A complete rigid body six degrees of freedom helicopter simulation (ANSI-C) including:

• Main rotor model (including a linear rotor flapping model accounting for coupled servo rotor dynamics and mechanical feedback by the gyroscopic effect of the stabilizer bar, e.g. - fly-bar)
• Both main & tail rotor include a combined finite element and blade momentum theory model for the calculation of a rotor thrust, power and torque
• Vertical & horizontal stabilizer simulation (full aerodynamics)
• ground contact/collision simulation
• Opengl based "outside world" and "inertial navigation system" windows
• Second order (non linear) servo model
• WGS-84 gravity model
• Dryden (linearized) wind model
• Standard atmosphere model (ISA)
• Equations of motion integration using 4th order Runge-Kuta
• IMU emulator
• A place to write the flight control code...