Firmament (FMT)
A model-based-design autopilot system for building control software for drones, cars, ships, and robots, pairing a C/C++ embedded firmware with a MATLAB/Simulink simulation and algorithm library.
Firmament, or FMT, is an autopilot system for autonomous vehicles built around model-based design. It has two parts: FMT-Firmware, a stable, high-performance embedded control system written in C and C++ that runs on RT-Thread RTOS, and FMT-Model, a simulation framework with algorithm libraries built in MATLAB and Simulink.
Control logic modeled in Simulink can be auto-generated into code for different hardware targets, and the system supports Mavlink and QGroundControl for ground-station communication. It runs on widely used open-source flight-controller hardware based on Pixhawk, including several FMUv2 and FMUv5 boards, with a cross-platform toolchain for Windows, Linux, and Mac.
It is distributed under the Apache-2.0 license.