The Development of Neural Network Based System Identification ...

3.4 FLIGHT INSTRUMENTATION SETUP FOR AUTOMATIC FLIGHT CONTROL TEST 71
Figure 3.12
The close up view of the linear UniMeasure LX-PA-30 position transducer.
shows the placement of linear transducer on the safety test rig. Notice that there is
about w = 13 mm horizontal distance displacement between the string attachment on
the test rig and the mount of the sensor. By using simple Pythagoras theorem, the
altitude of the helicopter is calculated as follows:
h (mm) = √ l 2 − 13 2 (3.4)
3.4.2 On-board Controller
The flight computer system used in this project is based on the National Instrument
(NI) Single-Board RIO device (NI sbRIO-9605). The NI sbRIO-9605 is an embedded
device that combines a real-time processor, reconfigurable field-programmable gate array
(FPGA), and digital I/O on a single circuit board, programmed with NI LabVIEW R○
software. It features a fast 400 MHz processor, a Xilinx Spartan-6 LX25 FPGA, and a
high-speed and bandwidth connector card that provides direct access to the processor’s
96 3.3 V digital I/O FPGA lines. It also provides 128 MB of DRAM for embedded