Holybro Durandal

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. 有关如何连接此端口的详细信息，请参阅 接线 页面。

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.

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 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.

Where to Buy

Order from Holybro.

Connections

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

Top

Front

Back

Right

Left

尺寸

All dimensions are in millimeters.

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 上。 It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected. 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

The PX4 System Console and SWD interface run on the Debug Port.

The pinouts and connector comply with the Pixhawk Debug Mini interface defined in the Pixhawk Connector Standard.

For wiring and debugging information see the above links.

INFO

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

外部设备

• 数字空速传感器
• 数传电台模块
• 测距仪/距离传感器

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.

Top Pinouts

Front Pinouts

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

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

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 ++
9 (black)	ADC1_SPARE_2	+6.6V ++
10 (black)	GND	GND

WARNING

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

Left-side Pinouts

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
• Durandal Technical Data Sheet
• Durandal Pinouts (Holybro)