Perching in Unmanned Aerial Vehicles is appealing for reconnaissance, monitoring, communications, and charging. This paper focuses on modelling, simulation, and control of bioinspired perching in unmanned aerial vehicles on cylindrical objects, which will be used for future planning and control research. A modular approach is taken where the quadrotor, legs, feet, and toes are modelled separately, and then integrated to form a complete simulation system. New models of these components consider kinematics and dynamics of each element and their coupling through tendons that provide actuation. The integrated model is assembled to simulate a physical prototype, and then validated based upon physical experiments to provide calibration. Simulation results evaluate the validated model performing perching with different gripper-perch alignments.