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Holybro Durandal

:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturerarrow-up-right 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.

Durandal

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. :::

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Quick Summary

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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

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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

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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

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Mechanical Data

  • Dimensions: 80x45x20.5mm

  • Weight: 68.8g

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Other Characteristics

  • Operating temperature: 4085C

  • Storage temperature: -40~85C

  • CE

  • FCC

  • RoHS compliant (lead-free)

For more information see: Durandal Technical Data Sheetarrow-up-right.

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Where to Buy

Order from Holybroarrow-up-right.

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Connections

The locations of ports/connections are shown here (and below in the pinouts section).

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Top

Durandal - Top Pinouts (Schematic)

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Front

Durandal - Front Pinouts (Schematic)

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Back

Durandal - Back Pinouts (Schematic)

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Right

Durandal - Right-side Pinouts (Schematic)

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Left

Durandal - Left-side Pinouts (Schematic)

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Dimensions

All dimensions are in millimeters.

Durandal Dimensions

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Assembly/Setup

The Durandal Wiring Quick Start provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc.

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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:

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Serial Port Mapping

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

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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 Standardarrow-up-right.

For wiring and debugging information see the above links.

:::note No Debug port is exposed for the I/O board. :::

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Peripherals

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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.

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Pinouts

Durandal pinouts are listed below. These can also be downloaded from herearrow-up-right.

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Top Pinouts

Durandal - Top Pinouts (Schematic)

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Front Pinouts

Durandal - Front Pinouts (Schematic)

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SUBS Out port

Pin
Signal
Volt

1 (red)

-

-

2 (yellow)

SBUS_OUT/RSSI_IN

+3.3V

3 (black)

GND

GND

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DSM RC port

Pin
Signal
Volt

1 (red)

VDD_3V3

+3.3V

2 (yellow)

DSM_IN

+3.3V

3 (black)

GND

GND

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I2C A port

Pin
Signal
Volt

1 (red)

VCC

+5V

2 (black)

SCL4

+3.3V

3 (black)

SDA4

+3.3V

4 (black)

GND

GND

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CAN1 port

Pin
Signal
Volt

1 (red)

VCC

+5V

2 (black)

CAN H

+3.3V

3 (black)

CAN L

+3.3V

4 (black)

GND

GND

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GPS port

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

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TELEM4 I2CB ports

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

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TELEM3, TELEM2, TELEM1 port

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

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POWER port

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

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Back Pinouts

Durandal - Back Pinouts (Schematic)

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MAIN Out

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

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AUX Out

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

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RC IN

Pin
Signal
Volt

S

SBUS_IN/PPM_IN

+3.3V

+

VCC

+5V

-

GND

GND

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Right-side Pinouts

Durandal - Right-side Pinouts (Schematic)

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CAN2 port

Pin
Signal
Volt

1 (red)

VCC

+5V

2 (black)

CAN H

+3.3V

3 (black)

CAN L

+3.3V

4 (black)

GND

GND

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CAP & ADC IN port

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. :::

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Left-side Pinouts

Durandal - Left-side Pinouts (Schematic)

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DEBUG port

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

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SPI port

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

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USB port

Pin
Signal
Volt

1 (red)

VBUS

+5V

2 (black)

DM

+3.3V

3 (black)

DP

+3.3V

4 (black)

GND

GND

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Further info

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