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["20231023first"]
霍利布羅·杜蘭達爾
概述
Durandal是Holybro利用STM32H7系列微控制器設計的飛行控制器。它配備內建隔振系統和用於感測器溫度控制的整合式 IMU 加熱器。
設計重點：
- 高效能 H7 處理器，時脈速度高達 480 MHz
- Bosch® 和 InvenSense® 的冗餘慣性測量單元 (IMU)
- 內建隔振系統，濾除高頻振動並降低噪音，確保讀數準確
- IMU 透過板載加熱電阻進行溫度控制，實現 IMU 的最佳工作溫度
- 2 個電源連接埠和 5 個通用序列埠
- 兩個電源連接埠用於冗餘
技術規格
處理器和感測器
-
主FMU處理器：STM32H743
-
IO處理器：STM32F100/F103
-
板載感測器
電氣數據
額定電壓：
- 最大輸入電壓：6V
- USB電源輸入：4.75~5.25V
- 伺服軌輸入：0~36V
目前評級：
- Telem1 最大輸出電流限制器：1.5A
- 所有其他連接埠組合輸出限流：1.5A
機械數據：
-
尺寸：80*45*20.5mm
-
重量：68.8公克
介面
- 13 個 PWM 輸出（8 個來自 IO，5 個來自 FMU）
- 5個通用串口
- 3.具有全流量控制
- 1 個具有單獨的 1.5A 電流限制 (Telem1)
- 3 個 I2C 端口
- 4路SPI總線
- 1 個內部高速 SPI 感測器匯流排，具有 4 個片選和 6 個 DRDY
- 1 個內部低雜訊 SPI 匯流排專用於 XXX
- 具有 2 個晶片選擇的晴雨表，無 DRDY
- 1 個專用於 FRAM 的內部 SPI 匯流排
- 支援位於感測器模組上的溫度控制
- 1個外部SPI匯流排
- 多達 2 個 CAN 總線用於雙 CAN
- 每個 CANBus 都有單獨的靜音控製或 ESC RX-MUX 控制
- 2顆電池電壓/電流類比輸入
- FMU 上有 6 個專用 PWM/捕捉輸入
- Spektrum / DSM 專用 R/C 輸入
- 用於 CPPM 和 S.Bus 的專用 R/C 輸入
- 專用S.Bus伺服輸出和模擬/PWM RSSI輸入
- 2 個附加類比輸入
SKU20081/20227 包括：
SKU20226/20229 包括：
