ICF5 is a professional open-source autopilot hardware created by FMT teams and AMOVLAB. ICF5 is equipped with the latest FMT stable firmware and can be applied to various robotics application scenarios.

FMT is a next-generation open source autopilot system which supports Model-based-design (MBD). Use MATLAB/Simulink to quickly build algorithm models graphically, and one-click to generate C/C++ code which can be easily deployed to ICF5. Using FMT can greatly improves the development efficiency and make R&D much easier. ICF is an ideal platform for algorithm and prototype verification.

• FMU Processor:
  • 32 Bit Arm® Cortex®-M4, 240MHz, 1MB memory, 512KB RAM
• On-board sensors:
  • IMU: BMI088/ICM-42688-P/ICM-20948
  • Magnetometer: BMM150/ICM-20948
  • Barometer: SPL06-001/MS5611
• Interfaces:
  • 10 PWM outputs
  • Dedicated R/C input for PPM and SBUS
  • 1 GPS integrated with safety switch and buzzer interface
  • 5 general purpose serial ports
  • 3 I2C ports
  • 1 SPI buses
  • 1 CAN Buses
  • 1 ETH
  • 1 Type-C USB
• Power System:
  • Power module output: 4.9~5.5V
  • USB Power Input: 4.75~5.25V
  • Servo Rail Input: 0~36V
• Weight and Dimensions:
  • Weight: 39.3g
  • Dimensions: 70x36x18.5mm
• Other Characteristics:
  • Operating temperature: -20 ~ 85°c

https://wiki.amovlab.com/public/icf5-wiki/

https://item.taobao.com/item.htm?spm=a230r.1.14.60.284211f8srcCoe&id=705459383848&ns=1&abbucket=12#detail

Build firmware for quadcopter

cd FMT-Firmware/taget/amov/icf5
scons -j4

-jN allows N jobs at once which makes your build process quicker.

For other vehicle, such as fixwing, using

scons -j4 --vehicle=Fixwing

Currently there are 2 ways to download firmware to hardware.

1. Donwload Script: Enter python3 uploader.py in the icf5 directory. Then connect your hardware via usb.

PS D:\ws\FMT\FMT-Firmware\target\amov\icf5> python .\uploader.py
waiting for the bootloader...
Error: no serial connection found
wait for connect fmt-fmu...
Error: no serial connection found
wait for connect fmt-fmu...

Found board id: 50,0 bootloader version: 5 on COM7
sn: 000000000000000000000000
chip: 22020419
family: b'GD32F4[5|7]x'
revision: b'?'
flash: 1015808 bytes
Windowed mode: False

Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting. Elapsed Time 9.687

If the "ModuleNotFoundError: No module named 'serial'" error occurs, indicating that the pyserial component is missing, enter pip3 install pyserial to install.

2. J-Link: If you have a JLink, you can connect it to board debug port download the firmware. For more information, please check the Debug section.

Be careful do not override the bootloader!

When system is up and running, the system banner is output via serial0 or you can view it by entering boot_log in QGC Mavlink Console.

-----------FMT Bootloader v1.x-----------
Board Type:         50
Board Revision:     0
Board Flash Size:   1015808
App Load Address:   0x8010000

   _____                               __
  / __(_)_____ _  ___ ___ _  ___ ___  / /_
 / _// / __/  ' \/ _ `/  ' \/ -_) _ \/ __/
/_/ /_/_/ /_/_/_/\_,_/_/_/_/\__/_//_/\__/
Firmware.....................FMT FW v0.3.0
Kernel....................RT-Thread v4.0.3
RAM.................................448 KB
Target...........................Amov-ICF5
Vehicle.........................Multicopter
INS Model..................Base INS v0.3.1
FMS Model..................Base FMS v0.4.0
Control Model.......Base Controller v0.2.4
Task Initialize:
  local.................................OK
  offboard..............................OK
  comm..................................OK
  logger................................OK
  status................................OK
  vehicle...............................OK

Josh Zou [email protected]