# Overview & Technical Specification

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Durandal is a flight controller designed by Holybro utilizing the STM32H7 microcontroller series. As an increasing number of drone companies and developers need to run more powerful models and build on more embedded memory capabilities, Durandal is designed to offer the performance upgrade for development needs.

The advantage will come in handy with intensive calculation features are required. Harnessing our extensive controller building experience in the past years, we have implemented a new vibration absorption system into the mechanical design of the hardware and integrated an IMU heater for sensor temperature control. <br>

## **Key Design Points:**

* High performance H7 Processor with a clock speed up to 480 MHz
* Redundant inertial measurement unit (IMU) from Bosch® & InvenSense®
* Vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
* IMUs are temperature-controlled by onboard heating resistors, allowing the optimum working temperature of IMUs
* 2 power ports & 5 general purpose serial ports

## **Technical Specifications**

### **Processors & Sensors**

* Main FMU Processor: STM32H743
  * 32 Bit Arm ® Cortex®-M7, 480MHz, 2MB memory, 1MB RAM
* IO Processor: STM32F100/F103
  * 32 Bit ARM® Cortex®
* On-board sensors
  * Accel/Gyro: ICM-20689
  * Accel/Gyro: ICM-20602 / BMI088
  * Mag: IST8310
  * Barometer: MS5611

### **Electrical Data**

**Voltage Ratings:**

* Max input voltage: 6V
* USB Power Input: 4.75\~5.25V
* Servo Rail Input: 0\~36V

Current Ratings:<br>

* Telem1 Max output current limiter: 1.5A
* All other ports combined output current limiter: 1.5A

### **Mechanical Data:**

* Dimensions:80\*45\*20.5mm
* Weight: 68.8g

### **Interfaces**

* 13 PWM outputs (8 from IO, 5 from FMU)
* 5 general purpose serial ports
* * 3 with full flow control
  * 1 with separate 1.5A current limit (Telem1)
* 3 I2C ports<br>
* 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 to FRAM
  * Supports temperature control located on the sensor module
  * 1 external SPI bus
* Up to 2 CAN buses for dual CAN
  * Each CAN bus has individual silent controls or ESC RX-MUX control
* Analog inputs for voltage/current of 2 batteries
* 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
* 2 additional analog inputs


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