Developed and integrated a physics-based inertial measurement unit (IMU) data generation feature for the embedded-purdue/slayterHIL flight simulation, enabling the simulation to produce realistic IMU outputs derived from the drone’s forces and torques. This addition, implemented in C++ with a focus on algorithm design and robotics, enhanced the simulation’s realism and provided immediate sensor-like data streams for users. By improving data fidelity, the feature supports more accurate downstream analytics and control algorithm validation. The work established a foundation for future sensor modeling within the simulation environment, streamlining testing workflows and expanding the platform’s capabilities for robotics and simulation development.