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/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/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}