Skip to content

Durandal 배선 개요

PX4 v1.11

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.

This quick start guide shows how to power the Holybro Durandal® flight controller and connect its most important peripherals.


포장 개봉

Durandal is sold bundled with a number of different combinations of accessories, including power modules: PM02 V3 and PM07, and the Pixhawk 4 GPS/Compass ( u-blox NEO-M8N).

The content of the box with the PM02 V3 power module is shown below (the box also includes a pinout guide and power module instructions).

Durandal Box

배선 개요

The image below shows how to connect the most important sensors and peripherals (except the motor and servo outputs). We'll go through each of these in detail in the following sections.

Durandal Wiring Overview


More information about available ports can be found here: Durandal > Pinouts.

콘트롤러 장착 및 장착 방향

Durandal should be mounted on the frame positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle.


If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: Flight Controller Orientation.


The board has internal vibration-isolation. 10 핀 케이블을 사용하여 GPS 포트에 연결합니다.

GPS + 나침반 + 부저 + 안전 스위치 + LED

Durandal is designed to work well with the Pixhawk 4 GPS module, which has an integrated compass, safety switch, buzzer and LED. It connects directly to the GPS port using the 10 pin cable.

The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).

Connect compass/GPS to Durandal

전원 모듈 또는 배전 보드를 사용하여 모터와 서보에 전원을 공급하고 소비 전력을 측정할 수 있습니다. 권장되는 전원 모듈은 아래와 같습니다. You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station). :::


You can use a power module or power distribution board to power motors/servos and measure power consumption. 비행 콘트롤러에 배터리의 전력을 공급합니다.

PM02 v3 전원 모듈

The Power Module (PM02 v3) can be bundled with Durandal. It provides regulated power to flight controller and sends battery voltage/current to the flight controller.

Connect the output of the Power Module as shown.

Durandal PM02v3 Power connections

  • PM 전압/전류 포트 : 제공된 6선 GH 케이블을 사용하여 POWER1 포트나 POWER2 포트에 연결합니다.
  • PM 입력 (XT60 수 커넥터) : LiPo 배터리(2 ~ 12S)에 연결합니다.
  • PM 전원 출력 (XT60 암 커넥터) : 모든 모터 ESC에 케이블을 연결합니다.


MAIN/AUX의 8 핀 전원 (+) 레일은 비행 콘트롤러에 대한 전원 모듈 공급으로 전원이 공급되지 않습니다. 방향타, 엘레본 등의 서보를 구동하기 위해 별도로 전원을 공급해야하는 경우에는 파워 레일을 BEC 장착 ESC 또는 독립형 5V BEC나 2S LiPo 배터리에 연결합니다.


The 8 pin power (+) rail of MAIN/AUX is not powered by the power module supply to the flight controller. If it will need to be separately powered in order to drive servos for rudders, elevons etc., the power rail needs to be connected to a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery. Ensure the voltage of servo you are going to use is appropriate.

The power module has the following characteristics/limits:

  • 최대 입력 전압 : 60V
  • 최대 전류 감지 : 120A 전압
  • SV ADC 스위칭 레귤레이터 출력에 대해 설정된 전원은 최대 5.2V 및 3A를 출력합니다.
  • 무게 : 20g
  • 패키지 내용물 :
    • PM02 보드
    • 6 핀 MLX 케이블 (1 개)
    • 6 핀 GH 케이블 (1 개)

Pixhawk 4 전원 모듈 (PM07)

The Pixhawk 4 Power Module (PM07) can be bundled/used with Durandal. It acts as both a power module and power distribution board, providing regulated power to flight controller and the ESCs, and sending battery voltage/current to the flight controller.

전원 모듈에는 다음과 같은 특성과 제약 사항이 있습니다.

It has the following characteristics/limits:

  • PCB 전류 : 총 120A 출력 (최대)
  • UBEC 5V 출력 전류 : 3A
  • UBEC 입력 전압 : 7 ~ 51v (2 ~ 12s LiPo)
  • 크기 : 68 50 8 mm
  • Mounting Holes: 45*45mm
  • 중량: 36g
  • 패키지 내용물 :
    • PM07 보드 (1 개)
    • 80mm XT60 커넥터 와이어 (1 개)

배터리 전원 설정은 전원설정에서 설정합니다. :::

배터리 설정

The battery/power setup must be configured in Battery Estimation Tuning. For either Power Module you will need to configure the Number of Cells.

You will not need to update the voltage divider unless you are using some other power module (e.g. the one from the Pixracer).

Radio Control

A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).

You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).

The instructions below show how to connect the different types of receivers to Durandal:

  • Spektrum/DSM 수신기는 DSM RC 입력에 연결합니다.

    Durandal - DSM

  • PPM과 S.Bus 방식 수신기는 SBUS_IN / PPM_IN 입력 포트 (MAIN/AUX 입력 옆에 RC IN으로 표시됨)에 연결합니다.

    Durandal - 백 핀아웃 (개략도)

  • PPM and PWM receivers that have an individual wire for each channel must connect to the PPM RC port via a PPM encoder like this one (PPM-Sum receivers use a single signal wire for all channels).

무선 텔레메트리는 지상국 프로그램에서 비행 차량의 통신/제어에 사용합니다(예 : UAV를 특정 위치로 지시하거나 새 임무를 업로드 할 수 있음).

Telemetry Radios (Optional)

Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).

The vehicle-based radio should be connected to the TELEM1 port as shown below using one of the 6-pos connectors (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually by USB).

Durandal/Telemetry Radio

SD 카드 (선택 사항)

SD cards are highly recommended as they are needed to log and analyse flight details, to run missions, and to use UAVCAN-bus hardware. Insert an SD card into the Durandal where indicated below.

Durandal SD Card


Motors/servos control signals are connected to the I/O PWM OUT (MAIN OUT) and FMU PWM OUT (AUX) ports in the order specified for your vehicle in the Airframe Reference.

Durandal - Back Pinouts (Schematic)

The motors must be separately powered.


If your frame is not listed in the airframe reference then use a "generic" airframe of the correct type.


Durandal has 5 AUX ports, so cannot be used with airframes that map AUX6, AUX7, AUX8 to motors or other critical flight controls.

기타 주변 장치

The wiring and configuration of optional/less common components is covered within the topics for individual peripherals.

핀 배열

Durandal > Pinouts

PX4 설정

First you will need to install PX4 "Master" Firmware onto the controller using QGroundControl.

Durandal support will be in the stable PX4 release that follows PX4 v1.10.

QuadPlane에 대한 자세한 설정은 QuadPlane VTOL 설정을 참고하십시오.

QuadPlane specific configuration is covered here: QuadPlane VTOL Configuration

추가 정보