In order to solve the difficulty of UAV fault diagnosis and health management caused by the lack of fault data and fault label, this paper proposes a full digital simulation fault data generation method based on the simulation model of flight control system. In the paper, the fault modes and corresponding mathematical models of actuators and sensors are analyzed in detail. Fault injection and fault simulation on the University of Minnesota UAV model are carried out to generate fault data. Meanwhile, the impacts of different fault types, injection nodes and amplitudes on fault data generation are analyzed. A set of fault data generation methods based on simulation model is summarized. The proposed method utilizes the advantages of simple digital simulation operation, flexible fault injection mode and full demonstration of UAV mechanism. The proposed method can easily simulate the randomness of the fault occurrence time and failure mode during the UAV actual flight process, which has great significance to improve the present situation of lacking effective fault data in UAV fault diagnosis field.