中文页 |
Firmament (FMT) is an advanced autopilot system which is developed for Model-Based Design (MBD), which can be used to quickly build control systems for autonomous vehicle, such as uav, car, ship, robot, etc.
The system is mainly composed of two parts.
- FMT-Firmware: A stable and high performance embedded system designed with C/C++.
- FMT-Model: A simulation framework with algorithm libraries designed with MATLAB/Simulink.
- High development efficency achieved with model-based deisign and debug easier.
- A stable and high performance embedded system designed with C/C++.
- A powerful simulation framework with various algorithm library designed with MATLAB/Simulink.
- Auto code generation from Simulink model adapted to different hardware platforms (ARM, AMD, Intel, etc).
- Excellent real-time performance based on RT-Thread RTOS with active community and large number of third-party components.
- Support with most widely used open-source hardware Pixhawk (Both FMUv2 and FMUv5 are supported).
- Cross-platform toolchain support with Windows/Linux/Mac.
- Support with Mavlink v1.0/v2.0.
FMT Firmware's architecture is shown in the figure below.
The current supported hardware platforms are Pixhawk(FMUv2) and Pixhawk 4(FMUv5). Please visit the websit to get more information about the hardware.