doc tweaks through chap 3

[fw/altos] / doc / altusmetrum.xsl

diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index 179843363d5d920969533444f86ad8022208b24d..9c13bd89616feba613c94c7a08eb0b13e105ae29 100644 (file)
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -99,7 +99,7 @@ NAR #88757, TRA #12200
       future as you wish!
     </para>
     <para>
       future as you wish!
     </para>
     <para>

-      The first device created for our community is TeleMetrum, a dual
+      The first device created for our community was TeleMetrum, a dual

       deploy altimeter with fully integrated GPS and radio telemetry
       as standard features, and a "companion interface" that will
       support optional capabilities in the future.
       deploy altimeter with fully integrated GPS and radio telemetry
       as standard features, and a "companion interface" that will
       support optional capabilities in the future.


@@ -152,8 +152,8 @@ NAR #88757, TRA #12200
     </para>
     <para>
       The TeleMini battery can be charged by disconnecting it from the
     </para>
     <para>
       The TeleMini battery can be charged by disconnecting it from the

-      TeleMini board and plugging it into the battery charger board,
-      and connecting that via a USB cable to a laptop or other USB
+      TeleMini board and plugging it into a standalone battery charger 
+      board, and connecting that via a USB cable to a laptop or other USB

       power source
     </para>
     <para>
       power source
     </para>
     <para>


@@ -161,9 +161,11 @@ NAR #88757, TRA #12200
       RF interface.  If you plug it in to your Mac or Linux computer it should
       "just work", showing up as a serial port device.  Windows systems need
       driver information that is part of the AltOS download to know that the
       RF interface.  If you plug it in to your Mac or Linux computer it should
       "just work", showing up as a serial port device.  Windows systems need
       driver information that is part of the AltOS download to know that the

-      existing USB modem driver will work.  If you are using Linux and are
-      having problems, try moving to a fresher kernel (2.6.33 or newer), as
-      the USB serial driver had ugly bugs in some earlier versions.
+      existing USB modem driver will work.  We therefore recommend installing
+      our software before plugging in TeleDongle if you are using a Windows
+      computer.  If you are using Linux and are having problems, try moving 
+      to a fresher kernel (2.6.33 or newer), as the USB serial driver had 
+      ugly bugs in some earlier versions.

     </para>
     <para>
       Next you should obtain and install the AltOS utilities.  These include
     </para>
     <para>
       Next you should obtain and install the AltOS utilities.  These include


@@ -175,496 +177,191 @@ 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 devices.  
+      When handled gently and properly installed in an airframe, they
+      will 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 sensors used on both TeleMetrum and TeleMini are 
+      sensitive to sunlight.  In normal TeleMetrum 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.  It is particularly important to
+      consider this with TeleMini, both because the baro sensor is on the
+      "top" of the board, and because many model rockets with payload bays
+      use clear plastic for the payload bay!  Replacing these with an opaque
+      cardboard tube, painting them, or wrapping them with a layer of masking
+      tape are all reasonable approaches to keep the sensor out of direct
+      sunlight.

     </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, and 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>
-      <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>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>
     <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>
+      <title>GPS </title>

       <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!
+        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
       </para>
       <para>
         TeleMetrum provides backup power to the GPS chip any time a LiPo


@@ -918,9 +615,6 @@ 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 +853,6 @@ 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>


@@ -1447,9 +1055,14 @@ NAR #88757, TRA #12200
          your neighbor's RV) to receive the RDF signal.
        </para>
         <para>
          your neighbor's RV) to receive the RDF signal.
        </para>
         <para>

-          Finally, the maximum height, speed and acceleration reported
+          The maximum height, speed and acceleration reported

           during the flight are displayed for your admiring observers.
         </para>
           during the flight are displayed for your admiring observers.
         </para>

+       <para>
+         To get more detailed information about the flight, you can
+         click on the 'Graph Flight' button which will bring up a
+         graph window for the current flight.
+       </para>

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


@@ -1478,6 +1091,92 @@ NAR #88757, TRA #12200
        </para>
       </section>
     </section>
        </para>
       </section>
     </section>

+    <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>Save Flight Data</title>
       <para>
     <section>
       <title>Save Flight Data</title>
       <para>


@@ -1539,9 +1238,14 @@ NAR #88757, TRA #12200
         flash memory.
       </para>
       <para>
         flash memory.
       </para>
       <para>

-        Once a flight record is selected, the acceleration (blue),
-        velocity (green) and altitude (red) of the flight are plotted and
-        displayed, measured in metric units.
+        Once a flight record is selected, a window with two tabs is
+        opened. The first tab contains a graph with acceleration
+        (blue), velocity (green) and altitude (red) of the flight are
+        plotted and displayed, measured in metric units. The
+        apogee(yellow) and main(magenta) igniter voltages are also
+        displayed; high voltages indicate continuity, low voltages
+        indicate open circuits. The second tab contains some basic
+       flight statistics.

       </para>
       <para>
         The graph can be zoomed into a particular area by clicking and
       </para>
       <para>
         The graph can be zoomed into a particular area by clicking and


@@ -1842,6 +1546,13 @@ NAR #88757, TRA #12200
           your local radio regulations.
         </para>
       </section>
           your local radio regulations.
         </para>
       </section>

+      <section>
+       <title>Font Size</title>
+       <para>
+         Selects the set of fonts used in the flight monitor
+         window. Choose between the small, medium and large sets.
+       </para>
+      </section>

       <section>
         <title>Serial Debug</title>
         <para>
       <section>
         <title>Serial Debug</title>
         <para>


@@ -1867,10 +1578,10 @@ 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,


@@ -2115,4 +1826,545 @@ NAR #88757, TRA #12200
         </para>
     </section>
   </chapter>
         </para>
     </section>
   </chapter>

+  <chapter>
+    <title>Altimeter Installation Recommendations</title>
+    <para>
+      Building high-power rockets that fly safely is hard enough. Mix
+      in some sophisticated electronics and a bunch of radio energy
+      and oftentimes you find few perfect solutions. This chapter
+      contains some suggestions about how to install AltusMetrum
+      products into the rocket airframe, including how to safely and
+      reliably mix a variety of electronics into the same airframe.
+    </para>
+    <section>
+      <title>Mounting the Altimeter</title>
+      <para>
+       The first consideration is to ensure that the altimeter is
+       securely fastened to the airframe. For TeleMetrum, we use
+       nylon standoffs and nylon screws; they're good to at least 50G
+       and cannot cause any electrical issues on the board. For
+       TeleMini, we usually cut small pieces of 1/16" balsa to fit
+       under the screw holes, and then take 2x56 nylon screws and
+       screw them through the TeleMini mounting holes, through the
+       balsa and into the underlying material.
+      </para>
+      <orderedlist inheritnum='inherit' numeration='arabic'>
+       <listitem>
+         Make sure TeleMetrum is aligned precisely along the axis of
+         acceleration so that the accelerometer can accurately
+         capture data during the flight.
+       </listitem>
+       <listitem>
+         Watch for any metal touching components on the
+         board. Shorting out connections on the bottom of the board
+         can cause the altimeter to fail during flight.
+       </listitem>
+      </orderedlist>
+    </section>
+    <section>
+      <title>Dealing with the Antenna</title>
+      <para>
+       The antenna supplied is just a piece of solid, insulated,
+       wire. If it gets damaged or broken, it can be easily
+       replaced. It should be kept straight and not cut; bending or
+       cutting it will change the resonant frequency and/or
+       impedence, making it a less efficient radiator and thus
+       reducing the range of the telemetry signal.
+      </para>
+      <para>
+       Keeping metal away from the antenna will provide better range
+       and a more even radiation pattern. In most rockets, it's not
+       entirely possible to isolate the antenna from metal
+       components; there are often bolts, all-thread and wires from other
+       electronics to contend with. Just be aware that the more stuff
+       like this around the antenna, the lower the range.
+      </para>
+      <para>
+       Make sure the antenna is not inside a tube made or covered
+       with conducting material. Carbon fibre is the most common
+       culprit here -- CF is a good conductor and will effectively
+       shield the antenna, dramatically reducing signal strength and
+       range. Metalic flake paint is another effective shielding
+       material which is to be avoided around any antennas.
+      </para>
+      <para>
+       If the ebay is large enough, it can be convenient to simply
+       mount the altimeter at one end and stretch the antenna out
+       inside. Taping the antenna to the sled can keep it straight
+       under acceleration. If there are metal rods, keep the
+       antenna as far away as possible.
+      </para>
+      <para>
+       For a shorter ebay, it's quite practical to have the antenna
+       run through a bulkhead and into an adjacent bay. Drill a small
+       hole in the bulkhead, pass the antenna wire through it and
+       then seal it up with glue or clay. We've also used acrylic
+       tubing to create a cavity for the antenna wire. This works a
+       bit better in that the antenna is known to stay straight and
+       not get folded by recovery components in the bay. Angle the
+       tubing towards the side wall of the rocket and it ends up
+       consuming very little space.
+      </para>
+      <para>
+       If you need to place the antenna at a distance from the
+       altimeter, you can replace the antenna with an edge-mounted
+       SMA connector, and then run 50Ω coax from the board to the
+       antenna. Building a remote antenna is beyond the scope of this
+       manual.
+      </para>
+    </section>
+    <section>
+      <title>Preserving GPS Reception</title>
+      <para>
+       The GPS antenna and receiver in TeleMetrum are highly
+       sensitive and normally have no trouble tracking enough
+       satellites to provide accurate position information for
+       recovering the rocket. However, there are many ways to
+       attenuate the GPS signal.
+      <orderedlist inheritnum='inherit' numeration='arabic'>
+       <listitem>
+         Conductive tubing or coatings. Carbon fiber and metal
+         tubing, or metalic paint will all dramatically attenuate the
+         GPS signal. We've never heard of anyone successfully
+         receiving GPS from inside these materials.
+       </listitem>
+       <listitem>
+         Metal components near the GPS patch antenna. These will
+         de-tune the patch antenna, changing the resonant frequency
+         away from the L1 carrier and reduce the effectiveness of the
+         antenna. You can place as much stuff as you like beneath the
+         antenna as that's covered with a ground plane. But, keep
+         wires and metal out from above the patch antenna.
+       </listitem>
+      </orderedlist>
+      </para>
+    </section>
+    <section>
+      <title>Radio Frequency Interference</title>
+      <para>
+       Any altimeter will generate RFI; the digital circuits use
+       high-frequency clocks that spray radio interference across a
+       wide band. Altusmetrum altimeters generate intentional radio
+       signals as well, increasing the amount of RF energy around the board.
+      </para>
+      <para>
+       Rocketry altimeters also use precise sensors measuring air
+       pressure and acceleration. Tiny changes in voltage can cause
+       these sensor readings to vary by a huge amount. When the
+       sensors start mis-reporting data, the altimeter can either
+       fire the igniters at the wrong time, or not fire them at all.
+      </para>
+      <para>
+       Voltages are induced when radio frequency energy is
+       transmitted from one circuit to another. Here are things that
+       increase the induced voltage and current:
+      </para>
+      <itemizedlist>
+       <listitem>
+         Keep wires from different circuits apart. Moving circuits
+         further apart will reduce RFI.
+       </listitem>
+       <listitem>
+         Avoid parallel wires from different circuits. The longer two
+         wires run parallel to one another, the larger the amount of
+         transferred energy. Cross wires at right angles to reduce
+         RFI.
+       </listitem>
+       <listitem>
+         Twist wires from the same circuits. Two wires the same
+         distance from the transmitter will get the same amount of
+         induced energy which will then cancel out. Any time you have
+         a wire pair running together, twist the pair together to
+         even out distances and reduce RFI. For altimeters, this
+         includes battery leads, switch hookups and igniter
+         circuits.
+       </listitem>
+       <listitem>
+         Avoid resonant lengths. Know what frequencies are present
+         in the environment and avoid having wire lengths near a
+         natural resonant length. Altusmetrum products transmit on the
+         70cm amateur band, so you should avoid lengths that are a
+         simple ratio of that length; essentially any multiple of 1/4
+         of the wavelength (17.5cm).
+       </listitem>
+      </itemizedlist>
+    </section>
+    <section>
+      <title>The Barometric Sensor</title>
+      <para>
+       Altusmetrum altimeters measure altitude with a barometric
+       sensor, essentially measuring the amount of air above the
+       rocket to figure out how high it is. A large number of
+       measurements are taken as the altimeter initializes itself to
+       figure out the pad altitude. Subsequent measurements are then
+       used to compute the height above the pad.
+      </para>
+      <para>
+       To accurately measure atmospheric pressure, the ebay
+       containing the altimeter must be vented outside the
+       airframe. The vent must be placed in a region of linear
+       airflow, smooth and not in an area of increasing or decreasing
+       pressure.
+      </para>
+      <para>
+       The barometric sensor in the altimeter is quite sensitive to
+       chemical damage from the products of APCP or BP combustion, so
+       make sure the ebay is carefully sealed from any compartment
+       which contains ejection charges or motors.
+      </para>
+    </section>
+    <section>
+      <title>Ground Testing</title>
+      <para>
+       The most important aspect of any installation is careful
+       ground testing. Bringing an airframe up to the LCO table which
+       hasn't been ground tested can lead to delays or ejection
+       charges firing on the pad, or, even worse, a recovery system
+       failure.
+      </para>
+      <para>
+       Do a 'full systems' test that includes wiring up all igniters
+       without any BP and turning on all of the electronics in flight
+       mode. This will catch any mistakes in wiring and any residual
+       RFI issues that might accidentally fire igniters at the wrong
+       time. Let the airframe sit for several minutes, checking for
+       adequate telemetry signal strength and GPS lock.
+      </para>
+      <para>
+       Ground test the ejection charges. Prepare the rocket for
+       flight, loading ejection charges and igniters. Completely
+       assemble the airframe and then use the 'Fire Igniters'
+       interface through a TeleDongle to command each charge to
+       fire. Make sure the charge is sufficient to robustly separate
+       the airframe and deploy the recovery system.
+      </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-1.0.xsl"  xpointer="xpointer(/article/*)"/>
+    <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>