# Holybro Durandal

:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://holybro.com/) 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](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-225a287bf0863345e3a21e1bf6c27e5d4e6a7b15%2Fdurandal_hero.jpg?alt=media)

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](https://px4.gitbook.io/px4-user-guide/assembly/quick_start_durandal), and [purchase](#purchase) links can be found below.

:::note This flight controller is [manufacturer supported](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_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: ~~40~~85C
* Storage temperature: -40\~85C
* CE
* FCC
* RoHS compliant (lead-free)

For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf).

## Where to Buy

Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/durandal).

## Connections

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

### Top

![Durandal - Top Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-95624a95717e0d68127e922a9dec0b435f3fad7e%2Fdurandal_pinouts_top.jpg?alt=media)

### Front

![Durandal - Front Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-394b2e5d8f2d79bf0dc067880633fa294f863c7d%2Fdurandal_pinouts_front.jpg?alt=media)

### Back

![Durandal - Back Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-476a7263749ecf366755b9b4430d21b711a3afa0%2Fdurandal_pinouts_back.jpg?alt=media)

### Right

![Durandal - Right-side Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-7ad3a85a10848e72f4c588a73646e207135056f3%2Fdurandal_pinouts_right.jpg?alt=media)

### Left

![Durandal - Left-side Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-41293d7850a07647385122af4d055015d8792919%2Fdurandal_pinouts_left.jpg?alt=media)

## Dimensions

All dimensions are in millimeters.

![Durandal Dimensions](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-bd28451b258c2a3ab2b55116c7a68ddd5433781b%2Fdurandal_dimensions.jpg?alt=media)

## Assembly/Setup

The [Durandal Wiring Quick Start](https://px4.gitbook.io/px4-user-guide/assembly/quick_start_durandal) 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](https://px4.gitbook.io/px4-user-guide/development/getting_started/building_px4) for this target:

```
make holybro_durandal-v1_default
```

## 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         |

## Debug Port

The [PX4 System Console](https://px4.gitbook.io/px4-user-guide/development/debug/consoles/system_console) and [SWD interface](https://px4.gitbook.io/px4-user-guide/development/debug/gdb_debugging/swd_debug) run on the *Debug Port*.

The pinouts and connector comply with the [Pixhawk Debug Mini](https://px4.gitbook.io/px4-user-guide/development/debug/gdb_debugging/swd_debug#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

For wiring and debugging information see the above links.

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

## Peripherals

* [Digital Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
* [Telemetry Radio Modules](https://px4.gitbook.io/px4-user-guide/drone_parts/peripherals/telemetry)
* [Rangefinders/Distance sensors](https://px4.gitbook.io/px4-user-guide/drone_parts/peripherals/rangefinders)

## 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](https://px4.gitbook.io/px4-user-guide/airframes/airframe_reference).

## Pinouts

*Durandal* pinouts are listed below. These can also be downloaded from [here](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts).

### Top Pinouts

![Durandal - Top Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-95624a95717e0d68127e922a9dec0b435f3fad7e%2Fdurandal_pinouts_top.jpg?alt=media)

### Front Pinouts

![Durandal - Front Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-394b2e5d8f2d79bf0dc067880633fa294f863c7d%2Fdurandal_pinouts_front.jpg?alt=media)

#### SUBS Out port

| Pin        | Signal             | Volt  |
| ---------- | ------------------ | ----- |
| 1 (red)    | -                  | -     |
| 2 (yellow) | SBUS\_OUT/RSSI\_IN | +3.3V |
| 3 (black)  | GND                | GND   |

#### DSM RC port

| Pin        | Signal   | Volt  |
| ---------- | -------- | ----- |
| 1 (red)    | VDD\_3V3 | +3.3V |
| 2 (yellow) | DSM\_IN  | +3.3V |
| 3 (black)  | GND      | GND   |

#### I2C A port

| Pin       | Signal | Volt  |
| --------- | ------ | ----- |
| 1 (red)   | VCC    | +5V   |
| 2 (black) | SCL4   | +3.3V |
| 3 (black) | SDA4   | +3.3V |
| 4 (black) | GND    | GND   |

#### 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   |

#### 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   |

#### 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   |

#### 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   |

#### 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   |

### Back Pinouts

![Durandal - Back Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-476a7263749ecf366755b9b4430d21b711a3afa0%2Fdurandal_pinouts_back.jpg?alt=media)

#### 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 |

#### 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 |

#### RC IN

| Pin | Signal           | Volt  |
| --- | ---------------- | ----- |
| S   | SBUS\_IN/PPM\_IN | +3.3V |
| +   | VCC              | +5V   |
| -   | GND              | GND   |

### Right-side Pinouts

![Durandal - Right-side Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-7ad3a85a10848e72f4c588a73646e207135056f3%2Fdurandal_pinouts_right.jpg?alt=media)

#### 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   |

#### 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 [++](#warn_sensor) |
| 9 (black)  | ADC1\_SPARE\_2 | +6.6V [++](#warn_sensor) |
| 10 (black) | GND            | GND                      |

:::warning ++ Sensors connected to pins 8, 9 must not send a signal exceeding the indicated voltage. :::

### Left-side Pinouts

![Durandal - Left-side Pinouts (Schematic)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-41293d7850a07647385122af4d055015d8792919%2Fdurandal_pinouts_left.jpg?alt=media)

#### 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   |

#### 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   |

#### USB port

| Pin       | Signal | Volt  |
| --------- | ------ | ----- |
| 1 (red)   | VBUS   | +5V   |
| 2 (black) | DM     | +3.3V |
| 3 (black) | DP     | +3.3V |
| 4 (black) | GND    | GND   |

## Further info

* [Durandal Wiring QuickStart](https://px4.gitbook.io/px4-user-guide/assembly/quick_start_durandal)
* [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf)
* [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)


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