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airframe_reference.md

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机架参考

:::note 此列表是使用 make airframe_metadata命令从源码自动生成的。 :::

This page lists all supported airframes and types including the motor assignment and numbering. 绿色的为顺时针转动的电机，蓝色的为逆时针转动的电机。

AUX 通道可能在一些飞行控制器上不存在。 如果存在，PWM AUX 通道通常被标记为 AUX OUT。

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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
Name
Cloudship Maintainer: John Doe <[email protected]>

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
Name
ThunderFly Auto-G2 Maintainer: ThunderFly s.r.o., Roman Dvorak <[email protected]>

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 <[email protected]>

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 <[email protected]>

SYS_AUTOSTART = 24001

Helicopter

Name
通用直升机(Tail ESC) Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 16001

Hexarotor +

Name
Generic Hexarotor + geometry Maintainer: Lorenz Meier <[email protected]>

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
Name
Generic Hexarotor coaxial geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 11001

Hexarotor x

Name
Generic Hexarotor x geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 6001
UVify Draco-R Maintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 6002

Octorotor +

Name
Generic Octocopter + geometry Maintainer: Lorenz Meier <[email protected]>

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
Name
Generic 10" Octo coaxial geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 12001

Octorotor x

Name
Generic Octocopter X geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 8001

Quadrotor +

Name
Generic 10" Quad + geometry Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 5001

Quadrotor H

Name
Reaper 500 Quad Maintainer: Blankered

SYS_AUTOSTART = 4040
BetaFPV Beta75X 2S Brushless Whoop Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4041

Quadrotor x

Name
Generic Quadcopter Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4001
S500 Generic Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4014
Holybro S500 Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4015
PX4 Vision Dev Kit v1 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 4016
NXP HoverGames Maintainer: Iain Galloway <[email protected]>

SYS_AUTOSTART = 4017
Holybro X500 V2 Maintainer: Farhang Naderi <[email protected]>

SYS_AUTOSTART = 4019
PX4 Vision Dev Kit v1.5 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 4020
Generic 250 Racer Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 4050
HolyBro QAV250 Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4052
Holybro Kopis 2 Maintainer: Beat Kueng <[email protected]>

SYS_AUTOSTART = 4053
Advanced Technology Labs (ATL) Mantis EDU

SYS_AUTOSTART = 4061
UVify IFO Maintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 4071
UVify IFO Maintainer: Hyon Lim <[email protected]>

SYS_AUTOSTART = 4073
COEX Clover 4 Maintainer: Oleg Kalachev <[email protected]>

SYS_AUTOSTART = 4500
Crazyflie 2 Maintainer: Dennis Shtatov <[email protected]>

SYS_AUTOSTART = 4900
Crazyflie 2.1 Maintainer: Dennis Shtatov <[email protected]>

SYS_AUTOSTART = 4901

仿真

Name
HIL Quadcopter X Maintainer: Lorenz Meier <[email protected]>

SYS_AUTOSTART = 1001
SIH Quadcopter X Maintainer: Romain Chiappinelli <[email protected]>

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
Name
通用的带倾斜多旋翼 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 14001

Plane

Flying Wing

Name
Generic Flying Wing Maintainer: John Doe <[email protected]>

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
Name
Applied Aeronautics Albatross Maintainer: Andreas Antener <[email protected]>

SYS_AUTOSTART = 2106

仿真

Name
SIH plane AERT Maintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1101

Standard Plane

Name
通用标准飞机 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 2100

Rover

Rover

Name
通用地面车辆(Ackermann)

SYS_AUTOSTART = 50000

Specific Outputs:

  • 电机1: 油门
  • 舵机1: 转向
Aion Robotics R1 UGV Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 50003
NXP Cup car: DF Robot GPX Maintainer: Katrin Moritz

SYS_AUTOSTART = 50004

Specific Outputs:

  • 电机1: 剩余轮子速度
  • 舵机1: 转向

Underwater Robot

Underwater Robot

Name
Generic Underwater Robot

SYS_AUTOSTART = 60000
HippoCampus UUV (Unmanned Underwater Vehicle) Maintainer: Daniel Duecker <[email protected]>

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
Name
BlueROV2 (Heavy Configuration) Maintainer: Thies Lennart Alff <[email protected]>

SYS_AUTOSTART = 60002

VTOL

仿真

常规输出接法
  • 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
Name
SIH Tailsitter Duo Maintainer: Romain Chiappinelli <[email protected]>

SYS_AUTOSTART = 1102

Standard VTOL

Name
HIL Standard VTOL QuadPlane Maintainer: Roman Bapst <[email protected]>

SYS_AUTOSTART = 1002
通用标准VTOL Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13000
Vertical Technologies DeltaQuad Maintainer: Sander Smeets <[email protected]>

SYS_AUTOSTART = 13013

Specific Outputs:

  • 电机1: 电机1
  • 电机2: 电机2
  • 电机3: 电机3
  • 电机4: 电机4
  • 舵机1: 右升降副翼
  • 舵机2: 左升降副翼
  • 舵机3: 推进器电机
  • 电机4: 推进器逆向通道
BabyShark VTOL Maintainer: Silvan Fuhrer <[email protected]>

SYS_AUTOSTART = 13014

Specific Outputs:

  • 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: 推进器电机
  • 舵机1: 转向
  • 舵机2: A型尾左
  • 舵机3: A型尾右

立式垂直起落飞机

Name
通用立式垂直起落飞机 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13200

VTOL Tiltrotor

Name
Generic Quadplane VTOL Tiltrotor

SYS_AUTOSTART = 13030
通用倾转旋翼机 Maintainer: John Doe <[email protected]>

SYS_AUTOSTART = 13100