This paper presents a rapid software prototyping environment, based on Matlab/Simulink, for realtime simulation and control of a mini-helicopter robot. The application of the environment is illustrated with a software-in-the-loop simulation example. The environment is integrated by own modules (mini-helicopter simulation model, navigation filter, multirate control, filters) and modules based on Matlab toolboxes (ground control station, linearization, parameter identification, heuristic identification). The environment is being tested over a real system, where it is intended to reduce developing time and cost, giving to developer more time to focus on mathematical and algorithmic methods.