Hardware In The Loop Simulator in UAV Rapid Development Life Cycle
  Field trial is very critical and high risk in autonomous UAV development life cycle. Hardware in the loop (HIL) simulation is a computer simulation that has the ability to simulate UAV flight characteristic, sensor modeling and actuator modeling while communicating in real time with the UAV autopilot hardware. HIL simulation can be used to test the UAV autopilot hardware reliability, test the closed loop performance of the overall system and tuning the control parameter. By rigorous testing in the HIL simulator, the risk in the field trial can be minimized. 
Widyawardana Adiprawita, Adang Suwandi Ahmad, and Jaka Semibiring