FMT 开源自驾仪系统
FMT（全称 Firmament Autopilot）是首个基于模型设计的开源自驾仪系统。
简介
Firmament（FMT）是一款基于模型设计（Model Based Design，简称 MBD）的开源自驾仪，可被用来快速构建无人机、无人车、无人船、机器人等的无人控制系统。基于模型设计已经被广泛应用于汽车制造、航空航天等行业，当前采用基于模型设计模式开发的飞控系统凤毛麟角，而 FMT 就是为此而诞生。FMT 结合当前最先进的基于模型设计和 3D 仿真技术，构建了从嵌入式软件，建模与仿真三位一体的软件开发平台，致力于打造下一代的开源自驾仪系统。
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.
功能特性
- 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 and QGroundcontrol.
整体架构
FMT Firmware's architecture is shown in the figure below.
支持硬件
Current supported hardware:
The drone hardware equipped with FMT: