ArkToolbox is a toolbox for ScicosLab/ XCos (similar to Matlab simulink, but free). ArkToolbox is useful for drone control design, simulation, and testing and is compatible with FlightGear, MAVLink (QGroundControl/ArduPilotMega), and the JSBSim Trimming GUI software. This creates a completely open source toolchain for developing aircraft models, finding trim states for control, and developing controllers. The ArkToolbox also supports hardware in the loop communication  via MAVLink.

Download Here: https://github.com/arktools/arktoolbox/downloads

More Demo Videos:

arducopter simulation with hardware/software in the loop: http://youtu.be/6ho8OXavEsc

rover hardware in the loop: http://youtu.be/ddysKBCKTSw

sailboat control system: http://youtu.be/5jYfah5Pcps

rocket control system: http://youtu.be/Un1YITQHUV0

Wiki for getting started on ArkToolbox for ScicosLab:

https://github.com/arktools/arktoolbox/wiki

Grab JSBSim Trimming GUI here:

https://github.com/jgoppert/jsbsim/downloads

Video tutorial for JSBSim Trimming GUI: http://youtu.be/JCjRGJTWe5k

Grab Aircraft Models to Run/ Fly in FlightGear Here (includes Arducopter/ EasyStar): 

https://github.com/arktools/arkhangar

All the demos have been well tested on all platforms. If you find any errors let me know. The MAVLink blocks are running version 0.9 so I will be upgrading to version 1.0 when I get a chance to support the latest APM versions. If you have time to contribute to ArkToolbox, send me an email.