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Durandal is a flight controller designed by Holybro utilizing the STM32H7 microcontroller series. It comes with built-in vibration isolation system and integrated IMU heater for sensors temperature control.
Key Design Points:
High performance H7 Processor with clock speed up to 480 MHz
Redundant inertial measurement unit (IMU) from Bosch® & InvenSense®
Built-in 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 optimum working temperature of IMUs
2 power ports & 5 general purpose serial ports
Two Power ports for redundancy
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:
Telem1 Max output current limiter: 1.5A
All other port 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
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
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
Right away, this is the best 65mm Whoop I know. Not even close.
I ordered two, one is more or less stock, just the PEEK motor screws and V3 cockroach. The second is upgraded to 0702 27000kV but will go back because I like the 25000kV more because of smoother throttle response and perfect betaflight tune.
Now the but:
1. On both quads I had to replace the BeeEye for a spare one because both are out of focus.
2. the yellow props were way too loose and very brittle. I lost two on my maiden. Black, blue and red are very tight (too tight for such a fragile prop) but if you get them on without bending them, they will last.
3. why does the quad not come with the lighter frame right away?
4. PH2.0…. You know the drill.
On that price point, even after the frame and PEEK upgrade I can forgive these quality issues. Especially considering the great tune and quality FC and motors. But be sure to order a replacement cam and props right away.
This was kind of a late night lark. I'd seen this upgrade for the Mk3 for a while and pondered whether it was a gimmick or not, and I'm pleased to say it's a genuinely good upgrade. It has reduced the noise of my Mk3 considerably. I haven't noted any significant increase in print quality, but the old drone of the bed is gone and that's completely worth it.
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