Flight simulators are a powerful tool on the aeronautic industry because they provide an accurate prediction of what will happen if the same scenario is replicated on the reality. Furthermore, in the case of product in development, flight simulators allow to test and analyze the consequences of certain modifications before to set up them on the real product (aircraft, helicopter, UAV, etc.). This thesis represents the first visual flight simulator for the CoaX UAV. This mini-helicopter is a product from Skybotix Technologies mainly used by universities for didactic purposes. The implementation of this simulator has been done in Webots, another product oriented to didactic tasks. For this flight simulator a dynamic model has been included, a gamepad configuration plays the role of the RC and software from the real UAV has been integrated, thus it reproduces not only the dynamic behavior of the robot but also the internal modus operandi of its software. After the implementation of the whole system, a numerical validation and a visual analysis of the simulations has been perform with excellent results. Even though some instabilities limit the potential applications of the CoaX Flight Simulator, its high level of accuracy makes the simulator suitable for didactic but also professional purposes such as: testing new avionics configurations, software improvement and developments, API, etc.), pre-sale demonstrations or even pilot training. Some interesting videos about CoaX Flight Simulator available on the net: CoaX FS - Responses in controlled axes: http://youtu.be/uGUIwFQbllc CoaX FS - Wall Following application: http://youtu.be/RSM9c1BJASo

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