Firmament Autopilot

Model-based autopilot system for drones, cars, ships and robots, with a Simulink simulation stack

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Firmament is an open-source autopilot system for autonomous vehicles including drones, cars, ships and robots. It pairs an embedded C/C++ flight stack running on an RTOS with a MATLAB/Simulink modelling framework that generates code for supported boards such as Pixhawk and CUAV controllers, and works with MAVLink and QGroundControl.

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