A lot of the work that went into formally verifying various aspects of drone and car software for HACMS was open sourced in DARPA's Open Catalog, found here:
I work on the VeriDrone project. We did not receive any funding from the HACMS project, but we have begun working with some folks from the SMACCMPilot project (http://smaccmpilot.org/index.html) that was funded by HACMS. We hope to eventually integrate with their platform in order to benefit from the guarantees they provide such as memory safety.