Fixes with FMEA

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.}
 
 

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

components/copterparts.tex

@@ -2,15 +2,15 @@
 \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
+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.
+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

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.