I'm interested in simulating the flight of a copter as the QuadHil tutorial demonstrates, but I want to use it either without any hardware in-the-loop or with a small Arduino in-the-loop. The idea is to use the firmware of ArduCopter together with a simulated physical environment (FlightGear) and with or without APM Planner. But I want to do it without any more hardware (I also have an Arduino board which I could use instead).
Anyone who's played around with this software more than I care to share how difficult this would be, and how I might go about it?
