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Durandal est un contrôleur de vol conçu par Holybro utilisant la série de microcontrôleurs STM32H7. Il est équipé d'un système d'isolation des vibrations intégré et d'un chauffage IMU intégré pour le contrôle de la température des capteurs.
Points clés de conception :
Processeur H7 hautes performances avec une vitesse d'horloge jusqu'à 480 MHz
Unité de mesure inertielle redondante (IMU) de Bosch® et InvenSense®
Système d'isolation des vibrations intégré pour filtrer les vibrations à haute fréquence et réduire le bruit afin de garantir des lectures précises
Les IMU sont contrôlées en température par des résistances chauffantes intégrées, permettant une température de fonctionnement optimale des IMU
2 ports d'alimentation et 5 ports série à usage général
Deux ports d'alimentation pour la redondance
Spécifications techniques
Processeurs et capteurs
Processeur FMU principal : STM32H743
Arm ® Cortex®-M7 32 bits, 480 MHz, 2 Mo de mémoire, 1 Mo de RAM
Processeur d'E/S : STM32F100/F103
Arm® Cortex® 32 bits
Capteurs embarqués
Accélérateur/Gyro : ICM-20689
Accélérateur/Gyro : ICM-20602 / BMI088
Mag: IST8310
Baromètre: MS5611
Données électriques
Tension nominale :
Tension d'entrée maximale : 6 V
Entrée d'alimentation USB : 4,75~5,25 V
Entrée du rail servo : 0~36 V
Notes actuelles :
Limiteur de courant de sortie max. Telem1 : 1,5 A
Limiteur de courant de sortie combiné de tous les autres ports : 1,5 A
Données mécaniques :
Dimensions : 80 x 45 x 20,5 mm
Poids : 68,8 g
INTERFACES
13 sorties PWM (8 depuis IO, 5 depuis FMU)
5 ports série à usage général
3 avec contrôle de débit complet
1 avec limite de courant séparée de 1,5 A (Telem1)
3 ports I2C
4 bus SPI
1 bus de capteur SPI interne haute vitesse avec 4 sélections de puces et 6 DRDY
1 bus SPI interne à faible bruit dédié à XXX
Baromètre avec 2 sélections de puces, pas de DRDY
1 bus SPI interne dédié à la FRAM
Prend en charge le contrôle de la température situé sur le module de capteur
1 bus SPI externe
Jusqu'à 2 bus CAN pour double CAN
Chaque CANBus dispose de commandes silencieuses individuelles ou d'un contrôle ESC RX-MUX
Entrées analogiques pour tension/courant de 2 batteries
6 entrées PWM/Capture dédiées sur FMU
Entrée R/C dédiée pour Spektrum / DSM
Entrée R/C dédiée pour CPPM et S.Bus
Sortie servo S.Bus dédiée et entrée analogique / PWM RSSI