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 | ||
Bicopter | ||
Desc | Dual, thrust vectored motors | |
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 | ||
CoaxCopter - Thrust-Vectored | ||
Desc | Pitch and roll control by independent thrust vectoring of the coaxial props | |
Sim | No | |
R/W | Yes | |
Code | Copter | |
Info | https://discuss.ardupilot.org/t/design-and-build-of-a-coaxial-drone/55521 | |
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 | |
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 | ||
Synchropter | ||
Desc | Dual-disk helicopter with inter-meshing blades | |
Sim | Yes | |
R/W | Yes | |
Code | Copter | |
Info | ||
AETR Plane - Tractor | ||
Desc | Traditional Aeleron/Elevator/Throttle/Rudder Tractor | |
Sim | Yes | |
R/W | Yes | |
Code | Plane | |
Info | ||
Plank Flying Wing | ||
Desc | Flying Plank, differential thrust for yaw | |
Sim | No | |
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 | ||
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 | ||
Tri-Tilt-Wing QuadPlane | ||
Desc | Multiple motors fixed to wings which pivot;single rear motor for stability. Ail/Rud/Elev | |
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 | ||
Elevon Tail-Sitter | ||
Desc | Fixed fwd thrust with elevon surfaces providing attitude control in both copter and plane modes | |
Sim | Yes | |
R/W | Yes | |
Code | Plane | |
Info | ||
Thrust-Vectored Tail-Sitter | ||
Desc | Two pulling, tilting motors on a wing, copter/plane mode transitions | |
Sim | Yes | |
R/W | Yes | |
Code | Plane | |
Info | ||
Thrust-Vectored belly-Sitter | ||
Desc | Two pulling, tilting motors on a wing, copter/plane mode transitions | |
Sim | Yes | |
R/W | Yes | |
Code | Plane | |
Info | ||
Quad Motor Tailsitter | ||
Desc | Four motors on a wing, copter/plane mode transitions | |
Sim | Yes |
|
R/W | Yes | |
Code | Plane | |
Info | Tri/Hex/Octo also supported | |
GyroCopter | ||
Desc | Unpowered main rotor disc (tilts laterally), pusher prop, rudder and elevator | |
Sim | ||
R/W | Yes | |
Code | Plane | |
Info | ||
Ornithopter | ||
Desc | Ornithopter - flapping wings +rudder | |
Sim | No | |
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 | ||
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 | ||
Sailboat | ||
Desc | Boat with rudder and sail controlled via main sheet | |
Sim | Yes | |
R/W | Yes | |
Code | Rover | |
Info | ||
Balance Bot | ||
Desc | Fundametally unstable wheeled platform actively kept balanced by the autopilot | |
Sim | Yes | |
R/W | Yes | |
Code | Rover | |
Info | ||
Vectored Sub | ||
Desc | Thrusters with 6-DOF | |
Sim | Yes | |
R/W | Yes | |
Code | Sub | |
Info | ||
AntennaTracker | ||
Desc | Pan/Tilt PWM-driven continuous actuators | |
Sim | Yes | |
R/W | Yes | |
Code | Tracker | |
Info | ||