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PX4用户指南-机身构建-机身参考

PX4用户指南-机身构建-机身参考

说明:

  • 介绍机身以及选择

机身参考

  • AUX通道仅适用于Pixhawk板(标有AUX OUT)。
  • 列出了所有支持的机身和类型,包括电机分配和编号。 绿色电机顺时针旋转,蓝色电机逆时针旋转。

直升机


1. Coaxial Helicopter/同轴直升机

  • 图片

请输入图片描述

  • 共同输出:
MAIN1:左斜盘伺服电机,俯仰轴
MAIN2:右斜盘伺服电机,滚动轴
MAIN3:上转子(CCW)
MAIN4:下转子(CW)
  • 名称:Esky (Big) Lama v4
  • 维护者:Emmanuel Roussel
SYS_AUTOSTART = 15001

Dodecarotor cox

  • 图片

请输入图片描述

  • Common Outputs
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:电机7
AUX2:电机8
AUX3:电机9
AUX4:电机10
AUX5:电机11
AUX6:电机12
  • 名称:Generic Dodecarotor cox geometry
  • Maintainer: William Peale
SYS_AUTOSTART = 24001

Helicopter/直升机

  • 图片

请输入图片描述

  • 输出
MAIN1:主电机
MAIN2:前斜盘伺服
MAIN3:右斜盘伺服
MAIN4:左斜盘伺服
MAIN5:尾桨伺服
  • 名称:Blade 130X
  • Maintainer: Bart Slinger
SYS_AUTOSTART = 16001

Hexarotor +

  • 图片

请输入图片描述

  • 输出
MAIN1:motor1
MAIN2:motor2
MAIN3:moto3
MAIN4:电机4
MAIN5:电机5
MAIN6:电机6
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • 名称:Generic Hexarotor + geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 7001

Hexarotor Coaxial

  • 图片

请输入图片描述

  • 输出
MAIN1:右上方,CW;角:60;方向:CW
MAIN2:右前底,CCW;角:60;方向:CCW
MAIN3:返回顶部,CW;角度:180;方向:CW
MAIN4:返回底部,CCW;角度:180;方向:CCW
MAIN5:左前顶部,CW;角度:-60;方向:CW
MAIN6:左前底,CCW;角度:-60;方向:CCW
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • 名称:Generic Hexarotor coaxial geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 11001

Hexarotor x

  • 图片

请输入图片描述

  • 输出
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:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • 名称:Generic Hexarotor x geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 6001

Octo Coax Wide

  • 图片

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  • 输出
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:电机5
MAIN6:电机6
MAIN7:电机7
MAIN8:电机8
  • 名称:Steadidrone MAVRIK
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 12002

Octorotor +

  • 图片

请输入图片描述

  • 输出
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:电机5
MAIN6:电机6
MAIN7:电机7
MAIN8:电机8
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • 名称:Generic Octocopter + geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 9001

Octorotor Coaxial

  • 图片

请输入图片描述

  • 输出
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:电机5
MAIN6:电机6
MAIN7:电机7
MAIN8:电机8
  • 名称:Generic 10" Octo coaxial geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 12001

Octorotor x

  • 图片

请输入图片描述

  • 输出:
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:电机5
MAIN6:电机6
MAIN7:电机7
MAIN8:电机8
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • 名称:Generic Octocopter X geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 8001

Quadrotor +

  • 图片

请输入图片描述

  • Outputs
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
AUX4:RC FLAPS通道的馈通
  • Name:Generic 10" Quad + geometry
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 5001

Quadrotor H

  • images:
    请输入图片描述

  • Outputs

MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通
  • Name:Reaper 500 Quad
  • Maintainer: Blankered
SYS_AUTOSTART = 4040

Quadrotor Wide

  • images:

请输入图片描述

  • Outputs
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
AUX4:RC FLAPS通道的馈通
  • Name:Team Blacksheep Discovery
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 10015
  • 具体输出:
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通
  • Name:3DR Iris Quadrotor
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 10016
  • 具体输出:
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
  • Name:Steadidrone QU4D
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 10017
  • 具体输出:
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通
  • Name: Team Blacksheep Discovery Endurance
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 10018
  • 具体产出:
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通

Quadrotor asymmetric

  • images:

  • Outputs:

MAIN1:motor1(右前:CCW)
MAIN2:motor2(左后:CCW)
MAIN3:motor3(左前:CW)
MAIN4:motor4(右后:CW)
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通
SYS_AUTOSTART = 4051

Quadrotor x

  • images:

请输入图片描述

  • Outputs:
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
MAIN5:RC AUX1通道的馈通
MAIN6:RC AUX2通道的馈通
  • Name:Generic Quadrotor x
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4001
  • 具体输出:
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
AUX4:RC FLAPS通道的馈通
  • Name:Generic Quadrotor x with mount (e.g. gimbal)
  • Maintainer: Leon Mueller
SYS_AUTOSTART = 4002
  • Specific Outputs:
AUX1: Mount pitch
AUX2: Mount roll
AUX3: Mount yaw
AUX4: Mount retract
  • Name:Lumenier QAV-R (raceblade) 5" arms
  • Maintainer: James Goppert
SYS_AUTOSTART = 4003
  • Name:H4 680mm with Z1 Tiny2 Gimbal
  • Maintainer: Leon Mueller
SYS_AUTOSTART = 4004
  • Name:Lumenier QAV250
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4009
  • Name:DJI Flame Wheel F330
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4010
  • Name:DJI Flame Wheel F450
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4011
  • Name:F450-sized quadrotor with CAN
  • Maintainer: Pavel Kirienko
SYS_AUTOSTART = 4012
  • Name:Parrot Bebop Frame
  • Maintainer: Michael Schaeuble
SYS_AUTOSTART = 4013
  • Name:S500
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4014
  • Name:Hobbyking Micro PCB
  • Maintainer: Thomas Gubler
SYS_AUTOSTART = 4020
  • Name:3DR Solo
  • Maintainer: Andreas Antener
SYS_AUTOSTART = 4030
  • Name:3DR DIY Quad
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4031
  • Name:Generic 250 Racer
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 4050
  • Name:DJI Matrice 100
  • Maintainer: James Goppert
SYS_AUTOSTART = 4060
  • Name:Intel Aero Ready to Fly Drone
  • Maintainer: Beat Kueng
SYS_AUTOSTART = 4070
  • Name:ZMR250 Racer
  • Maintainer: Anton Matosov
SYS_AUTOSTART = 4080
  • Name:NanoMind 110 Quad
  • Maintainer: Henry Zhang
SYS_AUTOSTART = 4090
  • Name:Crazyflie 2.0
  • Maintainer: Dennis Shtatov
SYS_AUTOSTART = 4900

Simulation (Copter)

  • Name:HIL Quadcopter X
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 1001

Tilt-Quad

  • Outputs
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:电机4
AUX1:转子2臂的外部伺服电机
AUX2:转子4臂的外部伺服电机
AUX3:转子2臂的内部伺服电机
AUX4:转子4臂的内部伺服电机
SYS_AUTOSTART = 4100

Tricopter Y+

  • images:

请输入图片描述

  • Outputs
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:偏航伺服
  • Name:Generic Tricopter Y+ Geometry
  • Maintainer: Trent Lukaczyk
SYS_AUTOSTART = 14001

Tricopter Y-

  • images

请输入图片描述

  • Outputs
MAIN1:电机1
MAIN2:电机2
MAIN3:电机3
MAIN4:偏航伺服
  • Name:Generic Tricopter Y- Geometry
  • Maintainer: Trent Lukaczyk
SYS_AUTOSTART = 14002

Plane


Flying Wing/固定翼

  • images

请输入图片描述

  • Outputs
MAIN1:左副翼
MAIN2:右副翼
MAIN4:油门
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • Name:Generic Flying Wing
SYS_AUTOSTART = 3000
  • Name:IO Camflyer
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 3030
SYS_AUTOSTART = 3031
  • Name:Skywalker X5 Flying Wing
  • Maintainer: Julian Oes
SYS_AUTOSTART = 3032
  • Name:Wing Wing (aka Z-84) Flying Wing
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 3033
  • Name:FX-79 Buffalo Flying Wing
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 3034
  • Name:Viper
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 3035
  • Name:Sparkle Tech Pigeon
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 3036
  • Name:Modified Parrot Disco
  • Maintainer: Jan Liphardt
SYS_AUTOSTART = 3037
  • Name:TBS Caipirinha
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 3100

Plane A-Tail

  • images

请输入图片描述

  • 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
  • Name:Applied Aeronautics Albatross
  • Maintainer: Andreas Antener
SYS_AUTOSTART = 2106

Simulation (Plane)

  • Outputs
MAIN1: aileron
MAIN2: elevator
MAIN3: rudder
MAIN4: throttle
MAIN5: flaps
MAIN6: gear
  • Name:HILStar (XPlane)
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 1000

Standard Plane

  • images

请输入图片描述

  • Outputs
AUX1:RC AUX1通道的馈通
AUX2:RC AUX2通道的馈通
AUX3:RC AUX3通道的馈通
  • Name:Standard Plane
  • Maintainer: Lorenz Meier
SYS_AUTOSTART = 2100
  • Specific Outputs:
MAIN1: aileron
MAIN2: elevator
MAIN3: throttle
MAIN4: rudder
MAIN5: flaps
MAIN6: gear
  • Name:Bormatec Maja
  • Maintainer: Andreas Antener
SYS_AUTOSTART = 2105
  • Specific Outputs:
MAIN1: aileron
MAIN2: aileron
MAIN3: elevator
MAIN4: rudder
MAIN5: throttle
MAIN6: wheel
MAIN7: flaps

Rover


Rover

  • images
    请输入图片描述

  • Name: Generic Ground Vehicle

SYS_AUTOSTART = 50000
  • Specific Outputs:
MAIN2: steering
MAIN4: throttle
  • Name: Axial Racing AX10
  • Maintainer: John Doe
SYS_AUTOSTART = 50001
  • Specific Outputs:
MAIN1:控制组0,通道0的传递
MAIN2:控制组0,通道1的传递
MAIN3:控制组0,通道2的传递
MAIN4:控制组0,通道3的传递
MAIN5:控制组0,通道4的传递
MAIN6:控制组0,通道5的传递
MAIN7:控制组0,通道6的传递
MAIN8:控制组0,通道7的传递
SYS_AUTOSTART = 50002
  • Specific Outputs:
MAIN2: steering
MAIN4: throttle

VTOL


Standard VTOL

  • images

请输入图片描述

  • Name:HIL Standard VTOL QuadPlane
  • Maintainer: Roman Bapst
SYS_AUTOSTART = 1002
  • Name: Generic Quadplane VTOL
SYS_AUTOSTART = 13000
  • Specific Outputs:
MAIN1: motor 1
MAIN2: motor 2
MAIN3: motor 3
MAIN4: motor 4
AUX1: Aileron 1
AUX2: Aileron 2
AUX3: Elevator
AUX4: Rudder
AUX5: Throttle
  • Name: Fun Cub Quad VTOL
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 13005
  • Specific Outputs:
MAIN1: motor 1
MAIN2: motor 2
MAIN3: motor 3
MAIN4: motor 4
AUX1: Aileron 1
AUX2: Aileron 2
AUX3: Elevator
AUX4: Rudder
AUX5: Throttle
  • Name: Generic quad delta VTOL
  • Maintainer: Simon Wilks
SYS_AUTOSTART = 13006
  • Specific Outputs:
MAIN1: motor 1
MAIN2: motor 2
MAIN3: motor 3
MAIN4: motor 4
AUX1: Right elevon
AUX2: Left elevon
AUX3: Motor
  • Name: Generic AAVVT v-tail plane airframe with Quad VTOL.
  • Maintainer: Sander Smeets
SYS_AUTOSTART = 13007
  • Name: QuadRanger
  • Maintainer: Sander Smeets
SYS_AUTOSTART = 13008
  • Name: Sparkle Tech Ranger VTOL
  • Maintainer: Andreas Antener
SYS_AUTOSTART = 13009
  • Name: Vertical Technologies DeltaQuad
  • Maintainer: Sander Smeets
SYS_AUTOSTART = 13013
  • Specific Outputs:

    MAIN1: motor 1
    MAIN2: motor 2
    MAIN3: motor 3
    MAIN4: motor 4
    MAIN5: Right elevon
    MAIN6: Left elevon
    MAIN7: Pusher motor
    MAIN8: Pusher reverse channel

VTOL Duo Tailsitter

  • images

请输入图片描述

  • Outputs
MAIN1: motor right
MAIN2: motor left
MAIN5: elevon right
MAIN6: elevon left
  • Name: Caipiroshka Duo Tailsitter
  • Maintainer: Roman Bapst
SYS_AUTOSTART = 13001

VTOL Quad Tailsitter

  • images:

请输入图片描述

  • Outputs
MAIN1: motor 1
MAIN2: motor 2
MAIN3: motor 4
MAIN4: motor 5
MAIN5: elevon left
MAIN6: elevon right
MAIN7: canard surface
MAIN8: rudder
  • Name:Quadrotor X Tailsitter
  • Maintainer: Roman Bapst
SYS_AUTOSTART = 13003
  • Name:Quadrotor + Tailsitter
  • Maintainer: Roman Bapst
SYS_AUTOSTART = 13004

VTOL Tiltrotor

  • images

请输入图片描述

  • Outputs
AUX1: Tilt servo
AUX2: Elevon 1
AUX3: Elevon 2
AUX4: Gear
  • Name:BirdsEyeView Aerobotics FireFly6
  • Maintainer: Roman Bapst
SYS_AUTOSTART = 13002
  • Specific Outputs:
MAIN1: Front right motor bottom
MAIN2: Front right motor top
MAIN3: Back motor bottom
MAIN4: Back motor top
MAIN5: Front left motor bottom
MAIN6: Front left motor top
  • Name:CruiseAder Claire
  • Maintainer: Samay Siga
SYS_AUTOSTART = 13010
  • Name:E-flite Convergence
  • Maintainer: Andreas Antener
SYS_AUTOSTART = 13012
  • Specific Outputs:
MAIN1: Motor right
MAIN2: Motor left
MAIN3: Motor back
MAIN4: empty
MAIN5: Tilt servo right
MAIN6: Tilt servo left
MAIN7: Elevon right
MAIN8: Elevon left

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