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Holybro Durandal FC Autopilot with PM07 & GPS

PDF icon Technical Sheet317.49 KB
PDF icon Connections306.89 KB

Durandal is the latest update to the successful family of Holybro autopilots. It was designed and developed by Holybro, optimized to run the latest ArduPilot firmware. It features the STM32H743 microprocessor, the latest advanced processor technology from STMicroelectronics®, plus sensor technology from Bosch® and InvenSense®, and a ChibiOS real-time operating system, delivering incredible performance, flexibility, and reliability for controlling any autonomous vehicle. Durandal’s microcontroller now has 2 MB of Flash memory and 1 MB of RAM.


  • Powerful STM32H7 microcontroller running at 480MHz. 2 MB of Flash memory and 1 MB of RAM.
  • Integrated temperature control for sensors.
  • New sensors with higher temperature stability.
  • Internal vibration isolation system.
  • Dual high-performance, low-noise IMUs on board are designed for demanding stabilization applications.

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


  • Main accelerometer / gyroscope: InvenSense ICM20689
  • Redundancy accelerometer / gyroscope: Bosch BMI088
  • Barometer: MS5611 
  • Magnetometer: IST8310
  • GPS: ublox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310


  • Operating power: 4.9~5.5V (6v max input)
  • USB Input: 4.75~5.25V
  • High-power servo rail, up to 36V (servo rail does not power the autopilot)
  • Dual voltage and current monitor inputs


  • 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


  • Weight: 68.8g
  • Builtin IMU heater for temperature stability
  • Dimensions: 80mm x 45mm x 20.5mm
  • Operating temperature: -40 ~ 85°c


  • Durandal x1
  • GPS Module x1
  • PM07 Power Management Board x1
  • I2C splitter Board x1
  • 6 to 6 pin cable (power) x5
  • 4 to 4 pin cable (CAN) x2
  • 10 to 10 pin cable (CAP&ADC) x2
  • 7 to 7 pin cable(SPI) x1
  • "Y"6 to 4 pin & 4 pin cable x1
  • DSMX receiver cable x1
  • PPM/SBUS out cable x1
  • XSR receiver cable x1
  • SBUS receiver cable x1
  • USB (type-c)cable x1
  • Foam Set x1
  • Durandal Pinouts
  • Power Management Board Quick Start Guide
Holybro Micro OSD V2
Holybro Micro OSD V2

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