# FMT_Model

**Repository Path**: corersky/FMT_Model

## Basic Information

- **Project Name**: FMT_Model
- **Description**: Firmament Autopilot算法模型
- **Primary Language**: Matlab
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: https://firmamentpilot.github.io/docs/
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2020-10-26
- **Last Updated**: 2021-10-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<p align="center"><img width="200" src="https://github.com/FirmamentPilot/fmt_user_guide_cn/blob/master/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](https://github.com/FirmamentPilot) project, which includes the simulation framework, such as **model-in-the-loop** , **hardware-in-the-loop** and **open-loop** simulation. Apart from that, the algorithm library is provided which contains various of simulink model including **INS**, **Controller**, **FMS**, **Plant**,  which can be used for different vehicles. These models can generate C/C++ source file and easily integrate into [FMT Firmware](https://github.com/FirmamentPilot/FMT_Firmware).

<p align="center"><img width="700" src="https://github.com/FirmamentPilot/fmt_user_guide_cn/blob/master/fmt_model/architecture/figures/fmt_model.png" alt=structure"></p>

## Quick Start

FMT Model is mainly developed and tested in **Matlab 2018b**, so it's strongly recommended to use this version. However, it's possible to open the project with higher matlab version, but that is not well tested.

### Initialization

To initialize the project, simply click and run `FMT_Model.prj`, which will do everything for you.

### MIL Simulation

Follow the belowing steps to start MIL simulation:

- Open the MIL simulation model `$FMT_Model/simulation/MILSIM.slx`.
- Modify `FCS/RC` module to select rc signal source (`Variant->Label Model Active Choice`). Currently there are two source supported:
	-  *Joystick* (default): A joystick should be connected to your PC.
	-  *Mavlink*: In this way, rc signal would be sent via mavlink protocol. Make sure you uncomment macro `FMT_OUTPUT_PILOT_CMD` in `$FMT_Firmware/fmt_fmu/target/pixhawk/fmtconfig.h`.
- Modify `Virtualization` module to select 3D environment.
	- *Matlab_3D*  (default): Matlab 3D Animation
	- *Flightgear*: Flightgear Simulator  
- Clock `Run` button to start the simulation.

<p float="left">
  <img src="https://github.com/FirmamentPilot/fmt_user_guide_cn/blob/master/fmt_model/simulation/figures/matlab_3D.png" width="400" />
  <img src="https://github.com/FirmamentPilot/fmt_user_guide_cn/blob/master/fmt_model/simulation/figures/flightgear.png" width="400" />
</p>

### Open-loop Simulation

Follow the belowing steps to start open-loop simulation:

- Parse `blog.bin` log file and load **.mat* files into matlab workspace.
- Run `utils/log_parser/load_parameter.m` script to load model parameters from log file.
- Open the open-loop simulation model `$FMT_Model/simulation/OpenLoopSIM.slx`.
- Clock `Run` button to start the simulation.

### Donation
Thank you very much for your donation, so that I can have more time and enthusiasm to continue to work on this project.

<p float="left">
  <img src="https://github.com/FirmamentPilot/FMT_Firmware/blob/master/figures/wechat_pay.png" width="200" />
  <img src="https://github.com/FirmamentPilot/FMT_Firmware/blob/master/figures/ali_pay.jpg" width="200" />
</p>

### Contact
Wellcome to join our QQ group
<p align="left"><img width="200" src="https://github.com/FirmamentPilot/FMT_Firmware/blob/master/figures/QR_code.png" alt=QR code"></p>