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Software testing techniques based on formal methods can reduce the uncertainty, improve accuracy, validity and degree of automation. In this paper, formal methods were introduced into the real-time embedded software testing field and a time-extended finite state machine, called t_EFSM, was proposed firstly. And then, based on the t_EFSM and combined with testing process of flight control software of an unmanned aerial vehicle (UAV), a method to generate the time-extended UIO sequence (t_UIO) was put forward. Finally, the method to generate test cases automatically according to t_UIO sequence was brought forward.