Merge branch 'master' into flightcontrol

hardware/hardware.tex

@@ -30,11 +30,30 @@
         
         \subsection{Circuit boards}
         
-        We decided to make a shield to distribute all connectors from the Nucleo board base.
+        We decided to make a shield to distribute all connectors from the Nucleo board base. The reason we decided to make a shield was that we still wanted to use the Ethernet port on the Nucleo and since we lack any real analogue components keeping the short traces to reduce disturbances was not a priority.
         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.
         
         % Lägga in bilder på circuit boards?
+       \begin{figure}[H]
+       	\centering
+       	\includegraphics[width=\textwidth]{Pictures/copterboard}
+       \end{figure}
    
+	   \begin{figure}[H]
+	   	\centering
+	   	\includegraphics[width=\textwidth]{Pictures/pwrbrd-final}
+	   \end{figure}
+	   
+	   \begin{figure}[H]
+	   	\centering
+	   	\includegraphics[width=\textwidth]{Pictures/powerboard}
+	   \end{figure}
+	
+	
+	\subsection{Connections and wiring}
+	
+	
+	When wiring everything up on the copter we used xt60 connectors to distribute power from the battery to ESCs and power board because of their high current capability and keyed design. The connectors we used on the shield and power board were "Molex LLC" which have stable locking connection that can only be plugged in one way. The only complicated part of the wiring was when connecting the laser scanner, because we wanted to rotate the laser to get 3d images we had to route wires though the motor and use a slip-ring to avoid twisting the cables. A hollow shaft stepper motor was used to be able to route wires through the motor.

peripherals/timer.tex

@@ -14,6 +14,7 @@ PWM, complementary PWM with dead-time insertion).
     $\SI{2}{\centi\meter}$ 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.
+        \emph{Note:} If HC-SR04 needs to measure a distance of more than ~600cm it will malfuncion and give random measurement data. It is suspected that this is a result of a too cheap assembly.
 
     To start a measurement, Trig of SR04 must receive high ($\SI{5}{\volt}$) for at least
     $\SI{10}{\micro\second}$.
@@ -28,6 +29,7 @@ PWM, complementary PWM with dead-time insertion).
     Pulse width measurement is done by using the input capture function on TIM3 CH1-CH2 and TIM4 CH1-CH4 respectively.
     Each input capture pin generates an interrupt if triggered, which in turn calls \emph{computeWidth} function that returns the width in microsecs. The width is then divided by 58, to get distance in cm and then transferred to MSP\_newSonardata.
 
+
     \begin{figure}[H]
         \centering
         \includegraphics[width=0.5\textwidth]{flowcharts/Sonar}