diff --git a/Pictures/FMEA.pdf b/Pictures/FMEA.pdf
index 0b02269552c99dad644e9f7beea40b7bc8d60d7d..a45e6d81d66e948f949055a86727d722aeb47c33 100644
Binary files a/Pictures/FMEA.pdf and b/Pictures/FMEA.pdf differ
diff --git a/chapters/result.tex b/chapters/result.tex
index ed9486b90d091b0b92e26bb8cc56520ad084c6b5..532917fe43a4271b1414c28715ad21de2eb40efb 100644
--- a/chapters/result.tex
+++ b/chapters/result.tex
@@ -51,6 +51,12 @@ The final result of the project, in regards to fulfilled goals, is as follows:
     The sensors were ordered and should accompany this project.
     The dev board shield has connectors dedicated to IR sensor connections, although these contacts have since been repurposed as general status LEDs.
 
+\subsection{Collision Avoidance - Final state}
+    \subsectionauthor{Author: Lars Jonsson}
+	The Colission Avoidance is working, the copter can fly between to walls for shorter amount of time, but not as stable as we had wanted.
+	There are some still some tuning of the PID's left to get a more stable copter.
+
+
 \subsection{TODO: COMPONENTS ADD A FINAL STATE. What is done/not done etc.}
 
 
diff --git a/components/casesandmounts.tex b/components/casesandmounts.tex
index ed991d42eb2ef315514b67578a1d0202315a1766..c7e83c96b38a02f9b2fd8c84170b2162045990e0 100644
--- a/components/casesandmounts.tex
+++ b/components/casesandmounts.tex
@@ -12,7 +12,7 @@ This was achieved by simply extending the motor mount arms so that the sonar cas
 	\label{fig:sonararm}
 \end{figure}
 
-The 3D model of the case for the sonar we got from "thingiverse.com" see Figure~\ref{fig:sonarcase} since it's a commonly used sensor it was easy to find,
+The 3D model of the case for the sonar we got from \href{http://thingiverse.com}{Thingiverse} see Figure~\ref{fig:sonarcase} since it's a commonly used sensor it was easy to find,
 
 \begin{figure}[H]
 	\centering
diff --git a/components/copterparts.tex b/components/copterparts.tex
index 7e230767a0e44267510846e28ea4f524d473279d..0d45b9ba3a75419efd8a58f65c78ffe32b540824 100644
--- a/components/copterparts.tex
+++ b/components/copterparts.tex
@@ -1,16 +1,16 @@
 \subsection{Copter parts}
 \subsectionauthor{Author: Max Unander \\Reviewer: Lars Jonsson}
 
-Since we decided to base our quadrocopter around the open source flight controller Flip32 because of the ability to customize 
-your configuration and multiple ways of communicating with the flight controller, this also meant we had to build the copter
+Since we decided to base our quadrocopter around the open source flight controller Flip32 because of the ability to customize
+your configuration and multiple ways of communicating with the flight controller, this also meant we had to build the copter.
 When starting to assemble a copter we first started by choosing a suitable frame to fit the equipment.
 A 65cm square frame was chosen to get space for the sensors between the rotors.
-Next step was to choose motors and propellers to get enough lift for our payload at a comfortable throttle setting.
+Next step was to choose motors and propellers to get enough lift force for our payload at a comfortable throttle setting.
 The NTM propdrive 28-30S motor with a TGS 12x6 propellers and a 4S Li-Po battery would suit our needs.
 This would give us enough lift for 3kg of payload at full throttle see equation(\ref{mcopter}-\ref{payload}), which means we should be able to fly with \SI{1}{\kilogram} payload at a reasonable throttle setting.
 ESC's where chosen to handle the battery voltage and amperage of the motors, Afro 30A fit these requirements and also runs th open source software SimonK which allows a lot of settings.
-The last step was to choose battery size and discharge rating to handle flight time and current delivery. 
-We wanted to at least five minutes of flight time so we chose a Zippy 8000mAh 30C battery which would give us around six minutes of flight at full throttle (eq.\ref{flighttime}) and more than enough current delivery.
+The last step was to choose battery size and discharge rating to handle flight time and current delivery.
+We wanted at least five minutes of flight time so we chose a Zippy \SI{8000}{\milli\ampere} 30C battery which would give us around six minutes of flight at full throttle (eq.\ref{flighttime}) and more than enough current delivery.
 
 \begin{equation}
 	M_{Copter} = M_{frame} + 4\cdot M_{motors} + 4\cdot M_{ESC} + 4\cdot M_{prop} + M_{battery} = 1749.2g
diff --git a/implementation/flightcontroller_imp.tex b/implementation/flightcontroller_imp.tex
index 189171229ba60b4294bf048b51d39b19c150be08..b862d3df0b0712262d7decb41ad2d93ba9f894af 100644
--- a/implementation/flightcontroller_imp.tex
+++ b/implementation/flightcontroller_imp.tex
@@ -18,10 +18,8 @@ To be able to do this we need to interact with the flight controller from our MC
 
 The flight controller do have support for four different communication protocols.
 It can take PWM inputs, where one PWM controls one channel.
-%It has
-It have PPM support, which is quite the same as a PWM but it has support for 8 PWM signals on one line.
-%does?
-It do support sBUS, which is some sort of secure serial protocol with inverted signals.
+It has PPM support, which is quite the same as a PWM but it has support for 8 PWM signals on one line.
+It does support sBUS, which is some sort of secure serial protocol with inverted signals.
 The last protocol it supports is called MSP (MultiWii Serial Protocol), which also is a serial protocol.
 Our first thought was that we wanted to implement both the MSP and PPM protocols to control the copter.
 We wanted PPM to be able to maneuver the copter with the RC transmitter, and MSP to control the copter with our MCU.