毕业设计&课设-Firmy自动驾驶仪模型框架.zip

<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>