Firmament Autopilot (FMT-Firmware)
- Software
- Drones and boats
- Firmware
Firmament (FMT) is an autopilot firmware for vehicles such as drones, cars, ships and robots, built with model-based design using C/C++ and RT-Thread.
Made by Firmament-Autopilot.
Source on GitHub: github.com/Firmament-Autopilot/FMT-Firmware (opens in a new tab). Facts read at commit a2df332 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit a2df332 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Designed for model-based design, so control systems can be built and debugged more quickly.
- Embedded firmware written in C/C++ running on the RT-Thread real-time operating system.
- Paired with FMT-Model, a MATLAB/Simulink simulation framework with algorithm libraries.
- Generates code from Simulink models for different hardware platforms such as ARM, AMD and Intel.
- Supports Mavlink and QGroundControl, and builds on Windows, Linux and Mac.
- Supports several flight controller boards, including Pixhawk FMUv2 and FMUv5, CUAV, AMOV and SIEON S1, plus QEMU for simulation.
Written by Robotheca from the project's README (opens in a new tab) at commit a2df332.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 21 Oct 2026 on master
- Latest release
- v1.2.0 (20 Oct 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.