Further expand lidar

chapters/specs_reqs.tex

@@ -14,7 +14,6 @@
 \newpage
 \subsection{Testability}
 \begin{itemize}
-    \item{TODO: Review and more hard data/numbers.}
     \item{The fully charged and equipped drone should be able to fly 400 meters.}
     \item{The total cost of drone hardware including base-station should not exceed the average cost of previous mapping method.}
     \item{All components should be easily obtainable from reputable sources.}

implementation/ethernet-lidar.tex

@@ -14,8 +14,8 @@
 The Ethernet configuration is as follows:
 
 \begin{verbatim}
-Hokuyo      IP: 192.168.0.10
 STM32       IP: 192.168.0.1
+Hokuyo      IP: 192.168.0.10
 ALFA WiFi   IP: 192.168.0.100
 \end{verbatim}
 
@@ -102,3 +102,9 @@ The syntax for requesting data is as follows:
 The LIDAR operates in steps from 0 to 1080. If \texttt{xx} is set to $00$ or $01$ it will send
 data for every single step from 0 to 1080. If \texttt{xx} is set to $04$ then it would only send data for every 4th step.
 
+This will be great for controlling the amount of data sent over the UWB radio link since the LIDAR can generate copious amounts of data.
+
+The standard setting sends $2 \cdot 1474 + 543 = 3491$ bytes of data (including headers). The \texttt{UWB} maximum \texttt{MTU} is \texttt{127 bytes}.
+Thus the UWB would have to transmit at least 28 frames just for the LIDAR. Then there is the metadata such as the stepper motor angle, the sonar data etc.
+
+