We have shown the UAVs and it's HIL simulation environments in 2009 TADTE(Taipei Aerospace and Defense Technology Exhibition).
[Old type for flight test and data collection]
[Another type with video transmission function]
Right side of picture is aircraft hardware simulation. when it receive the UAV's filight data, it will generate the real electric signal include analog signals of gyro and accelerometer,gps signal...etc. via FPGA card, and output these signals to flight control board at middle of picture to replace original sensors. Flight control board output the RC motor control signals to FPGA board to control aircraft in X-Plane.