The UMN UAV simulation model is written in the MATLAB/Simulink environment. Three simulation environments are used: the Nonlinear simulation (UAV_NL), the Software-in-the-Loop (SIL) simulation (UAV_SIL), and the Processor-in-the-Loop (PIL) simulation (UAV_PIL)-The UMN UAV simulation model is written in the MATLAB/Simulink environment.　Three simulation environments are used: the Nonlinear simulation (UAV_NL), the Software-in-the-Loop (SIL) simulation (UAV_SIL), and the Processor-in-the-Loop (PIL) simulation (UAV_PIL)