The goal of this Master Thesis consists on defining and building a multi platform simulation environment for quadrotors, this environment can be used to collect data from different platforms and compare the results of position and attitude controllers in different simulators. The main focus of this work regards the analysis and replication of different models in several simulation platforms. In particular, two mathematical models will be analysed and simulated in MATLAB Simulink, a Simscape model will be simulated in the Simscape Multibody environment and finally the quadrotor is replicated and simulated in Gazebo 7 with ROS Kinetic. Several controllers are designed in Simulink and deployed on ROS Gazebo.