@@ -9,9 +9,10 @@ pulse length of input signals (input capture) or generating output waveforms (ou
PWM, complementary PWM with dead-time insertion).
\subsubsection{Sonar HC-SR04}
On the quadcopter, six ultrasonic sensors will be mounted to serve as collision avoidance.
The sensors offer range detection from $\SI{2}{\centi\meter}$ to $\SI{400}{\centi\meter}$ and its operation
is not affected by sunlight or black material.
On the quadcopter, six ultrasonic sensors, \href{http://www.robotshop.com/en/hc-sr04-ultrasonic-range-finder.html?gclid=CMOxmYTsidACFWricgodt9QG-g}{HC-SR04}
will be mounted to serve as collision avoidance. The sensors offer range detection from
$\SI{2}{\centi\meter}$ to $\SI{400}{\centi\meter}$ and its operation is not affected by sunlight or
black material.
The sensors come complete with an ultrasonic transmitter and receiver module.
To start a measurement, Trig of SR04 must receive high ($\SI{5}{\volt}$) for at least