Holybro Durandal
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.
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
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.
Purchase
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
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
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 and SWD interface run on the Debug Port.
The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a Dronecode probe. The pinout uses the standard Dronecode debug connector pinout. Please refer to the wiring page for details of how to wire up this port.
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
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
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
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 ++ |
9 (black) | ADC1_SPARE_2 | +6.6V ++ |
10 (black) | GND | GND |
++ Sensors connected to pins 8, 9 must not send a signal exceeding the indicated voltage.
Left-side Pinouts
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 Pinouts (Holybro)
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