# FMT-Model

**Repository Path**: amovlab/FMT-Model

## Basic Information

- **Project Name**: FMT-Model
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-07-05
- **Last Updated**: 2022-07-05

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<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](https://github.com/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
[User Guide](https://firmament-autopilot.github.io/FMT-DOCS/#/)

## 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 the`FMT_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>