTART
= 13014
Specific Outputs:
MAIN1 : AileronsMAIN2 : A-tail leftMAIN3 : Pusher motorMAIN4 : A-tail rightMAIN5 : motor 1MAIN6 : motor 2MAIN7 : motor 3MAIN8 : motor 4
VTOL Duo Tailsitter Common Outputs MAIN1 : motor rightMAIN2 : motor leftMAIN5 : elevon rightMAIN6 : elevon left
Name Caipiroshka Duo Tailsitter Maintainer: Roman Bapst <roman@px4.io>SYS_AUTOSTART
= 13001
Generic Tailsitter Maintainer: Roman Bapst <roman@px4.io>SYS_AUTOSTART
= 13200
VTOL Octoplane Common Outputs MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : motor 5MAIN6 : motor 6MAIN7 : motor 7MAIN8 : motor 8AUX1 : Aileron 1AUX2 : Aileron 2AUX3 : ElevatorAUX4 : RudderAUX5 : Throttle
Name Generic Octoplane VTOL Maintainer: John Doe <john@example.com>SYS_AUTOSTART
= 13050
VTOL Quad Tailsitter Name Quadrotor X Tailsitter Maintainer: Roman Bapst <roman@px4.io>SYS_AUTOSTART
= 13003
Quadrotor + Tailsitter Maintainer: Roman Bapst <roman@px4.io>SYS_AUTOSTART
= 13004
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4MAIN5 : elevon leftMAIN6 : elevon rightMAIN7 : canard surfaceMAIN8 : rudder
VTOL Tiltrotor Name BirdsEyeView Aerobotics FireFly6 Maintainer: Roman Bapst <roman@uaventure.com>SYS_AUTOSTART
= 13002
Specific Outputs:
MAIN1 : Front right motor bottomMAIN2 : Front right motor topMAIN3 : Back motor bottomMAIN4 : Back motor topMAIN5 : Front left motor bottomMAIN6 : Front left motor topAUX1 : Tilt servoAUX2 : Elevon 1AUX3 : Elevon 2AUX4 : Gear E-flite Convergence Maintainer: Andreas Antener <andreas@uaventure.com>SYS_AUTOSTART
= 13012
Specific Outputs:
MAIN1 : Motor rightMAIN2 : Motor leftMAIN3 : Motor backMAIN4 : emptyMAIN5 : Tilt servo rightMAIN6 : Tilt servo leftMAIN7 : Elevon rightMAIN8 : Elevon left Generic Quadplane VTOL Tiltrotor SYS_AUTOSTART
= 13030
Specific Outputs:
MAIN1 : motor 1MAIN2 : motor 2MAIN3 : motor 3MAIN4 : motor 4AUX1 : Motor tilt front leftAUX2 : Motor tilt front rightAUX3 : Motor tilt rear leftAUX4 : Motor tilt rear rightAUX5 : Aileron leftAUX6 : Aileron rightAUX7 : ElevatorAUX8 : Rudder
Last Updated: 11/16/2022, 12:53:59 AM