Vehicle Types Supported by ArduPilot

Overview

Ardupilot is capable of controlling many vehicles.

This document attempts to enumerate these options. It is a work in progress and is nowhere near complete.

Supported Vehicles

Note

R/W is “Real World”

QuadCopter (X, Plus, H, V)
Desc Four fixed equidistant motors
Sim Yes
R/W Yes
Code Copter
Info  
HexaCopter
Desc Six fixed equidistant motors
Sim Yes
R/W Yes
Code Copter
Info  
Dodeca-HexaCopter
Desc Six fixed equidistant pairs of coaxial motors
Sim Yes  
R/W  
Code Copter
Info  
OctaCopter
Desc Eight fixed equidistant motors
Sim Yes
R/W Yes
Code Copter
Info  
QuadX8
Desc 4 fixed equidistant pairs of coaxial motors
Sim Yes  
R/W Yes
Code Copter
Info  
Y6
Desc 3 fixed pairs of coaxial motors arranged in a Y, tail of the Y rear-wards; yaw via diff. thrust
Sim Yes
R/W Yes
Code Copter
Info  
TriCopter
Desc 3 lift motors in a Y, rear-wards motor tilting to provide yaw
Sim Yes  
R/W Yes
Code Copter
Info  
Petrol-Boosted TriCopter
Desc 3 lift motors in a Y, rear-wards motor tilting to provide yaw, petrol motor providing lift
Sim Yes
R/W Yes
Code Copter
Info  
SingleCopter
Desc  
Sim Yes
R/W Yes
Code Copter
Info  
CoaxCopter
Desc  
Sim Yes
R/W Yes
Code Copter
Info  
Helicopter
Desc Traditional Helicopter
Sim Yes
R/W Yes
Code Copter
Info  
Tandem Helicopter
Desc Two counter-rotating rotors instead of one main rotor and one tail rotor
Sim Yes
R/W Yes
Code Copter
Info  
Bicopter
Desc  
Sim Yes  
R/W Yes
Code Plane
Info  
QuadPlane X4 Elevon Pusher
Desc Four fixed lifting motors; elevon+rudder control surfaces
Sim Yes
R/W Yes
Code Plane
Info  
tilt-tricopter-vectored-yaw-quadplane
Desc Pulling, tilting motors used for lift, thrust and yaw
Sim Yes
R/W Yes
Code Plane
Info  
QuadPlane
Desc Four lifting motors, lifting an elevator/ailieron/rudder plane
Sim Yes
R/W Yes
Code Plane
Info  
QuadPlane X8
Desc Four pairs of coaxial lifting motors, lifting an elevator/ailieron/rudder plane
Sim Yes
R/W Yes
Code Plane
Info  
QuadPlane Delta Y6
Desc 3 pairs of coaxial motors in Y6 arrangement lifting an elevon plane, fronts tilting for fwd flight
Sim Yes
R/W Yes
Code Plane
Info e.g. FireFly Y6
QuadPlane Delta Y3
Desc 3 motors in Y3 arrangement lifting an elevon plane, all motors tilting for fwd flight
Sim No
R/W Yes
Code Plane
Info  
Thrust-Vectored Tail-Sitter
Desc Two pulling, tilting motors on a wing
Sim Yes
R/W Yes
Code Plane
Info  
Thrust-Vectored belly-Sitter
Desc Two pulling, tilting motors on a wing
Sim Yes
R/W Yes
Code Plane
Info  
Rover
Desc Pivotting steering wheels
Sim Yes
R/W Yes
Code Rover
Info  
Skid-Steer Rover
Desc Tank-tread driven
Sim Yes
R/W Yes
Code Rover
Info  
AntennaTracker
Desc Pan/Tilt PWM-driven continuous actuators
Sim Yes
R/W Yes
Code Tracker
Info  
Vectored Sub
Desc Thrusters with 6-DOF
Sim Yes
R/W Yes
Code Sub
Info  
Synchropter
Desc Dual-disk helicopter with inter-meshing blades
Sim Yes
R/W Yes
Code Copter
Info  
Elevon Tail-Sitter
Desc Fixed forward thrust with elevon control surfaces providing attitude control
Sim Yes
R/W Yes
Code Plane
Info  
Tri-Tilt-Wing QuadCopter
Desc Multi-motors fixed to wings which pivot; single rear motor for stability. Ailerons/Rudder/Elevator
Sim Yes
R/W Yes
Code Plane
Info  
GyroCopter
Desc Unpowered main rotor disc (tilts laterally), pusher prop, rudder and elevator
Sim    
R/W Yes
Code Plane
Info  
Air-Boat
Desc Vectored thrust fan
Sim Yes
R/W Yes
Code Rover
Info  
Boat
Desc Single-prop thrust, rudder for yaw
Sim Yes  
R/W Yes
Code Rover
Info  
AETR Plane - Tractor
Desc Traditional Aeleron/Elevator/Throttle/Rudder Tractor
Sim Yes
R/W Yes
Code Plane
Info  
AETR Plane - Pusher
Desc Traditional Aeleron/Elevator/Throttle/Rudder Pusher
Sim Yes
R/W Yes
Code Plane
Info  
ETR Plane - Tractor
Desc Elevator/Throttle/Rudder (“Rudder-only”)
Sim Yes
R/W Yes
Code Plane
Info  
Ornithopter
Desc Ornithopter - flapping wings +rudder
Sim No
R/W Yes
Code Plane
Info  
HeliQuad
Desc Four variable pitch propellors with a single throttle value
Sim No
R/W Yes
Code Copter
Info https://discuss.ardupilot.org/t/collective-pitch-quad-support/21678