机架参考

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.

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旋翼机

共轴双桨直升机

常规输出接法
MAIN1: 电机1 MAIN2: 电机2 MAIN3：上旋翼（逆时针） MAIN4: 电机4

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Name
Cloudship

飞机

十二旋翼

Common Outputs
AUX1: feed-through of RC AUX1 channel for prerotator (optional) AUX2: feed-through of RC AUX2 channel for release device (optional)

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Name
ThunderFly Auto-G2
ThunderFly TF-G2

Balloon

Balloon

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Name
ThunderFly balloon TF-B1

Copter

Coaxial Helicopter

常规输出接法
MAIN1: Left swashplate servomotor, pitch axis MAIN2: Right swashplate servomotor, roll axis MAIN3: Upper rotor (CCW) MAIN4: Lower rotor (CW)

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Name
Esky (Big) Lama v4

Dodecarotor cox

常规输出接法
MAIN1: 电机1 MAIN2: 电机 2 MAIN3: 电机 3 MAIN4: 电机 4 MAIN5: 电机 5 MAIN6: 电机 6 AUX1: motor 7 AUX2: motor 8 AUX3: motor 9 AUX4: motor 10 AUX5: motor 11 AUX6: motor 12

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Name
Generic Dodecarotor cox geometry

Helicopter

常规输出接法
MAIN1: main motor MAIN2: front swashplate servo MAIN3: right swashplate servo MAIN4: left swashplate servo MAIN5: tail-rotor servo

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Name
Blade 130X

Hexarotor +

常规输出接法
MAIN1: motor1 MAIN2: motor2 MAIN3: motor3 MAIN4: motor4 MAIN5: motor5 MAIN6: motor6 AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Generic Hexarotor + geometry

Hexarotor Coaxial

Common Outputs

MAIN1: front right top, CW; angle:60; direction:CW MAIN2: front right bottom, CCW; angle:60; direction:CCW MAIN3: back top, CW; angle:180; direction:CW MAIN4: back bottom, CCW; angle:180; direction:CCW MAIN5: front left top, CW; angle:-60; direction:CW MAIN6: front left bottom, CCW;angle:-60; direction:CCW AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Generic Hexarotor coaxial geometry

Hexarotor x

常规输出接法
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6

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Name
Generic Hexarotor x geometry
UVify Draco-R
Hex X with control allocation

Octo Coax Wide

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 MAIN7: motor 7 MAIN8: motor 8

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Name
Steadidrone MAVRIK

Octorotor +

常规输出接法
MAIN1: 电机1 MAIN2: 电机 2 MAIN3: 电机 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 MAIN7: motor 7 MAIN8: motor 8 AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Generic Octocopter + geometry

Octorotor Coaxial

常规输出接法
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 MAIN7: motor 7 MAIN8: motor 8

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Name
Generic 10" Octo coaxial geometry

Octorotor x

常规输出接法
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 MAIN7: motor 7 MAIN8: motor 8 AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Generic Octocopter X geometry

Quadrotor +

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: feed-through of RC AUX1 channel MAIN6: feed-through of RC AUX2 channel AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel AUX4: feed-through of RC FLAPS channel

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Name
Generic 10" Quad + geometry

Quadrotor H

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Name
Reaper 500 Quad
BetaFPV Beta75X 2S Brushless Whoop

Quadrotor Wide

Common Outputs
AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel AUX4: feed-through of RC FLAPS channel

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Name
Team Blacksheep Discovery
3DR Iris Quadrotor
Steadidrone QU4D
Team Blacksheep Discovery Endurance

Quadrotor asymmetric

常规输出接法
MAIN1: motor1 (front right: CCW) MAIN2: motor2 (back left: CCW) MAIN3: motor3 (front left: CW) MAIN4: motor4 (back right: CW) MAIN5: feed-through of RC AUX1 channel MAIN6: feed-through of RC AUX2 channel

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Name
Spedix S250AQ

Quadrotor x

Common Outputs
AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel AUX4: feed-through of RC FLAPS channel

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Name
Generic Quadcopter
Lumenier QAV-R (raceblade) 5" arms
Lumenier QAV250
DJI F330 w/ DJI ESCs
DJI F450 w/ DJI ESCs
S500 Generic
Holybro S500
PX4 Vision DevKit Platform
NXP HoverGames
S500 with control allocation
3DR Solo
3DR DIY Quad
Generic 250 Racer
HolyBro QAV250
Holybro Kopis 2
DJI Matrice 100
Advanced Technology Labs (ATL) Mantis EDU
UVify IFO
UVify Draco
UVify IFO
ZMR250 Racer
NanoMind 110 Quad
COEX Clover 4
Crazyflie 2
Crazyflie 2.1

Simulation (Copter)

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Name
HIL Quadcopter X
SIH Quadcopter X

Tilt-Quad

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 AUX1: Outer servo motor for rotor 2 arm AUX2: Outer servo motor for rotor 4 arm AUX3: Inner servo motor for rotor 2 arm AUX4: Inner servo motor for rotor 4 arm

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Name
Tilt-Quadrotor

Tricopter Y+

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: yaw servo

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Name
Generic Tricopter Y+ Geometry

Tricopter Y-

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: yaw servo

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Name
Generic Tricopter Y- Geometry

Plane

Flying Wing

Common Outputs
AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Generic Flying Wing
IO Camflyer
Phantom FPV Flying Wing
Skywalker X5 Flying Wing
Wing Wing (aka Z-84) Flying Wing
FX-79 Buffalo Flying Wing
Viper
Sparkle Tech Pigeon
Modified Parrot Disco
TBS Caipirinha

Plane A-Tail

Common Outputs
MAIN1: aileron right MAIN2: aileron left MAIN3: v-tail right MAIN4: v-tail left MAIN5: throttle MAIN6: wheel MAIN7: flaps right MAIN8: flaps left AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Applied Aeronautics Albatross

Plane V-Tail

Common Outputs
MAIN1: aileron right MAIN2: aileron left MAIN3: v-tail right MAIN4: v-tail left MAIN5: throttle MAIN6: wheel MAIN7: flaps right MAIN8: flaps left AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
X-UAV Mini Talon

Simulation (Plane)

Common Outputs
MAIN1: aileron MAIN2: elevator MAIN3: rudder MAIN4: throttle MAIN5: flaps MAIN6: gear

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Name
HILStar (XPlane)
SIH plane AERT

Standard Plane

Common Outputs
AUX1: feed-through of RC AUX1 channel AUX2: feed-through of RC AUX2 channel AUX3: feed-through of RC AUX3 channel

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Name
Standard Plane
Bormatec Maja

Rover

Rover

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Name
Generic Ground Vehicle
Aion Robotics R1 UGV
NXP Cup car: DF Robot GPX

Underwater Robot

Underwater Robot

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Name
Generic Underwater Robot
HippoCampus UUV (Unmanned Underwater Vehicle)

Vectored 6 DOF UUV

Common Outputs

MAIN1: motor 1 CCW, bow starboard horizontal, , propeller CCW MAIN2: motor 2 CCW, bow port horizontal, propeller CCW MAIN3: motor 3 CCW, stern starboard horizontal, propeller CW MAIN4: motor 4 CCW, stern port horizontal, propeller CW MAIN5: motor 5 CCW, bow starboard vertical, propeller CCW MAIN6: motor 6 CCW, bow port vertical, propeller CW MAIN7: motor 7 CCW, stern starboard vertical, propeller CW MAIN8: motor 8 CCW, stern port vertical, propeller CCW

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Name
BlueROV2 (Heavy Configuration)

VTOL

Standard VTOL

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Name
HIL Standard VTOL QuadPlane
Generic Quadplane VTOL
Fun Cub Quad VTOL
Generic quad delta VTOL
Generic AAVVT v-tail plane airframe with Quad VTOL.
QuadRanger
Sparkle Tech Ranger VTOL
Vertical Technologies DeltaQuad
BabyShark VTOL

VTOL Duo Tailsitter

Common Outputs
MAIN1: motor right MAIN2: motor left MAIN5: elevon right MAIN6: elevon left

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Name
Caipiroshka Duo Tailsitter
Generic Tailsitter

VTOL Octoplane

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 3 MAIN4: motor 4 MAIN5: motor 5 MAIN6: motor 6 MAIN7: motor 7 MAIN8: motor 8 AUX1: Aileron 1 AUX2: Aileron 2 AUX3: Elevator AUX4: Rudder AUX5: Throttle

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Name
Generic Octoplane VTOL

VTOL Quad Tailsitter

Common Outputs
MAIN1: motor 1 MAIN2: motor 2 MAIN3: motor 4 MAIN4: motor 5 MAIN5: elevon left MAIN6: elevon right MAIN7: canard surface MAIN8: rudder

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Name
Quadrotor X Tailsitter
Quadrotor + Tailsitter

VTOL Tiltrotor

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Name
BirdsEyeView Aerobotics FireFly6
CruiseAder Claire
E-flite Convergence
Generic Quadplane VTOL Tiltrotor