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<?xml version='1.0' encoding='UTF-8'?>
<airframes>
  <version>1</version>
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  <airframe_group image="HelicopterCoaxial" name="Coaxial Helicopter">
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    <airframe id="15001" maintainer="Emmanuel Roussel" name="Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)">
      <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>
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  <airframe_group image="FlyingWing" name="Flying Wing">
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    <airframe id="3030" maintainer="Simon Wilks &lt;simon@px4.io&gt;" name="IO Camflyer">
      <maintainer>Simon Wilks &lt;simon@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
      <url>https://pixhawk.org/platforms/planes/bormatec_camflyer_q</url>
      <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="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
    </airframe>
    <airframe id="3031" maintainer="Simon Wilks &lt;simon@px4.io&gt;" name="Phantom FPV Flying Wing">
      <maintainer>Simon Wilks &lt;simon@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
      <url>https://pixhawk.org/platforms/planes/z-84_wing_wing</url>
      <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="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
    </airframe>
    <airframe id="3032" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;, Julian Oes &lt;julian@px4.io&gt;" name="Skywalker X5 Flying Wing">
      <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;, Julian Oes &lt;julian@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
      <url>https://pixhawk.org/platforms/planes/skywalker_x5</url>
      <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="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
    </airframe>
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    <airframe id="3033" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Wing Wing (aka Z-84) Flying Wing">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
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      <type>Flying Wing</type>
      <url>https://pixhawk.org/platforms/planes/z-84_wing_wing</url>
      <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="MAIN1">left aileron</output>
      <output name="MAIN2">right aileron</output>
      <output name="MAIN4">throttle</output>
    </airframe>
    <airframe id="3034" maintainer="Simon Wilks &lt;simon@px4.io&gt;" name="FX-79 Buffalo Flying Wing">
      <maintainer>Simon Wilks &lt;simon@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
    </airframe>
    <airframe id="3035" maintainer="Simon Wilks &lt;simon@px4.io&gt;" name="Viper">
      <maintainer>Simon Wilks &lt;simon@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
    </airframe>
    <airframe id="3100" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="TBS Caipirinha">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Flying Wing</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="HexaRotorPlus" name="Hexarotor +">
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    <airframe id="7001" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="Generic Hexarotor + geometry">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Hexarotor +</type>
      <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>
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  <airframe_group image="Y6B" name="Hexarotor Coaxial">
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    <airframe id="11001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Hexa coaxial geometry">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Hexarotor Coaxial</type>
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      <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 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>
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    </airframe>
  </airframe_group>
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  <airframe_group image="HexaRotorX" name="Hexarotor x">
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    <airframe id="6001" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="Generic Hexarotor x geometry">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Hexarotor x</type>
      <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>
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  <airframe_group image="OctoRotorPlus" name="Octorotor +">
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    <airframe id="9001" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="Generic Octocopter + geometry">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Octorotor +</type>
      <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>
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  <airframe_group image="OctoRotorXCoaxial" name="Octorotor Coaxial">
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    <airframe id="12001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic 10&quot; Octo coaxial geometry">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Octorotor Coaxial</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="OctoRotorX" name="Octorotor x">
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    <airframe id="8001" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="Generic Octocopter X geometry">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Octorotor x</type>
      <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>
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  <airframe_group image="QuadRotorPlus" name="Quadrotor +">
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    <airframe id="5001" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="Generic 10&quot; Quad + geometry">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Quadrotor +</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="QuadRotorWide" name="Quadrotor Wide">
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    <airframe id="10015" maintainer="Anton Babushkin &lt;anton@px4.io&gt;, Simon Wilks &lt;simon@px4.io&gt;" name="Team Blacksheep Discovery">
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      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;, Simon Wilks &lt;simon@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
    </airframe>
    <airframe id="10016" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="3DR Iris Quadrotor">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
    </airframe>
    <airframe id="10017" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="Steadidrone QU4D">
      <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
    </airframe>
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    <airframe id="10018" maintainer="Simon Wilks &lt;simon@px4.io&gt;" name="Team Blacksheep Discovery Endurance">
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      <maintainer>Simon Wilks &lt;simon@px4.io&gt;</maintainer>
      <type>Quadrotor Wide</type>
    </airframe>
    <airframe id="10019" maintainer="Anton Matosov &lt;anton.matosov@gmail.com&gt;" name="HobbyKing SK450 DeadCat modification">
      <maintainer>Anton Matosov &lt;anton.matosov@gmail.com&gt;</maintainer>
      <type>Quadrotor Wide</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="QuadRotorX" name="Quadrotor x">
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    <airframe id="10020" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="3DR DIY Quad">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
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    <airframe id="4001" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Generic Quadrotor X config">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
      <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="4008" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="AR.Drone Frame">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
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    <airframe id="4009" maintainer="Mark Whitehorn &lt;kd0aij@gmail.com&gt;" name="Lumenier QAV250">
      <maintainer>Mark Whitehorn &lt;kd0aij@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
      <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>
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    <airframe id="4010" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="DJI Flame Wheel F330">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
      <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="4011" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="DJI Flame Wheel F450">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
      <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="4012" maintainer="Pavel Kirienko &lt;pavel@px4.io&gt;" name="F450-sized quadrotor with CAN">
      <maintainer>Pavel Kirienko &lt;pavel@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
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    <airframe id="4020" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="Hobbyking Micro PCB">
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      <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
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    <airframe id="4030" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="3DR Solo">
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      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
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  </airframe_group>
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  <airframe_group image="Rover" name="Rover">
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    <airframe id="50001" maintainer="John Doe &lt;john@example.com&gt;" name="Axial Racing AX10">
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      <type>Rover</type>
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    </airframe>
  </airframe_group>
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  <airframe_group image="AirframeSimulation" name="Simulation">
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    <airframe id="1000" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="HILStar (XPlane)">
      <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>
    </airframe>
    <airframe id="1001" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="HIL Quadcopter X">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
    <airframe id="1003" maintainer="Anton Babushkin &lt;anton@px4.io&gt;" name="HIL Quadcopter +">
      <maintainer>Anton Babushkin &lt;anton@px4.io&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
    <airframe id="1004" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="HIL Rascal 110 (Flightgear)">
      <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
    <airframe id="1005" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="HIL Malolo 1 (Flightgear)">
      <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
      <type>Simulation</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="Plane" name="Standard Plane">
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    <airframe id="2100" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Multiplex Easystar">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Standard Plane</type>
    </airframe>
    <airframe id="2101" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Standard AERT Plane">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Standard Plane</type>
      <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="MAIN1">aileron</output>
      <output name="MAIN2">elevator</output>
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      <output name="MAIN3">rudder</output>
      <output name="MAIN4">throttle</output>
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      <output name="MAIN5">flaps</output>
    </airframe>
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    <airframe id="2102" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Skywalker (3DR Aero)">
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      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Standard Plane</type>
      <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="MAIN1">aileron</output>
      <output name="MAIN2">elevator</output>
      <output name="MAIN3">throttle</output>
      <output name="MAIN4">rudder</output>
      <output name="MAIN5">flaps</output>
    </airframe>
    <airframe id="2103" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Skyhunter 1800">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Standard Plane</type>
      <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="MAIN1">aileron</output>
      <output name="MAIN2">elevator</output>
      <output name="MAIN4">throttle</output>
    </airframe>
    <airframe id="2104" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Standard AETR Plane">
      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
      <type>Standard Plane</type>
      <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="MAIN1">aileron</output>
      <output name="MAIN2">elevator</output>
      <output name="MAIN3">throttle</output>
      <output name="MAIN4">rudder</output>
      <output name="MAIN5">flaps</output>
    </airframe>
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    <airframe id="2105" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Bormatec Maja">
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Standard Plane</type>
      <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="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>
    </airframe>
    <airframe id="2106" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Applied Aeronautics Albatross">
      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
      <type>Standard Plane</type>
      <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="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>
    </airframe>
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  </airframe_group>
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  <airframe_group image="VTOLPlane" name="Standard VTOL">
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    <airframe id="13005" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Fun Cub Quad VTOL.">
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      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
    <airframe id="13006" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Generic quad delta VTOL.">
      <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
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    <airframe id="13007" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;" name="Generic AAVVT v-tail plane airframe with Quad VTOL.">
      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
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    <airframe id="13008" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;" name="QuadRanger VTOL.">
      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
      <type>Standard VTOL</type>
    </airframe>
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  </airframe_group>
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  <airframe_group image="YPlus" name="Tricopter Y+">
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    <airframe id="14001" maintainer="Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;" name="Generic Tricopter Y+ Geometry">
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      <maintainer>Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;</maintainer>
      <type>Tricopter Y+</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="YMinus" name="Tricopter Y-">
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    <airframe id="14002" maintainer="Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;" name="Generic Tricopter Y- Geometry">
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      <maintainer>Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;</maintainer>
      <type>Tricopter Y-</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="VTOLDuoRotorTailSitter" name="VTOL Tailsitter">
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    <airframe id="13001" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Duorotor Tailsitter">
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      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Tailsitter</type>
    </airframe>
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    <airframe id="13003" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Quadrotor X Tailsitter">
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      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Tailsitter</type>
    </airframe>
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    <airframe id="13004" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Quadrotor + Tailsitter">
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      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Tailsitter</type>
    </airframe>
  </airframe_group>
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  <airframe_group image="VTOLTiltRotor" name="VTOL Tiltrotor">
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    <airframe id="13002" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="BirdsEyeView Aerobotics FireFly6">
      <maintainer>Roman Bapst &lt;roman@px4.io&gt;</maintainer>
      <type>VTOL Tiltrotor</type>
    </airframe>
  </airframe_group>
</airframes>