Merge branch 'hardware' into 'master'

Hardware

fixed revision. added references to equations

See merge request !4

control/copter_control.tex

@@ -4,7 +4,7 @@
     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" or "manual control" will be available.
     When you send the commands up/down the copter will start to navigate its own way up or down through the shaft using Infrared, Sonar and LIDAR.
-    If you set the copter to manual mode, you will be controlling the Copter using a radio transmitter/transmitter, and no sensors will be there to guide you.
+    If you set the copter to manual mode, you will be controlling the Copter using a radio transmitter/receiver, and no sensors will be there to guide you.
    
    \subsection{Flight Controller}
         Because 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.

hardware/hardware.tex

@@ -4,21 +4,25 @@
     \subsection{Copter parts}
         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 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.
+        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 a TGS 12x6 propellers and a 4S Li-Po battery would suit our needs.
+        This would give us enough lift for 3kg of payload at full throttle (eq.\ref{mcopter}-\ref{payload}), which means we should be able to fly with 1kg payload at a reasonable throttle setting.
+        ESC's 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 size and discharge rating to handle flight time and current delivery. 
+        We wanted to at least five minutes of flight time so we chose a Zippy 8000mAh 30C battery which would give us around six minutes of flight at full throttle (eq.\ref{flighttime}) 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
+        M_{Copter} = M_{frame} + 4\cdot M_{motors} + 4\cdot M_{ESC} + 4\cdot M_{prop} + M_{battery} = 1749.2g
+        \label{mcopter}
         \end{equation}
         \begin{equation}
-        Max payload = Total thrust-Weight of copter = 4*1200-1749.2=3050.8g
+        Payload_{max} = Thrust_{tot}-M_{Copter} = 4*1200-1749.2=3050.8g
+        \label{payload}
         \end{equation}
         \begin{equation}
-        Fight time = \frac{Battery capacity}{Max amp draw} =
-        8/80 = 6 minutes
+        Flight\ time = \frac{Battery\ capacity}{Max\ amp} =
+        \frac{8000mAh}{80A} \approx 6\ minutes
+        \label{flighttime}
         \end{equation}
         
         
@@ -31,3 +35,6 @@
         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?
+