Holybro Durandal
:::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. :::
Quick Summary
Technical Specifications
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
Interfaces
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
Electrical Data
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
Mechanical Data
Dimensions: 80x45x20.5mm
Weight: 68.8g
Other Characteristics
Operating temperature:
4085CStorage temperature: -40~85C
CE
FCC
RoHS compliant (lead-free)
For more information see: Durandal Technical Data Sheet.
Where to Buy
Order from Holybro.
Connections
The locations of ports/connections are shown here (and below in the pinouts section).
Top
Front
Back
Right
Left
Dimensions
All dimensions are in millimeters.
Assembly/Setup
The Durandal Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.
Building Firmware
:::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:
Serial Port Mapping
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
Debug Port
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. :::
Peripherals
Supported Platforms / Airframes
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.
Pinouts
Durandal pinouts are listed below. These can also be downloaded from here.
Top Pinouts
Front Pinouts
SUBS Out port
1 (red)
-
-
2 (yellow)
SBUS_OUT/RSSI_IN
+3.3V
3 (black)
GND
GND
DSM RC port
1 (red)
VDD_3V3
+3.3V
2 (yellow)
DSM_IN
+3.3V
3 (black)
GND
GND
I2C A port
1 (red)
VCC
+5V
2 (black)
SCL4
+3.3V
3 (black)
SDA4
+3.3V
4 (black)
GND
GND
CAN1 port
1 (red)
VCC
+5V
2 (black)
CAN H
+3.3V
3 (black)
CAN L
+3.3V
4 (black)
GND
GND
GPS port
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
TELEM4 I2CB ports
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
TELEM3, TELEM2, TELEM1 port
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
POWER port
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
Back Pinouts
MAIN Out
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
AUX Out
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
RC IN
S
SBUS_IN/PPM_IN
+3.3V
+
VCC
+5V
-
GND
GND
Right-side Pinouts
CAN2 port
1 (red)
VCC
+5V
2 (black)
CAN H
+3.3V
3 (black)
CAN L
+3.3V
4 (black)
GND
GND
CAP & ADC IN port
:::warning ++ Sensors connected to pins 8, 9 must not send a signal exceeding the indicated voltage. :::
Left-side Pinouts
DEBUG port
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
SPI port
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
USB port
1 (red)
VBUS
+5V
2 (black)
DM
+3.3V
3 (black)
DP
+3.3V
4 (black)
GND
GND
Further info
Durandal Pinouts (Holybro)
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