Document Type

Conference Paper

Journal/Book Title/Conference

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)


The Institute of Electrical and Electronics Engineers (IEEE)


Cancun, Mexico

Publication Date



Unmanned aerial system (UAS) use is ever-increasing. In this paper, it is shown that even with low-cost hardware and open-source software, simple numerical testing practices (software- and hardware-in-the-loop) can prove the accuracy and usefulness of an aeronautical flight model, as well as provide valuable pre-flight testing of many situations typically only encountered in flight: high winds, hardware failure, etc. Software and hardware simulation results are compared with actual flight testing results to show that these modeling and testing techniques are accurate and provide a useful testing platform for a small unmanned aerial vehicle. Source code used in simulation is open and provided to the community.