diff --git a/chapters/background.tex b/chapters/background.tex
index aaa91fb96622d16f2d08a2e6297a5ecf0b9deebf..3a41a17cb0601d3db8070eff8aff03b1327644d5 100644
--- a/chapters/background.tex
+++ b/chapters/background.tex
@@ -23,6 +23,6 @@ Conex suggested usage of an unmanned quadracopter drone, equipped with sensors t
The project is intended to check the feasibility of mapping mine shafts with this method and not to construct a complete product.
Thus, unit degradation from dust, moisture or other wear inherent to the workspace is disregarded.
- No consideration of falling rocks that could cause the copter to crash will be taken.
- It has been presented as a possible failure source, and the copter as suggested cannot feasibly dodge rocks.
+ No consideration of falling rocks that could hit the copter and cause it to crash will be taken.
+ It has been presented as a possible failure source, but the copter as suggested cannot feasibly dodge rocks.
%TODO: Further limitations?
\ No newline at end of file
diff --git a/chapters/systemDesign.tex b/chapters/systemDesign.tex
index e8c18368da2cc736764f4cbf67f40f93c5cbd720..454457930cf5a8e3f996e6993b9220d9cd6395dc 100644
--- a/chapters/systemDesign.tex
+++ b/chapters/systemDesign.tex
@@ -1,19 +1,21 @@
+ \subsection{Code of Conduct}
+ The code follows a simple code of conduct. This generally helps avoid variable naming collisions and other issues which may result in undefined behavior.
+
+ \subsection{Static Design}
+ \subsubsection{Class Diagram}
+ \begin{figure}[H]
+ \centering
+ \includegraphics[width=\textwidth]{Pictures/uml}
+ \end{figure}
+
+ \subsubsection{Module Diagram}
+ \begin{figure}[H]
+ \centering
+ \caption{System module diagram}
+ \includegraphics[width=\textwidth]{Pictures/componentchart_2}
+ \end{figure}
-
- \subsection{Static Design}
- \subsubsection{Class Diagram}
- \begin{figure}[H]
- \centering
- \includegraphics[width=\textwidth]{Pictures/uml}
- \end{figure}
- \subsubsection{Module Diagram}
- \begin{figure}[H]
- \centering
- \includegraphics[width=\textwidth]{Pictures/componentchart_2}
- \caption{System module diagram}
- \end{figure}
-
- \subsection{Dynamic Design}
- \subsubsection{Activity Diagram}
- \subsubsection{Sequence Diagram}
- \subsubsection{State Diagram}
\ No newline at end of file
+ \subsection{Dynamic Design}
+ \subsubsection{Activity Diagram}
+ \subsubsection{Sequence Diagram}
+ \subsubsection{State Diagram}
\ No newline at end of file
diff --git a/components/adc.tex b/components/adc.tex
index 6830def484f0663466e9662aa628d11c10313cae..732ac2cf06be68d8f7e78a811fa8186fc85783de 100644
--- a/components/adc.tex
+++ b/components/adc.tex
@@ -1,10 +1,7 @@
\subsection{ADC}
- As the output of the sensors are analogue, the mircroprocessor will require usage of its
- internal ADC (Analog-to-Digital Converter). The ADC is configured in the basic Single conversion mode,
- as the clock speed is vastly greater than the update frequency of the sensors. ADC conversion is
- specified to take at most 15 clock cycles, so the check will block until conversion is complete.
- Voltage is mapped through a lookup table (one for each sensor type), approximated using data from the
- corresponding data sheets.
+ Output of the IR sensors is an analogue voltage, so the Analog-to-Digital Converter (ADC) peripherals of the MCU will be used.
+ The ADC is configured in the basic Single conversion mode, as the clock speed is vastly greater than the update frequency of the sensors.
+ ADC conversion is specified to take at most 15 clock cycles, making it possible to do in blocking mode without impeding operation too much.
\begin{figure}[H]
\centering
diff --git a/components/ir.tex b/components/ir.tex
index 622d11cbc9f176f5c64d141a07903621c5752b81..d471b8a69872bc0407cd0622836053375cfe3f9a 100644
--- a/components/ir.tex
+++ b/components/ir.tex
@@ -1,27 +1,23 @@
\subsection{IR Sensors}
The IR sensors are intended as redundancy to the sonar.
- For this task, two different kinds of IR sensors were chosen as redundancy for the sonars. The
- long-ranged sensors are meant to cover for the sonar at short range while the short-ranged sensors
- are meant to cover the remaining distance.
+ For this task, two different kinds of IR sensors were chosen as redundancy for the sonars.
+ The long-ranged sensors are meant to cover for the sonar at short range while the short-ranged sensors are meant to cover the remaining distance.
- \subsubsection{Hardware details}
- The long-range sensor chosen for the task is
- \href{https://www.arrow.com/en/products/gp2y0a710k0f/sharp?wm_g_phyloc=1012273&wm_g_intloc=&gclid=CO%5F1xubhidACFUvqcgodU7cF%2Dw&utm_source=google&utm_medium=cpc&utm_term=sharp+gp2y0a710k0f&utm_campaign=int+%2D+sku+%2D+sharp+%2D+dynamic+inventory}{Sharp GP2Y0A710K0F}.
- Its distance measuring range is $\SI{100}{}$ to $\SI{550}{\centi\metre}$.
- Accuracy could not be ascertained from the data sheet.
- Output of the sensor is a current, where the voltage varies between approx. $\SI{1.5}{} - \SI{3}{\volt} $, where lower values corresponds to longer distance.
- Measurements are carried out continuously every $\SI{16.5}{\milli\second}\pm \SI{3.7}{\milli\second}$,
- and output is updated after maximum $\SI{5.0}{\milli\second}$.\cite{sheet:ir_long}
+ The long-range sensor chosen for the task is
+ \href{https://www.arrow.com/en/products/gp2y0a710k0f/sharp?wm_g_phyloc=1012273&wm_g_intloc=&gclid=CO%5F1xubhidACFUvqcgodU7cF%2Dw&utm_source=google&utm_medium=cpc&utm_term=sharp+gp2y0a710k0f&utm_campaign=int+%2D+sku+%2D+sharp+%2D+dynamic+inventory}{Sharp GP2Y0A710K0F}.
+ Its distance measuring range is $\SI{100}{}$ to $\SI{550}{\centi\metre}$.
+ Accuracy could not be ascertained from the data sheet.
+ Output of the sensor is a current, where the voltage varies between approx. $\SI{1.5}{} - \SI{3}{\volt} $, where lower values corresponds to longer distance.
+ Measurements are carried out continuously every $\SI{16.5}{\milli\second}\pm \SI{3.7}{\milli\second}$,
+ and output is updated after maximum $\SI{5.0}{\milli\second}$.\cite{sheet:ir_long}
- The short-ranged sensor chosen is
- \href{http://www.digikey.se/product-detail/en/sharp-microelectronics/GP2Y0A02YK/425-1165-ND/457883}{Sharp GP2Y0A02YK}.
- It has a distance measuring range of $\SI{20}{}$ to $\SI{150}{\centi\metre}$ with an accuracy of
- $\pm\SI{10}{\centi\metre}$. Output of the sensor is a current, where the voltage varies between
- $\approx\SI{0.5}{} - \SI{2.7}{\volt} $, where lower voltage corresponds to longer distance.
- % TODO: Add a picture?
- % The voltage curve is demonstrated in Figure \ref{fig:short_ir_voltage}.
- Measurements are carried out continuously every $\SI{38.3}{\milli\second}\pm \SI{9.6}{\milli\second}$,
- and output is updated after maximum $\SI{5.0}{\milli\second}$.\cite{sheet:ir_short}
+ The short-ranged sensor chosen is
+ \href{http://www.digikey.se/product-detail/en/sharp-microelectronics/GP2Y0A02YK/425-1165-ND/457883}{Sharp GP2Y0A02YK}.
+ It has a distance measuring range of $\SI{20}{}$ to $\SI{150}{\centi\metre}$ with an accuracy of
+ $\pm\SI{10}{\centi\metre}$. Output of the sensor is a current, where the voltage varies between
+ $\approx\SI{0.5}{} - \SI{2.7}{\volt} $, where lower voltage corresponds to longer distance.
+ Measurements are carried out continuously every $\SI{38.3}{\milli\second}\pm \SI{9.6}{\milli\second}$,
+ and output is updated after maximum $\SI{5.0}{\milli\second}$.\cite{sheet:ir_short}
\ No newline at end of file
diff --git a/implementation/flightcontroller_imp.tex b/implementation/flightcontroller_imp.tex
index 3258984ecbec772d2528ba362d0a44c0172f240b..189171229ba60b4294bf048b51d39b19c150be08 100644
--- a/implementation/flightcontroller_imp.tex
+++ b/implementation/flightcontroller_imp.tex
@@ -18,7 +18,9 @@ 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.
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.
diff --git a/main.tex b/main.tex
index 55c366a9894dd63d70388c2a6ba934d5386cccbf..ccda119ba44775dc1e5067a8190f850be3d65a3c 100644
--- a/main.tex
+++ b/main.tex
@@ -81,8 +81,8 @@
\input{./components/sonar}
\input{./components/spi}
\input{./components/uwb}
- \input{./components/adc} \label{sec:adc}
\input{./components/ir} \label{sec:IR}
+ \input{./components/adc} \label{sec:adc}
\input{./components/flightcontroller}
\input{./components/copterparts}
\input{./components/circuitboards}