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FastDyn · Firmware meets physics

Real firmware.
Your vehicle model.

Connect embedded firmware to a Modelica plant. Change the physics, tune the controller, and follow the results from sensor to trajectory.

The Rumoca walkthroughBuild a vehicle, fly a mission, and investigate an off-center payload.One hour · Start the walkthrough → The FastDyn field guideUnderstand the runtime, configure a board, and work with devices and virtuals.Reference · Explore FastDyn →

FastDyn runs embedded firmware in a configurable QEMU environment. A TOML file describes the CPU, memory map, firmware, peripherals, instrumentation, and any external physics model. You can inspect firmware behavior, supply virtual devices, connect selected hardware, and automate repeatable experiments.

Follow the signals

flowchart LR
    config["TOML<br/>Configuration"] --> firmware["Firmware<br/>in QEMU"]
    firmware <-->|"Device access"| drivers["FastDyn<br/>Drivers"]
    drivers <-->|"PWM · Sensors"| plant["Modelica<br/>Physics model"]
    firmware <-->|"MAVLink"| tools["Mission commands<br/>Logs and plots"]

The Rumoca examples preserve the firmware’s sensor and actuator driver path. Fidelity comes from the emulated firmware, peripheral behavior, timing, and plant working together. A detailed firmware simulation still needs a suitable, validated physical model; an idealized plant does not reproduce every effect of a real airframe.

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