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The developing firmware library called STM32-Mat/Target and STM32CubeMX are introduced into MATLAB/Simulink, and a modeling process based on rapid control prototype(RCP) technology is presented firstly to build the prototype system which has the same I/O ports and practical function with standardized products. Then, the modeling method of tested prototype system and configuration of semi-physical simulation are expounded combined with a kind of avionics system, air data computer(ADC), and a technique is presented to develop embedded engineering quickly. Finally, the established prototype system is used for semi-physical simulation to test its performance and effect relative to theoretical mathematical models. The engineering application verification shows that the method above can fully utilize the advantages of the rapid prototype system for semi-physical simulation, combined with the introduction of the development firmware library, it greatly saves time and cost and improves development efficiency.