diff --git a/modules/mavlink/flight_controller.py b/modules/mavlink/flight_controller.py
index 7d46d70..9a287df 100644
--- a/modules/mavlink/flight_controller.py
+++ b/modules/mavlink/flight_controller.py
@@ -319,6 +319,28 @@ def get_odometry(self) -> "tuple[bool, drone_odometry_global.DroneOdometryGlobal
 
         return True, odometry_data
 
+    def get_location(self) -> "tuple[bool, tuple[float, float, float] | None]":
+        """Return (lat, lon, alt) if available via the drone, otherwise (False, None)."""
+        try:
+            # pylint: disable=protected-access
+            msg = self.drone._master.recv_match(
+                type="GLOBAL_POSITION_INT", blocking=False, timeout=1.0
+            )
+            # pylint: enable=protected-access
+
+            if msg is None:
+                return False, None
+
+            lat = msg.lat / 1e7
+            lon = msg.lon / 1e7
+            alt = msg.alt / 1000.0
+
+            return True, (lat, lon, alt)
+
+        except Exception as exc:  # pylint: disable=broad-except
+            print(f"get_location_mavlink: error receiving GLOBAL_POSITION_INT: {exc}")
+            return False, None
+
     def get_home_position(
         self, timeout: float
     ) -> "tuple[bool, position_global.PositionGlobal | None]":
diff --git a/tests/integration/hitl/test_hitl_emulator_check.py b/tests/integration/hitl/test_hitl_emulator_check.py
new file mode 100644
index 0000000..0655838
--- /dev/null
+++ b/tests/integration/hitl/test_hitl_emulator_check.py
@@ -0,0 +1,128 @@
+"""
+HITL Test - GPS + Camera Feed Verification
+
+"""
+
+import cv2
+import os
+import time
+
+from modules.mavlink import flight_controller
+
+# /dev/ttyAMA0 for drone, tcp:127.0.0.1:14550 for mission planner simulator
+PIXHAWK_ADDRESS = "tcp:127.0.0.1:14550"
+TEST_DURATION = 100
+
+
+def test_camera_feed() -> bool:
+    """
+    Returns True if camera feed is available, False otherwise.
+    """
+    try:
+        camera = cv2.VideoCapture(2)
+
+        if not camera.isOpened():
+            camera.release()
+            return False
+
+        ret, frame = camera.read()
+        camera.release()
+
+        if ret and frame is not None and frame.size > 0:
+            return True
+
+        return False
+
+    except Exception:
+        return False
+
+
+def main() -> int:
+    """
+    GPS data reading + camera feed check.
+    Returns 0 on success, non-zero on failure.
+    """
+    images_path = os.path.join("tests", "integration", "camera_emulator", "images")
+
+    print("HITL Test")
+    print("=============")
+
+    # Create FlightController with HITL enabled
+    result, controller = flight_controller.FlightController.create(
+        PIXHAWK_ADDRESS, 57600, True, True, True, images_path
+    )
+
+    if not result or controller is None:
+        print("ERROR: FlightController creation failed")
+        return -1
+
+    print("FlightController created")
+    if controller.hitl_instance is not None:
+        print("HITL emulators running")
+
+        print("Waiting for camera creation...")
+        time.sleep(2)
+
+        print("Checking for camera...")
+        camera_available = test_camera_feed()
+        if camera_available:
+            print("Camera: detected")
+        else:
+            print("Camera: not detected")
+
+    else:
+        print("ERROR: HITL instance not created")
+        return -1
+
+    try:
+        print(f"\nRunning test for {TEST_DURATION}s...")
+        start_time = time.time()
+        gps_count = 0
+        camera_count = 0
+
+        while time.time() - start_time < TEST_DURATION:
+            current_time = time.time() - start_time
+
+            if int(current_time) % 2 == 0 and current_time > 0:
+                success, location = controller.get_location()
+
+                if success and location is not None:
+                    lat, lon, alt = location
+                    gps_count += 1
+                    print(f"GPS: {lat:.6f}, {lon:.6f}, {alt:.1f}m")
+                    controller.hitl_instance.position_emulator.set_target_position(
+                        lat + 0.001, lon + 0.001, alt + 10
+                    )
+
+                else:
+                    print("GPS: No data")
+
+            # Test camera feed every 3 seconds
+            if int(current_time) % 3 == 0 and current_time > 1:
+                if test_camera_feed():
+                    camera_count += 1
+                    print("Camera: Feed available")
+                else:
+                    print("Camera: No feed")
+
+            time.sleep(0.5)
+
+        # Results
+        print(f"\nResults:")
+        print(f"GPS readings: {gps_count}")
+        print(f"Camera frames: {camera_count}")
+
+        success = gps_count > 0 and camera_count > 0
+        print("PASS" if success else "FAIL")
+        return 0 if success else 1
+
+    except Exception as exc:
+        print(f"Test error: {exc}")
+        return 1
+    finally:
+        if controller.hitl_instance is not None:
+            controller.hitl_instance.shutdown()
+
+
+if __name__ == "__main__":
+    exit(main())