PX4 自动驾驶用户指南 (v1.12)

# Holybro Durandal

PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.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

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.

注解

This flight controller is manufacturer supported.

# 概览

# 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
    • 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 (opens new window).

# 采购

Order from Holybro (opens new window).

# Connections

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

# Top

Durandal - Top Pinouts (Schematic)

# Front

Durandal - Front Pinouts (Schematic)

# Back

Durandal - Back Pinouts (Schematic)

Durandal - Right-side Pinouts (Schematic)

# Left

Durandal - Left-side Pinouts (Schematic)

# 尺寸

All dimensions are in millimeters.

Durandal Dimensions

# 组装 / 设置

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

# 编译固件

端口使用标准的串口针脚，可以连接到标准的 FTDI 连接线上（3.3V，但它有5V 耐受性），或连接到 Dronecode probe (opens new window) 上。 针脚定义使用标准的 Dronecode 调试连接器针脚定义。 有关如何连接此端口的详细信息，请参阅 接线 页面。

任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。

make holybro_durandal-v1_default

# Serial Port Mapping

UART 设备 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调试端口

全部可支持的机型可见 机型参考。

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 (opens new window). The pinout uses the standard Dronecode debug connector pinout. Please refer to the wiring page for details of how to wire up this port.

注解

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

# 外部设备

# 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.

# 针脚定义

Durandal pinouts are listed below. These can also be downloaded from here (opens new window).

# Top Pinouts

Durandal - Top Pinouts (Schematic)

# Front Pinouts

Durandal - Front Pinouts (Schematic)

# 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
2 VDD_3V3 +3.3V
2 (yellow) DSM_IN +3.3V
3 (black) GND GND

# I2C A port

针脚 信号 电压
2 VCC +5V
2 (black) SCL4 +3.3V
3 (black) SDA4 +3.3V
4 (black) GND GND

# CAN1 port

针脚 信号 电压
2 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
2 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
2 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
2 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
2 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)

# 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)

# CAN2 port

针脚 信号 电压
2 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
2 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

注意

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

# Left-side Pinouts

Durandal - Left-side Pinouts (Schematic)

# DEBUG port

针脚 信号 电压
2 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
2 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
2 VBUS +5V
2 (black) DM +3.3V
3 (black) DP +3.3V
4 (black) GND GND

# 更多信息

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