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机架参考

:::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.

旋翼机

旋翼机

常规输出接法
  • 电机1: 右舷推进器
  • 电机2: 左舷推进器
  • 电机3: 尾部推进器
  • 舵机1: 推力倾斜
参数名
Cloudship Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 2507

飞机

飞机

常规输出接法
  • 电机1: 油门
  • Servo1: rotor_head_L
  • Servo2: rotor_head_R
参数名
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

参数名
ThunderFly balloon TF-B1 Maintainer: ThunderFly s.r.o.

SYS_AUTOSTART = 18001

旋翼机

Dodecarotor cox

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

SYS_AUTOSTART = 24001

Helicopter

参数名
通用直升机(Tail ESC) Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 16001

Hexarotor +

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

SYS_AUTOSTART = 7001

Hexarotor Coaxial

常规输出接法
  • 电机1: 右前顶部; 角度:60; 方向:顺时针
  • 电机2: 右前底部; 角度:60; 方向:逆时针
  • 电机3: 后顶部; 角度:180; 方向:顺时针
  • 电机4: 后底部; 角度:180; 方向:逆时针
  • 电机5: 左前顶部; 角度:-60; 方向:顺时针
  • 电机6: 左前底部; 角度:-60; 方向:逆时针
参数名
Generic Hexarotor coaxial geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 11001

Hexarotor x

参数名
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 +

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

SYS_AUTOSTART = 9001

Octorotor Coaxial

常规输出接法
  • 电机1: 电机1
  • 电机2: 电机2
  • 电机3: 电机3
  • 电机4: 电机4
  • 电机5: 电机5
  • 电机6: 电机6
  • 电机7: 电机7
  • 电机8: 电机8
参数名
Generic 10" Octo coaxial geometry Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 12001

Octorotor x

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

SYS_AUTOSTART = 8001

Quadrotor +

参数名
Generic Quad + geometry Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 5001

Quadrotor H

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

SYS_AUTOSTART = 4041

Quadrotor x

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

SYS_AUTOSTART = 4601
Crazyflie 2.1 Maintainer: Dennis Shtatov <densht@gmail.com>

SYS_AUTOSTART = 4901

仿真

参数名
HIL Standard VTOL QuadPlane Maintainer: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 1001
SIH Quadcopter X Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1100

Tricopter Y+

常规输出接法
  • 电机1: 电机1
  • 电机2: 电机2
  • 电机3: 电机3
  • 舵机1: 偏航角舵机
参数名
通用的带倾斜多旋翼 Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 14001

Plane

Flying Wing

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

SYS_AUTOSTART = 3000

Plane A-Tail

常规输出接法
  • 电机1: 油门
  • 舵机1: 右副翼
  • 舵机2: 左副翼
  • 舵机3: V型尾右
  • 舵机2: V型尾左
  • 舵机5: 轮子
  • 舵机6: 襟翼右
  • 舵机7: 襟翼左
参数名
Applied Aeronautics Albatross Maintainer: Andreas Antener <andreas@uaventure.com>

SYS_AUTOSTART = 2106

仿真

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

SYS_AUTOSTART = 1101

Standard Plane

参数名
通用标准飞机 Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 2100

无人车

无人车

参数名
SIH Rover Ackermann Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1104
Generic Rover Differential Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50000
Aion Robotics R1 UGV Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50001
Generic Rover Ackermann Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 51000
Axial SCX10 2 Trail Honcho Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 51001
NXP B3RB Rover Ackermann Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 51002
Generic Rover Mecanum Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 52000

Spacecraft

Free-Flyer

常规输出接法
  • Motor1: back left thruster, +x thrust
  • Motor2: front left thruster, -x thrust
  • Motor3: back right thruster, +x thrust
  • Motor4: front right thruster, -x thrust
  • Motor5: front left thruster, +y thrust
  • Motor6: front right thruster, -y thrust
  • Motor7: back left thruster, +y thrust
  • Motor8: back right thruster, -y thrust
参数名
KTH-ATMOS Maintainer: DISCOWER

SYS_AUTOSTART = 70000

Underwater Robot

Underwater Robot

参数名
Generic Underwater Robot Maintainer: 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

常规输出接法
  • 电机1: 电机1，逆时针，船首水平右舷，逆时针桨
  • 电机2: 电机2，逆时针，船首水平左舷，逆时针桨
  • 电机3: 电机3，逆时针，船尾水平右舷，顺时针桨
  • 电机4: 电机4，逆时针，船尾水平左舷，顺时针桨
  • 电机5: 电机5，逆时针，船首垂直右舷，逆时针桨
  • 电机6: 电机6，逆时针，船首垂直左舷，顺时针桨
  • 电机7: 电机7，逆时针，船尾垂直右舷，顺时针桨
  • 电机8: 电机8，逆时针，船尾垂直左舷，逆时针桨
参数名
BlueROV2 (Heavy Configuration) Maintainer: Thies Lennart Alff <thies.lennart.alff@tuhh.de>

SYS_AUTOSTART = 60002

垂直起降

仿真

参数名
SIH Tailsitter Duo Maintainer: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1102


Specific Outputs:
  • 电机1: 右侧电机
  • 电机2: 左侧电机
  • 舵机1: 右升降副翼
  • 舵机2: 左升降副翼
SIH Standard VTOL QuadPlane Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs:
  • Motor1: MC motor front right
  • Motor2: MC motor back left
  • Motor3: MC motor front left
  • Motor4: MC motor back right
  • Motor5: Forward thrust motor
  • Servo1: Ailerons (single channel)
  • Servo2: Elevator
  • Servo3: Rudder

标准垂起固定翼

参数名
HIL Standard VTOL QuadPlane Maintainer: Roman Bapst <roman@auterion.com>

SYS_AUTOSTART = 1002


Specific Outputs:
  • Motor1: MC motor front right
  • Motor2: MC motor back left
  • Motor3: MC motor front left
  • Motor4: MC motor back right
  • Motor5: Forward thrust motor
  • Servo1: Aileron
  • Servo2: Elevator
  • Servo3: Rudder
通用标准VTOL Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13000

立式垂直起落飞机

参数名
通用立式垂直起落飞机 Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13200

VTOL Tiltrotor

参数名
Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030
通用倾转旋翼机 Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 13100