PX4 Guide (v1.15)

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Airframes Reference ​

INFO

This list is auto-generated 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
CloudshipMaintainer: 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-G2Maintainer: 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-G2Maintainer: ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>

SYS_AUTOSTART = 17003

Specific Outputs:

  • Servo3: rudder

Balloon ​

Balloon ​

Name
ThunderFly balloon TF-B1Maintainer: ThunderFly s.r.o.

SYS_AUTOSTART = 18001

Copter ​

Dodecarotor cox ​

Name
Generic Dodecarotor cox geometryMaintainer: 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 + geometryMaintainer: 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 geometryMaintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 11001

Hexarotor x ​

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

SYS_AUTOSTART = 6001

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

SYS_AUTOSTART = 6002

Octorotor + ​

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

SYS_AUTOSTART = 12001

Octorotor x ​

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

SYS_AUTOSTART = 8001

Quadrotor + ​

Name
Generic Quad + geometryMaintainer: John Doe <john@example.com>

SYS_AUTOSTART = 5001

Quadrotor H ​

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

SYS_AUTOSTART = 4041

Quadrotor x ​

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

SYS_AUTOSTART = 4001

S500 GenericMaintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4014

Holybro S500Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4015

PX4 Vision Dev Kit v1Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 4016

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

SYS_AUTOSTART = 4017

Holybro X500 V2Maintainer: Farhang Naderi <farhang.nba@gmail.com>

SYS_AUTOSTART = 4019

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

SYS_AUTOSTART = 4020

Generic 250 RacerMaintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4050

HolyBro QAV250Maintainer: Beat Kueng <beat-kueng@gmx.net>

SYS_AUTOSTART = 4052

Holybro Kopis 2Maintainer: Beat Kueng <beat@px4.io>

SYS_AUTOSTART = 4053

Advanced Technology Labs (ATL) Mantis EDU

SYS_AUTOSTART = 4061

UVify IFOMaintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 4071

UVify IFOMaintainer: Hyon Lim <lim@uvify.com>

SYS_AUTOSTART = 4073

COEX Clover 4Maintainer: Oleg Kalachev <okalachev@gmail.com>

SYS_AUTOSTART = 4500

Droneblocks DEXI 5Maintainer: Alex klimaj <alex@arkelectron.com>

SYS_AUTOSTART = 4601

Crazyflie 2.1Maintainer: Dennis Shtatov <densht@gmail.com>

SYS_AUTOSTART = 4901

Simulation ​

Name
HIL Quadcopter XMaintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 1001

SIH Quadcopter XMaintainer: 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 tiltMaintainer: John Doe <john@example.com>

SYS_AUTOSTART = 14001

Plane ​

Flying Wing ​

Name
Generic Flying WingMaintainer: 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 AlbatrossMaintainer: Andreas Antener <andreas@uaventure.com>

SYS_AUTOSTART = 2106

Simulation ​

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

SYS_AUTOSTART = 1101

Standard Plane ​

Name
Generic Standard PlaneMaintainer: 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 UGVMaintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50003

NXP Cup car: DF Robot GPXMaintainer: Katrin Moritz

SYS_AUTOSTART = 50004

Specific Outputs:

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

Generic ackermann roverMaintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50010

Underwater Robot ​

Underwater Robot ​

Name
Generic Underwater RobotMaintainer: John Doe <john@example.com>

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 DuoMaintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1102

Standard VTOL ​

Name
HIL Standard VTOL QuadPlaneMaintainer: Roman Bapst <roman@auterion.com>

SYS_AUTOSTART = 1002

Generic Standard VTOLMaintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13000

Vertical Technologies DeltaQuadMaintainer: 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 VTOLMaintainer: 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 TailsitterMaintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13200

VTOL Tiltrotor ​

Name
Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030

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

SYS_AUTOSTART = 13100