Given the complexity of this project, the deliverables have been split into three different priority levels.

I. Threshold Deliverables - Minimum requirements to be met for this project

II. Objective Deliverables - Additional functionality that is highly prioritized, but not necessarily required.

III. Feature Deliverables - Non-Required deliverables that would be highly desirable if achieved.

Threshold Deliverables (Requirements)

1. The Drone shall detect an AprilTag from 5 meters above it
2. The Drone shall enter an autonomous landing state when an AprilTag is detected, and landing is initiated
3. The Drone shall self-center over an AprilTag as it descends
4. The Drone shall incorporate downward facing LiDAR to determine its altitude
5. The Drone shall use altitude measurements from LiDAR to descend
6. The AprilTag shall be Illuminated by IR light when within 20 meters of the Drone
7. The Drone shall communicate its intent to land over LoRa within a 500 meter radius
8. The Drone shall accept a command to initiate landing over LoRa within a 500 meter radius
9. IR Illumination system shall consist of IR emitter(s) and a custom PCB that will:
   a. Regulate power to the IR emitters
   b. Accept a control signal to turn IR Illumination on/off
   c. Host a phototransistor
10. We shall deliver detailed documentation on our implementation of these requirements:
    a. Designs
    b. Communication standards
    c. System schematics
    d. Use instructions

Objective Deliverables (Intentions)

1. The drone will detect an AprilTag without visible light from 5 meters above
2. The drone will be able to self-center over an AprilTag without visible light as it descends
3. The drone will relay status updates to the base station over LoRa within a 500m radius
4. The IR illumination System will be integrated with the Base Station
5. AprilTag will be illuminated by IR light when the following conditions are met:
   a. Light level at the AprilTag is below a specified threshold
   b. The drone has communicated its intent to land
   c. The drone is within 20 meters of the AprilTag
6. The drone will land on an AprilTag mounted on a surface of the Base Station

Feature Deliverables (Should)

1. The drone should autonomously land within the Base Station without making contact to the Base Station doors with and without visible light
2. The drone should periodically relay the following data to the Base Station within a 500m radius:
   a. Battery Life
   b. Status
   c. Position (Latitude, Longitude, Altitude)