Holybro Durandal
Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
Durandal® is the latest update to the successful family of Holybro flight controllers. It was designed and developed by Holybro.
At high level, some of the key features are:
Integrated temperature control for sensors.
Powerful STM32H7 microcontroller running at 480MHz. 2 MB of Flash memory and 1 MB of RAM.
New sensors with higher temperature stability.
Internal vibration isolation system.
Dual high-performance, low-noise IMUs on board are designed for demanding stabilization applications.
A summary of the key features, assembly, and purchase links can be found below.
:::note This flight controller is manufacturer supported. :::
Main FMU Processor: STM32H743
32 Bit Arm ® Cortex® -M7, 480MHz, 2MB memory, 1MB RAM
IO Processor: STM32F100
32 Bit Arm ® Cortex® -M3, 24MHz, 8KB SRAM
On-board sensors
Accel/Gyro: ICM-20689
Accel/Gyro: BMI088 or ICM20602
Mag: IST8310
Barometer: MS5611
GPS: u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
8-13 PWM servo outputs (8 from IO, 5 from FMU)
6 dedicated PWM/Capture inputs on FMU
Dedicated R/C input for Spektrum / DSM
Dedicated R/C input for CPPM and S.Bus
Dedicated S.Bus servo output and analog / PWM RSSI input
5 general purpose serial ports
3 with full flow control
1 with separate 1.5A current limit
3 I2C ports
4 SPI buses
1 internal high speed SPI sensor bus with 4 chip selects and 6 DRDYs
1 internal low noise SPI bus dedicated for XXX
Barometer with 2 chip selects, no DRDYs
1 internal SPI bus dedicated for FRAM
Supports temperature control located on sensor module
1 external SPI buses
Up to 2 CANBuses for dual CAN
Each CANBus has individual silent controls or ESC RX-MUX control
Analog inputs for voltage / current of 2 batteries
2 additional analog inputs
Power module output: 4.9~5.5V
Max input voltage: 6V
Max current sensing: 120A
USB Power Input: 4.75~5.25V
Servo Rail Input: 0~36V
Dimensions: 80x45x20.5mm
Weight: 68.8g
Operating temperature: 4085C
Storage temperature: -40~85C
CE
FCC
RoHS compliant (lead-free)
For more information see: Durandal Technical Data Sheet.
Order from Holybro.
The locations of ports/connections are shown here (and below in the pinouts section).
All dimensions are in millimeters.
The Durandal Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
:::tip Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected. :::
To build PX4 for this target:
| UART | Device | Port |
|---|---|---|
USART1 | /dev/ttyS0 | GPS1 |
USART2 | /dev/ttyS1 | TELEM1 |
USART3 | /dev/ttyS2 | TELEM2 |
UART4 | /dev/ttyS3 | TELEM4/GPS2 |
USART6 | /dev/ttyS4 | TELEM3 |
UART7 | /dev/ttyS5 | Debug Console |
UART8 | /dev/ttyS6 | PX4IO |
The PX4 System Console and SWD interface run on the Debug Port.
The pinouts and connector comply with the Pixhawk Debug Mini interface defined in the Pixhawk Connector Standard.
For wiring and debugging information see the above links.
:::note No Debug port is exposed for the I/O board. :::
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the Airframes Reference.
Durandal pinouts are listed below. These can also be downloaded from here.
| Pin | Signal | Volt |
|---|---|---|
1 (red) | - | - |
2 (yellow) | SBUS_OUT/RSSI_IN | +3.3V |
3 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VDD_3V3 | +3.3V |
2 (yellow) | DSM_IN | +3.3V |
3 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | SCL4 | +3.3V |
3 (black) | SDA4 | +3.3V |
4 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | CAN H | +3.3V |
3 (black) | CAN L | +3.3V |
4 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | TX (out) | +3.3V |
3 (black) | RX (in) | +3.3V |
4 (black) | SCL1 | +3.3V |
5 (black) | SDA1 | +3.3V |
6 (black) | SAFETY_SWITCH | +3.3V |
7 (black) | SAFETY_SWITCH_LED | +3.3V |
8 (black) | VDD_3V3 | +3.3V |
9 (black) | BUZZER | +5V |
10 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | TX (out) | +3.3V |
3 (black) | RX (in) | - |
4 (black) | SCL2 | - |
5 (black) | SDA2 | +3.3V |
6 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | TX (out) | +3.3V |
3 (black) | RX (in) | +3.3V |
4 (black) | CTS (in) | +3.3V |
5 (black) | RTS (out) | +3.3V |
6 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | VCC | +5V |
3 (black) | CURRENT | +3.3V |
4 (black) | VOLTAGE | +3.3V |
5 (black) | GND | GND |
6 (black) | GND | GND |
| Pin | Signal | Volt | + | - |
|---|---|---|---|---|
1 | IO_CH1 | +3.3V | VDD_SERVO | GND |
2 | IO_CH2 | +3.3V | VDD_SERVO | GND |
3 | IO_CH3 | +3.3V | VDD_SERVO | GND |
4 | IO_CH4 | +3.3V | VDD_SERVO | GND |
5 | IO_CH5 | +3.3V | VDD_SERVO | GND |
6 | IO_CH6 | +3.3V | VDD_SERVO | GND |
7 | IO_CH7 | +3.3V | VDD_SERVO | GND |
8 | IO_CH8 | +3.3V | VDD_SERVO | GND |
| Pin | Signal | Volt | + | - |
|---|---|---|---|---|
1 | FMU_CH1 | +3.3V | VDD_SERVO | GND |
2 | FMU_CH2 | +3.3V | VDD_SERVO | GND |
3 | FMU_CH3 | +3.3V | VDD_SERVO | GND |
4 | FMU_CH4 | +3.3V | VDD_SERVO | GND |
5 | FMU_CH5 | +3.3V | VDD_SERVO | GND |
| Pin | Signal | Volt |
|---|---|---|
S | SBUS_IN/PPM_IN | +3.3V |
+ | VCC | +5V |
- | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | CAN H | +3.3V |
3 (black) | CAN L | +3.3V |
4 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | FMU_CAP6 | +3.3V |
3 (black) | FMU_CAP5 | +3.3V |
4 (black) | FMU_CAP4 | +3.3V |
5 (black) | FMU_CAP3 | +3.3V |
6 (black) | FMU_CAP2 | +3.3V |
7 (black) | FMU_CAP1 | +3.3V |
8 (black) | ADC1_SPARE_1 | +3.3V ++ |
9 (black) | ADC1_SPARE_2 | +6.6V ++ |
10 (black) | GND | GND |
:::warning ++ Sensors connected to pins 8, 9 must not send a signal exceeding the indicated voltage. :::
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VT | +3.3V |
2 (black) | TX | +3.3V |
3 (black) | RX | +3.3V |
4 (black) | SWDIO | +3.3V |
5 (black) | SWCLK | +3.3V |
6 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VCC | +5V |
2 (black) | SCK | +3.3V |
3 (black) | MISO | +3.3V |
4 (black) | MOSI | +3.3V |
5 (black) | CS1 | +3.3V |
6 (black) | CS2 | +3.3V |
7 (black) | GND | GND |
| Pin | Signal | Volt |
|---|---|---|
1 (red) | VBUS | +5V |
2 (black) | DM | +3.3V |
3 (black) | DP | +3.3V |
4 (black) | GND | GND |
Durandal Pinouts (Holybro)
