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PX4-Autopilot/docs/en/airframes/airframe_reference.md
Hamish Willee 88d623bedb
Move PX4 Guide source into /docs (#24490) 
* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

* Add docs flaw checker workflows

* Used docs prefix for docs workflows

* Crowdin obvious fixes

* ci: docs move to self hosted runner

runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

* Add docs assets and scripts

* Fix up editlinks to point to PX4 sources

* Download just the translations that are supported

* Add translation sources for zh, uk, ko

* Update latest tranlsation and uorb graphs

* update vitepress to latest

---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2025-03-13 16:08:27 +11:00

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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.

2D Space Robot

Space Robot

Name
KTH Space Robot Maintainer: DISCOWER

SYS_AUTOSTART = 70000

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

SYS_AUTOSTART = 5001

Quadrotor H

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

SYS_AUTOSTART = 4601
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 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
Generic Rover Mecanum Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 52000
Generic Ground Vehicle (Deprecated)

SYS_AUTOSTART = 59000


Specific Outputs:
  • Motor1: throttle
  • Servo1: steering
NXP Cup car: DF Robot GPX (Deprecated) Maintainer: Katrin Moritz

SYS_AUTOSTART = 59001


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

Underwater Robot

Underwater Robot

Name
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

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

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

SYS_AUTOSTART = 1102


Specific Outputs:
  • Motor1: motor right
  • Motor2: motor left
  • Servo1: elevon right
  • Servo2: elevon left
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

Standard VTOL

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

SYS_AUTOSTART = 13000

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