The IR sensors are intended as redundancy to the sonar.
For this task, two different kinds of IR sensors were chosen as IR sensors sufficiently long-ranged to cover for the sonar is inaccurate at shorter ranges.
Thus, a second, shorter-ranged sensor was chosen to cover the remaining distance.
\subsubsection{Hardware details}
The long-range sensor chosen for the task is Sharp GP2Y0A710K0F. %Possible URL link?
Its distance measuring range is $\SI{100}{}$ to $\SI{550}{\centi\metre}$.
Accuracy could not be ascertained from the data sheet.
\newline
The short-ranged sensor chosen is Sharp GP2Y0A02YK.
It has a distance measuring range of $\SI{20}{}$ to $\SI{150}{\centi\metre}$.
When starting to assemble a copter we first started by choosing a suitable frame to fit the equipment. 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.
When starting to assemble a copter we first started by choosing a suitable frame to fit the equipment.
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.
% Lars section
\newpage
\section{Flight Control}
To get the copter flying up and down through the shaft without crashing into the walls, we must take away as much human interaction as possible.
Therefore we will only use high level commands to fly this copter. Only a couple of commands for controlling the robot like "go up", "go down" and "go home" will be available. The copter will then navigate its own way up or down through the shaft using Infrared, Sonar and LIDAR.
Therefore we will only use high level commands to fly this copter. Only a couple of commands for controlling the robot like``go up'', ``go down'' and ``go home'' will be available. The copter will then navigate its own way up or down through the shaft using Infrared, Sonar and LIDAR.
\subsection{Flight Controller}
Because of the lack of time in this project we will use an commercially available flight controller to keep the copter flying steady instead of building our own.
To be able to interact with the flight controler and gain access to it we will communicate with UART from our MCU.
