PX4 User Guide (v1.14)

# Airframes Reference

Note

This list is auto-generated (opens new window) from the source code using the build command: make airframe_metadata.

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
  • Motor1: starboard thruster
  • Motor2: port thruster
  • Motor3: tail thruster
  • Servo1: thrust tilt
Name
Cloudship Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 2507

# Autogyro

# Autogyro

Common Outputs
  • Motor1: throttle
  • Servo1: rotor_head_L
  • Servo2: rotor_head_R
Name
ThunderFly Auto-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>

SYS_AUTOSTART = 17002

Specific Outputs:

  • Servo3: elevator
  • Servo4: rudder
  • Servo5: rudder (second, optional)
  • Servo6: wheel

ThunderFly TF-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>

SYS_AUTOSTART = 17003

Specific Outputs:

  • Servo3: rudder

# Balloon

# Balloon

Name
ThunderFly balloon TF-B1 Maintainer: ThunderFly s.r.o.

SYS_AUTOSTART = 18001

# Copter

# Dodecarotor cox

Name
Generic Dodecarotor cox geometry Maintainer: William Peale <develop707@gmail.com>

SYS_AUTOSTART = 24001

# Helicopter

Name
Generic Helicopter (Tail ESC) Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 16001

# Hexarotor +

Name
Generic Hexarotor + geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 7001

# Hexarotor Coaxial

Common Outputs
  • Motor1: front right top, CW; angle:60; direction:CW
  • Motor2: front right bottom, CCW; angle:60; direction:CCW
  • Motor3: back top, CW; angle:180; direction:CW
  • Motor4: back bottom, CCW; angle:180; direction:CCW
  • Motor5: front left top, CW; angle:-60; direction:CW
  • Motor6: front left bottom, CCW;angle:-60; direction:CCW
Name
Generic Hexarotor coaxial geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 11001

# Hexarotor x

Name
Generic Hexarotor x geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 6001

UVify Draco-R Maintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 6002

# Octorotor +

Name
Generic Octocopter + geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 9001

# Octorotor Coaxial

Common Outputs
  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Motor4: motor 4
  • Motor5: motor 5
  • Motor6: motor 6
  • Motor7: motor 7
  • Motor8: motor 8
Name
Generic 10" Octo coaxial geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 12001

# Octorotor x

Name
Generic Octocopter X geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 8001

# Quadrotor +

Name
Generic 10" Quad + geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 5001

# Quadrotor H

Name
Reaper 500 Quad Maintainer: Blankered

SYS_AUTOSTART = 4040

BetaFPV Beta75X 2S Brushless Whoop Maintainer: Beat Kueng <beat-kueng@gmx.net>

SYS_AUTOSTART = 4041

# Quadrotor x

Name
Generic Quadcopter Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4001

S500 Generic Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4014

Holybro S500 Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4015

PX4 Vision Dev Kit v1 Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 4016

NXP HoverGames Maintainer: Iain Galloway <iain.galloway@nxp.com>

SYS_AUTOSTART = 4017

Holybro X500 V2 Maintainer: Farhang Naderi <farhang.nba@gmail.com>

SYS_AUTOSTART = 4019

PX4 Vision Dev Kit v1.5 Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 4020

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

UVify IFO Maintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 4071

UVify IFO Maintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 4073

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

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

# Tricopter Y+

Common Outputs
  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Servo1: yaw servo
Name
Generic Multirotor with tilt Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 14001

# Plane

# Flying Wing

Name
Generic Flying Wing Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 3000

# Plane A-Tail

Common Outputs
  • Motor1: throttle
  • Servo1: aileron right
  • Servo2: aileron left
  • Servo3: v-tail right
  • Servo4: v-tail left
  • Servo5: wheel
  • Servo6: flaps right
  • Servo7: flaps left
Name
Applied Aeronautics Albatross Maintainer: Andreas Antener <andreas@uaventure.com>

SYS_AUTOSTART = 2106

# Simulation

Name
SIH plane AERT Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1101

# Standard Plane

Name
Generic Standard Plane Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 2100

# Rover

# Rover

Name
Generic Ground Vehicle (Ackermann)

SYS_AUTOSTART = 50000

Specific Outputs:

  • Motor1: throttle
  • Servo1: steering

Aion Robotics R1 UGV Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50003

NXP Cup car: DF Robot GPX Maintainer: Katrin Moritz

SYS_AUTOSTART = 50004

Specific Outputs:

  • Motor1: Speed of left wheels
  • Servo1: Steering servo

# 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
  • Motor1: motor 1 CCW, bow starboard horizontal, , propeller CCW
  • Motor2: motor 2 CCW, bow port horizontal, propeller CCW
  • Motor3: motor 3 CCW, stern starboard horizontal, propeller CW
  • Motor4: motor 4 CCW, stern port horizontal, propeller CW
  • Motor5: motor 5 CCW, bow starboard vertical, propeller CCW
  • Motor6: motor 6 CCW, bow port vertical, propeller CW
  • Motor7: motor 7 CCW, stern starboard vertical, propeller CW
  • Motor8: 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

Common Outputs
  • Motor1: motor right
  • Motor2: motor left
  • Servo1: elevon right
  • Servo2: 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 Standard VTOL Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13000

Vertical Technologies DeltaQuad Maintainer: Sander Smeets <sander@droneslab.com>

SYS_AUTOSTART = 13013

Specific Outputs:

  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Motor4: motor 4
  • Servo1: Right elevon
  • Servo2: Left elevon
  • Servo3: Pusher motor
  • Servo4: Pusher reverse channel

BabyShark VTOL Maintainer: Silvan Fuhrer <silvan@auterion.com>

SYS_AUTOSTART = 13014

Specific Outputs:

  • Motor1: motor 1
  • Motor2: motor 2
  • Motor3: motor 3
  • Motor4: motor 4
  • Motor5: Pusher motor
  • Servo1: Ailerons
  • Servo2: A-tail left
  • Servo3: A-tail right

# VTOL Tailsitter

Name
Generic VTOL Tailsitter Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13200

# VTOL Tiltrotor

Name
Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030

Generic Tiltrotor VTOL Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13100

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