Awesome
<p align="center"><img width="160" src="figures/logo.png" alt=FMT logo"></p> <p align="center"> <a href="/LICENSE"><img src="https://img.shields.io/badge/license-GPL--3.0-green" alt="GitHub license" /></a> </p>Overview
Firmament Model (FMT Model) is a part of Firmament Autopilot project. It includes a simulation framework with algorithm libraries designed with MATLAB/Simulink.
Architecture
<p align="center"><img width="700" src="figures/fmt_model.png" alt=structure"></p>Environmet
FMT-Model is developed in MATLAB 2018b, which is the recommend version. However, you should be able to use higher MATLAB version as well.
Required Toolbox
- Aerospace Blockset (4.0)
- Embedded Coder (7.1)
- Instrument Control Toolbox (3.14)
- MATLAB (9.5)
- Simulink (9.2)
- Simulink 3D Animation (8.1)
- Simulink Coder (9.0)
For other toolboxes required by the model, please check the README.md inside the submodules.
Document
Quick Start
To get the FMT-Model, use the following command. This will clone the code base of FMT-Model with all submodules (INS, FMS, Controller, Plant).
git clone https://github.com/Firmament-Autopilot/FMT-Model.git --recursive
Then open MATLAB and change the work directory to FMT-Model root folder. After that, run theFMT_Model.prj, which will do all the initialization for you.
Code Catalogue
FMT-Model source code catalog is shown as follow:
| Name | Description |
|---|---|
| bus | Scripts to generate simulink bus objects. |
| figures | Project figures. |
| lib | FMT-Model toolbox model library. |
| model | Simulink model source file. |
| script | Matlab scripts. |
| simulation | Simulation related simulink model. |
| utils | Project utils. |
Simulation
Current supported simulation:
- MIL (Model-in-the-loop Simulation)
- Open-loop Simulation
For more information, please refer to the document.
<p float="left"> <img src="figures/matlab_3D.png" width="400" /> <img src="figures/flightgear.png" width="400" /> </p>