CUSTOM AIRFRAMES
Engineering new vehicle types. Frame class architecture, C++ matrix definitions, and Lua scripting mixers.
Vehicle Configuration
DShot & ESC Telemetry Backend
DShot is a digital protocol for controlling [ESCs](/field-manual/control-architecture/ap-motors-the-matrix-mixer.html). Unlike PWM (which varies pu...
Debugging Mixers: Motor Test & Logging
After defining a custom frame, the most terrifying moment is the first arming. Will it flip? To verify your [mixer](/field-manual/control-architect...
Defining Custom Mixers in C++
For standard frames (X, H), ArduPilot automatically calculates the [motor mixer](/field-manual/control-architecture/ap-motors-the-matrix-mixer.html...
Frame Class vs Type Architecture
When you configure a drone in [Mission](/field-manual/navigation-mission/mission-state-machine.html) Planner, you select a **Frame Class** (e.g., Q...
Frame Physics: Geometry, Resonance, and Materials
**CRITICAL** The physical frame is not just a holder for components; it is a structural element that defines the control authority and [vibration](...
Lua Scripting Mixers
For years, creating a custom airframe meant editing C++ code, recompiling, and flashing custom firmware. Now, with ArduPilot's **Lua Scripting Engi...
The Output Map: SERVOn_FUNCTION
In ArduPilot, "Motor 1" is not physically tied to "Pin 1". Instead, there is a layer of abstraction called **SRV_Channels**. The [Motor Mixer](/fie...