Due to the past 2-3 months of bad rainy weather and gusty winds, I've decided that it was time that I invested in a tool that will be able to give me preliminary understanding the flight control is a scientific way . That means I will have to acquire a mathematical model of the airframe and use the current hardware to form a In-The-Loop Simulation (HILS). My approach for this will be to use DATCOM to derive aerodynamics parameters then coding the equations in C. This will then be flashed unto a separate Atmega microcontroller and will talk to the the rest of the hardware via the serial interface . The accelerometers and gyroscope values (superimposed with errors and biases) will be then form part of the output from the airframe model which in turn will exercise the flight controller and mission controller. What's not sure yet is how to test completely the waypoint tracking algorithm without using the GPS hardware. One way was to have a simulated GPS module as part of t