doc: Add release notes, include them in altusmetrum doc. Shuffle altusmetrum

This adds release notes and includes them in the main altusmetrum doc
as well as making stand-alone html available for inclusion in the website.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/doc/Makefile b/doc/Makefile
index b431f4cac05ef131f4dfb678f3d4d4914b85fb36..6d9ea8ebbbaea375147a8b7a6bafc41b7c46da5c 100644 (file)
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -2,7 +2,12 @@
 #      http://docbook.sourceforge.net/release/xsl/current/README
 #
 
 #      http://docbook.sourceforge.net/release/xsl/current/README
 #
 

-HTML=altusmetrum.html altos.html telemetry.html
+RELNOTES=\
+       release-notes-0.7.1.html \
+       release-notes-0.8.html \
+       release-notes-0.9.html \
+       release-notes-0.9.2.html
+HTML=altusmetrum.html altos.html telemetry.html $(RELNOTES)

 PDF=altusmetrum.pdf altos.pdf telemetry.pdf
 DOC=$(HTML) $(PDF)
 HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl
 PDF=altusmetrum.pdf altos.pdf telemetry.pdf
 DOC=$(HTML) $(PDF)
 HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl


@@ -11,7 +16,7 @@ PDFSTYLE=
 
 .SUFFIXES: .xsl .html .fo .pdf
 
 
 .SUFFIXES: .xsl .html .fo .pdf
 

-XSLTFLAGS=--stringparam section.autolabel 1
+XSLTFLAGS=--stringparam section.autolabel 1 --xinclude

 
 .xsl.html:
        xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl
 
 .xsl.html:
        xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl

diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index a3078b8293ee32d3709224bc9b5b67cb8d54c712..88c9b80abb6264a786b907771c5fdf89dad5250e 100644 (file)
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -175,541 +175,229 @@ NAR #88757, TRA #12200
       The latest version may always be downloaded from
       <ulink url="http://altusmetrum.org/AltOS"/>.
     </para>
       The latest version may always be downloaded from
       <ulink url="http://altusmetrum.org/AltOS"/>.
     </para>

+  </chapter>
+  <chapter>
+    <title>Handling Precautions</title>

     <para>
     <para>

-      Both Telemetrum and TeleDongle can be directly communicated
-      with using USB ports. The first thing you should try after getting
-      both units plugged into to your computer's usb port(s) is to run
-      'ao-list' from a terminal-window to see what port-device-name each
-      device has been assigned by the operating system.
-      You will need this information to access the devices via their
-      respective on-board firmware and data using other command line
-      programs in the AltOS software suite.
-    </para>
-    <para>
-      TeleMini can be communicated with through a TeleDongle device
-      over the radio link. When first booted, TeleMini listens for a
-      TeleDongle device and if it receives a packet, it goes into
-      'idle' mode. Otherwise, it goes into 'pad' mode and waits to be
-      launched. The easiest way to get it talking is to start the
-      communication link on the TeleDongle and the power up the
-      TeleMini board.
-    </para>
-    <para>
-      To access the device's firmware for configuration you need a terminal
-      program such as you would use to talk to a modem.  The software
-      authors prefer using the program 'cu' which comes from the UUCP package
-      on most Unix-like systems such as Linux.  An example command line for
-      cu might be 'cu -l /dev/ttyACM0', substituting the correct number
-      indicated from running the
-      ao-list program.  Another reasonable terminal program for Linux is
-      'cutecom'.  The default 'escape'
-      character used by CU (i.e. the character you use to
-      issue commands to cu itself instead of sending the command as input
-      to the connected device) is a '~'. You will need this for use in
-      only two different ways during normal operations. First is to exit
-      the program by sending a '~.' which is called a 'escape-disconnect'
-      and allows you to close-out from 'cu'. The
-      second use will be outlined later.
-    </para>
-    <para>
-      All of the Altus Metrum devices share the concept of a two level
-      command set in their firmware.
-      The first layer has several single letter commands. Once
-      you are using 'cu' (or 'cutecom') sending (typing) a '?'
-      returns a full list of these
-      commands. The second level are configuration sub-commands accessed
-      using the 'c' command, for
-      instance typing 'c?' will give you this second level of commands
-      (all of which require the
-      letter 'c' to access).  Please note that most configuration options
-      are stored only in Flash memory; TeleDongle doesn't provide any storage
-      for these options and so they'll all be lost when you unplug it.
+      All Altus Metrum products are sophisticated electronic device.  When handled gently and
+      properly installed in an airframe, theywill deliver impressive results.
+      However, like all electronic devices, there are some precautions you
+      must take.

     </para>
     <para>
     </para>
     <para>

-      Try setting these config ('c' or second level menu) values.  A good
-      place to start is by setting your call sign.  By default, the boards
-      use 'N0CALL' which is cute, but not exactly legal!
-      Spend a few minutes getting comfortable with the units, their
-      firmware, and 'cu' (or possibly 'cutecom').
-      For instance, try to send
-      (type) a 'c r 2' and verify the channel change by sending a 'c s'.
-      Verify you can connect and disconnect from the units while in your
-      terminal program by sending the escape-disconnect mentioned above.
+      The Lithium Polymer rechargeable batteries have an
+      extraordinary power density.  This is great because we can fly with
+      much less battery mass than if we used alkaline batteries or previous
+      generation rechargeable batteries... but if they are punctured
+      or their leads are allowed to short, they can and will release their
+      energy very rapidly!
+      Thus we recommend that you take some care when handling our batteries
+      and consider giving them some extra protection in your airframe.  We
+      often wrap them in suitable scraps of closed-cell packing foam before
+      strapping them down, for example.

     </para>
     <para>
     </para>
     <para>

-      Note that the 'reboot' command, which is very useful on the altimeters,
-      will likely just cause problems with the dongle.  The *correct* way
-      to reset the dongle is just to unplug and re-plug it.
+      The barometric sensor is sensitive to sunlight.  In normal
+      mounting situations, it and all of the other surface mount components
+      are "down" towards whatever the underlying mounting surface is, so
+      this is not normally a problem.  Please consider this, though, when
+      designing an installation, for example, in an airframe with a
+      see-through plastic payload bay.

     </para>
     <para>
     </para>
     <para>

-      A fun thing to do at the launch site and something you can do while
-      learning how to use these units is to play with the rf-link access
-      between an altimeter and the TeleDongle.  Be aware that you *must* create
-      some physical separation between the devices, otherwise the link will
-      not function due to signal overload in the receivers in each device.
+      The barometric sensor sampling port must be able to
+      "breathe",
+      both by not being covered by foam or tape or other materials that might
+      directly block the hole on the top of the sensor, but also by having a
+      suitable static vent to outside air.

     </para>
     <para>
     </para>
     <para>

-      Now might be a good time to take a break and read the rest of this
-      manual, particularly about the two "modes" that the altimeters
-      can be placed in. TeleMetrum uses the position of the device when booting
-      up will determine whether the unit is in "pad" or "idle" mode. TeleMini
-      enters "idle" mode when it receives a command packet within the first 5 seconds
-      of being powered up, otherwise it enters "pad" mode.
+      As with all other rocketry electronics, Altus Metrum altimeters must be protected
+      from exposure to corrosive motor exhaust and ejection charge gasses.

     </para>
     </para>

+  </chapter>
+  <chapter>
+    <title>Hardware Overview</title>

     <para>
     <para>

-      You can access an altimeter in idle mode from the Teledongle's USB
-      connection using the rf link
-      by issuing a 'p' command to the TeleDongle. Practice connecting and
-      disconnecting ('~~' while using 'cu') from the altimeter.  If
-      you cannot escape out of the "p" command, (by using a '~~' when in
-      CU) then it is likely that your kernel has issues.  Try a newer version.
+      TeleMetrum is a 1 inch by 2.75 inch circuit board.  It was designed to
+      fit inside coupler for 29mm airframe tubing, but using it in a tube that
+      small in diameter may require some creativity in mounting and wiring
+      to succeed!  The default 1/4
+      wave UHF wire antenna attached to the center of the nose-cone end of
+      the board is about 7 inches long, and wiring for a power switch and
+      the e-matches for apogee and main ejection charges depart from the
+      fin can end of the board.  Given all this, an ideal "simple" avionics
+      bay for TeleMetrum should have at least 10 inches of interior length.

     </para>
     <para>
     </para>
     <para>

-      Using this rf link allows you to configure the altimeter, test
-      fire e-matches and igniters from the flight line, check pyro-match
-      continuity and so forth. You can leave the unit turned on while it
-      is in 'idle mode' and then place the
-      rocket vertically on the launch pad, walk away and then issue a
-      reboot command.  The altimeter will reboot and start sending data
-      having changed to the "pad" mode. If the TeleDongle is not receiving
-      this data, you can disconnect 'cu' from the Teledongle using the
-      procedures mentioned above and THEN connect to the TeleDongle from
-      inside 'ao-view'. If this doesn't work, disconnect from the
-      TeleDongle, unplug it, and try again after plugging it back in.
+      TeleMini is a 0.5 inch by 1.5 inch circuit board.   It was designed to
+      fit inside an 18mm airframe tube, but using it in a tube that
+      small in diameter may require some creativity in mounting and wiring
+      to succeed!  The default 1/4
+      wave UHF wire antenna attached to the center of the nose-cone end of
+      the board is about 7 inches long, and wiring for a power switch and
+      the e-matches for apogee and main ejection charges depart from the
+      fin can end of the board.  Given all this, an ideal "simple" avionics
+      bay for TeleMini should have at least 9 inches of interior length.

     </para>
     <para>
     </para>
     <para>

-      On TeleMetrum, the GPS will eventually find enough satellites, lock in on them,
-      and 'ao-view' will both auditorially announce and visually indicate
-      that GPS is ready.
-      Now you can launch knowing that you have a good data path and
-      good satellite lock for flight data and recovery.  Remember
-      you MUST tell ao-view to connect to the TeleDongle explicitly in
-      order for ao-view to be able to receive data.
+      A typical TeleMetrum or TeleMini installation using the on-board devices and
+      default wire UHF antenna involves attaching only a suitable
+      Lithium Polymer battery, a single pole switch for power on/off, and
+      two pairs of wires connecting e-matches for the apogee and main ejection
+      charges.

     </para>
     <para>
     </para>
     <para>

-      The altimeters provide RDF (radio direction finding) tones on
-      the pad, during descent and after landing. These can be used to
-      locate the rocket using a directional antenna; the signal
-      strength providing an indication of the direction from receiver to rocket.
+      By default, we use the unregulated output of the LiPo battery directly
+      to fire ejection charges.  This works marvelously with standard
+      low-current e-matches like the J-Tek from MJG Technologies, and with
+      Quest Q2G2 igniters.  However, if you
+      want or need to use a separate pyro battery, check out the "External Pyro Battery"
+      section in this manual for instructions on how to wire that up. The
+      altimeters are designed to work with an external pyro battery of up to 15V.

     </para>
     <para>
     </para>
     <para>

-      TeleMetrum also provides GPS trekking data, which can further simplify
-      locating the rocket once it has landed. (The last good GPS data
-      received before touch-down will be on the data screen of 'ao-view'.)
+      Ejection charges are wired directly to the screw terminal block
+      at the aft end of the altimeter.  This is very similar to what
+      most other altimeter vendors provide and so may be the most
+      familiar option.  You'll need a very small straight blade
+      screwdriver to connect and disconnect the board in this case,
+      such as you might find in a jeweler's screwdriver set.

     </para>
     <para>
     </para>
     <para>

-      Once you have recovered the rocket you can download the eeprom
-      contents using either 'ao-dumplog' (or possibly 'ao-eeprom'), over
-      either a USB cable or over the radio link using TeleDongle.
-      And by following the man page for 'ao-postflight' you can create
-      various data output reports, graphs, and even kml data to see the
-      flight trajectory in google-earth. (Moving the viewing angle making
-      sure to connect the yellow lines while in google-earth is the proper
-      technique.)
+      TeleMetrum also uses the screw terminal block for the power
+      switch leads. On TeleMini, the power switch leads are soldered
+      directly to the board and can be connected directly to the switch.

     </para>
     <para>
     </para>
     <para>

-      As for ao-view.... some things are in the menu but don't do anything
-      very useful.  The developers have stopped working on ao-view to focus
-      on a new, cross-platform ground station program.  So ao-view may or
-      may not be updated in the future.  Mostly you just use
-      the Log and Device menus.  It has a wonderful display of the incoming
-      flight data and I am sure you will enjoy what it has to say to you
-      once you enable the voice output!
+      For most airframes, the integrated antennas are more than
+      adequate However, if you are installing in a carbon-fiber
+      electronics bay which is opaque to RF signals, you may need to
+      use off-board external antennas instead.  In this case, you can
+      order an altimeter with an SMA connector for the UHF antenna
+      connection, and, on TeleMetrum, you can unplug the integrated GPS
+      antenna and select an appropriate off-board GPS antenna with
+      cable terminating in a U.FL connector.

     </para>
     </para>

+  </chapter>
+  <chapter>
+    <title>System Operation</title>

     <section>
     <section>

-      <title>FAQ</title>
-      <para>
-        TeleMetrum seems to shut off when disconnected from the
-        computer.  Make sure the battery is adequately charged.  Remember the
-        unit will pull more power than the USB port can deliver before the
-        GPS enters "locked" mode.  The battery charges best when TeleMetrum
-        is turned off.
-      </para>
+      <title>Firmware Modes </title>

       <para>
       <para>

-        It's impossible to stop the TeleDongle when it's in "p" mode, I have
-        to unplug the USB cable?  Make sure you have tried to "escape out" of
-        this mode.  If this doesn't work the reboot procedure for the
-        TeleDongle *is* to simply unplug it. 'cu' however will retain it's
-        outgoing buffer IF your "escape out" ('~~') does not work.
-        At this point using either 'ao-view' (or possibly
-        'cutemon') instead of 'cu' will 'clear' the issue and allow renewed
-        communication.
+        The AltOS firmware build for the altimeters has two
+        fundamental modes, "idle" and "flight".  Which of these modes
+        the firmware operates in is determined at startup time. For
+        TeleMetrum, the mode is controlled by the orientation of the
+        rocket (well, actually the board, of course...) at the time
+        power is switched on.  If the rocket is "nose up", then
+        TeleMetrum assumes it's on a rail or rod being prepared for
+        launch, so the firmware chooses flight mode.  However, if the
+        rocket is more or less horizontal, the firmware instead enters
+        idle mode. For TeleMini, "idle" mode is selected when the
+        board receives a command packet within the first five seconds
+        of operation; if no packet is received, the board enters
+        "flight" mode.

       </para>
       <para>
       </para>
       <para>

-        The amber LED (on the TeleMetrum) lights up when both
-        battery and USB are connected. Does this mean it's charging?
-        Yes, the yellow LED indicates the charging at the 'regular' rate.
-        If the led is out but the unit is still plugged into a USB port,
-        then the battery is being charged at a 'trickle' rate.
+        At power on, you will hear three beeps or see three flashes
+        ("S" in Morse code for startup) and then a pause while
+        the altimeter completes initialization and self tests, and decides which
+        mode to enter next.

       </para>
       <para>
       </para>
       <para>

-        There are no "dit-dah-dah-dit" sound or lights like the manual mentions?
-        That's the "pad" mode.  Weak batteries might be the problem.
-        It is also possible that the Telemetrum is horizontal and the output
-        is instead a "dit-dit" meaning 'idle'. For TeleMini, it's possible that
-       it received a command packet which would have left it in "pad" mode.
+        In flight or "pad" mode, the altimeter engages the flight
+        state machine, goes into transmit-only mode on the RF link
+        sending telemetry, and waits for launch to be detected.
+        Flight mode is indicated by an "di-dah-dah-dit" ("P" for pad)
+        on the beeper or lights, followed by beeps or flashes
+        indicating the state of the pyrotechnic igniter continuity.
+        One beep/flash indicates apogee continuity, two beeps/flashes
+        indicate main continuity, three beeps/flashes indicate both
+        apogee and main continuity, and one longer "brap" sound or
+        rapidly alternating lights indicates no continuity.  For a
+        dual deploy flight, make sure you're getting three beeps or
+        flashes before launching!  For apogee-only or motor eject
+        flights, do what makes sense.

       </para>
       <para>
       </para>
       <para>

-        It's unclear how to use 'ao-view' and other programs when 'cu'
-        is running. You cannot have more than one program connected to
-        the TeleDongle at one time without apparent data loss as the
-        incoming data will not make it to both programs intact.
-        Disconnect whatever programs aren't currently being used.
+        In idle mode, you will hear an audible "di-dit" or see two short flashes ("I" for idle), and
+        the normal flight state machine is disengaged, thus
+        no ejection charges will fire.  The altimeters also listen on the RF
+        link when in idle mode for packet mode requests sent from TeleDongle.
+        Commands can be issued to a TeleMetrum in idle mode over either
+        USB or the RF link equivalently. TeleMini uses only the RF link.
+        Idle mode is useful for configuring the altimeter, for extracting data
+        from the on-board storage chip after flight, and for ground testing
+        pyro charges.

       </para>
       <para>
       </para>
       <para>

-        How do I save flight data?
-        Live telemetry is written to file(s) whenever 'ao-view' is connected
-        to the TeleDongle.  The file area defaults to ~/altos
-        but is easily changed using the menus in 'ao-view'. The files that
-        are written end in '.telem'. The after-flight
-        data-dumped files will end in .eeprom and represent continuous data
-        unlike the rf-linked .telem files that are subject to the
-        turnarounds/data-packaging time slots in the half-duplex rf data path.
-        See the above instructions on what and how to save the eeprom stored
-        data after physically retrieving your TeleMetrum.  Make sure to save
-        the on-board data after each flight, as the current firmware will
-        over-write any previous flight data during a new flight.
+        One "neat trick" of particular value when the altimeter is used with very
+        large airframes, is that you can power the board up while the rocket
+        is horizontal, such that it comes up in idle mode.  Then you can
+        raise the airframe to launch position, use a TeleDongle to open
+        a packet connection, and issue a 'reset' command which will cause
+        the altimeter to reboot and come up in
+        flight mode.  This is much safer than standing on the top step of a
+        rickety step-ladder or hanging off the side of a launch tower with
+        a screw-driver trying to turn on your avionics before installing
+        igniters!

       </para>
     </section>
       </para>
     </section>

-  </chapter>
-  <chapter>
-    <title>Specifications</title>

     <section>
     <section>

-      <title>TeleMetrum Specifications</title>
-      <itemizedlist>
-       <listitem>
-         <para>
-           Recording altimeter for model rocketry.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Supports dual deployment (can fire 2 ejection charges).
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           70cm ham-band transceiver for telemetry downlink.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Barometric pressure sensor good to 45k feet MSL.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           1-axis high-g accelerometer for motor characterization, capable of
-           +/- 50g using default part.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           On-board, integrated GPS receiver with 5hz update rate capability.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           On-board 1 megabyte non-volatile memory for flight data storage.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           USB interface for battery charging, configuration, and data recovery.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Fully integrated support for LiPo rechargeable batteries.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Uses LiPo to fire e-matches, can be modiied to support 
-           optional separate pyro battery if needed.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube.
-         </para>
-       </listitem>
-      </itemizedlist>
+      <title>GPS </title>
+      <para>
+        TeleMetrum includes a complete GPS receiver.  See a later section for
+        a brief explanation of how GPS works that will help you understand
+        the information in the telemetry stream.  The bottom line is that
+        the TeleMetrum GPS receiver needs to lock onto at least four
+        satellites to obtain a solid 3 dimensional position fix and know
+        what time it is!
+      </para>
+      <para>
+        TeleMetrum provides backup power to the GPS chip any time a LiPo
+        battery is connected.  This allows the receiver to "warm start" on
+        the launch rail much faster than if every power-on were a "cold start"
+        for the GPS receiver.  In typical operations, powering up TeleMetrum
+        on the flight line in idle mode while performing final airframe
+        preparation will be sufficient to allow the GPS receiver to cold
+        start and acquire lock.  Then the board can be powered down during
+        RSO review and installation on a launch rod or rail.  When the board
+        is turned back on, the GPS system should lock very quickly, typically
+        long before igniter installation and return to the flight line are
+        complete.
+      </para>

     </section>
     <section>
     </section>
     <section>

-      <title>TeleMini Specifications</title>
-      <itemizedlist>
-       <listitem>
-         <para>
-           Recording altimeter for model rocketry.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Supports dual deployment (can fire 2 ejection charges).
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           70cm ham-band transceiver for telemetry downlink.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Barometric pressure sensor good to 45k feet MSL.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           On-board 5 kilobyte non-volatile memory for flight data storage.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           RF interface for battery charging, configuration, and data recovery.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Support for LiPo rechargeable batteries, using an external charger.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           Uses LiPo to fire e-matches, can be modiied to support 
-           optional separate pyro battery if needed.
-         </para>
-       </listitem>
-       <listitem>
-         <para>
-           1.5 x .5 inch board designed to fit inside 18mm airframe coupler tube.
-         </para>
-       </listitem>
-      </itemizedlist>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Handling Precautions</title>
-    <para>
-      All Altus Metrum products are sophisticated electronic device.  When handled gently and
-      properly installed in an airframe, theywill deliver impressive results.
-      However, like all electronic devices, there are some precautions you
-      must take.
-    </para>
-    <para>
-      The Lithium Polymer rechargeable batteries have an
-      extraordinary power density.  This is great because we can fly with
-      much less battery mass than if we used alkaline batteries or previous
-      generation rechargeable batteries... but if they are punctured
-      or their leads are allowed to short, they can and will release their
-      energy very rapidly!
-      Thus we recommend that you take some care when handling our batteries
-      and consider giving them some extra protection in your airframe.  We
-      often wrap them in suitable scraps of closed-cell packing foam before
-      strapping them down, for example.
-    </para>
-    <para>
-      The barometric sensor is sensitive to sunlight.  In normal
-      mounting situations, it and all of the other surface mount components
-      are "down" towards whatever the underlying mounting surface is, so
-      this is not normally a problem.  Please consider this, though, when
-      designing an installation, for example, in an airframe with a
-      see-through plastic payload bay.
-    </para>
-    <para>
-      The barometric sensor sampling port must be able to
-      "breathe",
-      both by not being covered by foam or tape or other materials that might
-      directly block the hole on the top of the sensor, but also by having a
-      suitable static vent to outside air.
-    </para>
-    <para>
-      As with all other rocketry electronics, Altus Metrum altimeters must be protected
-      from exposure to corrosive motor exhaust and ejection charge gasses.
-    </para>
-  </chapter>
-  <chapter>
-    <title>Hardware Overview</title>
-    <para>
-      TeleMetrum is a 1 inch by 2.75 inch circuit board.  It was designed to
-      fit inside coupler for 29mm airframe tubing, but using it in a tube that
-      small in diameter may require some creativity in mounting and wiring
-      to succeed!  The default 1/4
-      wave UHF wire antenna attached to the center of the nose-cone end of
-      the board is about 7 inches long, and wiring for a power switch and
-      the e-matches for apogee and main ejection charges depart from the
-      fin can end of the board.  Given all this, an ideal "simple" avionics
-      bay for TeleMetrum should have at least 10 inches of interior length.
-    </para>
-    <para>
-      TeleMini is a 0.5 inch by 1.5 inch circuit board.   It was designed to
-      fit inside an 18mm airframe tube, but using it in a tube that
-      small in diameter may require some creativity in mounting and wiring
-      to succeed!  The default 1/4
-      wave UHF wire antenna attached to the center of the nose-cone end of
-      the board is about 7 inches long, and wiring for a power switch and
-      the e-matches for apogee and main ejection charges depart from the
-      fin can end of the board.  Given all this, an ideal "simple" avionics
-      bay for TeleMini should have at least 9 inches of interior length.
-    </para>
-    <para>
-      A typical TeleMetrum or TeleMini installation using the on-board devices and
-      default wire UHF antenna involves attaching only a suitable
-      Lithium Polymer battery, a single pole switch for power on/off, and
-      two pairs of wires connecting e-matches for the apogee and main ejection
-      charges.
-    </para>
-    <para>
-      By default, we use the unregulated output of the LiPo battery directly
-      to fire ejection charges.  This works marvelously with standard
-      low-current e-matches like the J-Tek from MJG Technologies, and with
-      Quest Q2G2 igniters.  However, if you
-      want or need to use a separate pyro battery, check out the "External Pyro Battery"
-      section in this manual for instructions on how to wire that up. The
-      altimeters are designed to work with an external pyro battery of up to 15V.
-    </para>
-    <para>
-      Ejection charges are wired directly to the screw terminal block
-      at the aft end of the altimeter.  This is very similar to what
-      most other altimeter vendors provide and so may be the most
-      familiar option.  You'll need a very small straight blade
-      screwdriver to connect and disconnect the board in this case,
-      such as you might find in a jeweler's screwdriver set.
-    </para>
-    <para>
-      TeleMetrum also uses the screw terminal block for the power
-      switch leads. On TeleMini, the power switch leads are soldered
-      directly to the board and can be connected directly to the switch.
-    </para>
-    <para>
-      For most airframes, the integrated antennas are more than
-      adequate However, if you are installing in a carbon-fiber
-      electronics bay which is opaque to RF signals, you may need to
-      use off-board external antennas instead.  In this case, you can
-      order an altimeter with an SMA connector for the UHF antenna
-      connection, and, on TeleMetrum, you can unplug the integrated GPS
-      antenna and select an appropriate off-board GPS antenna with
-      cable terminating in a U.FL connector.
-    </para>
-  </chapter>
-  <chapter>
-    <title>System Operation</title>
-    <section>
-      <title>Firmware Modes </title>
-      <para>
-        The AltOS firmware build for the altimeters has two
-        fundamental modes, "idle" and "flight".  Which of these modes
-        the firmware operates in is determined at startup time. For
-        TeleMetrum, the mode is controlled by the orientation of the
-        rocket (well, actually the board, of course...) at the time
-        power is switched on.  If the rocket is "nose up", then
-        TeleMetrum assumes it's on a rail or rod being prepared for
-        launch, so the firmware chooses flight mode.  However, if the
-        rocket is more or less horizontal, the firmware instead enters
-        idle mode. For TeleMini, "idle" mode is selected when the
-        board receives a command packet within the first five seconds
-        of operation; if no packet is received, the board enters
-        "flight" mode.
-      </para>
-      <para>
-        At power on, you will hear three beeps or see three flashes
-        ("S" in Morse code for startup) and then a pause while
-        the altimeter completes initialization and self tests, and decides which
-        mode to enter next.
-      </para>
-      <para>
-        In flight or "pad" mode, the altimeter engages the flight
-        state machine, goes into transmit-only mode on the RF link
-        sending telemetry, and waits for launch to be detected.
-        Flight mode is indicated by an "di-dah-dah-dit" ("P" for pad)
-        on the beeper or lights, followed by beeps or flashes
-        indicating the state of the pyrotechnic igniter continuity.
-        One beep/flash indicates apogee continuity, two beeps/flashes
-        indicate main continuity, three beeps/flashes indicate both
-        apogee and main continuity, and one longer "brap" sound or
-        rapidly alternating lights indicates no continuity.  For a
-        dual deploy flight, make sure you're getting three beeps or
-        flashes before launching!  For apogee-only or motor eject
-        flights, do what makes sense.
-      </para>
-      <para>
-        In idle mode, you will hear an audible "di-dit" or see two short flashes ("I" for idle), and
-        the normal flight state machine is disengaged, thus
-        no ejection charges will fire.  The altimeters also listen on the RF
-        link when in idle mode for packet mode requests sent from TeleDongle.
-        Commands can be issued to a TeleMetrum in idle mode over either
-        USB or the RF link equivalently. TeleMini uses only the RF link.
-        Idle mode is useful for configuring the altimeter, for extracting data
-        from the on-board storage chip after flight, and for ground testing
-        pyro charges.
-      </para>
-      <para>
-        One "neat trick" of particular value when the altimeter is used with very
-        large airframes, is that you can power the board up while the rocket
-        is horizontal, such that it comes up in idle mode.  Then you can
-        raise the airframe to launch position, use a TeleDongle to open
-        a packet connection, and issue a 'reset' command which will cause
-        the altimeter to reboot and come up in
-        flight mode.  This is much safer than standing on the top step of a
-        rickety step-ladder or hanging off the side of a launch tower with
-        a screw-driver trying to turn on your avionics before installing
-        igniters!
-      </para>
-    </section>
-    <section>
-      <title>GPS </title>
-      <para>
-        TeleMetrum includes a complete GPS receiver.  See a later section for
-        a brief explanation of how GPS works that will help you understand
-        the information in the telemetry stream.  The bottom line is that
-        the TeleMetrum GPS receiver needs to lock onto at least four
-        satellites to obtain a solid 3 dimensional position fix and know
-        what time it is!
-      </para>
-      <para>
-        TeleMetrum provides backup power to the GPS chip any time a LiPo
-        battery is connected.  This allows the receiver to "warm start" on
-        the launch rail much faster than if every power-on were a "cold start"
-        for the GPS receiver.  In typical operations, powering up TeleMetrum
-        on the flight line in idle mode while performing final airframe
-        preparation will be sufficient to allow the GPS receiver to cold
-        start and acquire lock.  Then the board can be powered down during
-        RSO review and installation on a launch rod or rail.  When the board
-        is turned back on, the GPS system should lock very quickly, typically
-        long before igniter installation and return to the flight line are
-        complete.
-      </para>
-    </section>
-    <section>
-      <title>Ground Testing </title>
-      <para>
-        An important aspect of preparing a rocket using electronic deployment
-        for flight is ground testing the recovery system.  Thanks
-        to the bi-directional RF link central to the Altus Metrum system,
-        this can be accomplished in a TeleMetrum- or TeleMini- equipped rocket without as
-        much work as you may be accustomed to with other systems.  It can
-        even be fun!
-      </para>
-      <para>
-        Just prep the rocket for flight, then power up the altimeter
-        in "idle" mode (placing airframe horizontal for TeleMetrum or
-        starting the RF packet connection for TeleMini).  This will cause the
-        firmware to go into "idle" mode, in which the normal flight
-        state machine is disabled and charges will not fire without
-        manual command.  Then, establish an RF packet connection from
-        a TeleDongle-equipped computer using the P command from a safe
-        distance.  You can now command the altimeter to fire the apogee
-        or main charges to complete your testing.
-      </para>
-      <para>
-        In order to reduce the chance of accidental firing of pyrotechnic
-        charges, the command to fire a charge is intentionally somewhat
-        difficult to type, and the built-in help is slightly cryptic to
-        prevent accidental echoing of characters from the help text back at
-        the board from firing a charge.  The command to fire the apogee
-        drogue charge is 'i DoIt drogue' and the command to fire the main
-        charge is 'i DoIt main'.
-      </para>
+      <title>Ground Testing </title>
+      <para>
+        An important aspect of preparing a rocket using electronic deployment
+        for flight is ground testing the recovery system.  Thanks
+        to the bi-directional RF link central to the Altus Metrum system,
+        this can be accomplished in a TeleMetrum- or TeleMini- equipped rocket without as
+        much work as you may be accustomed to with other systems.  It can
+        even be fun!
+      </para>
+      <para>
+        Just prep the rocket for flight, then power up the altimeter
+        in "idle" mode (placing airframe horizontal for TeleMetrum or
+        starting the RF packet connection for TeleMini).  This will cause the
+        firmware to go into "idle" mode, in which the normal flight
+        state machine is disabled and charges will not fire without
+        manual command.  Then, establish an RF packet connection from
+        a TeleDongle-equipped computer using the P command from a safe
+        distance.  You can now command the altimeter to fire the apogee
+        or main charges to complete your testing.
+      </para>
+      <para>
+        In order to reduce the chance of accidental firing of pyrotechnic
+        charges, the command to fire a charge is intentionally somewhat
+        difficult to type, and the built-in help is slightly cryptic to
+        prevent accidental echoing of characters from the help text back at
+        the board from firing a charge.  The command to fire the apogee
+        drogue charge is 'i DoIt drogue' and the command to fire the main
+        charge is 'i DoIt main'.
+      </para>

     </section>
     <section>
       <title>Radio Link </title>
     </section>
     <section>
       <title>Radio Link </title>


@@ -918,9 +606,6 @@ NAR #88757, TRA #12200
         </para>
       </section>
     </section>
         </para>
       </section>
     </section>

-
-
-

   <section>
     <title>Updating Device Firmware</title>
     <para>
   <section>
     <title>Updating Device Firmware</title>
     <para>


@@ -1159,92 +844,6 @@ NAR #88757, TRA #12200
       is split into chapters, each of which documents one of the tasks
       provided from the top-level toolbar.
     </para>
       is split into chapters, each of which documents one of the tasks
       provided from the top-level toolbar.
     </para>

-    <section>
-      <title>Packet Command Mode</title>
-      <subtitle>Controlling An Altimeter Over The Radio Link</subtitle>
-      <para>
-        One of the unique features of the Altus Metrum environment is
-        the ability to create a two way command link between TeleDongle
-        and an altimeter using the digital radio transceivers built into
-        each device. This allows you to interact with the altimeter from
-        afar, as if it were directly connected to the computer.
-      </para>
-      <para>
-        Any operation which can be performed with TeleMetrum
-        can either be done with TeleMetrum directly connected to
-        the computer via the USB cable, or through the packet
-        link. Simply select the appropriate TeleDongle device when
-        the list of devices is presented and AltosUI will use packet
-        command mode.
-      </para>
-      <para>
-       One oddity in the current interface is how AltosUI selects the
-       frequency for packet mode communications. Instead of providing
-       an interface to specifically configure the frequency, it uses
-       whatever frequency was most recently selected for the target
-       TeleDongle device in Monitor Flight mode. If you haven't ever
-       used that mode with the TeleDongle in question, select the
-       Monitor Flight button from the top level UI, pick the
-       appropriate TeleDongle device. Once the flight monitoring
-       window is open, select the desired frequency and then close it
-       down again. All Packet Command Mode operations will now use
-       that frequency.
-      </para>
-      <itemizedlist>
-        <listitem>
-          <para>
-            Save Flight Data—Recover flight data from the rocket without
-            opening it up.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            Configure altimeter apogee delays or main deploy heights
-            to respond to changing launch conditions. You can also
-            'reboot' the altimeter. Use this to remotely enable the
-            flight computer by turning TeleMetrum on in "idle" mode,
-            then once the airframe is oriented for launch, you can
-            reboot the altimeter and have it restart in pad mode
-            without having to climb the scary ladder.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            Fire Igniters—Test your deployment charges without snaking
-            wires out through holes in the airframe. Simply assembly the
-            rocket as if for flight with the apogee and main charges
-            loaded, then remotely command the altimeter to fire the
-            igniters.
-          </para>
-        </listitem>
-      </itemizedlist>
-      <para>
-        Packet command mode uses the same RF frequencies as telemetry
-        mode. Configure the desired TeleDongle frequency using the
-        flight monitor window frequency selector and then close that
-        window before performing the desired operation.
-      </para>
-      <para>
-        TeleMetrum only enables packet command mode in 'idle' mode, so
-        make sure you have TeleMetrum lying horizontally when you turn
-        it on. Otherwise, TeleMetrum will start in 'pad' mode ready for
-        flight and will not be listening for command packets from TeleDongle.
-      </para>
-      <para>
-       TeleMini listens for a command packet for five seconds after
-       first being turned on, if it doesn't hear anything, it enters
-       'pad' mode, ready for flight and will no longer listen for
-       command packets.
-      </para>
-      <para>
-        When packet command mode is enabled, you can monitor the link
-        by watching the lights on the
-        devices. The red LED will flash each time they
-        transmit a packet while the green LED will light up
-        on TeleDongle while it is waiting to receive a packet from
-       the altimeter.
-      </para>
-    </section>

     <section>
       <title>Monitor Flight</title>
       <subtitle>Receive, Record and Display Telemetry Data</subtitle>
     <section>
       <title>Monitor Flight</title>
       <subtitle>Receive, Record and Display Telemetry Data</subtitle>


@@ -1484,19 +1083,105 @@ NAR #88757, TRA #12200
       </section>
     </section>
     <section>
       </section>
     </section>
     <section>

-      <title>Save Flight Data</title>
-      <para>
-        The altimeter records flight data to its internal flash memory.
-        The TeleMetrum data is recorded at a much higher rate than the telemetry
-        system can handle, and is not subject to radio drop-outs. As
-        such, it provides a more complete and precise record of the
-        flight. The 'Save Flight Data' button allows you to read the
-        flash memory and write it to disk. As TeleMini has only a barometer, it
-       records data at the same rate as the telemetry signal, but there will be
-       no data lost due to telemetry drop-outs.
-      </para>
+      <title>Packet Command Mode</title>
+      <subtitle>Controlling An Altimeter Over The Radio Link</subtitle>

       <para>
       <para>

-        Clicking on the 'Save Flight Data' button brings up a list of
+        One of the unique features of the Altus Metrum environment is
+        the ability to create a two way command link between TeleDongle
+        and an altimeter using the digital radio transceivers built into
+        each device. This allows you to interact with the altimeter from
+        afar, as if it were directly connected to the computer.
+      </para>
+      <para>
+        Any operation which can be performed with TeleMetrum
+        can either be done with TeleMetrum directly connected to
+        the computer via the USB cable, or through the packet
+        link. Simply select the appropriate TeleDongle device when
+        the list of devices is presented and AltosUI will use packet
+        command mode.
+      </para>
+      <para>
+       One oddity in the current interface is how AltosUI selects the
+       frequency for packet mode communications. Instead of providing
+       an interface to specifically configure the frequency, it uses
+       whatever frequency was most recently selected for the target
+       TeleDongle device in Monitor Flight mode. If you haven't ever
+       used that mode with the TeleDongle in question, select the
+       Monitor Flight button from the top level UI, pick the
+       appropriate TeleDongle device. Once the flight monitoring
+       window is open, select the desired frequency and then close it
+       down again. All Packet Command Mode operations will now use
+       that frequency.
+      </para>
+      <itemizedlist>
+        <listitem>
+          <para>
+            Save Flight Data—Recover flight data from the rocket without
+            opening it up.
+          </para>
+        </listitem>
+        <listitem>
+          <para>
+            Configure altimeter apogee delays or main deploy heights
+            to respond to changing launch conditions. You can also
+            'reboot' the altimeter. Use this to remotely enable the
+            flight computer by turning TeleMetrum on in "idle" mode,
+            then once the airframe is oriented for launch, you can
+            reboot the altimeter and have it restart in pad mode
+            without having to climb the scary ladder.
+          </para>
+        </listitem>
+        <listitem>
+          <para>
+            Fire Igniters—Test your deployment charges without snaking
+            wires out through holes in the airframe. Simply assembly the
+            rocket as if for flight with the apogee and main charges
+            loaded, then remotely command the altimeter to fire the
+            igniters.
+          </para>
+        </listitem>
+      </itemizedlist>
+      <para>
+        Packet command mode uses the same RF frequencies as telemetry
+        mode. Configure the desired TeleDongle frequency using the
+        flight monitor window frequency selector and then close that
+        window before performing the desired operation.
+      </para>
+      <para>
+        TeleMetrum only enables packet command mode in 'idle' mode, so
+        make sure you have TeleMetrum lying horizontally when you turn
+        it on. Otherwise, TeleMetrum will start in 'pad' mode ready for
+        flight and will not be listening for command packets from TeleDongle.
+      </para>
+      <para>
+       TeleMini listens for a command packet for five seconds after
+       first being turned on, if it doesn't hear anything, it enters
+       'pad' mode, ready for flight and will no longer listen for
+       command packets.
+      </para>
+      <para>
+        When packet command mode is enabled, you can monitor the link
+        by watching the lights on the
+        devices. The red LED will flash each time they
+        transmit a packet while the green LED will light up
+        on TeleDongle while it is waiting to receive a packet from
+       the altimeter.
+      </para>
+    </section>
+    <section>
+      <title>Save Flight Data</title>
+      <para>
+        The altimeter records flight data to its internal flash memory.
+        The TeleMetrum data is recorded at a much higher rate than the telemetry
+        system can handle, and is not subject to radio drop-outs. As
+        such, it provides a more complete and precise record of the
+        flight. The 'Save Flight Data' button allows you to read the
+        flash memory and write it to disk. As TeleMini has only a barometer, it
+       records data at the same rate as the telemetry signal, but there will be
+       no data lost due to telemetry drop-outs.
+      </para>
+      <para>
+        Clicking on the 'Save Flight Data' button brings up a list of

         connected TeleMetrum and TeleDongle devices. If you select a
         TeleMetrum device, the flight data will be downloaded from that
         device directly. If you select a TeleDongle device, flight data
         connected TeleMetrum and TeleDongle devices. If you select a
         TeleMetrum device, the flight data will be downloaded from that
         device directly. If you select a TeleDongle device, flight data


@@ -1877,10 +1562,10 @@ NAR #88757, TRA #12200
     <section>
       <title>Flash Image</title>
       <para>
     <section>
       <title>Flash Image</title>
       <para>

-        This reprograms any Altus Metrum device by using a TeleMetrum or
-        TeleDongle as a programming dongle. Please read the directions
-        for connecting the programming cable in the main TeleMetrum
-        manual before reading these instructions.
+        This reprograms any Altus Metrum device by using a TeleMetrum
+        or TeleDongle as a programming dongle. Please read the
+        directions for flashing devices in the Updating Device
+        Firmware section above

       </para>
       <para>
         Once you have the programmer and target devices connected,
       </para>
       <para>
         Once you have the programmer and target devices connected,


@@ -2125,4 +1810,330 @@ NAR #88757, TRA #12200
         </para>
     </section>
   </chapter>
         </para>
     </section>
   </chapter>

+  <chapter>
+    <title>Hardware Specifications</title>
+    <section>
+      <title>TeleMetrum Specifications</title>
+      <itemizedlist>
+       <listitem>
+         <para>
+           Recording altimeter for model rocketry.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Supports dual deployment (can fire 2 ejection charges).
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           70cm ham-band transceiver for telemetry downlink.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Barometric pressure sensor good to 45k feet MSL.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           1-axis high-g accelerometer for motor characterization, capable of
+           +/- 50g using default part.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           On-board, integrated GPS receiver with 5hz update rate capability.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           On-board 1 megabyte non-volatile memory for flight data storage.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           USB interface for battery charging, configuration, and data recovery.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Fully integrated support for LiPo rechargeable batteries.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Uses LiPo to fire e-matches, can be modiied to support 
+           optional separate pyro battery if needed.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube.
+         </para>
+       </listitem>
+      </itemizedlist>
+    </section>
+    <section>
+      <title>TeleMini Specifications</title>
+      <itemizedlist>
+       <listitem>
+         <para>
+           Recording altimeter for model rocketry.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Supports dual deployment (can fire 2 ejection charges).
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           70cm ham-band transceiver for telemetry downlink.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Barometric pressure sensor good to 45k feet MSL.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           On-board 5 kilobyte non-volatile memory for flight data storage.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           RF interface for battery charging, configuration, and data recovery.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Support for LiPo rechargeable batteries, using an external charger.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Uses LiPo to fire e-matches, can be modiied to support 
+           optional separate pyro battery if needed.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           1.5 x .5 inch board designed to fit inside 18mm airframe coupler tube.
+         </para>
+       </listitem>
+      </itemizedlist>
+    </section>
+  </chapter>
+  <chapter>
+    <title>FAQ</title>
+      <para>
+        TeleMetrum seems to shut off when disconnected from the
+        computer.  Make sure the battery is adequately charged.  Remember the
+        unit will pull more power than the USB port can deliver before the
+        GPS enters "locked" mode.  The battery charges best when TeleMetrum
+        is turned off.
+      </para>
+      <para>
+        It's impossible to stop the TeleDongle when it's in "p" mode, I have
+        to unplug the USB cable?  Make sure you have tried to "escape out" of
+        this mode.  If this doesn't work the reboot procedure for the
+        TeleDongle *is* to simply unplug it. 'cu' however will retain it's
+        outgoing buffer IF your "escape out" ('~~') does not work.
+        At this point using either 'ao-view' (or possibly
+        'cutemon') instead of 'cu' will 'clear' the issue and allow renewed
+        communication.
+      </para>
+      <para>
+        The amber LED (on the TeleMetrum) lights up when both
+        battery and USB are connected. Does this mean it's charging?
+        Yes, the yellow LED indicates the charging at the 'regular' rate.
+        If the led is out but the unit is still plugged into a USB port,
+        then the battery is being charged at a 'trickle' rate.
+      </para>
+      <para>
+        There are no "dit-dah-dah-dit" sound or lights like the manual mentions?
+        That's the "pad" mode.  Weak batteries might be the problem.
+        It is also possible that the Telemetrum is horizontal and the output
+        is instead a "dit-dit" meaning 'idle'. For TeleMini, it's possible that
+       it received a command packet which would have left it in "pad" mode.
+      </para>
+      <para>
+        How do I save flight data?
+        Live telemetry is written to file(s) whenever AltosUI is connected
+        to the TeleDongle.  The file area defaults to ~/TeleMetrum
+        but is easily changed using the menus in AltosUI. The files that
+        are written end in '.telem'. The after-flight
+        data-dumped files will end in .eeprom and represent continuous data
+        unlike the rf-linked .telem files that are subject to losses
+        along the rf data path.
+        See the above instructions on what and how to save the eeprom stored
+        data after physically retrieving your altimeter.  Make sure to save
+        the on-board data after each flight; while the TeleMetrum can store
+       multiple flights, you never know when you'll lose the altimeter...
+      </para>
+  </chapter>
+  <appendix>
+    <title>Notes for Older Software</title>
+    <para>
+      <emphasis>
+      Before AltosUI was written, using Altus Metrum devices required
+      some finesse with the Linux command line. There was a limited
+      GUI tool, ao-view, which provided functionality similar to the
+      Monitor Flight window in AltosUI, but everything else was a
+      fairly 80's experience. This appendix includes documentation for
+      using that software.
+      </emphasis>
+    </para>
+    <para>
+      Both Telemetrum and TeleDongle can be directly communicated
+      with using USB ports. The first thing you should try after getting
+      both units plugged into to your computer's usb port(s) is to run
+      'ao-list' from a terminal-window to see what port-device-name each
+      device has been assigned by the operating system.
+      You will need this information to access the devices via their
+      respective on-board firmware and data using other command line
+      programs in the AltOS software suite.
+    </para>
+    <para>
+      TeleMini can be communicated with through a TeleDongle device
+      over the radio link. When first booted, TeleMini listens for a
+      TeleDongle device and if it receives a packet, it goes into
+      'idle' mode. Otherwise, it goes into 'pad' mode and waits to be
+      launched. The easiest way to get it talking is to start the
+      communication link on the TeleDongle and the power up the
+      TeleMini board.
+    </para>
+    <para>
+      To access the device's firmware for configuration you need a terminal
+      program such as you would use to talk to a modem.  The software
+      authors prefer using the program 'cu' which comes from the UUCP package
+      on most Unix-like systems such as Linux.  An example command line for
+      cu might be 'cu -l /dev/ttyACM0', substituting the correct number
+      indicated from running the
+      ao-list program.  Another reasonable terminal program for Linux is
+      'cutecom'.  The default 'escape'
+      character used by CU (i.e. the character you use to
+      issue commands to cu itself instead of sending the command as input
+      to the connected device) is a '~'. You will need this for use in
+      only two different ways during normal operations. First is to exit
+      the program by sending a '~.' which is called a 'escape-disconnect'
+      and allows you to close-out from 'cu'. The
+      second use will be outlined later.
+    </para>
+    <para>
+      All of the Altus Metrum devices share the concept of a two level
+      command set in their firmware.
+      The first layer has several single letter commands. Once
+      you are using 'cu' (or 'cutecom') sending (typing) a '?'
+      returns a full list of these
+      commands. The second level are configuration sub-commands accessed
+      using the 'c' command, for
+      instance typing 'c?' will give you this second level of commands
+      (all of which require the
+      letter 'c' to access).  Please note that most configuration options
+      are stored only in Flash memory; TeleDongle doesn't provide any storage
+      for these options and so they'll all be lost when you unplug it.
+    </para>
+    <para>
+      Try setting these config ('c' or second level menu) values.  A good
+      place to start is by setting your call sign.  By default, the boards
+      use 'N0CALL' which is cute, but not exactly legal!
+      Spend a few minutes getting comfortable with the units, their
+      firmware, and 'cu' (or possibly 'cutecom').
+      For instance, try to send
+      (type) a 'c r 2' and verify the channel change by sending a 'c s'.
+      Verify you can connect and disconnect from the units while in your
+      terminal program by sending the escape-disconnect mentioned above.
+    </para>
+    <para>
+      Note that the 'reboot' command, which is very useful on the altimeters,
+      will likely just cause problems with the dongle.  The *correct* way
+      to reset the dongle is just to unplug and re-plug it.
+    </para>
+    <para>
+      A fun thing to do at the launch site and something you can do while
+      learning how to use these units is to play with the rf-link access
+      between an altimeter and the TeleDongle.  Be aware that you *must* create
+      some physical separation between the devices, otherwise the link will
+      not function due to signal overload in the receivers in each device.
+    </para>
+    <para>
+      Now might be a good time to take a break and read the rest of this
+      manual, particularly about the two "modes" that the altimeters
+      can be placed in. TeleMetrum uses the position of the device when booting
+      up will determine whether the unit is in "pad" or "idle" mode. TeleMini
+      enters "idle" mode when it receives a command packet within the first 5 seconds
+      of being powered up, otherwise it enters "pad" mode.
+    </para>
+    <para>
+      You can access an altimeter in idle mode from the Teledongle's USB
+      connection using the rf link
+      by issuing a 'p' command to the TeleDongle. Practice connecting and
+      disconnecting ('~~' while using 'cu') from the altimeter.  If
+      you cannot escape out of the "p" command, (by using a '~~' when in
+      CU) then it is likely that your kernel has issues.  Try a newer version.
+    </para>
+    <para>
+      Using this rf link allows you to configure the altimeter, test
+      fire e-matches and igniters from the flight line, check pyro-match
+      continuity and so forth. You can leave the unit turned on while it
+      is in 'idle mode' and then place the
+      rocket vertically on the launch pad, walk away and then issue a
+      reboot command.  The altimeter will reboot and start sending data
+      having changed to the "pad" mode. If the TeleDongle is not receiving
+      this data, you can disconnect 'cu' from the Teledongle using the
+      procedures mentioned above and THEN connect to the TeleDongle from
+      inside 'ao-view'. If this doesn't work, disconnect from the
+      TeleDongle, unplug it, and try again after plugging it back in.
+    </para>
+    <para>
+      On TeleMetrum, the GPS will eventually find enough satellites, lock in on them,
+      and 'ao-view' will both auditorially announce and visually indicate
+      that GPS is ready.
+      Now you can launch knowing that you have a good data path and
+      good satellite lock for flight data and recovery.  Remember
+      you MUST tell ao-view to connect to the TeleDongle explicitly in
+      order for ao-view to be able to receive data.
+    </para>
+    <para>
+      The altimeters provide RDF (radio direction finding) tones on
+      the pad, during descent and after landing. These can be used to
+      locate the rocket using a directional antenna; the signal
+      strength providing an indication of the direction from receiver to rocket.
+    </para>
+    <para>
+      TeleMetrum also provides GPS trekking data, which can further simplify
+      locating the rocket once it has landed. (The last good GPS data
+      received before touch-down will be on the data screen of 'ao-view'.)
+    </para>
+    <para>
+      Once you have recovered the rocket you can download the eeprom
+      contents using either 'ao-dumplog' (or possibly 'ao-eeprom'), over
+      either a USB cable or over the radio link using TeleDongle.
+      And by following the man page for 'ao-postflight' you can create
+      various data output reports, graphs, and even kml data to see the
+      flight trajectory in google-earth. (Moving the viewing angle making
+      sure to connect the yellow lines while in google-earth is the proper
+      technique.)
+    </para>
+    <para>
+      As for ao-view.... some things are in the menu but don't do anything
+      very useful.  The developers have stopped working on ao-view to focus
+      on a new, cross-platform ground station program.  So ao-view may or
+      may not be updated in the future.  Mostly you just use
+      the Log and Device menus.  It has a wonderful display of the incoming
+      flight data and I am sure you will enjoy what it has to say to you
+      once you enable the voice output!
+    </para>
+  </appendix>
+  <appendix
+      xmlns:xi="http://www.w3.org/2001/XInclude">
+    <title>Release Notes</title>
+    <xi:include        href="release-notes-0.9.2.xsl"  xpointer="xpointer(/article/*)"/>
+    <xi:include        href="release-notes-0.9.xsl"  xpointer="xpointer(/article/*)"/>
+    <xi:include        href="release-notes-0.8.xsl"  xpointer="xpointer(/article/*)"/>
+    <xi:include        href="release-notes-0.7.1.xsl"  xpointer="xpointer(/article/*)"/>
+  </appendix>

 </book>
 </book>

diff --git a/doc/release-notes-0.7.1.xsl b/doc/release-notes-0.7.1.xsl
new file mode 100644 (file)
index 0000000..75158a0
--- /dev/null
+++ b/doc/release-notes-0.7.1.xsl
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+  <para>
+Version 0.7.1 is the first release containing our new cross-platform Java-based user interface. AltosUI can:
+  </para>
+  <itemizedlist>
+    <listitem>
+      Receive and log telemetry from a connected TeleDongle
+      device. All data received is saved to log files named with the
+      current date and the connected rocket serial and flight
+      numbers. There is no mode in which telemetry data will not be
+      saved.
+    </listitem>
+    <listitem>
+      Download logged data from TeleMetrum devices, either through a
+      direct USB connection or over the air through a TeleDongle
+      device.
+    </listitem>
+    <listitem>
+      Configure a TeleMetrum device, setting the radio channel,
+      callsign, apogee delay and main deploy height. This can be done
+      through either a USB connection or over a radio link via a
+      TeleDongle device.
+    </listitem>
+    <listitem>
+      Replay a flight in real-time. This takes a saved telemetry log
+      or eeprom download and replays it through the user interface so
+      you can relive your favorite rocket flights.
+    </listitem>
+    <listitem>
+      Reprogram Altus Metrum devices. Using an Altus Metrum device
+      connected via USB, another Altus Metrum device can be
+      reprogrammed using the supplied programming cable between the
+      two devices.
+    </listitem>
+    <listitem>
+      Export Flight data to a comma-separated-values file. This takes
+      either telemetry or on-board flight data and generates data
+      suitable for use in external applications. All data is exported
+      using standard units so that no device-specific knowledge is
+      needed to handle the data.
+    </listitem>
+    <listitem>
+      Speak to you during the flight. Instead of spending the flight
+      hunched over your laptop looking at the screen, enjoy the view
+      while the computer tells you what’s going on up there. During
+      ascent, you hear the current flight state and altitude
+      information. During descent, you get azimuth, elevation and
+      range information to try and help you find your rocket in the
+      air. Once on the ground, the direction and distance are
+      reported.
+    </listitem>
+  </itemizedlist>
+</article>

diff --git a/doc/release-notes-0.8.xsl b/doc/release-notes-0.8.xsl
new file mode 100644 (file)
index 0000000..c54f97e
--- /dev/null
+++ b/doc/release-notes-0.8.xsl
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+  <para>
+    Version 0.8 offers a major upgrade in the AltosUI
+    interface. Significant new features include:
+  </para>
+  <itemizedlist>
+    <listitem>
+      Post-flight graphing tool. This lets you explore the behaviour
+      of your rocket after flight with a scroll-able and zoom-able
+      chart showing the altitude, speed and acceleration of the
+      airframe along with events recorded by the flight computer. You
+      can export graphs to PNG files, or print them directly.
+    </listitem>
+    <listitem>
+      Real-time moving map which overlays the in-progress flight on
+      satellite imagery fetched from Google Maps. This lets you see in
+      pictures where your rocket has landed, allowing you to plan
+      recovery activities more accurately.
+    </listitem>
+    <listitem>
+      Wireless recovery system testing. Prep your rocket for flight
+      and test fire the deployment charges to make sure things work as
+      expected. All without threading wires through holes in your
+      airframe.
+    </listitem>
+    <listitem>
+      Optimized flight status displays. Each flight state now has it's
+      own custom 'tab' in the flight monitoring window so you can
+      focus on the most important details. Pre-flight, the system
+      shows a set of red/green status indicators for battery voltage,
+      apogee/main igniter continutity and GPS reception. Wait until
+      they're all green and your rocket is ready for flight. There are
+      also tabs for ascent, descent and landing along with the
+      original tabular view of the data.
+    </listitem>
+    <listitem>
+      Monitor multiple flights simultaneously. If you have more than
+      one TeleDongle, you can monitor a flight with each one on the
+      same computer.
+    </listitem>
+    <listitem>
+      Automatic flight monitoring at startup. Plug TeleDongle into the
+      machine before starting AltosUI and it will automatically
+      connect to it and prepare to monitor a flight.
+    </listitem>
+    <listitem>
+      Exports Google Earth flight tracks. Using the Keyhole Markup
+      Language (.kml) file format, this provides a 3D view of your
+      rocket flight through the Google Earth program.
+    </listitem>
+  </itemizedlist>
+</article>

diff --git a/doc/release-notes-0.9.2.xsl b/doc/release-notes-0.9.2.xsl
new file mode 100644 (file)
index 0000000..e5f66c6
--- /dev/null
+++ b/doc/release-notes-0.9.2.xsl
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+  <para>
+    Version 0.9.2 is an AltosUI bug-fix release, with no firmware changes.
+  </para>
+  <itemizedlist>
+    <listitem>
+      Fix plotting problems due to missing file in the Mac OS install image.
+    </listitem>
+    <listitem>
+      Always read whole eeprom blocks, mark empty records invalid, display parsing errors to user.
+    </listitem>
+    <listitem>
+      Add software version to Configure AltosUI dialog
+    </listitem>
+  </itemizedlist>
+</article>

diff --git a/doc/release-notes-0.9.xsl b/doc/release-notes-0.9.xsl
new file mode 100644 (file)
index 0000000..547f46b
--- /dev/null
+++ b/doc/release-notes-0.9.xsl
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+  <para>
+    Version 0.9 adds a few new firmware features and accompanying
+    AltosUI changes, along with new hardware support.
+  </para>
+  <itemizedlist>
+    <listitem>
+      Support for TeleMetrum v1.1 hardware. Sources for the flash
+      memory part used in v1.0 dried up, so v1.1 uses a different part
+      which required a new driver and support for explicit flight log
+      erasing.
+    </listitem>
+    <listitem>
+      Multiple flight log support. This stores more than one flight
+      log in the on-board flash memory. It also requires the user to
+      explicitly erase flights so that you won't lose flight logs just
+      because you fly the same board twice in one day.
+    </listitem>
+    <listitem>
+      Telemetry support for devices with serial number >=
+      256. Previous versions used a telemetry packet format that
+      provided only 8 bits for the device serial number. This change
+      requires that both ends of the telemetry link be running the 0.9
+      firmware or they will not communicate.
+    </listitem>
+  </itemizedlist>
+</article>