freshen ChangeLog for release

[fw/altos] / doc / altusmetrum.xsl

diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index 8725da0447aed36f4fbc27ea37a90d798b2c4803..036b0b6177b992de9f0b47937cb6a2d9b25a8053 100644 (file)
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -5,11 +5,6 @@
   <title>The Altus Metrum System</title>
   <subtitle>An Owner's Manual for Altus Metrum Rocketry Electronics</subtitle>
   <bookinfo>
   <title>The Altus Metrum System</title>
   <subtitle>An Owner's Manual for Altus Metrum Rocketry Electronics</subtitle>
   <bookinfo>

-    <mediaobject>
-      <imageobject>
-       <imagedata fileref="../altosui/altusmetrum.jpg" role="top"/>
-      </imageobject>
-    </mediaobject>

     <author>
       <firstname>Bdale</firstname>
       <surname>Garbee</surname>
     <author>
       <firstname>Bdale</firstname>
       <surname>Garbee</surname>


@@ -27,7 +22,7 @@
       <surname>Towns</surname>
     </author>
     <copyright>
       <surname>Towns</surname>
     </author>
     <copyright>

-      <year>2013</year>
+      <year>2014</year>

       <holder>Bdale Garbee and Keith Packard</holder>
     </copyright>
     <legalnotice>
       <holder>Bdale Garbee and Keith Packard</holder>
     </copyright>
     <legalnotice>


@@ -40,6 +35,14 @@
       </para>
     </legalnotice>
     <revhistory>
       </para>
     </legalnotice>
     <revhistory>

+      <revision>
+       <revnumber>1.3.1</revnumber>
+       <date>21 January 2014</date>
+       <revremark>
+         Bug fixes for TeleMega and TeleMetrum v2.0 along with a few
+         small UI improvements.
+       </revremark>
+      </revision>

       <revision>
        <revnumber>1.3</revnumber>
        <date>12 November 2013</date>
       <revision>
        <revnumber>1.3</revnumber>
        <date>12 November 2013</date>


@@ -551,11 +554,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>TeleMetrum</title>
     </section>
     <section>
       <title>TeleMetrum</title>

-      <mediaobject>
-       <imageobject>
-         <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        TeleMetrum is a 1 inch by 2¾ inch circuit board.  It was designed to
        fit inside coupler for 29mm air-frame tubing, but using it in a tube that
       <para>
        TeleMetrum is a 1 inch by 2¾ inch circuit board.  It was designed to
        fit inside coupler for 29mm air-frame tubing, but using it in a tube that


@@ -571,11 +576,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>TeleMini</title>
     </section>
     <section>
       <title>TeleMini</title>

-      <mediaobject>
-       <imageobject>
-         <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        TeleMini v1.0 is ½ inches by 1½ inches.  It was
        designed to fit inside an 18mm air-frame tube, but using it in
       <para>
        TeleMini v1.0 is ½ inches by 1½ inches.  It was
        designed to fit inside an 18mm air-frame tube, but using it in


@@ -590,11 +597,13 @@ NAR #88757, TRA #12200
        the board, meaning an ideal “simple” avionics bay for TeleMini
        should have at least 9 inches of interior length.
       </para>
        the board, meaning an ideal “simple” avionics bay for TeleMini
        should have at least 9 inches of interior length.
       </para>

-      <mediaobject>
-       <imageobject>
-         <imagedata fileref="telemini-v2-top.jpg" width="5.5in" scalefit="1"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="telemini-v2-top.jpg" width="5.5in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
        on-board data logging memory, a built-in USB connector and
       <para>
        TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
        on-board data logging memory, a built-in USB connector and


@@ -605,11 +614,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>EasyMini</title>
     </section>
     <section>
       <title>EasyMini</title>

-      <mediaobject>
-       <imageobject>
-         <imagedata fileref="easymini-top.jpg" width="5.5in" scalefit="1"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="easymini-top.jpg" width="5.5in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
        designed to fit in a 24mm coupler tube. The connectors and
       <para>
        EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
        designed to fit in a 24mm coupler tube. The connectors and


@@ -619,11 +630,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>TeleMega</title>
     </section>
     <section>
       <title>TeleMega</title>

-      <mediaobject>
-       <imageobject>
-         <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
        designed to easily fit in a 38mm coupler. Like TeleMetrum,
       <para>
        TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
        designed to easily fit in a 38mm coupler. Like TeleMetrum,


@@ -830,17 +843,144 @@ NAR #88757, TRA #12200
         the altimeter completes initialization and self test, and decides 
        which mode to enter next.
       </para>
         the altimeter completes initialization and self test, and decides 
        which mode to enter next.
       </para>

+      <para>
+       Here's a short summary of all of the modes and the beeping (or
+       flashing, in the case of TeleMini v1) that accompanies each
+       mode. In the description of the beeping pattern, “dit” means a
+       short beep while "dah" means a long beep (three times as
+       long). “Brap” means a long dissonant tone.
+       <table frame='all'>
+         <title>AltOS Modes</title>
+         <?dbfo keep-together="always"?>
+         <tgroup cols='4' align='center' colsep='1' rowsep='1'>
+           <colspec align='center' colwidth='*' colname='Mode Name'/>
+           <colspec align='center' colwidth='*' colname='Letter'/>
+           <colspec align='center' colwidth='*' colname='Beeps'/>
+           <colspec align='center' colwidth='*' colname='Description'/>
+           <thead>
+             <row>
+               <entry>Mode Name</entry>
+               <entry>Abbreviation</entry>
+               <entry>Beeps</entry>
+               <entry>Description</entry>
+             </row>
+           </thead>
+           <tbody>
+             <row>
+               <entry>Startup</entry>
+               <entry>S</entry>
+               <entry>dit dit dit</entry>
+               <entry>
+                 <para>
+                   Calibrating sensors, detecting orientation.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Idle</entry>
+               <entry>I</entry>
+               <entry>dit dit</entry>
+               <entry>
+                 <para>
+                   Ready to accept commands over USB or radio link.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Pad</entry>
+               <entry>P</entry>
+               <entry>dit dah dah dit</entry>
+               <entry>
+                 <para>
+                   Waiting for launch. Not listening for commands.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Boost</entry>
+               <entry>B</entry>
+               <entry>dah dit dit dit</entry>
+               <entry>
+                 <para>
+                   Accelerating upwards.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Fast</entry>
+               <entry>F</entry>
+               <entry>dit dit dah dit</entry>
+               <entry>
+                 <para>
+                   Decellerating, but moving faster than 200m/s.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Coast</entry>
+               <entry>C</entry>
+               <entry>dah dit dah dit</entry>
+               <entry>
+                 <para>
+                   Decellerating, moving slower than 200m/s
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Drogue</entry>
+               <entry>D</entry>
+               <entry>dah dit dit</entry>
+               <entry>
+                 <para>
+                   Descending after apogee. Above main height.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Main</entry>
+               <entry>M</entry>
+               <entry>dah dah</entry>
+               <entry>
+                 <para>
+                   Descending. Below main height.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Landed</entry>
+               <entry>L</entry>
+               <entry>dit dah dit dit</entry>
+               <entry>
+                 <para>
+                   Stable altitude for at least ten seconds.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Sensor error</entry>
+               <entry>X</entry>
+               <entry>dah dit dit dah</entry>
+               <entry>
+                 <para>
+                   Error detected during sensor calibration.
+                 </para>
+               </entry>
+             </row>
+           </tbody>
+         </tgroup>
+       </table>
+      </para>

       <para>
         In flight or “pad” mode, the altimeter engages the flight
       <para>
         In flight or “pad” mode, the altimeter engages the flight

-        state machine, goes into transmit-only mode to
-        send 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
+        state machine, goes into transmit-only mode to send 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 which is made by rapidly
+        alternating between two tones 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.
         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.


@@ -857,6 +997,93 @@ NAR #88757, TRA #12200
         data from the on-board storage chip after flight, and for
         ground testing pyro charges.
       </para>
         data from the on-board storage chip after flight, and for
         ground testing pyro charges.
       </para>

+      <para>
+       In “Idle” and “Pad” modes, once the mode indication
+       beeps/flashes and continuity indication has been sent, if
+       there is no space available to log the flight in on-board
+       memory, the flight computer will emit a warbling tone (much
+       slower than the “no continuity tone”)
+      </para>
+      <para>
+       Here's a summary of all of the “pad” and “idle” mode indications.
+       <table frame='all'>
+         <title>Pad/Idle Indications</title>
+         <?dbfo keep-together="always"?>
+         <tgroup cols='3' align='center' colsep='1' rowsep='1'>
+           <colspec align='center' colwidth='*' colname='Name'/>
+           <colspec align='center' colwidth='*' colname='Beeps'/>
+           <colspec align='center' colwidth='*' colname='Description'/>
+           <thead>
+             <row>
+               <entry>Name</entry>
+               <entry>Beeps</entry>
+               <entry>Description</entry>
+             </row>
+           </thead>
+           <tbody>
+             <row>
+               <entry>Neither</entry>
+               <entry>brap</entry>
+               <entry>
+                 <para>
+                   No continuity detected on either apogee or main
+                   igniters.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Apogee</entry>
+               <entry>dit</entry>
+               <entry>
+                 <para>
+                   Continuity detected only on apogee igniter.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Main</entry>
+               <entry>dit dit</entry>
+               <entry>
+                 <para>
+                   Continuity detected only on main igniter.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Both</entry>
+               <entry>dit dit dit</entry>
+               <entry>
+                 <para>
+                   Continuity detected on both igniters.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Storage Full</entry>
+               <entry>warble</entry>
+               <entry>
+                 <para>
+                   On-board data logging storage is full. This will
+                   not prevent the flight computer from safely
+                   controlling the flight or transmitting telemetry
+                   signals, but no record of the flight will be
+                   stored in on-board flash.
+                 </para>
+               </entry>
+             </row>
+           </tbody>
+         </tgroup>
+       </table>
+      </para>
+      <para>
+       Once landed, the flight computer will signal that by emitting
+       the “Landed” sound described above, after which it will beep
+       out the apogee height (in meters). Each digit is represented
+       by a sequence of short “dit” beeps, with a pause between
+       digits. A zero digit is represented with one long “dah”
+       beep. The flight computer will continue to report landed mode
+       and beep out the maximum height until turned off.
+      </para>

       <para>
         One “neat trick” of particular value when TeleMetrum or TeleMega are used with 
         very large air-frames, is that you can power the board up while the 
       <para>
         One “neat trick” of particular value when TeleMetrum or TeleMega are used with 
         very large air-frames, is that you can power the board up while the 


@@ -1356,6 +1583,13 @@ NAR #88757, TRA #12200
   </chapter>
   <chapter>
     <title>AltosUI</title>
   </chapter>
   <chapter>
     <title>AltosUI</title>

+    <informalfigure>
+      <mediaobject>
+       <imageobject>
+         <imagedata fileref="altosui.png" width="4.6in"/>
+       </imageobject>
+      </mediaobject>
+    </informalfigure>

     <para>
       The AltosUI program provides a graphical user interface for
       interacting with the Altus Metrum product family. AltosUI can
     <para>
       The AltosUI program provides a graphical user interface for
       interacting with the Altus Metrum product family. AltosUI can


@@ -1365,11 +1599,6 @@ NAR #88757, TRA #12200
       is split into sections, each of which documents one of the tasks
       provided from the top-level toolbar.
     </para>
       is split into sections, each of which documents one of the tasks
       provided from the top-level toolbar.
     </para>

-    <mediaobject>
-      <imageobject>
-       <imagedata fileref="altosui.png" width="5.5in"/>
-      </imageobject>
-    </mediaobject>

     <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>


@@ -1379,6 +1608,13 @@ NAR #88757, TRA #12200
         AltosUI will create a window to display telemetry data as
         received by the selected TeleDongle device.
       </para>
         AltosUI will create a window to display telemetry data as
         received by the selected TeleDongle device.
       </para>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="device-selection.png" width="3.1in"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
         All telemetry data received are automatically recorded in
         suitable log files. The name of the files includes the current
       <para>
         All telemetry data received are automatically recorded in
         suitable log files. The name of the files includes the current


@@ -1447,6 +1683,13 @@ NAR #88757, TRA #12200
       </para>
       <section>
         <title>Launch Pad</title>
       </para>
       <section>
         <title>Launch Pad</title>

+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="launch-pad.png" width="5.5in"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>

         <para>
           The 'Launch Pad' tab shows information used to decide when the
           rocket is ready for flight. The first elements include red/green
         <para>
           The 'Launch Pad' tab shows information used to decide when the
           rocket is ready for flight. The first elements include red/green


@@ -1539,16 +1782,23 @@ NAR #88757, TRA #12200
       </section>
       <section>
         <title>Ascent</title>
       </section>
       <section>
         <title>Ascent</title>

+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="ascent.png" width="5.5in"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>

         <para>
           This tab is shown during Boost, Fast and Coast
           phases. The information displayed here helps monitor the
           rocket as it heads towards apogee.
         </para>
         <para>
         <para>
           This tab is shown during Boost, Fast and Coast
           phases. The information displayed here helps monitor the
           rocket as it heads towards apogee.
         </para>
         <para>

-          The height, speed and acceleration are shown along with the
-          maximum values for each of them. This allows you to quickly
-          answer the most commonly asked questions you'll hear during
-          flight.
+          The height, speed, acceleration and tilt are shown along
+          with the maximum values for each of them. This allows you to
+          quickly answer the most commonly asked questions you'll hear
+          during flight.

         </para>
         <para>
           The current latitude and longitude reported by the GPS are
         </para>
         <para>
           The current latitude and longitude reported by the GPS are


@@ -1565,6 +1815,13 @@ NAR #88757, TRA #12200
       </section>
       <section>
         <title>Descent</title>
       </section>
       <section>
         <title>Descent</title>

+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="descent.png" width="5.5in"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>

         <para>
           Once the rocket has reached apogee and (we hope) activated the
           apogee charge, attention switches to tracking the rocket on
         <para>
           Once the rocket has reached apogee and (we hope) activated the
           apogee charge, attention switches to tracking the rocket on


@@ -1601,6 +1858,13 @@ NAR #88757, TRA #12200
       </section>
       <section>
         <title>Landed</title>
       </section>
       <section>
         <title>Landed</title>

+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="landed.png" width="5.5in"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>

         <para>
           Once the rocket is on the ground, attention switches to
           recovery. While the radio signal is often lost once the
         <para>
           Once the rocket is on the ground, attention switches to
           recovery. While the radio signal is often lost once the


@@ -1636,8 +1900,32 @@ NAR #88757, TRA #12200
          graph window for the current flight.
        </para>
       </section>
          graph window for the current flight.
        </para>
       </section>

+      <section>
+       <title>Table</title>
+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="table.png" width="5.5in"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>
+       <para>
+         The table view shows all of the data available from the
+         flight computer. Probably the most useful data on
+         this tab is the detailed GPS information, which includes
+         horizontal dilution of precision information, and
+         information about the signal being received from the satellites.
+       </para>
+      </section>

       <section>
         <title>Site Map</title>
       <section>
         <title>Site Map</title>

+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="site-map.png" width="5.5in"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>

         <para>
           When the TeleMetrum has a GPS fix, the Site Map tab will map
           the rocket's position to make it easier for you to locate the
         <para>
           When the TeleMetrum has a GPS fix, the Site Map tab will map
           the rocket's position to make it easier for you to locate the


@@ -1721,50 +2009,28 @@ NAR #88757, TRA #12200
         .eeprom file containing flight data saved from
         flash memory.
       </para>
         .eeprom file containing flight data saved from
         flash memory.
       </para>

+      <para>
+        Note that telemetry files will generally produce poor graphs
+        due to the lower sampling rate and missed telemetry packets.
+        Use saved flight data in .eeprom files for graphing where possible.
+      </para>

       <para>
         Once a flight record is selected, a window with multiple tabs is
         opened.
       <para>
         Once a flight record is selected, a window with multiple tabs is
         opened.

-       <variablelist>
-         <varlistentry>
-           <term>Flight Graph</term>
-           <listitem>
-             <para>
-               By default, the graph contains acceleration (blue),
-               velocity (green) and altitude (red).
-             </para>
-           </listitem>
-         </varlistentry>
-         <varlistentry>
-           <term>Configure Graph</term>
-           <listitem>
-             <para>
-               This selects which graph elements to show, and, at the
-               very bottom, lets you switch between metric and
-               imperial units
-             </para>
-           </listitem>
-         </varlistentry>
-         <varlistentry>
-           <term>Flight Statistics</term>
-           <listitem>
-             <para>
-               Shows overall data computed from the flight.
-             </para>
-           </listitem>
-         </varlistentry>
-         <varlistentry>
-           <term>Map</term>
-           <listitem>
-             <para>
-               Shows a satellite image of the flight area overlaid
-               with the path of the flight. The red concentric
-               circles mark the launch pad, the black concentric
-               circles mark the landing location.
-             </para>
-           </listitem>
-         </varlistentry>
-       </variablelist>

       </para>
       </para>

+      <section>
+       <title>Flight Graph</title>
+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="graph.png" width="6in" scalefit="1"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>
+       <para>
+         By default, the graph contains acceleration (blue),
+         velocity (green) and altitude (red).
+       </para>

       <para>
         The graph can be zoomed into a particular area by clicking and
         dragging down and to the right. Once zoomed, the graph can be
       <para>
         The graph can be zoomed into a particular area by clicking and
         dragging down and to the right. Once zoomed, the graph can be


@@ -1773,11 +2039,51 @@ NAR #88757, TRA #12200
         The right mouse button causes a pop-up menu to be displayed, giving
         you the option save or print the plot.
       </para>
         The right mouse button causes a pop-up menu to be displayed, giving
         you the option save or print the plot.
       </para>

-      <para>
-        Note that telemetry files will generally produce poor graphs
-        due to the lower sampling rate and missed telemetry packets.
-        Use saved flight data in .eeprom files for graphing where possible.
-      </para>
+      </section>
+      <section>
+       <title>Configure Graph</title>
+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="graph-configure.png" width="6in" scalefit="1"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>
+       <para>
+         This selects which graph elements to show, and, at the
+         very bottom, lets you switch between metric and
+         imperial units
+       </para>
+      </section>
+      <section>
+       <title>Flight Statistics</title>
+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="graph-stats.png" width="6in" scalefit="1"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>
+       <para>
+         Shows overall data computed from the flight.
+       </para>
+      </section>
+      <section>
+       <title>Map</title>
+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="graph-map.png" width="6in" scalefit="1"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>
+       <para>
+         Shows a satellite image of the flight area overlaid
+         with the path of the flight. The red concentric
+         circles mark the launch pad, the black concentric
+         circles mark the landing location.
+       </para>
+      </section>

     </section>
     <section>
       <title>Export Data</title>
     </section>
     <section>
       <title>Export Data</title>


@@ -1821,6 +2127,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>Configure Altimeter</title>
     </section>
     <section>
       <title>Configure Altimeter</title>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="configure-altimeter.png" width="3.6in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
         Select this button and then select either an altimeter or
         TeleDongle Device from the list provided. Selecting a TeleDongle
       <para>
         Select this button and then select either an altimeter or
         TeleDongle Device from the list provided. Selecting a TeleDongle


@@ -2037,6 +2350,13 @@ NAR #88757, TRA #12200
       </section>
       <section>
        <title>Configure Pyro Channels</title>
       </section>
       <section>
        <title>Configure Pyro Channels</title>

+       <informalfigure>
+         <mediaobject>
+           <imageobject>
+             <imagedata fileref="configure-pyro.png" width="6in" scalefit="1"/>
+           </imageobject>
+         </mediaobject>
+       </informalfigure>

        <para>
          This opens a separate window to configure the additional
          pyro channels available on TeleMega.  One column is
        <para>
          This opens a separate window to configure the additional
          pyro channels available on TeleMega.  One column is


@@ -2064,6 +2384,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>Configure AltosUI</title>
     </section>
     <section>
       <title>Configure AltosUI</title>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="configure-altosui.png" width="2.4in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
         This button presents a dialog so that you can configure the AltosUI global settings.
       </para>
       <para>
         This button presents a dialog so that you can configure the AltosUI global settings.
       </para>


@@ -2075,18 +2402,24 @@ NAR #88757, TRA #12200
           the current flight status. However, sometimes you don't want
           to hear them.
         </para>
           the current flight status. However, sometimes you don't want
           to hear them.
         </para>

-        <itemizedlist>
-          <listitem>
-            <para>Enable—turns all voice announcements on and off</para>
-          </listitem>
-          <listitem>
-            <para>
-              Test Voice—Plays a short message allowing you to verify
-              that the audio system is working and the volume settings
-              are reasonable
-            </para>
-          </listitem>
-        </itemizedlist>
+        <variablelist>
+         <varlistentry>
+           <term>Enable</term>
+           <listitem>
+             <para>Turns all voice announcements on and off</para>
+           </listitem>
+         </varlistentry>
+         <varlistentry>
+           <term>Test Voice</term>
+           <listitem>
+             <para>
+               Plays a short message allowing you to verify
+               that the audio system is working and the volume settings
+               are reasonable
+             </para>
+           </listitem>
+         </varlistentry>
+        </variablelist>

       </section>
       <section>
         <title>Log Directory</title>
       </section>
       <section>
         <title>Log Directory</title>


@@ -2161,6 +2494,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>Configure Groundstation</title>
     </section>
     <section>
       <title>Configure Groundstation</title>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="configure-groundstation.png" width="3.1in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
         Select this button and then select a TeleDongle Device from the list provided.
       </para>
       <para>
         Select this button and then select a TeleDongle Device from the list provided.
       </para>


@@ -2246,46 +2586,16 @@ NAR #88757, TRA #12200
         (self programming).  Please read the directions for flashing
         devices in the Updating Device Firmware chapter below.
       </para>
         (self programming).  Please read the directions for flashing
         devices in the Updating Device Firmware chapter below.
       </para>

-      <para>
-       For “self programming”, connect USB to the device to be
-       programmed and push the 'Flash Image' button. That will
-       present a dialog box listing all of the connected
-       devices. Carefully select the device to be programmed.
-      </para>
-      <para>
-        For “pair programming”, once you have the programmer and
-        target devices connected, push the 'Flash Image' button. That
-        will present a dialog box listing all of the connected
-        devices. Carefully select the programmer device, not the
-        device to be programmed.
-      </para>
-      <para>
-        Next, select the image to flash to the device. These are named
-        with the product name and firmware version. The file selector
-        will start in the directory containing the firmware included
-        with the AltosUI package. Navigate to the directory containing
-        the desired firmware if it isn't there.
-      </para>
-      <para>
-        Next, a small dialog containing the device serial number and
-        RF calibration values should appear. If these values are
-        incorrect (possibly due to a corrupted image in the device),
-        enter the correct values here.
-      </para>
-      <para>
-        Finally, a dialog containing a progress bar will follow the
-        programming process.
-      </para>
-      <para>
-        When programming is complete, the target device will
-        reboot. Note that if a pair programmed target device is
-        connected via USB, you will have to unplug it and then plug it
-        back in for the USB connection to reset so that you can
-        communicate with the device again.
-      </para>

     </section>
     <section>
       <title>Fire Igniter</title>
     </section>
     <section>
       <title>Fire Igniter</title>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="fire-igniter.png" width="1.2in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        This activates the igniter circuits in the flight computer to help 
        test recovery systems deployment. Because this command can operate
       <para>
        This activates the igniter circuits in the flight computer to help 
        test recovery systems deployment. Because this command can operate


@@ -2296,8 +2606,8 @@ NAR #88757, TRA #12200
       <para>
        Selecting the 'Fire Igniter' button brings up the usual device
        selection dialog. Pick the desired device. This brings up another 
       <para>
        Selecting the 'Fire Igniter' button brings up the usual device
        selection dialog. Pick the desired device. This brings up another 

-       window which shows the current continuity test status for both 
-       apogee and main charges.
+       window which shows the current continuity test status for all
+       of the pyro channels.

       </para>
       <para>
        Next, select the desired igniter to fire. This will enable the
       </para>
       <para>
        Next, select the desired igniter to fire. This will enable the


@@ -2313,6 +2623,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>Scan Channels</title>
     </section>
     <section>
       <title>Scan Channels</title>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="scan-channels.png" width="3.2in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        This listens for telemetry packets on all of the configured
        frequencies, displaying information about each device it
       <para>
        This listens for telemetry packets on all of the configured
        frequencies, displaying information about each device it


@@ -2324,6 +2641,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>Load Maps</title>
     </section>
     <section>
       <title>Load Maps</title>

+      <informalfigure>
+       <mediaobject>
+         <imageobject>
+           <imagedata fileref="load-maps.png" width="5.2in" scalefit="1"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

       <para>
        Before heading out to a new launch site, you can use this to
        load satellite images in case you don't have internet
       <para>
        Before heading out to a new launch site, you can use this to
        load satellite images in case you don't have internet


@@ -3870,11 +4194,12 @@ NAR #88757, TRA #12200
           Then, divide 434.550 MHz by the
           measured frequency and multiply by the current radio cal value show
           in the 'c s' command.  For an unprogrammed board, the default value
           Then, divide 434.550 MHz by the
           measured frequency and multiply by the current radio cal value show
           in the 'c s' command.  For an unprogrammed board, the default value

-          is 1186611.  Take the resulting integer and program it using the 'c f'
+          is 1186611 for cc1111 based products and 7119667 for cc1120
+         based products.  Take the resulting integer and program it using the 'c f'

           command.  Testing with the 'C' command again should show a carrier
           within a few tens of Hertz of the intended frequency.
           As with all 'c' sub-commands, follow this with a 'c w' to write the
           command.  Testing with the 'C' command again should show a carrier
           within a few tens of Hertz of the intended frequency.
           As with all 'c' sub-commands, follow this with a 'c w' to write the

-          change to the parameter block in the on-board DataFlash chip.
+          change to the configuration memory.

         </para>
     <para>
       Note that the 'reboot' command, which is very useful on the altimeters,
         </para>
     <para>
       Note that the 'reboot' command, which is very useful on the altimeters,


@@ -3978,11 +4303,13 @@ NAR #88757, TRA #12200
        TeleMega has overall dimensions of 1.250 x 3.250 inches, and
        the mounting holes are sized for use with 4-40 or M3 screws.
       </para>
        TeleMega has overall dimensions of 1.250 x 3.250 inches, and
        the mounting holes are sized for use with 4-40 or M3 screws.
       </para>

-      <mediaobject id="TeleMegaTemplate">
-       <imageobject>
-         <imagedata format="SVG" fileref="telemega-outline.svg"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject id="TeleMegaTemplate">
+         <imageobject>
+           <imagedata format="SVG" fileref="telemega-outline.svg"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

     </section>
     <section>
       <title>TeleMetrum template</title>
     </section>
     <section>
       <title>TeleMetrum template</title>


@@ -3990,11 +4317,13 @@ NAR #88757, TRA #12200
        TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
        mounting holes are sized for use with 4-40 or M3 screws.
       </para>
        TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
        mounting holes are sized for use with 4-40 or M3 screws.
       </para>

-      <mediaobject id="TeleMetrumTemplate">
-       <imageobject>
-         <imagedata format="SVG" fileref="telemetrum.svg"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject id="TeleMetrumTemplate">
+         <imageobject>
+           <imagedata format="SVG" fileref="telemetrum.svg"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

     </section>
     <section>
       <title>TeleMini v2/EasyMini template</title>
     </section>
     <section>
       <title>TeleMini v2/EasyMini template</title>


@@ -4002,11 +4331,13 @@ NAR #88757, TRA #12200
        TeleMini v2 and EasyMini have overall dimensions of 0.800 x 1.500 inches, and the
        mounting holes are sized for use with 4-40 or M3 screws.
       </para>
        TeleMini v2 and EasyMini have overall dimensions of 0.800 x 1.500 inches, and the
        mounting holes are sized for use with 4-40 or M3 screws.
       </para>

-      <mediaobject id="MiniTemplate">
-       <imageobject>
-         <imagedata format="SVG" fileref="easymini-outline.svg"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject id="MiniTemplate">
+         <imageobject>
+           <imagedata format="SVG" fileref="easymini-outline.svg"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

     </section>
     <section>
       <title>TeleMini v1 template</title>
     </section>
     <section>
       <title>TeleMini v1 template</title>


@@ -4014,11 +4345,13 @@ NAR #88757, TRA #12200
        TeleMini has overall dimensions of 0.500 x 1.500 inches, and the
        mounting holes are sized for use with 2-56 or M2 screws.
       </para>
        TeleMini has overall dimensions of 0.500 x 1.500 inches, and the
        mounting holes are sized for use with 2-56 or M2 screws.
       </para>

-      <mediaobject id="TeleMiniTemplate">
-       <imageobject>
-         <imagedata format="SVG" fileref="telemini.svg"/>
-       </imageobject>
-      </mediaobject>
+      <informalfigure>
+       <mediaobject id="TeleMiniTemplate">
+         <imageobject>
+           <imagedata format="SVG" fileref="telemini.svg"/>
+         </imageobject>
+       </mediaobject>
+      </informalfigure>

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


@@ -4123,6 +4456,13 @@ NAR #88757, TRA #12200
   </appendix>
   <appendix>
     <title>Release Notes</title>
   </appendix>
   <appendix>
     <title>Release Notes</title>

+    <simplesect>
+      <title>Version 1.3.1</title>
+      <xi:include
+         xmlns:xi="http://www.w3.org/2001/XInclude"
+         href="release-notes-1.3.1.xsl"
+         xpointer="xpointer(/article/*)"/>
+    </simplesect>

     <simplesect>
       <title>Version 1.3</title>
       <xi:include
     <simplesect>
       <title>Version 1.3</title>
       <xi:include