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The recent decrease in the price as well as size of semi-conductor logic and due to significant advancements in technologies such as microcontrollers, motors and sensors, the application of quadcopters in several fields has been achieved. However, testing of quadcopter prototypes still has a risk of damage due to faults and unexpected behavior. Hence, a method of testing of quadcopters in simulation mimicking the actual conditions of the real environment in an actual hardware test has been proposed. For this purpose, Gazebo simulator integrated with ROS has been chosen for the simulation of the path of the quadcopter. Moreover, the software Matlab/Simulink has been interfaced with Gazebo in order for the simulation of the quadcopter to be achieved.