Firmament Model (FMT Model) is a part of Firmament Autopilot project. It includes a simulation framework with algorithm libraries designed with MATLAB/Simulink.

FMT-Model is developed in MATLAB 2018b, which is the recommend version. However, you should be able to use higher MATLAB version as well.

• 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.

User Guide

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.

FMT-Model source code catalog is shown as follow:

Current supported simulation:

• MIL (Model-in-the-loop Simulation)
• Open-loop Simulation

For more information, please refer to the document.