# 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](../../assets/flight_controller/durandal/durandal_hero.jpg) 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](../assembly/quick_start_durandal.md), and [purchase](#purchase) links can be found below. :::info This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: ## 总览 #### Technical Specifications - Main FMU Processor: STM32H743 - 32 Bit Arm ® Cortex® -M7, 480MHz, 2MB memory, 1MB RAM - IO 处理器：STM32F100 - 32 Bit Arm ® Cortex® -M3, 24MHz, 8KB SRAM - On-board sensors - 加速度计 / 陀螺仪：ICM-20689 - Accel/Gyro: BMI088 or ICM20602 - Mag: IST8310 - 气压计：MS5611 - GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310 #### 接口 - 8-13 PWM servo outputs (8 from IO, 5 from FMU) - FMU上有6个专用PWM/Capture输入 - 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个通用串行口 - 3 with full flow control - 1 with separate 1.5A current limit - 3 个 I2C 接口 - 4路SPI总线 - 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 - 2个电池电流/电压模拟输入口 - 2 additional analog inputs #### Electrical Data - 电源模块输出：4.9~5.5V - Max input voltage: 6V - 最大电流感应：120A - USB 电源输入：4.75~5.25V - 伺服导轨输入电压：0~36V #### Mechanical Data - Dimensions: 80x45x20.5mm - 重量：68.8g #### 其它特性 - 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). ## 购买渠道 Order from [Holybro](https://holybro.com/products/durandal). ## Connections The locations of ports/connections are shown here (and below in the [pinouts section](#pinouts)). ### Top ![Durandal - Top Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_top.jpg) ### Front ![Durandal - Front Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_front.jpg) ### Back ![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg) ### Right ![Durandal - Right-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_right.jpg) ### Left ![Durandal - Left-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_left.jpg) ## 尺寸 All dimensions are in millimeters. ![Durandal Dimensions](../../assets/flight_controller/durandal/durandal_dimensions.jpg) ## 组装 / 设置 The [Durandal Wiring Quick Start](../assembly/quick_start_durandal.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc. ## 编译固件 :::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](../dev_setup/building_px4.md) for this target: ``` make holybro_durandal-v1_default ``` ## 串口映射 | UART | 设备 | Port | | ------ | ---------- | ----------- | | USART1 | UART | GPS1 | | USART2 | /dev/ttyS1 | TELEM1 | | USART3 | /dev/ttyS2 | TELEM2 | | UART4 | /dev/ttyS3 | TELEM4/GPS2 | | USART6 | /dev/ttyS4 | TELEM3 | | UART7 | /dev/ttyS5 | 调试控制台 | | UART8 | /dev/ttyS6 | PX4IO | ## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the _Debug Port_. The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#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. :::info No Debug port is exposed for the I/O board. ::: ## 外部设备 - [Digital Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) - [Telemetry Radio Modules](../telemetry/index.md) - [Rangefinders/Distance sensors](../sensor/rangefinders.md) ## 支持的平台/机身 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](../airframes/airframe_reference.md). ## 针脚定义 _Durandal_ pinouts are listed below. These can also be downloaded from [here](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344). ### Top Pinouts ![Durandal - Top Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_top.jpg) ### Front Pinouts ![Durandal - Front Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_front.jpg) #### SUBS Out port | 针脚 | 信号 | 电压 | | ----------------------------- | ---------------------------------------------------------- | --------------------- | | 1（红） | - | - | | 2 (yellow) | SBUS_OUT/RSSI_IN | +3.3V | | 3 (black) | GND | GND | #### DSM RC port | 针脚 | 信号 | 电压 | | ----------------------------- | ---------------------------- | --------------------- | | 1（红） | VDD_3V3 | +3.3V | | 2 (yellow) | DSM_IN | +3.3V | | 3 (black) | GND | GND | #### I2C A port | 针脚 | 信号 | 电压 | | ---------------------------- | ---- | --------------------- | | 1（红） | VCC | +5V | | 2 (black) | SCL4 | +3.3V | | 3 (black) | SDA4 | +3.3V | | 4 (black) | GND | GND | #### CAN1 port | 针脚 | 信号 | 电压 | | ---------------------------- | ----- | --------------------- | | 1（红） | VCC | +5V | | 2 (black) | CAN H | +3.3V | | 3 (black) | CAN L | +3.3V | | 4 (black) | GND | GND | #### GPS 接口 | 针脚 | 信号 | 电压 | | ----------------------------- | ----------------------------------------------------------- | --------------------- | | 1（红） | 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 | 针脚 | 信号 | 电压 | | ---------------------------- | --------------------------- | --------------------- | | 1（红） | 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 | 针脚 | 信号 | 电压 | | ---------------------------- | --------------------------- | --------------------- | | 1（红） | VCC | +5V | | 2 (black) | TX (out) | +3.3V | | 3 (black) | RX (in) | +3.3V | | 4 (black) | CTS（输入） | +3.3V | | 5 (black) | RTS（输出） | +3.3V | | 6 (black) | GND | GND | #### POWER port | 针脚 | 信号 | 电压 | | ---------------------------- | --- | --------------------- | | 1（红） | VCC | +5V | | 2 (black) | VCC | +5V | | 3 (black) | 电流 | +3.3V | | 4 (black) | 电压 | +3.3V | | 5 (black) | GND | GND | | 6 (black) | GND | GND | ### Back Pinouts ![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg) #### MAIN Out | 针脚 | 信号 | 电压 | + | - | | -- | --------------------------- | --------------------- | ------------------------------ | --- | | 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 | 针脚 | 信号 | 电压 | + | - | | -- | ---------------------------- | --------------------- | ------------------------------ | --- | | 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 | 针脚 | 信号 | 电压 | | -- | -------------------------------------------------------- | --------------------- | | S | SBUS_IN/PPM_IN | +3.3V | | + | VCC | +5V | | - | GND | GND | ### Right-side Pinouts ![Durandal - Right-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_right.jpg) #### CAN2 port | 针脚 | 信号 | 电压 | | ---------------------------- | ----- | --------------------- | | 1（红） | VCC | +5V | | 2 (black) | CAN H | +3.3V | | 3 (black) | CAN L | +3.3V | | 4 (black) | GND | GND | #### CAP & ADC IN port | 针脚 | 信号 | 电压 | | ----------------------------- | ------------------------------------------------------ | ---------------------------------------- | | 1（红） | 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)](../../assets/flight_controller/durandal/durandal_pinouts_left.jpg) #### DEBUG port | 针脚 | 信号 | 电压 | | ---------------------------- | ----- | --------------------- | | 1（红） | 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 | 针脚 | 信号 | 电压 | | ---------------------------- | ---- | --------------------- | | 1（红） | 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 | 针脚 | 信号 | 电压 | | ---------------------------- | ---- | --------------------- | | 1（红） | VBUS | +5V | | 2 (black) | DM | +3.3V | | 3 (black) | DP | +3.3V | | 4 (black) | GND | GND | ## 更多信息 - [Durandal Wiring QuickStart](../assembly/quick_start_durandal.md) - [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://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro)