<?xml version='1.0' encoding='UTF-8'?>
<airframes>
  <version>1</version>
  <airframe_version_major>1</airframe_version_major>
  <airframe_version_minor>1</airframe_version_minor>
  <airframe_group image="HelicopterCoaxial" name="Coaxial Helicopter">
    <airframe id="15001" maintainer="Emmanuel Roussel" name="Esky (Big) Lama v4">
      <class>Copter</class>
      <maintainer>Emmanuel Roussel</maintainer>
      <type>Coaxial Helicopter</type>
      <output name="MAIN1">Left swashplate servomotor, pitch axis</output>
      <output name="MAIN2">Right swashplate servomotor, roll axis</output>
      <output name="MAIN3">Upper rotor (CCW)</output>
      <output name="MAIN4">Lower rotor (CW)</output>
    </airframe>
  </airframe_group>
  <airframe_group image="DodecaRotorXCoaxial" name="Dodecarotor cox">
    <airframe id="24001" maintainer="William Peale &lt;develop707@gmail.com&gt;" name="Generic Dodecarotor cox geometry">
      <class>Copter</class>
      <maintainer>William Peale &lt;develop707@gmail.com&gt;</maintainer>
      <type>Dodecarotor cox</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">motor 5</output>
      <output name="MAIN6">motor 6</output>
      <output name="AUX1">motor 7</output>
      <output name="AUX2">motor 8</output>
      <output name="AUX3">motor 9</output>
      <output name="AUX4">motor 10</output>
      <output name="AUX5">motor 11</output>
      <output name="AUX6">motor 12</output>
    </airframe>
  </airframe_group>
  <airframe_group image="Helicopter" name="Helicopter">
    <airframe id="16001" maintainer="Bart Slinger &lt;bartslinger@gmail.com&gt;" name="Blade 130X">
      <class>Copter</class>
      <maintainer>Bart Slinger &lt;bartslinger@gmail.com&gt;</maintainer>
      <type>Helicopter</type>
      <output name="MAIN1">main motor</output>
      <output name="MAIN2">front swashplate servo</output>
      <output name="MAIN3">right swashplate servo</output>
      <output name="MAIN4">left swashplate servo</output>
      <output name="MAIN5">tail-rotor servo</output>
    </airframe>
  </airframe_group>
  <airframe_group image="HexaRotorPlus" name="Hexarotor +">
    <airframe id="7001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Hexarotor + geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor +</type>
      <output name="MAIN1">motor1</output>
      <output name="MAIN2">motor2</output>
      <output name="MAIN3">motor3</output>
      <output name="MAIN4">motor4</output>
      <output name="MAIN5">motor5</output>
      <output name="MAIN6">motor6</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="Y6B" name="Hexarotor Coaxial">
    <airframe id="11001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Hexarotor coaxial geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor Coaxial</type>
      <output angle="60" direction="CW" name="MAIN1">front right top, CW</output>
      <output angle="60" direction="CCW" name="MAIN2">front right bottom, CCW</output>
      <output angle="180" direction="CW" name="MAIN3">back top, CW</output>
      <output angle="180" direction="CCW" name="MAIN4">back bottom, CCW</output>
      <output angle="-60" direction="CW" name="MAIN5">front left top, CW</output>
      <output angle="-60" direction="CCW" name="MAIN6">front left bottom, CCW</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="HexaRotorX" name="Hexarotor x">
    <airframe id="6001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Hexarotor x geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor x</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">motor 5</output>
      <output name="MAIN6">motor 6</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="OctoRotorXCoaxial" name="Octo Coax Wide">
    <airframe id="12002" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Steadidrone MAVRIK">
      <class>Copter</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Octo Coax Wide</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">motor 5</output>
      <output name="MAIN6">motor 6</output>
      <output name="MAIN7">motor 7</output>
      <output name="MAIN8">motor 8</output>
    </airframe>
  </airframe_group>
  <airframe_group image="OctoRotorPlus" name="Octorotor +">
    <airframe id="9001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Octocopter + geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor +</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">motor 5</output>
      <output name="MAIN6">motor 6</output>
      <output name="MAIN7">motor 7</output>
      <output name="MAIN8">motor 8</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="OctoRotorXCoaxial" name="Octorotor Coaxial">
    <airframe id="12001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic 10&quot; Octo coaxial geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor Coaxial</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">motor 5</output>
      <output name="MAIN6">motor 6</output>
      <output name="MAIN7">motor 7</output>
      <output name="MAIN8">motor 8</output>
    </airframe>
  </airframe_group>
  <airframe_group image="OctoRotorX" name="Octorotor x">
    <airframe id="8001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Octocopter X geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor x</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">motor 5</output>
      <output name="MAIN6">motor 6</output>
      <output name="MAIN7">motor 7</output>
      <output name="MAIN8">motor 8</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="QuadRotorPlus" name="Quadrotor +">
    <airframe id="5001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic 10&quot; Quad + geometry">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor +</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
      <output name="AUX4">feed-through of RC FLAPS channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="QuadRotorH" name="Quadrotor H">
    <airframe id="4040" maintainer="Blankered" name="Reaper 500 Quad">
      <class>Copter</class>
      <maintainer>Blankered</maintainer>
      <type>Quadrotor H</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
    </airframe>
    <airframe id="4041" maintainer="Beat Kueng &lt;beat-kueng@gmx.net&gt;" name="BetaFPV Beta75X 2S Brushless Whoop">
      <class>Copter</class>
      <maintainer>Beat Kueng &lt;beat-kueng@gmx.net&gt;</maintainer>
      <type>Quadrotor H</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
    </airframe>
  </airframe_group>
  <airframe_group image="QuadRotorWide" name="Quadrotor Wide">
    <airframe id="10015" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Team Blacksheep Discovery">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
      <output name="AUX4">feed-through of RC FLAPS channel</output>
    </airframe>
    <airframe id="10016" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="3DR Iris Quadrotor">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
      <output name="AUX4">feed-through of RC FLAPS channel</output>
    </airframe>
    <airframe id="10017" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Steadidrone QU4D">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
      <output name="AUX4">feed-through of RC FLAPS channel</output>
    </airframe>
    <airframe id="10018" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Team Blacksheep Discovery Endurance">
      <class>Copter</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Quadrotor Wide</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
      <output name="AUX4">feed-through of RC FLAPS channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="AirframeUnknown" name="Quadrotor asymmetric">
    <airframe id="4051" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Spedix S250AQ">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor asymmetric</type>
      <url>https://docs.px4.io/en/framebuild_multicopter/spedix_s250_pixracer.html</url>
      <output name="MAIN1">motor1 (front right: CCW)</output>
      <output name="MAIN2">motor2 (back left: CCW)</output>
      <output name="MAIN3">motor3 (front left: CW)</output>
      <output name="MAIN4">motor4 (back right: CW)</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="QuadRotorX" name="Quadrotor x">
    <airframe id="4001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Quadrotor x">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
      <output name="AUX4">feed-through of RC FLAPS channel</output>
    </airframe>
    <airframe id="4002" maintainer="Leon Mueller &lt;thedevleon&gt;" name="Generic Quadrotor x with mount (e.g. gimbal)">
      <class>Copter</class>
      <maintainer>Leon Mueller &lt;thedevleon&gt;</maintainer>
      <type>Quadrotor x</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">feed-through of RC AUX1 channel</output>
      <output name="MAIN6">feed-through of RC AUX2 channel</output>
      <output name="AUX1">Mount pitch</output>
      <output name="AUX2">Mount roll</output>
      <output name="AUX3">Mount yaw</output>
      <output name="AUX4">Mount retract</output>
    </airframe>
    <airframe id="4003" maintainer="James Goppert &lt;james.goppert@gmail.com&gt;" name="Lumenier QAV-R (raceblade) 5&quot; arms">
      <class>Copter</class>
      <maintainer>James Goppert &lt;james.goppert@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4004" maintainer="Leon Mueller &lt;thedevleon&gt;" name="H4 680mm with Z1 Tiny2 Gimbal">
      <class>Copter</class>
      <maintainer>Leon Mueller &lt;thedevleon&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4009" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Lumenier QAV250">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4010" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="DJI Flame Wheel F330">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4011" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="DJI Flame Wheel F450">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4012" maintainer="Pavel Kirienko &lt;pavel.kirienko@gmail.com&gt;" name="F450-sized quadrotor with CAN">
      <class>Copter</class>
      <maintainer>Pavel Kirienko &lt;pavel.kirienko@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4013" maintainer="Michael Schaeuble" name="Parrot Bebop Frame">
      <class>Copter</class>
      <maintainer>Michael Schaeuble</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4014" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="S500">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4020" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="Hobbyking Micro PCB">
      <class>Copter</class>
      <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4030" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="3DR Solo">
      <class>Copter</class>
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4031" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="3DR DIY Quad">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4050" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic 250 Racer">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4052" maintainer="Beat Kueng &lt;beat-kueng@gmx.net&gt;" name="HolyBro QAV250">
      <class>Copter</class>
      <maintainer>Beat Kueng &lt;beat-kueng@gmx.net&gt;</maintainer>
      <type>Quadrotor x</type>
      <url>https://docs.px4.io/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html</url>
    </airframe>
    <airframe id="4060" maintainer="James Goppert &lt;james.goppert@gmail.com&gt;" name="DJI Matrice 100">
      <class>Copter</class>
      <maintainer>James Goppert &lt;james.goppert@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4070" maintainer="Beat Kueng &lt;beat@px4.io&gt;" name="Intel Aero Ready to Fly Drone">
      <class>Copter</class>
      <maintainer>Beat Kueng &lt;beat@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4080" maintainer="Anton Matosov &lt;anton.matosov@gmail.com&gt;" name="ZMR250 Racer">
      <class>Copter</class>
      <maintainer>Anton Matosov &lt;anton.matosov@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4090" maintainer="Henry Zhang &lt;zhanghui629@gmail.com&gt;" name="NanoMind 110 Quad">
      <class>Copter</class>
      <maintainer>Henry Zhang &lt;zhanghui629@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4250" maintainer="Jacob Dahl &lt;jacob.dahl@tealdrones.com&gt;" name="Teal One">
      <class>Copter</class>
      <maintainer>Jacob Dahl &lt;jacob.dahl@tealdrones.com&gt;</maintainer>
      <type>Quadrotor x</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
    </airframe>
    <airframe id="4900" maintainer="Dennis Shtatov &lt;densht@gmail.com&gt;" name="Crazyflie 2">
      <class>Copter</class>
      <maintainer>Dennis Shtatov &lt;densht@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
  </airframe_group>
  <airframe_group image="AirframeUnknown" name="Simulation (Copter)">
    <airframe id="1001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="HIL Quadcopter X">
      <class>Copter</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
    <airframe id="1100" maintainer="Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;" name="SIH Quadcopter X">
      <class>Copter</class>
      <maintainer>Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
  </airframe_group>
  <airframe_group image="AirframeUnknown" name="Tilt-Quad">
    <airframe id="4100" maintainer="Ricardo Marques &lt;marques.ricardo17@gmail.com&gt;" name="Tilt-Quadrotor">
      <class>Copter</class>
      <maintainer>Ricardo Marques &lt;marques.ricardo17@gmail.com&gt;</maintainer>
      <type>Tilt-Quad</type>
      <url>http://www.alivaero.com/the-project.html</url>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="AUX1">Outer servo motor for rotor 2 arm</output>
      <output name="AUX2">Outer servo motor for rotor 4 arm</output>
      <output name="AUX3">Inner servo motor for rotor 2 arm</output>
      <output name="AUX4">Inner servo motor for rotor 4 arm</output>
    </airframe>
  </airframe_group>
  <airframe_group image="YPlus" name="Tricopter Y+">
    <airframe id="14001" maintainer="Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;" name="Generic Tricopter Y+ Geometry">
      <class>Copter</class>
      <maintainer>Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;</maintainer>
      <type>Tricopter Y+</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">yaw servo</output>
    </airframe>
  </airframe_group>
  <airframe_group image="YMinus" name="Tricopter Y-">
    <airframe id="14002" maintainer="Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;" name="Generic Tricopter Y- Geometry">
      <class>Copter</class>
      <maintainer>Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;</maintainer>
      <type>Tricopter Y-</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">yaw servo</output>
    </airframe>
  </airframe_group>
  <airframe_group image="FlyingWing" name="Flying Wing">
    <airframe id="3000" maintainer="" name="Generic Flying Wing">
      <class>Plane</class>
      <maintainer />
      <type>Flying Wing</type>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3030" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="IO Camflyer">
      <class>Plane</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Flying Wing</type>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3031" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Phantom FPV Flying Wing">
      <class>Plane</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Flying Wing</type>
      <url>https://docs.px4.io/en/frames_plane/wing_wing_z84.html</url>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3032" maintainer="Julian Oes &lt;julian@px4.io&gt;" name="Skywalker X5 Flying Wing">
      <class>Plane</class>
      <maintainer>Julian Oes &lt;julian@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3033" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Wing Wing (aka Z-84) Flying Wing">
      <class>Plane</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
      <url>https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html</url>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3034" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="FX-79 Buffalo Flying Wing">
      <class>Plane</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Flying Wing</type>
      <output name="MAIN1">right aileron</output>
      <output name="MAIN2">left aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3035" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Viper">
      <class>Plane</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Flying Wing</type>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3036" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Sparkle Tech Pigeon">
      <class>Plane</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Flying Wing</type>
      <url>http://www.sparkletech.hk/</url>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3037" maintainer="Jan Liphardt &lt;JTLiphardt@gmail.com&gt;" name="Modified Parrot Disco">
      <class>Plane</class>
      <maintainer>Jan Liphardt &lt;JTLiphardt@gmail.com&gt;</maintainer>
      <type>Flying Wing</type>
      <url />
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="3100" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="TBS Caipirinha">
      <class>Plane</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
      <output name="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="PlaneATail" name="Plane A-Tail">
    <airframe id="2106" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Applied Aeronautics Albatross">
      <class>Plane</class>
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Plane A-Tail</type>
      <output name="MAIN1">aileron right</output>
      <output name="MAIN2">aileron left</output>
      <output name="MAIN3">v-tail right</output>
      <output name="MAIN4">v-tail left</output>
      <output name="MAIN5">throttle</output>
      <output name="MAIN6">wheel</output>
      <output name="MAIN7">flaps right</output>
      <output name="MAIN8">flaps left</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="PlaneVTail" name="Plane V-Tail">
    <airframe id="2200" maintainer="Friedrich Beckmann &lt;friedrich.beckmann@hs-augsburg.de&gt;" name="X-UAV Mini Talon">
      <class>Plane</class>
      <maintainer>Friedrich Beckmann &lt;friedrich.beckmann@hs-augsburg.de&gt;</maintainer>
      <type>Plane V-Tail</type>
      <output name="MAIN1">aileron right</output>
      <output name="MAIN2">aileron left</output>
      <output name="MAIN3">v-tail right</output>
      <output name="MAIN4">v-tail left</output>
      <output name="MAIN5">throttle</output>
      <output name="MAIN6">wheel</output>
      <output name="MAIN7">flaps right</output>
      <output name="MAIN8">flaps left</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="AirframeUnknown" name="Simulation (Plane)">
    <airframe id="1000" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="HILStar (XPlane)">
      <class>Plane</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Simulation</type>
      <output name="MAIN1">aileron</output>
      <output name="MAIN2">elevator</output>
      <output name="MAIN3">rudder</output>
      <output name="MAIN4">throttle</output>
      <output name="MAIN5">flaps</output>
      <output name="MAIN6">gear</output>
    </airframe>
  </airframe_group>
  <airframe_group image="Plane" name="Standard Plane">
    <airframe id="2100" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Standard Plane">
      <class>Plane</class>
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Standard Plane</type>
      <output name="MAIN1">aileron</output>
      <output name="MAIN2">elevator</output>
      <output name="MAIN3">throttle</output>
      <output name="MAIN4">rudder</output>
      <output name="MAIN5">flaps</output>
      <output name="MAIN6">gear</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
    <airframe id="2105" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Bormatec Maja">
      <class>Plane</class>
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Standard Plane</type>
      <output name="MAIN1">aileron</output>
      <output name="MAIN2">aileron</output>
      <output name="MAIN3">elevator</output>
      <output name="MAIN4">rudder</output>
      <output name="MAIN5">throttle</output>
      <output name="MAIN6">wheel</output>
      <output name="MAIN7">flaps</output>
      <output name="AUX1">feed-through of RC AUX1 channel</output>
      <output name="AUX2">feed-through of RC AUX2 channel</output>
      <output name="AUX3">feed-through of RC AUX3 channel</output>
    </airframe>
  </airframe_group>
  <airframe_group image="Rover" name="Rover">
    <airframe id="50000" maintainer="" name="Generic Ground Vehicle">
      <class>Rover</class>
      <maintainer />
      <type>Rover</type>
      <output name="MAIN2">steering</output>
      <output name="MAIN4">throttle</output>
    </airframe>
    <airframe id="50001" maintainer="John Doe &lt;john@example.com&gt;" name="Axial Racing AX10">
      <class>Rover</class>
      <type>Rover</type>
      <output name="MAIN1">pass-through of control group 0, channel 0</output>
      <output name="MAIN2">pass-through of control group 0, channel 1</output>
      <output name="MAIN3">pass-through of control group 0, channel 2</output>
      <output name="MAIN4">pass-through of control group 0, channel 3</output>
      <output name="MAIN5">pass-through of control group 0, channel 4</output>
      <output name="MAIN6">pass-through of control group 0, channel 5</output>
      <output name="MAIN7">pass-through of control group 0, channel 6</output>
      <output name="MAIN8">pass-through of control group 0, channel 7</output>
    </airframe>
    <airframe id="50002" maintainer="Marco Zorzi" name="Traxxas stampede vxl 2wd">
      <class>Rover</class>
      <maintainer>Marco Zorzi</maintainer>
      <type>Rover</type>
      <url>https://traxxas.com/products/models/electric/stampede-vxl-tsm</url>
      <output name="MAIN2">steering</output>
      <output name="MAIN4">throttle</output>
    </airframe>
    <airframe id="50003" maintainer="Timothy Scott" name="Aion Robotics R1 UGV">
      <class>Rover</class>
      <maintainer>Timothy Scott</maintainer>
      <type>Rover</type>
      <url>http://docs.aionrobotics.com/en/latest/r1-ugv.html</url>
      <output name="MAIN0">Speed of left wheels</output>
      <output name="MAIN1">Speed of right wheels</output>
    </airframe>
  </airframe_group>
  <airframe_group image="VTOLPlane" name="Standard VTOL">
    <airframe id="1002" maintainer="Roman Bapst &lt;roman@auterion.com&gt;" name="HIL Standard VTOL QuadPlane">
      <class>VTOL</class>
      <maintainer>Roman Bapst &lt;roman@auterion.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
    <airframe id="13000" maintainer="" name="Generic Quadplane VTOL">
      <class>VTOL</class>
      <maintainer />
      <type>Standard VTOL</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="AUX1">Aileron 1</output>
      <output name="AUX2">Aileron 2</output>
      <output name="AUX3">Elevator</output>
      <output name="AUX4">Rudder</output>
      <output name="AUX5">Throttle</output>
    </airframe>
    <airframe id="13005" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Fun Cub Quad VTOL">
      <class>VTOL</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Standard VTOL</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="AUX1">Aileron 1</output>
      <output name="AUX2">Aileron 2</output>
      <output name="AUX3">Elevator</output>
      <output name="AUX4">Rudder</output>
      <output name="AUX5">Throttle</output>
    </airframe>
    <airframe id="13006" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Generic quad delta VTOL">
      <class>VTOL</class>
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Standard VTOL</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="AUX1">Right elevon</output>
      <output name="AUX2">Left elevon</output>
      <output name="AUX3">Motor</output>
    </airframe>
    <airframe id="13007" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;" name="Generic AAVVT v-tail plane airframe with Quad VTOL.">
      <class>VTOL</class>
      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
    <airframe id="13008" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;" name="QuadRanger">
      <class>VTOL</class>
      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
    <airframe id="13009" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Sparkle Tech Ranger VTOL">
      <class>VTOL</class>
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
    <airframe id="13013" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;" name="Vertical Technologies DeltaQuad">
      <class>VTOL</class>
      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
      <type>Standard VTOL</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 3</output>
      <output name="MAIN4">motor 4</output>
      <output name="MAIN5">Right elevon</output>
      <output name="MAIN6">Left elevon</output>
      <output name="MAIN7">Pusher motor</output>
      <output name="MAIN8">Pusher reverse channel</output>
    </airframe>
    <airframe id="13014" maintainer="Silvan Fuhrer &lt;silvan@auterion.com&gt;" name="BabyShark VTOL">
      <class>VTOL</class>
      <maintainer>Silvan Fuhrer &lt;silvan@auterion.com&gt;</maintainer>
      <type>Standard VTOL</type>
      <output name="MAIN1">Ailerons</output>
      <output name="MAIN2">A-tail left</output>
      <output name="MAIN3">Pusher motor</output>
      <output name="MAIN4">A-tail right</output>
      <output name="MAIN5">motor 1</output>
      <output name="MAIN6">motor 2</output>
      <output name="MAIN7">motor 3</output>
      <output name="MAIN8">motor 4</output>
    </airframe>
  </airframe_group>
  <airframe_group image="VTOLDuoRotorTailSitter" name="VTOL Duo Tailsitter">
    <airframe id="13001" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Caipiroshka Duo Tailsitter">
      <class>VTOL</class>
      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Duo Tailsitter</type>
      <output name="MAIN1">motor right</output>
      <output name="MAIN2">motor left</output>
      <output name="MAIN5">elevon right</output>
      <output name="MAIN6">elevon left</output>
    </airframe>
  </airframe_group>
  <airframe_group image="VTOLQuadRotorTailSitter" name="VTOL Quad Tailsitter">
    <airframe id="13003" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Quadrotor X Tailsitter">
      <class>VTOL</class>
      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Quad Tailsitter</type>
    </airframe>
    <airframe id="13004" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Quadrotor + Tailsitter">
      <class>VTOL</class>
      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Quad Tailsitter</type>
      <output name="MAIN1">motor 1</output>
      <output name="MAIN2">motor 2</output>
      <output name="MAIN3">motor 4</output>
      <output name="MAIN4">motor 5</output>
      <output name="MAIN5">elevon left</output>
      <output name="MAIN6">elevon right</output>
      <output name="MAIN7">canard surface</output>
      <output name="MAIN8">rudder</output>
    </airframe>
  </airframe_group>
  <airframe_group image="VTOLTiltRotor" name="VTOL Tiltrotor">
    <airframe id="13002" maintainer="Roman Bapst &lt;roman@uaventure.com&gt;" name="BirdsEyeView Aerobotics FireFly6">
      <class>VTOL</class>
      <maintainer>Roman Bapst &lt;roman@uaventure.com&gt;</maintainer>
      <type>VTOL Tiltrotor</type>
      <output name="MAIN1">Front right motor bottom</output>
      <output name="MAIN2">Front right motor top</output>
      <output name="MAIN3">Back motor bottom</output>
      <output name="MAIN4">Back motor top</output>
      <output name="MAIN5">Front left motor bottom</output>
      <output name="MAIN6">Front left motor top</output>
      <output name="AUX1">Tilt servo</output>
      <output name="AUX2">Elevon 1</output>
      <output name="AUX3">Elevon 2</output>
      <output name="AUX4">Gear</output>
    </airframe>
    <airframe id="13010" maintainer="Samay Siga &lt;samay_s@icloud.com&gt;" name="CruiseAder Claire">
      <class>VTOL</class>
      <maintainer>Samay Siga &lt;samay_s@icloud.com&gt;</maintainer>
      <type>VTOL Tiltrotor</type>
    </airframe>
    <airframe id="13012" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="E-flite Convergence">
      <class>VTOL</class>
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>VTOL Tiltrotor</type>
      <output name="MAIN1">Motor right</output>
      <output name="MAIN2">Motor left</output>
      <output name="MAIN3">Motor back</output>
      <output name="MAIN4">empty</output>
      <output name="MAIN5">Tilt servo right</output>
      <output name="MAIN6">Tilt servo left</output>
      <output name="MAIN7">Elevon right</output>
      <output name="MAIN8">Elevon left</output>
    </airframe>
  </airframe_group>
</airframes>
