diff --git a/hardware/hardware.tex b/hardware/hardware.tex
index df1589f5f31cae0c786cf5e3333e4745a090a4fd..ab23f226b09c8feb8e4f0a1506c7498878cfbc77 100644
--- a/hardware/hardware.tex
+++ b/hardware/hardware.tex
@@ -6,5 +6,28 @@
         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, the NTM propdrive 28-30S motor with TGS 12x6 propellers and a 4S LiPo battery.
         This would give us enough lift for 3kg of payload at full throttle which means we should be able to fly with 1kg payload at a reasonable throttle setting.
-        ESCs where chosen to handle the battery voltage and the 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 seize and discharge rating to handle flight time and current delivery. We wanted to at least 5 minutes of flight time so we chose a Zippy 8000mAh 30C battery which would give us 6 minutes of flight at full throttle and more than enough current delivery.
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+        ESCs 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 seize and discharge rating to handle flight time and current delivery. We wanted to at least 5 minutes of flight time so we chose a Zippy 8000mAh 30C battery which would give us 6 minutes of flight at full throttle and more than enough current delivery.
+        
+        \begin{equation}
+        Weight of copter = 476+4\cdot 26.5 + 4\cdot 65 + 4\cdot 
+        13.8 + 845 + 7 = 1749.2g
+        \end{equation}
+        \begin{equation}
+        Max payload = Total thrust-Weight of copter = 4*1200-1749.2=3050.8g
+        \end{equation}
+        \begin{equation}
+        Fight time = \frac{Battery capacity}{Max amp draw} =
+        8/80 = 6 minutes
+        \end{equation}
+        
+        
+        
+        
+        \subsection{Circuit boards}
+        
+        We decided to make a shield to distribute all connectors from the Nucleo board base.
+        The shield board contains connectors to all our peripherals except the LIDAR, because the LIDAR uses Ethernet communication which is already integrated on the Nucleo board.
+        We decided to use a switching regulator to make a five volt rail for peripherals, because of efficiency when stepping down from 15 volts.
+        A three volt rail for logic level was needed so a linear regulator from five volt was suitable there.
+         All power rails and 15 volt peripherals were handled on a separate board to avoid disturbance.
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