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Holybro Durandal

by Holybro

Community
Closed Hardware

Additional PWM groups can be reassigned as GPIO, enabling flexible payload integration on large airframes.

Holybro Durandal autopilot with red aluminum heat sink and exposed carrier board connectors.

Key Specifications

MCU
STM32H743
STM32H742xI/G, STM32H743xI/G data sheet
Mounting Pattern
Custom
Connectivity
6 UARTs ā€¢ 2 IĀ²C ā€¢ 2 CAN
Power
4.9ā€“5.5 V ā€¢ Power Module
Onboard Sensors
2Ɨ IMU ā€¢ 1Ɨ Barometer ā€¢ 1Ɨ Magnetometer
Firmware Support
ArduPilot
PX4 Autopilot
Reference Docs
Holybro Durandal ā€” ArduPilot Hardware OverviewHolybro Durandal ā€” ArduPilot Hardware Overview
Image: Holybro Store ā†—

Detailed Specifications

Additional Features

Value-add capabilities bundled with the controller.
  • āœ“ Built-in IMU heater for thermal stability
  • āœ“ Dual USB-C and JST-GH debug connectivity
  • āœ“ Integrated vibration damping chassis

Core Specifications

Quick reference for the primary hardware capabilities.

MCU
STM32H743
STM32H742xI/G, STM32H743xI/G data sheet
 Mounting Custom
Power 4.9ā€“5.5 V ā€¢ Power Module I/O Overview 6 UARTs ā€¢ 2 IĀ²C ā€¢ 2 CAN
PWM & Storage 16 PWM outputs ā€¢ microSD logging Sensors 2Ɨ IMU ā€¢ 1Ɨ Barometer ā€¢ 1Ɨ Magnetometer

Hardware Overview

Core MCU, mounting, and mechanical data.
Base hardware specification
Default
MCU
STM32H743
STM32H742xI/G, STM32H743xI/G data sheet
 Mounting Custom
Dimensions 45 Ɨ 80 Ɨ 20.5 mm Weight 64g

Power Supply

Input rails, regulators, and redundancy.
Voltage ā€”
Inputs 4
Redundancy Redundant

Power Inputs

POWER1 Power Module
Connector:  6-pin power monitor
Voltage:  4.9ā€“5.5 V
POWER2 Power Module
Connector:  6-pin power monitor
Voltage:  4.9ā€“5.5 V
USB USB
Connector:  USB Type-C
Voltage:  4.75ā€“5.25 V
SERVO_RAIL Servo Rail
Voltage:  0ā€“36 V

High-voltage tolerant servo rail passthrough

Input Voltage ā€” Redundancy āœ“ Yes

Dual power module inputs with over-current protection on peripheral rails.

Connectivity & I/O

Port availability, buses, and expansion options.
UARTs 6 CAN Bus 2
PWM Outputs 16 SD Card āœ“ Yes
Ethernet āœ— No

Peripheral Ports

Port Type Default Function Voltage / Level Connector Notes
TELEM1 UART Primary MAVLink telemetry 3.3 V signal / 5 V supply JST-GH 6-pin Provides hardware flow control and high-current regulator for telemetry radios.
TELEM2 UART Secondary telemetry or payload link 3.3 V signal / 5 V supply JST-GH 6-pin Second RTS/CTS-capable UART for redundant radios or RTK corrections.
GPS1 GPS Primary GPS/compass/safety harness 3.3 V signal / 5 V supply JST-GH 10-pin Bundles GPS, magnetometer, safety switch, and buzzer wiring.
GPS2 GPS Secondary GPS 3.3 V signal / 5 V supply JST-GH 6-pin Redundant GNSS receiver interface or RTK base link.
CAN1 CAN DroneCAN peripheral bus Differential CAN / 5 V supply JST-GH 4-pin Powers DroneCAN accessories such as ESCs or smart modules.
CAN2 CAN Redundant DroneCAN bus Differential CAN / 5 V supply JST-GH 4-pin Second CAN-FD interface for payload networks or redundant ESC chains.
I2C1 I2C External sensor bus 3.3 V JST-GH 4-pin Primary I2C breakout for compasses, rangefinders, or payload sensors.
I2C2 I2C Auxiliary I2C expansion 3.3 V JST-GH 4-pin Secondary bus supporting additional digital peripherals.
RCIN RC Serial RC or PPM input 3.3 V signal / 5 V supply JST-GH 6-pin Supports SBUS, DSM, FPort, and legacy PPM receivers with dedicated RSSI pin.
FMU PWM OUT (1-8) PWM Primary motor outputs Servo rail (0-36 V tolerant) Servo breakout bank A FMU-controlled outputs supporting high-rate DShot or PWM protocols.
IO PWM OUT (9-16) PWM Auxiliary PWM outputs Servo rail (0-36 V tolerant) Servo breakout bank B IOMCU-managed outputs for secondary actuators, camera triggers, or landing gear.
POWER1 Power Primary power module input 4.9-5.5 V 6-pin power monitor Provides redundant 5 V and current/voltage telemetry from the primary power module.
POWER2 Power Secondary power module input 4.9-5.5 V 6-pin power monitor Secondary SMBus-enabled power input for redundancy.
SERVO RAIL Power PWM servo supply 0-36 V tolerant Servo rail bus High-voltage tolerant servo rail isolated from FMU logic supply.
USB-C USB Console and firmware updates 5 V USB Type-C Provides SERIAL0 console, bootloader, and log access.
FMU Debug Debug SWD + console 3.3 V JST-GH 6-pin Offers SWDIO/SWCLK and UART console for development and diagnostics.
Buzzer/Safety Other External safety switch and buzzer 5 V supply JST harness Combined harness powering the safety button, RGB LED, and high-output buzzer.

Onboard Sensors

IMU, barometer, and magnetometer load-outs per revision.
IMU
TDK InvenSense ICM-20689
TDK InvenSense ICM-20689 datasheetCUAV Nora ā€” ArduPilot Hardware Overview[Bug] accelerometer_integral_dt/gyro_integral_dt is vibrationCUAV Nora ā€” ArduPilot Hardware Overview
Bosch Sensortec BMI088
Bosch Sensortec BMI088 datasheetCUAV Pixhawk V6X ā€” ArduPilot Hardware OverviewPixhawk 6X ā€” PX4 User GuideCUAV Pixhawk V6X ā€” ArduPilot Hardware Overview
Barometer
TE Connectivity MS5611
TE Connectivity MS5611 datasheetCube Orange+ ā€” PX4 User Guide
Magnetometer
IST8310
IST8310 datasheetPixhawk 6C ā€” PX4 User GuidePixhawk 6C Flight Controller ā€” Holybro

Known Issues & Advisories

BMI088 IĀ²C driver produces unstable gyro data

PX4's bmi088_i2c driver reports severe gyro jitter and unusable orientation on Crazyflie and other IĀ²C-based boards.

Medium
Reported
Source BMI088 connected via I2C does not work right
Affects Bosch Sensortec BMI088
Onboard IMU

ICM-20689 integral timing spikes under PX4

PX4 v1.12 builds show random accelerometer_integral_dt and gyro_integral_dt spikes on the ICM-20689, destabilising EKF attitude estimates.

Medium
Reported
Source [Bug] accelerometer_integral_dt/gyro_integral_dt is vibration
Affects TDK InvenSense ICM-20689
Onboard IMU

Documentation & Vendor Resources

Edit on GitHub

Propose improvements to this controller entry.

ā†—
Contributors: Jairus
Last updated:
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