This project simulates the flight of hexacopters in indoor environments. The design, modeling and implementation of the environments mimic semi-structured environments with static obstacles, such as houses, churches and supermarkets. Each environment presents different levels of difficulty. The application offers the possibility to choose between two hexacopter models, achieving a higher assessment and interaction. It includes the force feedback option, implemented with a force feedback joystick, warning the user of possible collisions, and giving the operator a sense of presence. The haptic device limits the force applied. The application focuses on three-dimensional scenes in semi-structured indoor environments, reproducing the environmental variables (appearance, features, context) of a real system.