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+# Durandal Flight Controller
+
+The Holybro Durandal flight controller is sold by a range of
+resellers, linked from https://www.holybro.com
+
+The full schematics of the board are available here:
+
+ https://github.com/ArduPilot/Schematics/tree/master/Holybro/Durandal
+
+## Features
+
+ - STM32H743 microcontroller
+ - ICM20689 and BMI088 IMUs
+ - internal heater for IMU temperature control
+ - internal vibration isolation for IMUs
+ - MS5611 SPI barometer
+ - builtin IST8310 compass
+ - microSD card slot
+ - 6 UARTs plus dual USB
+ - 16 PWM outputs
+ - I2C and dual CAN ports
+ - DSM and RCIN ports
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - dual power input ports for external power bricks
+ - external USB connectors (micro USB and JST GH)
+
+## Pinout
+
+
+
+
+
+
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> UART3 (Telem2)
+ - SERIAL3 -> UART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2, Telem4/I2C)
+ - SERIAL5 -> UART6 (Telem3)
+ - SERIAL6 -> UART7 (debug port)
+ - SERIAL7 -> USB2
+
+The Telem1, Telem2 and Telem3 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+## Connectors
+
+Unless noted otherwise all connectors are JST GH
+
+### TELEM1, TELEM2, TELEM3 ports
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ CTS |
+ +3.3V |
+
+
+ | 5 (blk) |
+ RTS |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### GPS1 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ SCL I2C1 |
+ +3.3V |
+
+
+ | 5 (blk) |
+ SDA I2C1 |
+ +3.3V |
+
+
+ | 6 (blk) |
+ Button |
+ GND |
+
+
+ | 7 (blk) |
+ button LED |
+ GND |
+
+
+ | 8 (blk) |
+ 3.3V |
+ 3.3 |
+
+
+ | 9 (blk) |
+ buzzer |
+ GND |
+
+
+ | (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### GPS2, Telem4/I2C port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ SCL I2C2 |
+ +3.3V |
+
+
+ | 5 (blk) |
+ SDA I2C2 |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+### SBUS Out port
+
+The SBUS out port is a port attached to the IO processor which can be
+used to output all servo channels via SBUS. It is enabled by setting
+the BRD_SBUS_OUT parameter.
+
+When SBUS output is disabled (by setting BRD_SBUS_OUT to 0) you can
+use the port for analog RSSI input from receivers. To enable for RSSI
+input you need to set:
+
+ - BRD_SBUS_OUT 0
+ - RSSI_TYPE 1
+ - RSSI_PIN 103
+
+You cannot have both SBUS output and analog RSSI input at the same time.
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ GND |
+ GND |
+
+
+ | 2 |
+ 5v(Vservo) |
+ +5.0V |
+
+
+ | 3 |
+ TX (OUT) |
+ +3.3V |
+
+
+
+
+### DSM/SPKT port
+
+The SPKT port provides a connector for Spektrum satellite
+receivers. It is needed to allow for software controlled binding of
+satellite receivers.
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ RX (IN) |
+ +3.3V |
+
+
+ | 2 |
+ GND |
+ GND |
+
+
+ | 3 |
+ 3.3v |
+ +3.3V |
+
+
+
+
+
+### ADC / CAPTURE
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+
+ | 2 (blk) |
+ FMU_CAP6, AUX6, GPIO 55 |
+ |
+
+
+
+ | 3 (blk) |
+ FMU_CAP5, AUX7, GPIO 56 |
+ |
+
+
+
+ | 4 (blk) |
+ FMU_CAP4, AUX8, GPIO 57 |
+ |
+
+
+
+ | 5 (blk) |
+ FMU_CAP3, GPIO 60 |
+ |
+
+
+
+ | 6 (blk) |
+ FMU_CAP2, GPIO 59 |
+ |
+
+
+
+ | 7 (blk) |
+ FMU_CAP1, GPIO 58 |
+ |
+
+
+
+ | 8 (blk) |
+ ADC1_3V3 (ADC pin 4) |
+ |
+
+
+
+ | 9 (blk) |
+ ADC1_6V6 (ADC pin 18) |
+ |
+
+
+
+ | 10 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### I2C
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ SCL |
+ +3.3 (pullups) |
+
+
+ | 3 (blk) |
+ SDA |
+ +3.3 (pullups) |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### CAN1&2
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ CAN_H |
+ +12V |
+
+
+ | 3 (blk) |
+ CAN_L |
+ +12V |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### POWER1&2
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (red) |
+ VCC |
+ +5V |
+
+
+ | 3 (blk) |
+ CURRENT |
+ up to +3.3V |
+
+
+ | 4 (blk) |
+ VOLTAGE |
+ up to +3.3V |
+
+ 5 (blk) |
+ GND |
+ GND |
+
+ 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### USB
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ D_minus |
+ +3.3V |
+
+
+ | 3 (blk) |
+ D_plus |
+ +3.3V |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+## RC Input
+
+RC input is configured on the RCIN pin, at one end of the servo rail,
+marked RCIN in the above diagram. This pin supports all RC
+protocols. In addition there is a dedicated Spektrum satellite port
+which supports software power control, allowing for binding of
+Spektrum satellite receivers.
+
+## PWM Output
+
+The Durandal supports up to 16 PWM outputs. First first 8 outputs (labelled
+"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
+outputs support all PWM output formats, but not DShot.
+
+The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary"
+outputs. These are directly attached to the STM32F427 and support all
+PWM protocols as well as DShot.
+
+All 14 PWM outputs have GND on the top row, 5V on the middle row and
+signal on the bottom row.
+
+The 8 main PWM outputs are in 3 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5, 6, 7 and 8 in group3
+
+The 8 auxillary PWM outputs are in 2 groups:
+
+ - PWM 1, 2, 3 and 4 in group4
+ - PWM 5 and 6 in group5
+ - PWM 7 and 8 in group6 (no DMA, no DShot)
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+## Battery Monitoring
+
+The board has two dedicated power monitor ports on 6 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+
+## Compass
+
+The Durandal has one builtin IST8310 compass.
+
+## GPIOs
+
+The 8 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 8. For example
+if you set BRD_PWM_COUNT to 6 then PWM7 and PWM8 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - PWM1 50
+ - PWM2 51
+ - PWM3 52
+ - PWM4 53
+ - PWM5 54
+ - PWM6 55
+ - PWM7 56
+ - PWM8 57
+
+## Analog inputs
+
+The Durandal has 7 analog inputs
+
+ - ADC Pin16 -> Battery Voltage
+ - ADC Pin17 -> Battery Current Sensor
+ - ADC Pin14 -> Battery2 Voltage
+ - ADC Pin15 -> Battery2 Current Sensor
+ - ADC Pin4 -> ADC port pin 8 (3.3V limit)
+ - ADC Pin18 -> ADC port pin 9 (6.6V limit)
+ - ADC Pin9 -> RSSI in
+ - ADC Pin10 -> 5V Sense
+ - ADC Pin11 -> 3.3V Sense
+
+## IMU Heater
+
+The IMU heater in the Durandal can be controlled with the
+BRD_IMU_TARGTEMP parameter, which is in degrees C.
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.
+
+## Acknowledgements
+
+Thanks to [Holybro](http://www.holybro.com) for images