Airframes

UAV actuators generally include servos, ESCs and motors, engines, etc., and the drive signals are generally PWM. The autopilot provides a total of 16 PWM output channels, which must be connected according to the vehicle type.

The airframes corresponding to each vehicle type are described in Airframe Setup.

In the tables below, refer to Flight Controller Interfaces for the wiring order of the airframe pin definitions.

Quadrotor X

Airframe	Parameter	Pin definition
	SYS_AUTOSTART=137001 Quadrotor X (front-left CW)	FCS_CH1: front-right motor (CCW); FCS_CH2: rear-left motor (CCW); FCS_CH3: front-left motor (CW); FCS_CH4: rear-right motor (CW);
	SYS_AUTOSTART=137002 Quadrotor X (front-left CCW)	FCS_CH1: front-right motor (CW); FCS_CH2: rear-left motor (CW); FCS_CH3: front-left motor (CCW); FCS_CH4: rear-right motor (CCW);

Hexarotor X

Airframe	Parameter	Pin definition
	SYS_AUTOSTART=137010 Hexarotor X (front-left CW)	FCS_CH1: front-right motor / motor 5 (CCW); FCS_CH2: right-middle motor / motor 1 (CW); FCS_CH3: rear-right motor / motor 4 (CCW); FCS_CH4: rear-left motor / motor 6 (CW); FCS_CH5: left-middle motor / motor 2 (CCW); FCS_CH6: front-left motor / motor 3 (CW);
	SYS_AUTOSTART=137011 Hexarotor X (front-left CCW)	FCS_CH1: front-right motor / motor 5 (CW); FCS_CH2: right-middle motor / motor 1 (CCW); FCS_CH3: rear-right motor / motor 4 (CW); FCS_CH4: rear-left motor / motor 6 (CCW); FCS_CH5: left-middle motor / motor 2 (CW); FCS_CH6: front-left motor / motor 3 (CCW);

Electric VTOL

Airframe	Parameter	Pin definition
	SYS_AUTOSTART=138001 Electric VTOL standard airframe Ailerons, horizontal and vertical tails	FCS_CH1: front-right motor (CCW); FCS_CH2: rear-left motor (CCW); FCS_CH3: front-left motor (CW); FCS_CH4: rear-right motor (CW); FCS_CH5: front puller / rear pusher motor; FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: elevator servo; FCS_CH12: rudder servo;
	SYS_AUTOSTART=138002 Electric VTOL A-tail Ailerons, left and right V-tails	FCS_CH1: front-right motor (CCW); FCS_CH2: rear-left motor (CCW); FCS_CH3: front-left motor (CW); FCS_CH4: rear-right motor (CW); FCS_CH5: front puller / rear pusher motor; FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left inverted V-tail servo; FCS_CH12: right inverted V-tail servo;
	SYS_AUTOSTART=138003 Electric VTOL V-tail Ailerons, left and right V-tails	FCS_CH1: front-right motor (CCW); FCS_CH2: rear-left motor (CCW); FCS_CH3: front-left motor (CW); FCS_CH4: rear-right motor (CW); FCS_CH5: front puller / rear pusher motor; FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left V-tail servo; FCS_CH12: right V-tail servo;

Fuel-Powered VTOL

Airframe	Parameter	Pin definition
	SYS_AUTOSTART=140001 Fuel VTOL A-tail (front-left CCW) Ailerons, left and right V-tails	FCS_CH1: front-right motor (CW); FCS_CH2: rear-left motor (CW); FCS_CH3: front-left motor (CCW); FCS_CH4: rear-right motor (CCW); FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left inverted V-tail servo; FCS_CH12: right inverted V-tail servo; FCS_CH16: engine throttle;
	SYS_AUTOSTART=140002 Fuel VTOL A-tail (front-left CW) Ailerons, left and right V-tails	FCS_CH1: front-right motor (CCW); FCS_CH2: rear-left motor (CCW); FCS_CH3: front-left motor (CW); FCS_CH4: rear-right motor (CW); FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left inverted V-tail servo; FCS_CH12: right inverted V-tail servo; FCS_CH16: engine throttle;

Fixed-Wing

Airframe	Parameter	Pin definition
	SYS_AUTOSTART=2100 Fixed-wing standard airframe Ailerons, horizontal and vertical tails	FCS_CH5: front puller / rear pusher motor; FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left inverted V-tail servo; FCS_CH12: right inverted V-tail servo;
	SYS_AUTOSTART=2106 Fixed-wing A-tail Ailerons, left and right V-tails	FCS_CH5: front puller / rear pusher motor; FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left inverted V-tail servo; FCS_CH12: right inverted V-tail servo;
	SYS_AUTOSTART=2107 Fixed-wing V-tail Ailerons, left and right V-tails	FCS_CH5: front puller / rear pusher motor; FCS_CH9: left aileron servo; FCS_CH10: right aileron servo; FCS_CH11: left V-tail servo; FCS_CH12: right V-tail servo;