# Helicopters :::warning Support for helicopters is [experimental](../airframes/index.md#experimental-vehicles). Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome! Issues include: - Limited support for different types of helicopters. For example, PX4 does not support helicopters with coaxial or dual rotor types, and features such as RPM governor and autorotation. ::: ## Helicopter Types PX4 supports helicopters with a single main rotor with a swash-plate controlled by up to 4 swash-plate servos, and: - a mechanically uncoupled tail rotor driven by an ESC, or - a mechanically coupled tail controlled by a servo on the tail motor. The allowed flight operations and [flight modes](../flight_modes_mc/index.md) are the same as for multicopter. Note however that (at the time of writing) 3D flying with negative thrust is not supported in autonomous/guided modes. ## 조립 Assembly of the core autopilot components are similar for all frames. This is covered in [Basic Assembly](../assembly/index.md). Helicopter-specific assembly consists mostly of connecting and powering the motors and swash plate servos. :::info Note that the flight controller cannot power motors and servos (only GPS module, RC receiver, and low power telemetry modules can be powered from Pixhawk flight controllers). Generally a power distribution board (PDB) is used to power motors, and a separate (or integrated) battery elimination circuit (BEC) is used to power each of the servos. ::: ## 설정 Helicopter configuration and setup is covered in: - [Helicopter configuration](../config_heli/index.md): Vehicle frame selection, actuator configuration and testing, and tuning. - [Standard Configuration](../config/index.md): The common configuration and calibration steps for most frames. This includes configuration/calibration of core components such as compass and gyroscope, setting flight mode mappings on a remote control, and safety settings. ## Frame Builds None available.