# Holybro Durandal

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.

Note 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: ublox 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: ~40~85C
Storage temperature: -40~85C
CE
FCC
RoHS compliant (lead-free)

For more information see: Durandal Technical Data Sheet.

# Purchase {#purchase}

Order from Holybro.

# Connections {#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)

# Right

Durandal - Right-side Pinouts (Schematic)

# Left

Durandal - Left-side Pinouts (Schematic)

# Dimensions

All dimensions are in millimeters.

Durandal Dimensions

# Assembly/Setup

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

# Building Firmware

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 for this target:

make holybro_durandal-v1_default

# 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 {#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.

Note 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

Durandal - Top Pinouts (Schematic)

# Front Pinouts

Durandal - Front Pinouts (Schematic)

# 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 {#gps}

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 {#telem4_i2cb}

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 {#telem1_2_3}

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 {#power}

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