Unmanned Aerial Vehicles (UAVs) are increasingly utilized in medical delivery robotics applications, such as transporting essential medicines, vaccines, and medical supplies to remote or inaccessible areas. To advance the development and evaluation of UAV-based control and estimation strategies in these critical healthcare logistics domains, we propose a modular and scalable simulation platform based on MATLAB/Simulink. This platform enables researchers to integrate and compare various control and estimation algorithms under a unified environment with standardized UAV models and simulation settings. Users can implement custom controllers and observers, facilitating the benchmarking of multiple algorithms simultaneously. To validate the effectiveness of the platform, we design and test multiple control and estimation methods within a simulated UAV medical delivery scenario. The results demonstrate the platform’s capability to provide a standardized yet flexible environment for evaluating UAV autonomy and decision-making strategies in medical supply delivery missions.