FMT Autopilot Embedded Software

Overview

FMT

GitHub license

中文页 |

Overview

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 unmanned aerial vehicles, cars, ships, robots, 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.

Feature

  • 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.

Architecture

FMT Firmware's architecture is shown in the figure below.

Hardware

The current supported hardware platforms are Pixhawk(FMUv2) and Pixhawk 4(FMUv5). Please visit the websit to get more information about the hardware.

Documentation

User Guide

License

Apache-2.0

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Comments
  • fmu-v5编译不成功

    fmu-v5编译不成功

    linux:ubuntu 20.04 工具链:gcc-arm-none-eabi-7-2018-q2-update 代码版本:v0.2.1

    编译fmu-v2版与io固件没问题,但是编译fmu-v5固件时会出现如下报错

    scons: Reading SConscript files ... scons: done reading SConscript files. scons: Building targets ... scons: building associated VariantDir targets: build CC build/fmt/src/module/toml/toml.o In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:42:7: error: redefinition of 'union sigval' union sigval { ^~~~~~ In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:28:7: note: originally defined here union sigval ^~~~~~ In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:47:8: error: redefinition of 'struct sigevent' struct sigevent { ^~~~~~~~ In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:36:8: note: originally defined here struct sigevent ^~~~~~~~ In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:72:3: error: conflicting types for 'siginfo_t' } siginfo_t; ^~~~~~~~~ In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:55:24: note: previous declaration of 'siginfo_t' was here typedef struct siginfo siginfo_t; ^~~~~~~~~ CC build/fmt/src/task/fmtio/task_fmtio.o CC build/fmt/src/task/logger/task_logger.o CC build/fmt/src/task/status/task_status.o CC build/fmt/src/task/vehicle/multicopter/task_vehicle.o scons: *** [build/fmt/src/module/toml/toml.o] Error 1 scons: building terminated because of errors.

    opened by bingobinlw 2
  • 不是一个 issue.

    不是一个 issue.

    "基于模型设计提供更高效的开发体验以及更轻松的调试方式 " ,一直很向往MBD的开发方式,但平时工作没有使用过这种方式。 主要是自己能力上欠缺,另一方面是目前调试的硬件还不能支持MBD方式,芯片flash不够,也没有足够的引脚来接个SD卡,用来记录日志,平时调试都是用很多时间来换取一般效果。(用PIX4板子是可以的,但工作上用不上)

    希望MBD方式发扬光大,在飞控这一块大放异彩。FMT是一个里程碑。

    opened by wenzhicode 2
  • Fix PX4-EKF initialization partial failure

    Fix PX4-EKF initialization partial failure

    The first time running Ekf_IMU_update() will trigger Ekf::init(uint64_t timestamp) which causing some initialization options to fail. So run it once when FMT initializes PX4-EKF.

    opened by mooncakeG 0
  • CUAV V5+ startup failed

    CUAV V5+ startup failed

    I have successfully comipled the project, and download fmt_cuav-v5+.bin the qgc. But the firmware can't startup, the debug console print the following message: putty

    opened by shmm91 8
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