idk off hand but i'm sure there's something like OpenRocket for R/C airplanes. Where you put in the dimensions, wing type, mass distribution, and other stuff and it tells you if it's aerodynamically stable or not. After that you put in an ardupilot autopilot+gps+airspeed sensor and there's your drone. iirc, with ardupilot you can do automated flight planning like "fly to this gps coordinate, orbit for 10 minutes, fly home" etc.

to relate to OpenRocket, some people are into rocket powered gliders and use autopilots to make flying them after launch easier. It's basically a fly by wire setup so controlling the glider is on easy-mode with the autopilot doing most of the work keeping things stable while the human with the controller just focuses on making the slow circles back to the launch area. These autopilots are how typical quadcopter drones can be flown easily without the wind and 4 motors causing havoc constantly.

Have you seen https://store.steampowered.com/app/2060160/The_Farmer_Was_Re...? It is not a drone simulator more like a problem solving game using a drone.