This paper presents the development and hardware experimentations for the attitude control of a UAV. The AURYON system consists of a particular contrarotating coaxial rotors aircraft, an embedded and a ground control systems, a distributed real-time 3D simulator based on The Mathworks xPC-Target toolbox and Laminar Research X-Plane flight simulator. The controller developed for the attitude and altitude stabilization is based on a two-rule fuzzy controller. A parameter-tuning procedure, using a real-time 3D simulator is proposed. The performances of the UAV mechatronic system are illustrated trough real demonstrator experimentations.