License
+Copyright © 2018 Bdale Garbee and Keith Packard
+This document is released under the terms of the Creative Commons ShareAlike 3.0 License
+Acknowledgments
+Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing âThe +Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter +Kitâ which formed the basis of the original Getting Started chapter +in this manual. Bob was one of our first customers for a production +TeleMetrum, and his continued enthusiasm and contributions +are immensely gratifying and highly appreciated!
+And thanks to Anthony (AJ) Towns for major contributions including +the AltosUI graphing and site map code and associated documentation. +Free software means that our customers and friends can become our +collaborators, and we certainly appreciate this level of +contribution!
+Have fun using these products, and we hope to meet all of you +out on the rocket flight line somewhere.
+Bdale Garbee, KB0G +NAR #87103, TRA #12201+
Keith Packard, KD7SQG +NAR #88757, TRA #12200+
1. Introduction and Overview
+Welcome to the Altus Metrum community! Our circuits and software reflect +our passion for both hobby rocketry and Free Software. We hope their +capabilities and performance will delight you in every way, but by +releasing all of our hardware and software designs under open licenses, +we also hope to empower you to take as active a role in our collective +future as you wish!
+Our goal is to include in this document all of the information required +to successfully configure and use Altus Metrum products. But +documentation is a lot like software in that it can contain "bugs", +and can probably always be improved! If you have questions that +aren’t answered in this manual, or just need a little help figuring +things out, we strongly suggest joining the Altus Metrum user email +list, which you can do by visiting +https://lists.gag.com/mailman/listinfo/altusmetrum. There’s a lot +of useful information in the mailing list archives!
+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 âcompanion interfaceâ that will +support optional capabilities in the future. The later versions +of TeleMetrum, v2 and newer, have all of the same features but with +improved sensors and radio to offer increased performance.
+Our second device was TeleMini, a dual deploy altimeter with +radio telemetry and radio direction finding. The first version +of this device was only 13mm by 38mm (½ inch by 1½ inches) and +could fit easily in an 18mm air-frame. The latest version, v3.0, +includes a beeper, higher power radio, extended on-board +flight logging and an improved barometric sensor.
+TeleMega is our most sophisticated device, including six pyro +channels (four of which are fully programmable), integrated GPS, +integrated gyroscopes for staging/air-start inhibit and high +performance telemetry.
+EasyMini is a dual-deploy altimeter with logging and built-in +USB data download.
+EasyMega is essentially a TeleMega board with the GPS receiver +and telemetry transmitter removed. It offers the same 6 pyro +channels and integrated gyroscopes for staging/air-start inhibit.
+TeleDongle v0.2 was our first ground station, providing a USB to RF +interfaces for communicating with the altimeters. Combined with +your choice of antenna and notebook computer, TeleDongle and our +associated user interface software form a complete ground +station capable of logging and displaying in-flight telemetry, +aiding rocket recovery, then processing and archiving flight +data for analysis and review. The latest version, TeleDongle +v3, has all new electronics with a higher performance radio +for improved range.
+For a slightly more portable ground station experience that also +provides direct rocket recovery support, TeleBT offers flight +monitoring and data logging using a Bluetooth⢠connection between +the receiver and an Android device that has the AltosDroid +application installed from the Google Play store.
+More products will be added to the Altus Metrum family over time, and +we currently envision that this will be a single, comprehensive manual +for the entire product family.
+2. Getting Started
+The first thing to do after you open the box is to hook up a +battery and charge it if necessary.
+2.1. Batteries
+For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the +corresponding socket of the device and then using the USB +cable to plug the flight computer into your computer’s USB socket. The +on-board circuitry will charge the battery whenever it is plugged +in, because the on-off switch does NOT control the +charging circuitry. +The Lithium Polymer +TeleMini and +EasyMini battery can be charged by disconnecting it +from the board and plugging it into a standalone +battery charger such as LipoCharger, and +connecting that via a USB cable to a laptop or other +USB power source.
+You can also choose to use another battery with +EasyMini, anything supplying between 4 and 12 volts should +work fine (like a standard 9V battery), but if you are planning +to fire pyro charges, ground testing is required to verify that +the battery supplies enough current to fire your chosen e-matches.
++ + | +
+
+
+On TeleMetrum v1 boards, when the GPS chip is initially +searching for satellites, TeleMetrum will consume more current +than it pulls from the USB port, so the battery must be +attached in order to get satellite lock. Once GPS is locked, +the current consumption goes back down enough to enable charging +while running. So it’s a good idea to fully charge the battery +as your first item of business so there is no issue getting and +maintaining satellite lock. The yellow charge indicator led +will go out when the battery is nearly full and the charger goes +to trickle charge. It can take several hours to fully recharge a +deeply discharged battery. +
+
+TeleMetrum v2 or newer, TeleMega and EasyMega use a +higher power battery charger, allowing them to charge +the battery while running the board at maximum +power. When the battery is charging, or when the board +is consuming a lot of power, the red LED will be +lit. When the battery is fully charged, the green LED +will be lit. When the battery is damaged or missing, +both LEDs will be lit, which appears yellow. + |
+
2.2. Ground Station Hardware
+There are two ground stations available, the TeleDongle USB to +RF interface and the TeleBT Bluetooth/USB to RF interface. If +you plug either of these in to your Mac or Linux computer it should +âjust workâ, 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. We therefore recommend installing +our software before plugging in TeleDongle if you are using a Windows +computer. If you are using an older version of Linux and are having +problems, try moving to a fresher kernel (2.6.33 or +newer).
+2.3. Linux/Mac/Windows Ground Station Software
+Next you should obtain and install the AltOS software. +The AltOS distribution includes the AltosUI ground +station program, current firmware images for all of +the hardware, and a number of standalone utilities +that are rarely needed. Pre-built binary packages are +available for Linux, Microsoft Windows, Mac OSX. Full +source code and build instructions are also +available. The latest version may always be downloaded +from http://altusmetrum.org/AltOS
+2.4. Android Ground Station Software
+TeleBT can also connect to an Android device over +BlueTooth or USB. The +AltosDroid +Android application is available from the +Google Play system.
+You don’t need a data plan to use AltosDroid, but +without network access, you’ll want to download +offline map data before wandering away from the +network.
+3. Using Altus Metrum Hardware
+Here are general instructions for hooking up an Altus Metrum +flight computer. Instructions specific to each model will be +found in the section devoted to that model below.
+3.1. Wiring and Electrical Interference
+To prevent electrical interference from affecting the +operation of the flight computer, it’s important to always +twist pairs of wires connected to the board. Twist the switch +leads, the pyro leads and the battery leads. This reduces +interference through a mechanism called common mode rejection.
+3.2. Hooking Up Lithium Polymer Batteries
+All Altus Metrum flight computers have a two pin JST PH +series connector to connect up a single-cell Lithium Polymer +cell (3.7V nominal). You can purchase matching batteries +from the Altus Metrum store, or other vendors, or you can +make your own. Pin 1 of the connector is positive, pin 2 is +negative. Spark Fun sells a cable with the connector +attached, which they call a +JST Jumper 2 Wire Assembly
++ + | ++Many RC vendors also sell lithium polymer batteries with +this same connector. All that we have found use the opposite +polarity, and if you use them that way, you will damage or +destroy the flight computer. + | +
3.3. Hooking Up Pyro Charges
+Altus Metrum flight computers always have two screws for +each pyro charge. This means you shouldn’t need to put two +wires into a screw terminal or connect leads from pyro +charges together externally.
+On the flight computer, one lead from each charge is hooked +to the positive battery terminal through the power switch. +The other lead is connected through the pyro circuit, which +is connected to the negative battery terminal when the pyro +circuit is fired.
+3.4. Hooking Up a Power Switch
+Altus Metrum flight computers need an external power switch +to turn them on. This disconnects both the computer and the +pyro charges from the battery, preventing the charges from +firing when in the Off position. The switch is in-line with +the positive battery terminal.
+3.5. Understanding Beeps
+Altus Metrum flight computers include a beeper to +provide information about the state of the system. +TeleMini doesn’t have room for a beeper, so instead it +uses an LED, which works the same, except for every +beep is replaced with the flash of the LED.
+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, âditâ means a short beep while "dah" +means a long beep (three times as long). âBrapâ means +a long dissonant tone.
+Mode Name |
+Abbreviation |
+Beeps |
+Description |
+
Startup |
+S |
+battery voltage in decivolts |
+Calibrating sensors, detecting orientation. |
+
Idle |
+I |
+dit dit |
+Ready to accept commands over USB +or radio link. |
+
Pad |
+P |
+dit dah dah dit |
+Waiting for launch. Not listening for commands. |
+
Boost |
+B |
+dah dit dit dit |
+Accelerating upwards. |
+
Fast |
+F |
+dit dit dah dit |
+Decelerating, but moving faster than 200m/s. |
+
Coast |
+C |
+dah dit dah dit |
+Decelerating, moving slower than 200m/s |
+
Drogue |
+D |
+dah dit dit |
+Descending after apogee. Above main height. |
+
Main |
+M |
+dah dah |
+Descending. Below main height. |
+
Landed |
+L |
+dit dah dit dit |
+Stable altitude for at least ten seconds. |
+
Sensor error |
+X |
+dah dit dit dah |
+Error detected during sensor calibration. |
+
Here’s a summary of all of the Pad and Idle mode +indications. In Idle mode, you’ll hear one of these +just once after the two short dits indicating idle +mode. In Pad mode, after the dit dah dah dit +indicating Pad mode, you’ll hear these once every five +seconds.
+Name | +Beeps | +Description | +
---|---|---|
Neither |
+brap |
+No continuity detected on either apogee or main igniters. |
+
Apogee |
+dit |
+Continuity detected only on apogee igniter. |
+
Main |
+dit dit |
+Continuity detected only on main igniter. |
+
Both |
+dit dit dit |
+Continuity detected on both igniters. |
+
Storage Full |
+warble |
+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. |
+
Additional Igniters |
+four very short beeps |
+Continuity indication for the four additional pyro +channels on TeleMega and EasyMega. One high tone for +no continuity, one low tone for continuity. These are +produced after the continuity indicators for the two +primary igniter channels. |
+
For devices with a radio transmitter, in addition to +the digital and APRS telemetry signals, you can also +receive audio tones with a standard amateur +70cm FM receiver. While on the pad, you will hear +igniter status once every five seconds.
+Name | +Beeps | +Description | +
---|---|---|
Neither |
+½ second tone |
+No continuity detected on either apogee or main igniters. |
+
Apogee |
+dit |
+Continuity detected only on apogee igniter. |
+
Main |
+dit dit |
+Continuity detected only on main igniter. |
+
Both |
+dit dit dit |
+Continuity detected on both igniters. |
+
During ascent, the tones will be muted to allow the +telemetry data to consume the full radio bandwidth.
+During descent and after landing, a ½ second tone will +be transmitted every five seconds. This can be used to +find the rocket using RDF techniques when the signal +is too weak to receive GPS information via telemetry +or APRS.
+3.6. Turning On the Power
+Connect a battery and power switch and turn the switch +to "on". The flight computer will signal power on by +reporting the battery voltage and then perform an internal self +test and sensor calibration.
+Once the self test and calibration are complete, there +are two modes that an Altus Metrum flight computer can +operate in:
+-
+
- Flight/Pad +
-
+
The flight computer is waiting to detect +launch and then fly the rocket. In this mode, the USB +link is +disabled, and the radio goes into transmit-only mode. +The only way to get out of this +mode is to power the flight computer down. See below for how to get the flight +computer to come up in Flight/Pad mode at power on.
+
+ - Idle +
-
+
The flight computer is ready to communicate over USB +and in packet mode over the radio. +You can configure +the flight computer, download data or display +the current state. See below for how to get the flight +computer to come up in Idle mode at power on.
+
+
For flight computers with accelerometers (TeleMetrum, +EasyMega and TeleMega), the mode is selected by the +orientation of the board during the self test +interval. If the board is pointing upwards as if ready +to fly, it will enter Flight/Pad mode. Otherwise, it will +enter Idle mode.
+For EasyMini, if the USB cable is connected to a +computer, it will enter Idle mode. Otherwise, it will +enter Flight/Pad mode.
+For TeleMini v1.0, if a packet link is waiting to +connect when the device is powered on, it will enter +Idle mode, otherwise it will enter Flight/Pad mode.
+You can see in Understanding Beeps +how to tell which mode the flight computer is in.
+3.7. Using an External Active Switch Circuit
+You can use an active switch circuit, such as the +Featherweight Magnetic Switch, with any Altus Metrum +flight computer. These require three connections, one to +the battery, one to the positive power input on the flight +computer and one to ground. Find instructions on how to +hook these up for each flight computer below. Then follow +the instructions that come with your active switch to +connect it up.
+3.8. Using a Separate Pyro Battery
+As mentioned above in Hooking Up Pyro Charges, one +lead for each of the pyro charges is connected through +the power switch directly to the positive battery +terminal. The other lead is connected to the pyro +circuit, which connects it to the negative battery +terminal when the pyro circuit is fired. The pyro +circuit on all of the flight computers is designed to +handle up to 16V.
+To use a separate pyro battery, connect the negative pyro +battery terminal to the flight computer ground terminal, +the the switched positive battery terminal to the igniter +and the other +igniter lead to the negative pyro terminal on the flight +computer. When the pyro channel fires, it will complete the +circuit between the negative pyro terminal and the ground +terminal, firing the igniter. Specific instructions on how +to hook this up for each flight computer will be found +in the section below for that flight computer.
+Note that you must include a switch in the positive lead of +the pyro battery for safety, as the on-board power switch +circuit on our product only controls current flow from the +the primary or system battery!
+3.9. Using a Different Kind of Battery
+EasyMini +and TeleMini v2 are +designed to use either a +lithium polymer battery or any other battery producing +between 4 and 12 volts, such as a rectangular 9V +battery.
++ + | ++TeleMega, EasyMega and TeleMetrum are only designed to +operate off a single-cell Lithium Polymer battery and +cannot be used with any other kind. Connecting a +different kind of battery to any of these will destroy +the board. + | +
3.10. Using Packet Link Mode
+All AltusMetrum flight computers that have a radio can +communicate with the ground station software for +configuration and other operations using the Packet +Link mode. This uses radio communication instead of a +USB cable. To set this up, the ground station software +must be configured to the correct data rate, frequency +and callsign.
+You can monitor Packet Link mode from TeleBT or +TeleDongle by watching the LEDs. Each time the device +transmits, the red LED will flash. When the link is +busy, or when the link is not working, the device will +transmit 10 times per second, so the LED will flash +rapidly. When the link is working and there is no data +to send, the link will flash once per second, and the +LED will flash more slowly.
+4. TeleMetrum
+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 +small in diameter may require some creativity in mounting and wiring +to succeed! The presence of an accelerometer means TeleMetrum should +be aligned along the flight axis of the airframe, and by default the ¼ +wave UHF wire antenna should be on the nose-cone end of the board. The +antenna wire 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, meaning an ideal âsimpleâ avionics +bay for TeleMetrum should have at least 10 inches of interior length.
+There are two generations of the TeleMetrum design. The +major changes after v1 generation are:
+-
+
-
+
uBlox GPS chip certified for altitude records
+
+ -
+
Higher power radio (40mW vs 10mW)
+
+ -
+
APRS support
+
+
Otherwise, they’re the same size, with mounting holes and +screw terminals in the same position.
+4.1. TeleMetrum Screw Terminals
+TeleMetrum has six screw terminals on the end of the board +opposite the telemetry antenna. Two are for the power +switch, and two each for the apogee and main igniter +circuits. Using the picture above and starting from the top, +the terminals are as follows:
+Terminal # | +Terminal Name | +Description | +
---|---|---|
1 |
+Switch Output |
+Switch connection to flight computer |
+
2 |
+Switch Input |
+Switch connection to positive battery terminal |
+
3 |
+Main |
+Main pyro channel common connection to battery |
+
4 |
+Main - |
+Main pyro channel connection to pyro circuit |
+
5 |
+Apogee |
+Apogee pyro channel common connection to battery |
+
6 |
+Apogee - |
+Apogee pyro channel connection to pyro circuit |
+
4.2. Using a Separate Pyro Battery with TeleMetrum
+As described above, using an external pyro battery involves +connecting the negative battery terminal to the flight +computer ground, connecting the positive battery terminal to +one of the igniter leads and connecting the other igniter +lead to the per-channel pyro circuit connection.
+To connect the negative battery terminal to the TeleMetrum +ground, insert a small piece of wire, 24 to 28 gauge +stranded, into the GND hole just above the screw terminal +strip and solder it in place.
+Connecting the switched positive battery terminal to the pyro +charges must be done separate from TeleMetrum, by soldering +them together or using some other connector. Note that you +must include a switch in the positive lead from the pyro +battery for safety!
+The other lead from each pyro charge is then inserted into +the appropriate per-pyro channel screw terminal (terminal 4 +for the Main charge, terminal 6 for the Apogee charge).
+4.3. Using an Active Switch with TeleMetrum
+As explained above, an external active switch requires three +connections, one to the positive battery terminal, one to +the flight computer positive input and one to ground.
+The positive battery terminal is available on screw terminal +2, the positive flight computer input is on terminal 1. To +hook a lead to ground, solder a piece of wire, 24 to 28 +gauge stranded, to the GND hole just above terminal 1.
+5. TeleMini
+TeleMini v3 is 0.5 inches by 1.67 inches. It was +designed to fit inside an 18mm air-frame tube, but using it in +a tube that small in diameter may require some creativity in +mounting and wiring to succeed! Since there is no +accelerometer, TeleMini can be mounted in any convenient +orientation. The default ¼ wave UHF wire antenna attached to +the center of one end of the board is about 7 inches long. Screw +terminals for the power switch are located in the +middle of the board. Screw terminals for the e-matches for +apogee and main ejection charges depart from the other end of +the board, meaning an ideal âsimpleâ avionics bay for TeleMini +should have at least 9 inches of interior length.
+5.1. TeleMini v3 Screw Terminals
+TeleMini v3 has four screw terminals on the end of the +board opposite the telemetry antenna. Two are for the apogee +and two are for main igniter circuits. Another two +screw terminals are located in the middle of the board +for the power switch. Using the +picture above and starting from the top for the pyro terminals +and from the left for the power switch terminals, the +connections are as follows:
+Terminal # | +Terminal Name | +Description | +
---|---|---|
1 |
+Apogee - |
+Apogee pyro channel connection to pyro circuit |
+
2 |
+Apogee |
+Apogee pyro channel common connection to battery |
+
3 |
+Main - |
+Main pyro channel connection to pyro circuit |
+
4 |
+Main |
+Main pyro channel common connection to battery |
+
Left |
+Switch Output |
+Switch connection to flight computer |
+
Right |
+Switch Input |
+Switch connection to positive battery terminal |
+
5.2. Using a Separate Pyro Battery with TeleMini v3
+As described above, using an external pyro battery involves +connecting the negative battery terminal to the flight +computer ground, connecting the switched positive battery +terminal to one of the igniter leads and connecting the other +igniter lead to the per-channel pyro circuit connection. +Because there is no solid ground connection to use on +TeleMini, this is not recommended.
+The only available ground connection on TeleMini v3 are +the two mounting holes next to the telemetry +antenna. Somehow connect a small piece of wire to one of +those holes and hook it to the negative pyro battery terminal.
+Connecting the positive battery terminal to the pyro +charges must be done separate from TeleMini v3, by soldering +them together or using some other connector. Note that you +must include a switch in the pyro battery positive lead for +safety!
+The other lead from each pyro charge is then inserted into +the appropriate per-pyro channel screw terminal (terminal 3 for the +Main charge, terminal 1 for the Apogee charge).
+5.3. Using an Active Switch with TeleMini v3
+As explained above, an external active switch requires three +connections, one to the positive battery terminal, one to +the flight computer positive input and one to ground. Again, +because TeleMini doesn’t have any good ground connection, +this is not recommended.
+The positive battery terminal is available on the Right +power switch wire, the positive flight computer input is on +the left power switch wire. Hook a lead to either of the +mounting holes for a ground connection.
+5.4. Using Packet Link Mode with TeleMini
+After TeleMini powers up, it will check to see if some +device is attempting to communicate with it using +Packet Link Mode. If so, it will switch to idle mode +and start communicating. To switch to flight mode, +reboot the device either over the radio link or by +powering it off and back on.
+If no ground station is attempting to communicate +using Packet Link Mode, TeleMini will enter pad mode +and prepare for flight.
+The sequence of operations to use Packet Link Mode +with TeleMini is:
+-
+
-
+
Configure the ground station data rate, frequency +and callsign to match the TeleMini settings.
+
+ -
+
Start Packet Link Mode in the ground station by +selecting the desired operation (Safe Flight Data, +Configure Altimeter, Fire Igniter or Monitor +Idle). Select the TeleBT or TeleDongle device. The +red LED should begin flashing rapidly.
+
+ -
+
Turn on TeleMini. You should see the red LED flash +very rapidly during the initial communication burst, +but it should then slow down when the link is idle.
+
+
Once TeleMini is in Idle mode, it will stay in that +mode until rebooted. That means you can stop one +Packet Link operation, wait a while and start another +Packet Link operation.
+5.5. Forcing TeleMini radio parameters to known defaults
+If you don’t know what the TeleMini frequency and +callsign settings are, you can temporarily force it +back to the original default values (frequency +434.550MHz, callsign N0CALL) by connecting a wire +between hole 3 and hole 7 on the debug connector. Hole +3 has the square pad around it, hole 7 is the one +nearest the MS5607 baro sensor, which is a rectangular +component with a metal cap that has two holes in it.
+Once TeleMini has been powered up with this wire +connected, the wire may be removed. The radio +parameters will stay set to these default values until +changed by the user or when the device is rebooted.
+5.6. TeleMini v1
+TeleMini v1 is the earlier version of this product. It +has a lower-power radio, less storage, no beeper and +soldered-in wires instead of screw terminals for the +power switch.
+6. EasyMini
+EasyMini is built on a 0.8 inch by 1½ inch circuit board. It’s +designed to fit in a 24mm coupler tube.
+You usually don’t need to configure EasyMini at all; it’s set +up to do dual-deployment with an event at apogee to separate +the airframe and deploy a drogue and another event at 250m +(820ft) to deploy the main. Install EasyMini in your airframe, +hook up a battery, igniters and a power switch and you’re +ready to fly.
+6.1. EasyMini Screw Terminals
+EasyMini has two sets of four screw terminals near one end of the +board. Using the picture +above, the top four have connections for the main pyro +circuit and an external battery and the bottom four have +connections for the apogee pyro circuit and the power +switch. Counting from the left, the connections are as follows:
+Terminal # | +Terminal Name | +Description | +
---|---|---|
Top 1 |
+Main - |
+Main pyro channel connection to pyro circuit |
+
Top 2 |
+Main |
+Main pyro channel common connection to battery |
+
Top 3 |
+Battery |
+Positive external battery terminal |
+
Top 4 |
+Battery - |
+Negative external battery terminal |
+
Bottom 1 |
+Apogee - |
+Apogee pyro channel connection to pyro circuit |
+
Bottom 2 |
+Apogee |
+Apogee pyro channel common connection to battery |
+
Bottom 3 |
+Switch Output |
+Switch connection to flight computer |
+
Bottom 4 |
+Switch Input |
+Switch connection to positive battery terminal |
+
6.2. Connecting A Battery To EasyMini
+There are two possible battery connections on +EasyMini. You can use either method; both feed +through the power switch terminals.
+One battery connection is the standard Altus Metrum +white JST plug. This mates with single-cell Lithium +Polymer batteries sold by Altus Metrum.
+The other is a pair of screw terminals marked 'Battery ++' and 'Battery -'. Connect a battery from 4 to 12 +volts to these terminals, being careful to match polarity.
+6.3. Charging Lithium Batteries
+Because EasyMini allows for batteries other than the +standard Altus Metrum Lithium Polymer cells, it cannot +incorporate a battery charger circuit. Therefore, when +using a Litium Polymer cell, you’ll need an external +charger. These are available from Altus Metrum, or +from Spark Fun.
+6.4. Using a Separate Pyro Battery with EasyMini
+As described above, using an external pyro battery involves +connecting the negative battery terminal to the flight +computer ground, connecting the positive battery terminal to +one of the igniter leads and connecting the other igniter +lead to the per-channel pyro circuit connection.
+To connect the negative pyro battery terminal to EasyMini +ground, connect it to the negative external battery +connection, top terminal 4.
+Connecting the switched positive battery terminal to the pyro +charges must be done separate from EasyMini, by soldering +them together or using some other connector. Note that for +safety, you must put a switch between the pyro battery and +the rest of the circuit!
+The other lead from each pyro charge is then inserted into +the appropriate per-pyro channel screw terminal (top +terminal 1 for the Main charge, bottom terminal 1 for the +Apogee charge).
+6.5. Using an Active Switch with EasyMini
+As explained above, an external active switch requires three +connections, one to the positive battery terminal, one to +the flight computer positive input and one to ground. Use +the negative external battery connection, top terminal 4 for +ground.
+The positive battery terminal is available on bottom +terminal 4, the positive flight computer input is on the +bottom terminal 3.
+7. TeleMega
+TeleMega is a 1¼ inch by 3¼ inch circuit board. It was +designed to easily fit in a 38mm coupler. Like TeleMetrum, +TeleMega has an accelerometer and so it must be mounted so that +the board is aligned with the flight axis. It can be mounted +either antenna up or down.
+TeleMega v2.0 has a few minor changes from v1.0:
+-
+
-
+
Companion connector matches EasyMega functions
+
+ -
+
Serial port connector replaced with servo connector with +support for up to 4 PWM channels.
+
+ -
+
Radio switched from cc1120 to cc1200.
+
+
None of these affect operation using the stock firmware, but +they do mean that the device needs different firmware to +operate correctly, so make sure you load the right firmware +when reflashing the device.
+7.1. TeleMega Screw Terminals
+TeleMega has two sets of nine screw terminals on the end of +the board opposite the telemetry antenna. They are as follows:
+Terminal # | +Terminal Name | +Description | +
---|---|---|
Top 1 |
+Switch Input |
+Switch connection to positive battery terminal |
+
Top 2 |
+Switch Output |
+Switch connection to flight computer |
+
Top 3 |
+GND |
+Ground connection for use with external active switch |
+
Top 4 |
+Main - |
+Main pyro channel connection to pyro circuit |
+
Top 5 |
+Main |
+Main pyro channel common connection to battery |
+
Top 6 |
+Apogee - |
+Apogee pyro channel connection to pyro circuit |
+
Top 7 |
+Apogee |
+Apogee pyro channel common connection to battery |
+
Top 8 |
+D - |
+D pyro channel connection to pyro circuit |
+
Top 9 |
+D |
+D pyro channel common connection to battery |
+
Bottom 1 |
+GND |
+Ground connection for negative pyro battery terminal |
+
Bottom 2 |
+Pyro |
+Positive pyro battery terminal |
+
Bottom 3 |
+Lipo |
+Power switch output. Use to connect main battery to pyro battery input |
+
Bottom 4 |
+A - |
+A pyro channel connection to pyro circuit |
+
Bottom 5 |
+A |
+A pyro channel common connection to battery |
+
Bottom 6 |
+B - |
+B pyro channel connection to pyro circuit |
+
Bottom 7 |
+B |
+B pyro channel common connection to battery |
+
Bottom 8 |
+C - |
+C pyro channel connection to pyro circuit |
+
Bottom 9 |
+C |
+C pyro channel common connection to battery |
+
7.2. Using a Separate Pyro Battery with TeleMega
+TeleMega provides explicit support for an external pyro +battery. All that is required is to remove the jumper +between the lipo terminal (Bottom 3) and the pyro terminal +(Bottom 2). Then hook the negative pyro battery terminal to +ground (Bottom 1) and the switched positive pyro battery to +the pyro battery input (Bottom 2). Note that you must include +a switch between the pyro battery and the board for safety, +as the on-board power switch circuit only supports the primary +battery! You can then use the existing pyro screw +terminals to hook up all of the pyro charges.
+7.3. Using Only One Battery With TeleMega
+Because TeleMega has built-in support for a separate pyro +battery, if you want to fly with just one battery running +both the computer and firing the charges, you need to +connect the flight computer battery to the pyro +circuit. TeleMega has two screw terminals for thisâhook a +wire from the Lipo terminal (Bottom 3) to the Pyro terminal +(Bottom 2).
+7.4. Using an Active Switch with TeleMega
+As explained above, an external active switch requires three +connections, one to the positive battery terminal, one to +the flight computer positive input and one to ground.
+The positive battery terminal is available on Top terminal +1, the positive flight computer input is on Top terminal +2. Ground is on Top terminal 3.
+8. EasyMega
+EasyMega is a 1¼ inch by 2¼ inch circuit board. It was +designed to easily fit in a 38mm coupler. Like TeleMetrum, +EasyMega has an accelerometer and so it must be mounted so that +the board is aligned with the flight axis. It can be mounted +either antenna up or down.
+8.1. EasyMega Screw Terminals
+EasyMega has two sets of nine screw terminals on the end of +the board opposite the telemetry antenna. They are as follows:
+Terminal # | +Terminal Name | +Description | +
---|---|---|
Top 1 |
+Switch Input |
+Switch connection to positive battery terminal |
+
Top 2 |
+Switch Output |
+Switch connection to flight computer |
+
Top 3 |
+GND |
+Ground connection for use with external active switch |
+
Top 4 |
+Main - |
+Main pyro channel connection to pyro circuit |
+
Top 5 |
+Main |
+Main pyro channel common connection to battery |
+
Top 6 |
+Apogee - |
+Apogee pyro channel connection to pyro circuit |
+
Top 7 |
+Apogee |
+Apogee pyro channel common connection to battery |
+
Top 8 |
+D - |
+D pyro channel connection to pyro circuit |
+
Top 9 |
+D |
+D pyro channel common connection to battery |
+
Bottom 1 |
+GND |
+Ground connection for negative pyro battery terminal |
+
Bottom 2 |
+Pyro |
+Positive pyro battery terminal |
+
Bottom 3 |
+Lipo |
+Power switch output. Use to connect main battery to pyro battery input |
+
Bottom 4 |
+A - |
+A pyro channel connection to pyro circuit |
+
Bottom 5 |
+A |
+A pyro channel common connection to battery |
+
Bottom 6 |
+B - |
+B pyro channel connection to pyro circuit |
+
Bottom 7 |
+B |
+B pyro channel common connection to battery |
+
Bottom 8 |
+C - |
+C pyro channel connection to pyro circuit |
+
Bottom 9 |
+C |
+C pyro channel common connection to battery |
+
8.2. Using a Separate Pyro Battery with EasyMega
+EasyMega provides explicit support for an external pyro +battery. All that is required is to remove the jumper +between the lipo terminal (Bottom 3) and the pyro terminal +(Bottom 2). Then hook the negative pyro battery terminal to +ground (Bottom 1) and the switched positive pyro battery to +the pyro battery input (Bottom 2). Note that you must include +a switch between the pyro battery and the board for safety, +as the on-board power switch circuit only supports the primary +battery! You can then use the existing pyro screw +terminals to hook up all of the pyro charges.
+8.3. Using Only One Battery With EasyMega
+Because EasyMega has built-in support for a separate pyro +battery, if you want to fly with just one battery running +both the computer and firing the charges, you need to +connect the flight computer battery to the pyro +circuit. EasyMega has two screw terminals for thisâhook a +wire from the Lipo terminal (Bottom 3) to the Pyro terminal +(Bottom 2).
+8.4. Using an Active Switch with EasyMega
+As explained above, an external active switch requires three +connections, one to the positive battery terminal, one to +the flight computer positive input and one to ground.
+The positive battery terminal is available on Top terminal +1, the positive flight computer input is on Top terminal +2. Ground is on Top terminal 3.
+9. Installation
+A typical installation involves attaching +only a suitable battery, a single pole switch for +power on/off, and two pairs of wires connecting e-matches for the +apogee and main ejection charges. All Altus Metrum products are +designed for use with single-cell batteries with 3.7 volts +nominal. +EasyMini may also be used with other +batteries as long as they supply between 4 and 12 volts.
+The battery connectors are a standard 2-pin JST connector; you +can purchase suitable batteries from the any vendor selling +Altus Metrum products. These batteries are +single-cell Lithium Polymer batteries that nominally provide 3.7 +volts. Other vendors sell similar batteries for RC aircraft +using mating connectors, however the polarity for those is +generally reversed from the batteries used by Altus Metrum +products. In particular, the Tenergy batteries supplied for use +in Featherweight flight computers are not compatible with Altus +Metrum flight computers or battery chargers.
++ + | ++Check polarity and voltage before connecting any battery not +purchased from Altus Metrum. + | +
+ + | ++Spark Fun sells batteries that have a matching connector with +the correct polarity. However, these batteries include an +integrated current limiting circuit. That circuit will cause +the battery to shut down when firing the igniter circuit. Do +not use these batteries unless you remove the current limiting +circuit. + | +
By default, we use the unregulated output of the 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 +Using a Separate Pyro Battery for instructions on how to wire +that up. The altimeters are designed to work with an external +pyro battery of no more than 15 volts.
+Ejection charges are wired directly to the screw terminal block +at the aft end of the altimeter. You’ll need a very small straight +blade screwdriver for these screws, such as you might find in a +jeweler’s screwdriver set.
+Except for TeleMini v1.0, the flight computers also use the +screw terminal block for the power switch leads. On TeleMini v1.0, +the power switch leads are soldered directly to the board and +can be connected directly to a switch.
+For most air-frames, the integrated antennas are more than +adequate. However, if you are installing in a carbon-fiber or +metal electronics bay which is opaque to RF signals, you may need to +use off-board external antennas instead. In this case, you can +replace the stock UHF antenna wire with an edge-launched SMA connector, +and, on TeleMetrum v1, you can unplug the integrated GPS +antenna and select an appropriate off-board GPS antenna with +cable terminating in a U.FL connector.
+10. Using Altus Metrum Products
+10.1. Being Legal
+In the US, you need an +amateur radio license +or other authorization to legally operate the radio +transmitters that are part of our products.
+10.2. In the Rocket
+In the rocket itself, you just need a flight computer +and a single-cell, 3.7 volt nominal Li-Po rechargeable +battery. +An 850mAh battery weighs less than a 9V +alkaline battery, and will run a TeleMetrum, TeleMega +or EasyMega for hours. +A 110mAh battery weighs less +than a triple A battery and is a good choice for use +with +TeleMini or +EasyMini.
+By default, we ship TeleMini, TeleMetrum and TeleMega +flight computers with a simple wire antenna. If your +electronics bay or the air-frame it resides within is +made of carbon fiber, which is opaque to RF signals, +you may prefer to install an SMA connector so that you +can run a coaxial cable to an antenna mounted +elsewhere in the rocket. However, note that the GPS +antenna is fixed on all current products, so you +really want to install the flight computer in a bay +made of RF-transparent materials if at all possible.
+10.3. On the Ground
+To receive the data stream from the rocket, you need +an antenna and short feed-line connected to one of our +TeleDongle +units. If possible, use an SMA to BNC adapter instead +of feedline between the antenna feedpoint and +TeleDongle, as this will give you the best +performance. The TeleDongle in turn plugs directly +into the USB port on a notebook computer. Because +TeleDongle looks like a simple serial port, your +computer does not require special device +drivers… just plug it in.
+The GUI tool, AltosUI, is written in Java and runs +across Linux, Mac OS and Windows. There’s also a suite +of C tools for Linux which can perform most of the +same tasks.
+Alternatively, a TeleBT attached with an SMA to BNC +adapter at the feed point of a hand-held yagi used in +conjunction with an Android device running AltosDroid +makes an outstanding ground station.
+After the flight, +you can use the radio link to +extract the more detailed data logged in either +TeleMetrum or TeleMini devices, or +you can use a +USB cable to plug into the flight computer board directly. +A USB cable is also how you +charge the Li-Po battery, so you’ll want one of those +anyway. The same cable used by lots of digital +cameras and other modern electronic stuff will work +fine.
+If your rocket lands out of sight, you may enjoy +having a hand-held GPS receiver, so that you can put +in a way-point for the last reported rocket position +before touch-down. This makes looking for your rocket +a lot like Geo-Caching… just go to the way-point and +look around starting from there. AltosDroid on an +Android device with GPS receiver works great for this, +too!
+You may also enjoy having a ham radio âHTâ that covers +the 70cm band… you can use that with your antenna to +direction-find the rocket on the ground the same way +you can use a Walston or Beeline tracker. This can be +handy if the rocket is hiding in sage brush or a tree, +or if the last GPS position doesn’t get you close +enough because the rocket dropped into a canyon, or +the wind is blowing it across a dry lake bed, or +something like that… Keith currently uses a Yaesu +FT1D, Bdale has a Yaesu VX-7R, which is a nicer radio +in most ways but doesn’t support APRS.
+So, to recap, on the ground the hardware you’ll need includes:
+-
+
-
+
an antenna and feed-line or adapter
+
+ -
+
a TeleDongle
+
+ -
+
a notebook computer
+
+ -
+
optionally, a hand-held GPS receiver
+
+ -
+
optionally, an HT or receiver covering 435 MHz
+
+
The best hand-held commercial directional antennas we’ve found for radio +direction finding rockets are from +Arrow Antennas.
+The 440-3 and 440-5 are both good choices for finding +a TeleMetrum- or TeleMini- equipped rocket when used +with a suitable 70cm HT. TeleDongle and an SMA to BNC +adapter fit perfectly between the driven element and +reflector of Arrow antennas.
+10.4. Data Analysis
+Our software makes it easy to log the data from each +flight, both the telemetry received during the flight +itself, and the more complete data log recorded in the +flash memory on the altimeter board. Once this data +is on your computer, our post-flight tools make it +easy to quickly get to the numbers everyone wants, +like apogee altitude, max acceleration, and max +velocity. You can also generate and view a standard +set of plots showing the altitude, acceleration, and +velocity of the rocket during flight. And you can +even export a flight log in a format usable with Google +Maps and Google Earth for visualizing the flight path +in two or three dimensions!
+Our ultimate goal is to emit a set of files for each +flight that can be published as a web page per flight, +or just viewed on your local disk with a web browser.
+10.5. Future Plans
+We have designed and prototyped several âcompanion +boardsâ that can attach to the companion connector on +TeleMetrum, TeleMega and EasyMega flight computers to +collect more data, provide more pyro channels, and so +forth. We do not yet know if or when any of these +boards will be produced in enough quantity to sell. +If you have specific interests for data collection or +control of events in your rockets beyond the +capabilities of our existing productions, please let +us know!
+Because all of our work is open, both the hardware +designs and the software, if you have some great idea +for an addition to the current Altus Metrum family, +feel free to dive in and help! Or let us know what +you’d like to see that we aren’t already working on, +and maybe we’ll get excited about it too…
+Watch our web site for +more news and information as our family of products +evolves!
+11. AltosUI
+The AltosUI program provides a graphical user interface for +interacting with the Altus Metrum product family. AltosUI can +monitor telemetry data, configure devices and many other +tasks. The primary interface window provides a selection of +buttons, one for each major activity in the system. This +chapter is split into sections, each of which documents one of +the tasks provided from the top-level toolbar.
+11.1. Monitor Flight
+Selecting this item brings up a dialog box listing all +of the connected TeleDongle devices. When you choose +one of these, AltosUI will create a window to display +telemetry data as received by the selected TeleDongle +device.
+All telemetry data received are automatically recorded +in suitable log files. The name of the files includes +the current date and rocket serial and flight numbers.
+The radio frequency being monitored by the TeleDongle +device is displayed at the top of the window. You can +configure the frequency by clicking on the frequency +box and selecting the desired frequency. AltosUI +remembers the last frequency selected for each +TeleDongle and selects that automatically the next +time you use that device.
+Below the TeleDongle frequency selector, the window +contains a few significant pieces of information about +the altimeter providing the telemetry data stream:
+-
+
-
+
The configured call-sign
+
+ -
+
The device serial number
+
+ -
+
The flight number. Each altimeter remembers how +many times it has flown.
+
+ -
+
The rocket flight state. Each flight passes through +several states including Pad, Boost, Fast, Coast, +Drogue, Main and Landed.
+
+ -
+
The Received Signal Strength Indicator value. This +lets you know how strong a signal TeleDongle is +receiving. At the default data rate, 38400 bps, in +bench testing, the radio inside TeleDongle v0.2 +operates down to about -106dBm, while the v3 radio +works down to about -111dBm. Weaker signals, or an +environment with radio noise may cause the data to +not be received. The packet link uses error +detection and correction techniques which prevent +incorrect data from being reported.
+
+ -
+
The age of the displayed data, in seconds since the +last successfully received telemetry packet. In +normal operation this will stay in the low single +digits. If the number starts counting up, then you +are no longer receiving data over the radio link +from the flight computer.
+
+
Finally, the largest portion of the window contains a +set of tabs, each of which contain some information +about the rocket. They’re arranged in 'flight order' +so that as the flight progresses, the selected tab +automatically switches to display data relevant to the +current state of the flight. You can select other tabs +at any time. The final 'table' tab displays all of the +raw telemetry values in one place in a +spreadsheet-like format.
+11.1.1. Launch Pad
+The 'Launch Pad' tab shows information used to decide when the +rocket is ready for flight. The first elements include red/green +indicators, if any of these is red, you’ll want to evaluate +whether the rocket is ready to launch:
+-
+
- Battery Voltage +
-
+
This indicates whether the Li-Po battery powering the +flight computer has sufficient charge to last for +the duration of the flight. A value of more than +3.8V is required for a 'GO' status.
+
+ - Apogee Igniter Voltage +
-
+
This indicates whether the apogee +igniter has continuity. If the igniter has a low +resistance, then the voltage measured here will be close +to the Li-Po battery voltage. A value greater than 3.2V is +required for a 'GO' status.
+
+ - Main Igniter Voltage +
-
+
This indicates whether the main +igniter has continuity. If the igniter has a low +resistance, then the voltage measured here will be close +to the Li-Po battery voltage. A value greater than 3.2V is +required for a 'GO' status.
+
+ - On-board Data Logging +
-
+
This indicates whether there is space remaining +on-board to store flight data for the upcoming +flight. If you’ve downloaded data, but failed to erase +flights, there may not be any space left. Most of our +flight computers can store multiple flights, depending +on the configured maximum flight log size. TeleMini +v1.0 stores only a single flight, so it will need to +be downloaded and erased after each flight to capture +data. This only affects on-board flight logging; the +altimeter will still transmit telemetry and fire +ejection charges at the proper times even if the +flight data storage is full.
+
+ - GPS Locked +
-
+
For a TeleMetrum or TeleMega device, this indicates +whether the GPS receiver is currently able to compute +position information. GPS requires at least 4 +satellites to compute an accurate position.
+
+ - GPS Ready +
-
+
For a TeleMetrum or TeleMega device, this indicates +whether GPS has reported at least 10 consecutive +positions without losing lock. This ensures that the +GPS receiver has reliable reception from the +satellites.
+
+
The Launchpad tab also shows the computed launch pad +position and altitude, averaging many reported +positions to improve the accuracy of the fix.
+11.1.2. Ascent
+This tab is shown during Boost, Fast and Coast +phases. The information displayed here helps monitor the +rocket as it heads towards apogee.
+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.
+The current latitude and longitude reported by the GPS are +also shown. Note that under high acceleration, these values +may not get updated as the GPS receiver loses position +fix. Once the rocket starts coasting, the receiver should +start reporting position again.
+Finally, the current igniter voltages are reported as in the +Launch Pad tab. This can help diagnose deployment failures +caused by wiring which comes loose under high acceleration.
+11.1.3. Descent
+Once the rocket has reached apogee and (we hope) +activated the apogee charge, attention switches to +tracking the rocket on the way back to the ground, and +for dual-deploy flights, waiting for the main charge +to fire.
+To monitor whether the apogee charge operated +correctly, the current descent rate is reported along +with the current height. Good descent rates vary based +on the choice of recovery components, but generally +range from 15-30m/s on drogue and should be below +10m/s when under the main parachute in a dual-deploy +flight.
+With GPS-equipped flight computers, you can locate the +rocket in the sky using the elevation and bearing +information to figure out where to look. Elevation is +in degrees above the horizon. Bearing is reported in +degrees relative to true north. Range can help figure +out how big the rocket will appear. Ground Distance +shows how far it is to a point directly under the +rocket and can help figure out where the rocket is +likely to land. Note that all of these values are +relative to the pad location. If the elevation is near +90°, the rocket is over the pad, not over you.
+Finally, the igniter voltages are reported in this tab +as well, both to monitor the main charge as well as to +see what the status of the apogee charge is. Note +that some commercial e-matches are designed to retain +continuity even after being fired, and will continue +to show as green or return from red to green after +firing.
+11.1.4. Landed
+Once the rocket is on the ground, attention switches +to recovery. While the radio signal is often lost once +the rocket is on the ground, the last reported GPS +position is generally within a short distance of the +actual landing location.
+The last reported GPS position is reported both by +latitude and longitude as well as a bearing and +distance from the launch pad. The distance should give +you a good idea of whether to walk or hitch a ride. +Take the reported latitude and longitude and enter +them into your hand-held GPS unit and have that +compute a track to the landing location.
+Our flight computers will continue to transmit RDF +tones after landing, allowing you to locate the rocket +by following the radio signal if necessary. You may +need to get away from the clutter of the flight line, +or even get up on a hill (or your neighbor’s RV roof) +to receive the RDF signal.
+The maximum height, speed and acceleration reported +during the flight are displayed for your admiring +observers. The accuracy of these immediate values +depends on the quality of your radio link and how many +packets were received. Recovering the on-board data +after flight may yield more precise results.
+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.
+11.1.5. Table
+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.
+11.1.6. Site Map
+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 rocket, both while it is in the air, +and when it has landed. The rocket’s state is +indicated by color: white for pad, red for boost, pink +for fast, yellow for coast, light blue for drogue, +dark blue for main, and black for landed.
+The map’s default scale is approximately 3m (10ft) per +pixel. The map can be dragged using the left mouse +button. The map will attempt to keep the rocket +roughly centered while data is being received.
+You can adjust the style of map and the zoom level +with buttons on the right side of the map window. You +can draw a line on the map by moving the mouse over +the map with a button other than the left one pressed, +or by pressing the left button while also holding down +the shift key. The length of the line in real-world +units will be shown at the start of the line.
+Images are fetched automatically via the Google Maps +Static API, and cached on disk for reuse. If map +images cannot be downloaded, the rocket’s path will be +traced on a dark gray background instead.
+You can pre-load images for your favorite launch sites +before you leave home; check out Load Maps.
+11.1.7. Igniter
+TeleMega includes four additional programmable pyro +channels. The Ignitor tab shows whether each of them has +continuity. If an ignitor has a low resistance, then the +voltage measured here will be close to the pyro battery +voltage. A value greater than 3.2V is required for a 'GO' +status.
+11.2. Save Flight Data
+The altimeter records flight data to its internal +flash memory. +Data logged on board is recorded at a much +higher rate than the telemetry system can handle, and +is not subject to radio drop-outs. As such, it +provides a more complete and precise record of the +flight. +The 'Save Flight Data' button allows you to +read the flash memory and write it to disk.
+Clicking on the 'Save Flight Data' button brings up a +list of connected flight computers and TeleDongle +devices. If you select a flight computer, the flight +data will be downloaded from that device directly. +If you select a TeleDongle device, flight data will be +downloaded from a flight computer over radio link via +the specified TeleDongle. See +Controlling An Altimeter Over The Radio Link for +more information.
+After the device has been selected, a dialog showing +the flight data saved in the device will be shown +allowing you to select which flights to download and +which to delete. With version 0.9 or newer firmware, +you must erase flights in order for the space they +consume to be reused by another flight. This prevents +accidentally losing flight data if you neglect to +download data before flying again. Note that if there +is no more space available in the device, then no data +will be recorded during the next flight.
+The file name for each flight log is computed +automatically from the recorded flight date, altimeter +serial number and flight number information.
+11.3. Replay Flight
+Select this button and you are prompted to select a flight +record file, either a .telem file recording telemetry data or a +.eeprom file containing flight data saved from the altimeter +flash memory.
+Once a flight record is selected, the flight monitor interface +is displayed and the flight is re-enacted in real +time. +Check +Monitor Flight to learn how this window operates.
+11.4. Graph Data
+Select this button and you are prompted to select a flight +record file, either a .telem file recording telemetry data or a +.eeprom file containing flight data saved from +flash memory.
+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.
+Once a flight record is selected, a window with multiple tabs is +opened.
+11.4.1. Flight Graph
+By default, the graph contains acceleration (blue), +velocity (green) and altitude (red).
+The graph can be zoomed into a particular area by +clicking and dragging down and to the right. Once +zoomed, the graph can be reset by clicking and +dragging up and to the left. Holding down control and +clicking and dragging allows the graph to be panned. +The right mouse button causes a pop-up menu to be +displayed, giving you the option save or print the +plot.
+11.4.2. Configure Graph
+This selects which graph elements to show, and, at the +very bottom. It also lets you configure how +the graph is drawn:
+-
+
-
+
Whether to use metric or imperial units
+
+ -
+
Whether to show a marker at each data +point. When displaying a small section of +the graph, these can be useful to know what +data values were recorded.
+
+ -
+
How wide to draw the lines in the graph
+
+ -
+
How to filter speed and acceleration data +computed from barometric data. Flight +computers with accelerometers never display +computed acceleration data, and only use +barometric data to compute speed during +descent. Flight computers without +accelerometers always compute both speed and +acceleration from barometric data. A larger +value smooths the data more.
+
+
11.4.3. Flight Statistics
+Shows overall data computed from the flight.
+11.4.4. Map
+Shows a satellite image of the flight area +overlaid with the path of the flight. The +flight path will have different colored +sections for each state of the flight (just +like the Site Map in Monitor Flight mode): +white for pad, red for boost, pink for fast, +yellow for coast, light blue for drogue, dark +blue for main, and black for landed.
+The red concentric circles mark the launch +pad, the black concentric circles mark the +landing location. Data for the point along the +along the flight path nearest the cursor will +be displayed at the bottom of the window. This +data includes flight time (so you can +correlate data in the graph window), latitude, +longitude, height above ground and vertical +speed. The selected point will be highlighted +with concentric circles in the same color as +the flight path at that point.
+11.5. Export Data
+This tool takes the raw data files and makes them +available for external analysis. When you select this +button, you are prompted to select a flight data file, +which can be either a .eeprom or .telem. The .eeprom +files contain higher resolution and more continuous +data, while .telem files contain receiver signal +strength information. Next, a second dialog appears +which is used to select where to write the resulting +file. +It has a selector to choose between CSV and KML +file formats.
+11.5.1. Comma Separated Value Format
+This is a text file containing the data in a form +suitable for import into a spreadsheet or other +external data analysis tool. The first few lines of +the file contain the version and configuration +information from the altimeter, then there is a single +header line which labels all of the fields. All of +these lines start with a '#' character which many +tools can be configured to skip over.
+The remaining lines of the file contain the data, with +each field separated by a comma and at least one +space. All of the sensor values are converted to +standard units, with the barometric data reported in +both pressure, altitude and height above pad units.
+11.5.2. Keyhole Markup Language (for Google Earth)
+This is the format used by Google Earth to provide an +overlay within that application. With this, you can +use Google Earth to see the whole flight path +in 3D.
+11.6. Configure Altimeter
+Select this button and then select either an altimeter or +TeleDongle Device from the list provided. Selecting a TeleDongle +device will use the radio link to configure a remote +altimeter.
+The first few lines of the dialog provide information about the +connected device, including the product name, +software version and hardware serial number. Below that are the +individual configuration entries.
+At the bottom of the dialog, there are four buttons:
+-
+
- Save +
-
+
This writes any changes to the configuration parameter +block in flash memory. If you don’t press this button, +any changes you make will be lost.
+
+ - Reset +
-
+
This resets the dialog to the most recently saved +values, erasing any changes you have made.
+
+ - Reboot +
-
+
This reboots the device. Use this to switch from idle +to pad mode by rebooting once the rocket is oriented +for flight, or to confirm changes you think you saved +are really saved.
+
+ - Close +
-
+
This closes the dialog. Any unsaved changes will be +lost.
+
+
The rest of the dialog contains the parameters to be configured.
+11.6.1. Main Deploy Altitude
+This sets the altitude (above the recorded pad +altitude) at which the 'main' igniter will fire. The +drop-down menu shows some common values, but you can +edit the text directly and choose whatever you +like. If the apogee charge fires below this altitude, +then the main charge will fire two seconds after the +apogee charge fires.
+11.6.2. Apogee Delay
+When flying redundant electronics, it’s often +important to ensure that multiple apogee charges don’t +fire at precisely the same time, as that can over +pressurize the apogee deployment bay and cause a +structural failure of the air-frame. The Apogee Delay +parameter tells the flight computer to fire the apogee +charge a certain number of seconds after apogee has +been detected.
+11.6.3. Apogee Lockout
+Apogee lockout is the number of seconds after launch +where the flight computer will not fire the apogee +charge, even if the rocket appears to be at +apogee. This is often called 'Mach Delay', as it is +intended to prevent a flight computer from +unintentionally firing apogee charges due to the +pressure spike that occurrs across a mach +transition. Altus Metrum flight computers include a +Kalman filter which is not fooled by this sharp +pressure increase, and so this setting should be left +at the default value of zero to disable it.
++ + | ++Firmware versions older than 1.8.6 have a +bug which resets the time since launch to zero each +time a motor starts burning. Update firmware to get +the correct behavior. + | +
11.6.4. Frequency
+This configures which of the frequencies to use for +both telemetry and packet command mode. Note that if +you set this value via packet command mode, the +TeleDongle frequency will also be automatically +reconfigured to match so that communication will +continue afterwards.
+11.6.5. RF Calibration
+The radios in every Altus Metrum device are calibrated +at the factory to ensure that they transmit and +receive on the specified frequency. If you need to +you can adjust the calibration by changing this value. +Do not do this without understanding what the value +means, read the appendix on calibration and/or the +source code for more information. To change a +TeleDongle’s calibration, you must reprogram the unit +completely.
+11.6.6. Telemetry/RDF/APRS Enable
+Enables the radio for transmission during +flight. When disabled, the radio will not +transmit anything during flight at all.
+11.6.7. Telemetry baud rate
+This sets the modulation bit rate for data +transmission for both telemetry and packet +link mode. Lower bit rates will increase range +while reducing the amount of data that can be +sent and increasing battery consumption. All +telemetry is done using a rate 1/2 constraint +4 convolution code, so the actual data +transmission rate is 1/2 of the modulation bit +rate specified here.
+11.6.8. APRS Interval
+How often to transmit GPS information via APRS +(in seconds). When set to zero, APRS +transmission is disabled. +This option is +available on TeleMetrum v2 or newer and TeleMega +boards. TeleMetrum v1 boards cannot transmit +APRS packets. +Note that a single APRS packet +takes nearly a full second to transmit, so +enabling this option will prevent sending any +other telemetry during that time.
+11.6.9. APRS SSID
+Which SSID to report in APRS packets. By +default, this is set to the last digit of the +serial number, but can be configured to any +value from 0 to 9.
+11.6.10. APRS Format
+Whether to send APRS data in Compressed or +Uncompressed format. Compressed format is +smaller and more precise. Uncompressed +format is older, but may work better with your +device. The Kenwood TH-D72 only displays +altitude information with Uncompressed +format, while the Yaesu FT1D only displays +altitude with Compressed format. Test before +you fly to see which to use.
+11.6.11. Callsign
+This sets the call sign included in each +telemetry packet. Set this as needed to +conform to your local radio regulations.
+11.6.12. Maximum Flight Log Size
+This sets the space (in kilobytes) allocated +for each flight log. The available space will +be divided into chunks of this size. A smaller +value will allow more flights to be stored, a +larger value will record data from longer +flights.
+11.6.13. Ignitor Firing Mode
+This configuration parameter allows the two standard ignitor +channels (Apogee and Main) to be used in different +configurations.
+-
+
- Dual Deploy +
-
+
This is the usual mode of operation; the +'apogee' channel is fired at apogee and the +'main' channel at the height above ground +specified by the 'Main Deploy Altitude' during +descent.
+
+ - Redundant Apogee +
-
+
This fires both channels at apogee, the +'apogee' channel first followed after a two +second delay by the 'main' channel.
+
+ - Redundant Main +
-
+
This fires both channels at the height above +ground specified by the Main Deploy Altitude +setting during descent. The 'apogee' channel +is fired first, followed after a two second +delay by the 'main' channel.
+
+
11.6.14. Pad Orientation
+Because they include accelerometers, +TeleMetrum, TeleMega and EasyMega are +sensitive to the orientation of the board. By +default, they expect the antenna end to point +forward. This parameter allows that default to +be changed, permitting the board to be mounted +with the antenna pointing aft instead.
+-
+
- Antenna Up +
-
+
In this mode, the antenna end of the flight +computer must point forward, in line with the +expected flight path.
+
+ - Antenna Down +
-
+
In this mode, the antenna end of the flight +computer must point aft, in line with the +expected flight path.
+
+
11.6.15. Beeper Frequency
+The beeper on all Altus Metrum flight +computers works best at 4000Hz, however if you +have more than one flight computer in a single +airframe, having all of them sound at the same +frequency can be confusing. This parameter +lets you adjust the base beeper frequency +value.
+11.6.16. Logging Trigger Motion
+This sets the amount of motion that TeleGPS +needs to see before logging the new +position. Motions smaller than this are +skipped, which saves storage space.
+11.6.17. Position Reporting Interval
+The interval between TeleGPS position reports, +both over the air and in the log. Increase +this to reduce the frequency of radio +transmissions and the length of time available +in the log.
+11.6.18. Calibrate Accelerometer
+This opens a separate window to recalibrate the +accelerometers. Follow the instructions, orienting the +flight computer with the antenna end, or end opposite +the screw terminals, in the case of EasyMega, first up +and then down.
+When the calibration is complete, return to the +Configure Altimeter window and save the new +calibration values.
+11.6.19. Configure Pyro Channels
+This opens a separate window to configure the +additional pyro channels available on TeleMega +and EasyMega. One column is presented for +each channel. Each row represents a single +parameter, if enabled the parameter must meet +the specified test for the pyro channel to be +fired.
+Select conditions and set the related value; +the pyro channel will be activated when all +of the conditions are met. Each pyro channel +has a separate set of configuration values, so +you can use different values for the same +condition with different channels.
+At the bottom of the window, the 'Pyro Firing +Time' configuration sets the length of time +(in seconds) which each of these pyro channels +will fire for.
+Once you have selected the appropriate +configuration for all of the necessary pyro +channels, you can save the pyro configuration +along with the rest of the flight computer +configuration by pressing the 'Save' button in +the main Configure Flight Computer window.
+-
+
- Vertical Acceleration +
-
+
Select a value, and then choose whether +acceleration away from the ground should be above or below that +value. Acceleration is positive upwards, so accelerating towards the +ground would produce negative numbers. Acceleration during descent is +noisy and inaccurate, so be careful when using it during these phases +of the flight.
+
+ - Ascent rate +
-
+
Select a value, and then choose whether ascent rate +should be above or below that value. Ascent rate is positive upwards, +so moving towards the ground would produce negative numbers. Ascent +rate during descent is a bit noisy and so be careful when using it +during these phases of the flight.
+
+ - Height above pad +
-
+
Select a value, and then choose whether the height +above the launch pad should be above or below that value.
+
+ - Orientation +
-
+
TeleMega and EasyMega contain a 3-axis gyroscope and +accelerometer which is used to compute the orientation of the +rocket. A record of orientations over the last 0.64 seconds is kept +and the largest value within this period is compared with the +specified value. Note that the tilt angle is not the change in angle +from the launch pad, but rather absolute relative to gravityâthe +3-axis accelerometer is used to compute the angle of the rocket on the +launch pad and initialize the system.
+
+
+ + | +
+
+
+Because this value is computed by integrating +rate gyros, it gets progressively less +accurate as the flight goes on. It should have +an accumulated error of less than 0.2°/second +(after 10 seconds of flight, the error should +be less than 2°). +
+
+The usual use of the orientation configuration +is to ensure that the rocket is traveling +mostly upwards when deciding whether to ignite +air starts or additional stages. For that, +choose a reasonable maximum angle (like 20°) +and set the motor igniter to require an angle +of less than that value. + |
+
-
+
- Flight Time +
-
+
Time since launch. Select a value and choose whether to +activate the pyro channel before or after that amount of time.
+
+
+ + | ++Firmware versions older than 1.8.6 have a bug which resets the time +since launch to zero each time a motor starts burning. Update firmware +to get the correct behavior. + | +
-
+
- Ascending +
-
+
A deprecated configuration value which was the same as +setting Ascent rate > 0. Existing configurations using this will be +cleared and must be reconfigured by the user.
+
+ - Descending +
-
+
A deprecated configuration value which was the same as +setting Ascent rate < 0. Existing configurations using this will be +cleared and must be reconfigured by the user.
+
+ - After Motor +
-
+
The flight software counts each time the rocket starts +accelerating and then decelerating (presumably due to a motor or +motors burning). Use this value for multi-staged or multi-airstart +launches. As of version 1.8.6 firmware, this checks to make sure at +least this many motors have burned. Before version 1.8.6, this checked +to make sure that exactly this many motors had burned.
+
+ - Delay +
-
+
Once the other parameters all become true, a timer is +started for the specified amount of time. While the timer is running, +the other parameters are checked repeatedly and if any of them become +false, then the pyro channel is disabled and will not fire. If the +timer expires and all of the other parameters have remained true for +the entire time, then the pyro channel is fired.
+
+ - Flight State +
-
+
The flight software tracks the flight +through a sequence of states:
+++-
+
-
+
Boost. The motor has lit and the rocket is +accelerating upwards. Ascent rate will be greater than zero. +Vertical acceleration will be greater than zero.
+
+ -
+
Fast. The motor has burned out and the +rocket is decelerating, but it is going +faster than 200m/s. Ascent rate will be greater than zero. Vertical +acceleration will be less than zero.
+
+ -
+
Coast. The rocket is still moving upwards +and decelerating, but the Ascent rate is less +than 200m/s. Ascent rate will greater than zero. Vertical +acceleration will be less than zero.
+
+ -
+
Drogue. The rocket has reached apogee and +is heading back down, but is above the +configured Main altitude. Ascent rate will be less than zero during +this state. Vertical acceleration will be negative until the rocket +reaches a terminal descent rate, at which point Vertical +acceleration will be zero. Both Ascent rate and Vertical +acceleration are very noisy in this state, so be careful when +trying to use them to control pyro channels.
+
+ -
+
Main. The rocket is still descending, and +is below the Main altitude. Ascent rate will be less than zero +during this state. Vertical acceleration may be briefly less than +zero as the rocket slows from drogue descent to main descent, but +it will settle down to a zero value once the rocket has reached the +terminal velocity under the main chute. Ascent rate and Vertical +acceleration should be much less noisy once the main chute has +deployed.
+
+ -
+
Landed. The rocket is no longer moving.
+
+
+ -
+
You can select a state to limit when the pyro channel may activate; +note that the check is based on when the rocket transitions into the +state, and so checking for âgreater than Boostâ means that the rocket +is currently in boost or some later state.
+When a motor burns out, the rocket enters either Fast or Coast state +(depending on how fast it is moving). If the computer detects upwards +acceleration again, it will move back to Boost state.
+11.7. Configure AltosUI
+This button presents a dialog so that you can +configure the AltosUI global settings.
+11.7.1. Voice Settings
+AltosUI provides voice announcements during +flight so that you can keep your eyes on the +sky and still get information about the +current flight status. However, sometimes you +don’t want to hear them.
+-
+
- Enable +
-
+
Turns all voice announcements on and off
+
+ - Test Voice +
-
+
Plays a short message allowing you to verify +that the audio system is working and the volume settings +are reasonable
+
+
11.7.2. Log Directory
+AltosUI logs all telemetry data and saves all +flash data to this directory. This +directory is also used as the staring point +when selecting data files for display or +export.
+Click on the directory name to bring up a +directory choosing dialog, select a new +directory and click 'Select Directory' to +change where AltosUI reads and writes data +files.
+11.7.3. Callsign
+This value is transmitted in each command +packet sent from TeleDongle and received from +an altimeter. It is not used in telemetry +mode, as the callsign configured in the +altimeter board is included in all telemetry +packets. Configure this with the AltosUI +operators call sign as needed to comply with +your local radio regulations.
+Note that to successfully command a flight +computer over the radio (to configure the +altimeter, monitor idle, or fire pyro +charges), the callsign configured here must +exactly match the callsign configured in the +flight computer. This matching is case +sensitive.
+11.7.4. Imperial Units
+This switches between metric units (meters) +and imperial units (feet and miles). This +affects the display of values use during +flight monitoring, configuration, data +graphing and all of the voice +announcements. It does not change the units +used when exporting to CSV files, those are +always produced in metric units.
+11.7.5. Serial Debug
+This causes all communication with a connected +device to be dumped to the console from which +AltosUI was started. If you’ve started it from +an icon or menu entry, the output will simply +be discarded. This mode can be useful to debug +various serial communication issues.
+11.7.6. Font size
+Selects the set of fonts used in the flight +monitor window. Choose between the small, +medium and large sets.
+11.7.7. Look & feel
+Switches between the available Java user +interface appearances. The default selection +is supposed to match the native window system +appearance for the target platform.
+11.7.8. Menu position
+Selects the initial position for the main +AltosUI window that includes all of the +command buttons.
+11.7.9. Map Cache Size
+Sets the number of map 'tiles' kept in memory +while the application is running. More tiles +consume more memory, but will make panning +around the map faster.
+11.7.10. Manage Frequencies
+This brings up a dialog where you can +configure the set of frequencies shown in the +various frequency menus. You can add as many +as you like, or even reconfigure the default +set. Changing this list does not affect the +frequency settings of any devices, it only +changes the set of frequencies shown in the +menus.
+11.8. Configure Groundstation
+Select this button and then select a TeleDongle or +TeleBT Device from the list provided.
+The first few lines of the dialog provide information +about the connected device, including the product +name, software version and hardware serial +number. Below that are the individual configuration +entries.
+Note that TeleDongle and TeleBT don’t save any +configuration data, the settings here are recorded on +the local machine in the Java preferences +database. Moving the device to another machine, or +using a different user account on the same machine +will cause settings made here to have no effect.
+At the bottom of the dialog, there are three +buttons:
+-
+
- Save +
-
+
This writes any changes to the local Java +preferences file. If you don’t press this +button, any changes you make will be lost.
+
+ - Reset +
-
+
This resets the dialog to the most recently +saved values, erasing any changes you have +made.
+
+ - Close +
-
+
This closes the dialog. Any unsaved changes +will be lost.
+
+
The rest of the dialog contains the parameters +to be configured.
+11.8.1. Frequency
+This configures the frequency to use for both +telemetry and packet command mode. Set this +before starting any operation involving packet +command mode so that it will use the right +frequency. Telemetry monitoring mode also +provides a menu to change the frequency, and +that menu also sets the same Java preference +value used here.
+11.8.2. RF Calibration
+The radios in every Altus Metrum device are +calibrated at the factory to ensure that they +transmit and receive on the specified +frequency. To change a TeleDongle or TeleBT’s +calibration, you must reprogram the unit +completely, so this entry simply shows the +current value and doesn’t allow any changes.
+11.8.3. Telemetry Rate
+This lets you match the telemetry and packet +link rate from the transmitter. If they don’t +match, the device won’t receive any data.
+11.9. Flash Image
+This reprograms Altus Metrum devices with new +firmware. +TeleMetrum v1.x, TeleDongle v0.2, TeleMini v1.0 +and TeleBT v1.0 are all reprogrammed by using another +similar unit as a programming dongle (pair +programming). +TeleMega, EasyMega, TeleMetrum v2 or newer, +EasyMini, TeleBT v3 or newer and TeleDongle v3 +or newer are all +programmed directly +over USB (self programming). Please read +the directions for flashing devices in +Updating Device Firmware.
+11.10. Fire Igniter
+This activates the igniter circuits in the flight +computer to help test recovery systems +deployment. +Because this command can operate over the +Packet Command Link, you can prepare the rocket as for +flight and then test the recovery system without +needing to snake wires inside the air-frame.
+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 all of the pyro +channels.
+Next, select the desired igniter to fire. This will +enable the 'Arm' button.
+Select the 'Arm' button. This enables the 'Fire' +button. The word 'Arm' is replaced by a countdown +timer indicating that you have 10 seconds to press the +'Fire' button or the system will deactivate, at which +point you start over again at selecting the desired +igniter.
+11.11. Scan Channels
+This listens for telemetry packets on all of the +configured frequencies, displaying information about +each device it receives a packet from. You can select +which of the baud rates and telemetry formats should +be tried; by default, it only listens at 38400 baud +with the standard telemetry format used in v1.0 and +later firmware.
+11.12. Load Maps
+Before heading out to a new launch site, you can use +this to load satellite images in case you don’t have +internet connectivity at the site. Try not to wait +until the last minute, though, particularly if you’re +heading to a major launch. If too many people are +all trying to download map data at once, Google may +limit access until the next day.
+There’s a drop-down menu of launch sites we know +about; if your favorites aren’t there, please let us +know the lat/lon and name of the site. The contents of +this list are actually downloaded from our server at +run-time, so as new sites are sent in, they’ll get +automatically added to this list. If the launch site +isn’t in the list, you can manually enter the lat/lon +values
+There are four different kinds of maps you can view; +you can select which to download by selecting as many +as you like from the available types:
+-
+
- Hybrid +
-
+
A combination of satellite imagery and road data. This +is the default view.
+
+ - Satellite +
-
+
Just the satellite imagery without any annotation.
+
+ - Roadmap +
-
+
Roads, political boundaries and a few geographic +features.
+
+ - Terrain +
-
+
Contour intervals and shading that show hills and +valleys.
+
+
You can specify the range of zoom levels to download; +smaller numbers show more area with less +resolution. The default level, 0, shows about +3m/pixel. One zoom level change doubles or halves that +number. Larger zoom levels show more detail, smaller +zoom levels less.
+The Map Radius value sets how large an area around the +center point to download. Select a value large enough +to cover any plausible flight from that site. Be aware +that loading a large area with a high maximum zoom +level can attempt to download a lot of data. Loading +hybrid maps with a 10km radius at a minimum zoom of -2 +and a maximum zoom of 2 consumes about 120MB of +space. Terrain and road maps consume about 1/10 as +much space as satellite or hybrid maps.
+Clicking the 'Load Map' button will fetch images from +Google Maps; note that Google limits how many images +you can fetch at once, so if you load more than one +launch site, you may get some gray areas in the map +which indicate that Google is tired of sending data to +you. Try again later.
+11.13. Monitor Idle
+This brings up a dialog similar to the Monitor Flight +UI, except it works with the altimeter in âidleâ mode +by sending query commands to discover the current +state rather than listening for telemetry +packets. Because this uses command mode, it needs to +have the TeleDongle and flight computer callsigns +match exactly. If you can receive telemetry, but +cannot manage to run Monitor Idle, then it’s very +likely that your callsigns are different in some way.
+You can change the frequency and callsign used to +communicate with the flight computer; they must both +match the configuration in the flight computer +exactly.
+12. AltosDroid
+AltosDroid provides the same flight monitoring capabilities as +AltosUI, but runs on Android devices. AltosDroid is designed +to connect to a TeleBT receiver over Bluetooth⢠and (on +Android devices supporting USB On-the-go) TeleDongle and +TeleBT devices over USB. AltosDroid monitors telemetry data, +logging it to internal storage in the Android device, and +presents that data in a UI similar to the 'Monitor Flight' +window in AltosUI.
+This manual will explain how to configure AltosDroid, connect +to TeleBT or TeleDongle, operate the flight monitoring +interface and describe what the displayed data means.
+12.1. Installing AltosDroid
+AltosDroid is available from the Google Play store. To +install it on your Android device, open the Google +Play Store application and search for +âaltosdroidâ. Make sure you don’t have a space between +âaltosâ and âdroidâ or you probably won’t find what +you want. That should bring you to the right page from +which you can download and install the application.
+12.2. Charging TeleBT Battery
+Before using TeleBT with AltosDroid, make sure the +internal TeleBT battery is charged. To do this, +attach a micro USB cable from a computer or other USB +power source to TeleBT. A dual LED on the circuit +board should illuminate, showing red while the battery +is charging, green when charging is completed, and +both red and green on at the same time if there is a +battery fault.
+12.3. Connecting to TeleBT over Bluetoothâ¢
+Press the Android 'Menu' button or soft-key to see the +configuration options available. Select the 'Connect a +device' option and then the 'Scan for devices' entry +at the bottom to look for your TeleBT device. Select +your device, and when it asks for the code, enter +'1234'.
+Subsequent connections will not require you to enter +that code, and your 'paired' device will appear in the +list without scanning.
+12.4. Connecting to TeleDongle or TeleBT over USB
+Get a special USB On-the-go adapter cable. These +cables have a USB micro-B male connector on one end +and a standard A female connector on the other +end. Plug in your TeleDongle or TeleBT device to the +adapter cable and the adapter cable into your phone +and AltosDroid should automatically start up. If it +doesn’t, the most likely reason is that your Android +device doesn’t support USB On-the-go.
+12.5. AltosDroid Menu
+The main AltosDroid menu has a selection of operation +and configuration options.
+-
+
- Connect a device +
-
+
Offers a menu of available TeleBT devices, and an +option to scan for additional devices.
+
+ - Disconnect device +
-
+
Disconnects the current TeleBT or TeleDongle +device. You can reconnect TeleBT over bluetooth by +using Connect a Device. You can reconnect a USB device +by unplugging it and then plugging it back in.
+
+ - Select radio frequency +
-
+
This selects which frequency to listen on by bringing +up a menu of pre-set radio frequencies. Pick the one +which matches your altimeter.
+
+ - Select Tracker +
-
+
Switches the information displays to show data for a +different transmitting device. The map will always +show all of the devices in view. Trackers are shown +and selected by serial number, so make sure you note +the serial number of devices in each airframe.
+
+ - Delete Track +
-
+
Deletes all information about a transmitting device.
+
+ - Setup +
-
+
Offers additional configuration operations. See +Setup.
+
+ - Idle Mode +
-
+
Communicate with an altimeter in Idle mode. See Idle Mode
+
+ - Quit +
-
+
Shuts down AltosDroid.
+
+
12.6. Setup
+-
+
- Telemetry Rate +
-
+
Altus Metrum transmitters can be configured to operate +at lower data rates to improve transmission range. If +you have configured your device to do this, this menu +item allows you to change the receiver to match.
+
+ - Units +
-
+
Selects which units used to report values.
+
+ - Map Type +
-
+
Displays a menu of map types and lets you select +one. Hybrid maps include satellite images with a +roadmap overlaid. Satellite maps dispense with the +roadmap overlay. Roadmap shows just the roads. Terrain +includes roads along with shadows indicating changes +in elevation, and other geographical features.
+
+ - Map Source +
-
+
Select between online and offline maps. Online maps +will show a 'move to current position' icon in the +upper right corner, while offline maps will have +copyright information all over the map. Otherwise, +they’re pretty similar.
+
+ - Preload Maps +
-
+
Brings up a dialog allowing you to download offline +map tiles so that you can have maps available even if +you have no network connectivity at the launch site.
+
+ - Manage Frequencies +
-
+
This presents a dialog containing the current list of +frequencies that will be show in the 'Select radio +frequency' menu. You can change the label for existing +frequencies, delete or add new frequencies.
+
+
12.7. Idle Mode
+-
+
- Callsign +
-
+
Lets you configure the callsign used by AltosDroid to +communicate with the flight computer. The callsign on +the two devices must match or the communication will +fail. This provides a modest amount of protection +against accidentally controlling another persons +flight computer.
+
+ - Monitor +
-
+
This provides similar information to monitoring the +telemetry stream from a flight computer in flight +mode. The title of the application will change to +include (idle) so you can tell this mode is active.
+
+ - Reboot +
-
+
Remotely reboots the flight computer. This is useful +when the flight computers turned on while the airframe +is horizontal and you want to restart the flight +computers in pad mode after raising the airframe to +vertical.
+
+ - Fire Igniters +
-
+
Remotely control igniters for ground testing recovery +systems.
+
+
12.8. AltosDroid Flight Monitoring
+AltosDroid is designed to mimic the AltosUI flight +monitoring display, providing separate tabs for each +stage of your rocket flight along with a tab +containing a map of the local area with icons marking +the current location of the altimeter and the Android +device.
+12.9. Pad
+The 'Pad' tab shows information used to decide when +the rocket is ready for flight. The first elements +include red/green indicators, if any of these is red, +you’ll want to evaluate whether the rocket is ready to +launch.
+When the pad tab is selected, the voice responses will +include status changes to the igniters and GPS +reception, letting you know if the rocket is still +ready for launch.
+-
+
- Battery +
-
+
This indicates whether the Li-Po battery powering the +transmitter has sufficient charge to last for the +duration of the flight. A value of more than 3.8V is +required for a 'GO' status.
+
+ - Receiver Battery +
-
+
This indicates whether the Li-Po battery powering the +TeleBT has sufficient charge to last for the duration +of the flight. A value of more than 3.8V is required +for a 'GO' status.
+
+ - Data Logging +
-
+
This indicates whether there is space remaining +on-board to store flight data for the upcoming +flight. If you’ve downloaded data, but failed to erase +flights, there may not be any space left. TeleMetrum +and TeleMega can store multiple flights, depending on +the configured maximum flight log size. TeleGPS logs +data continuously. TeleMini v1.0 stores only a single +flight, so it will need to be downloaded and erased +after each flight to capture data. This only affects +on-board flight logging; the altimeter will still +transmit telemetry and fire ejection charges at the +proper times.
+
+ - GPS Locked +
-
+
For a TeleMetrum or TeleMega device, this indicates +whether the GPS receiver is currently able to compute +position information. GPS requires at least 4 +satellites to compute an accurate position.
+
+ - GPS Ready +
-
+
For a TeleMetrum or TeleMega device, this indicates +whether GPS has reported at least 10 consecutive +positions without losing lock. This ensures that the +GPS receiver has reliable reception from the +satellites.
+
+ - Apogee Igniter +
-
+
This indicates whether the apogee igniter has +continuity. If the igniter has a low resistance, then +the voltage measured here will be close to the Li-Po +battery voltage. A value greater than 3.2V is required +for a 'GO' status.
+
+ - Main Igniter +
-
+
This indicates whether the main igniter has +continuity. If the igniter has a low resistance, then +the voltage measured here will be close to the Li-Po +battery voltage. A value greater than 3.2V is required +for a 'GO' status.
+
+ - Igniter A-D +
-
+
This indicates whether the indicated additional pyro +channel igniter has continuity. If the igniter has a +low resistance, then the voltage measured here will be +close to the Li-Po battery voltage. A value greater +than 3.2V is required for a 'GO' status.
+
+
The Pad tab also shows the location of the Android +device.
+12.10. Flight
+The 'Flight' tab shows information used to evaluate +and spot a rocket while in flight. It displays speed +and height data to monitor the health of the rocket, +along with elevation, range and bearing to help locate +the rocket in the sky.
+While the Flight tab is displayed, the voice +announcements will include current speed, height, +elevation and bearing information.
+-
+
- Speed +
-
+
Shows current vertical speed. During descent, the +speed values are averaged over a fairly long time to +try and make them steadier.
+
+ - Height +
-
+
Shows the current height above the launch pad.
+
+ - Max Speed +
-
+
Shows the maximum vertical speed seen during the +flight.
+
+ - Max Height +
-
+
Shows the maximum height above launch pad.
+
+ - Elevation +
-
+
This is the angle above the horizon from the android +devices current position.
+
+ - Range +
-
+
The total distance from the android device to the +rocket, including both ground distance and difference +in altitude. Use this to gauge how large the rocket is +likely to appear in the sky.
+
+ - Bearing +
-
+
This is the azimuth from true north for the rocket +from the android device. Use this in combination with +the Elevation value to help locate the rocket in the +sky, or at least to help point the antenna in the +general direction. This is provided in both degrees +and a compass point (like West South West). You’ll +want to know which direction is true north before +launching your rocket.
+
+ - Ground Distance +
-
+
This shows the distance across the ground to the +lat/lon where the rocket is located. Use this to +estimate what is currently under the rocket.
+
+ - Latitude/Longitude +
-
+
Displays the last known location of the rocket.
+
+ - Apogee Igniter +
-
+
This indicates whether the apogee igniter has +continuity. If the igniter has a low resistance, then +the voltage measured here will be close to the Li-Po +battery voltage. A value greater than 3.2V is required +for a 'GO' status.
+
+ - Main Igniter +
-
+
This indicates whether the main igniter has +continuity. If the igniter has a low resistance, then +the voltage measured here will be close to the Li-Po +battery voltage. A value greater than 3.2V is required +for a 'GO' status.
+
+
12.11. Recover
+The 'Recover' tab shows information used while +recovering the rocket on the ground after flight.
+While the Recover tab is displayed, the voice +announcements will include distance along with either +bearing or direction, depending on whether you are +moving.
+-
+
- Bearing +
-
+
This is the azimuth from true north for the rocket +from the android device. Use this in combination with +the Elevation value to help locate the rocket in the +sky, or at least to help point the antenna in the +general direction. This is provided in both degrees +and a compass point (like West South West). You’ll +want to know which direction is true north before +launching your rocket.
+
+ - Direction +
-
+
When you are in motion, this provides the angle from +your current direction of motion towards the rocket.
+
+ - Distance +
-
+
Distance over the ground to the rocket.
+
+ - Tar Lat/Tar Lon +
-
+
Displays the last known location of the rocket.
+
+ - My Lat/My Lon +
-
+
Displays the location of the Android device.
+
+ - Max Height +
-
+
Shows the maximum height above launch pad seen during +the flight.
+
+ - Max Speed +
-
+
Shows the maximum vertical speed seen during the +flight.
+
+ - Max Accel +
-
+
Shows the maximum vertical acceleration seen during +the flight.
+
+
12.12. Map
+The 'Map' tab shows a map of the area around the +rocket being tracked along with information needed to +recover it.
+On the map itself, icons showing the location of the +android device along with the last known location of +each tracker. A blue line is drawn from the android +device location to the currently selected tracker.
+Below the map, the distance and either bearing or +direction along with the lat/lon of the target and the +android device are shown
+The Map tab provides the same voice announcements as +the Recover tab.
+12.13. Downloading Flight Logs
+AltosDroid always saves every bit of telemetry data it +receives. To download that to a computer for use with +AltosUI, remove the SD card from your Android device, +or connect your device to your computer’s USB port and +browse the files on that device. You will find +'.telem' files in the TeleMetrum directory that will +work with AltosUI directly.
+Appendix A: System Operation
+A.1. Firmware Modes
+The AltOS firmware build for the altimeters has two +fundamental modes, âidleâ and âflightâ. Which of these modes +the firmware operates in is determined at start up +time. +For +TeleMetrum, TeleMega and EasyMega, which have accelerometers, 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 ânose upâ, then +the flight computer 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. +Since +EasyMini doesn’t +have an +accelerometer we can use to determine orientation, âidleâ mode +is selected if the board is connected via USB to a computer, +otherwise the board enters âflightâ mode. +TeleMini +selects âidleâ mode if it receives a command packet +within the +first five seconds of operation.
+At power on, the altimeter will beep out the battery voltage +to the nearest tenth of a volt. Each digit is represented by +a sequence of short âditâ beeps, with a pause between +digits. A zero digit is represented with one long âdahâ +beep. Then there will be a short pause while the altimeter +completes initialization and self test, and decides which mode +to enter next.
+In flight or âpadâ 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 âdi-dah-dah-ditâ (âPâ 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 âbrapâ 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.
+If idle mode is entered, you will hear an audible âdi-ditâ or +see two short flashes (âIâ for idle), and the flight state +machine is disengaged, thus no ejection charges will fire. +The altimeters also listen for the radio link when in idle +mode for requests sent via TeleDongle. Commands can be issued +in idle mode over either USB or the radio link +equivalently. +TeleMini only has the radio 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.
+In âIdleâ and âPadâ 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 âno continuity toneâ)
+See Understanding Beeps for a summary of all of +the audio signals used.
+Once landed, the flight computer will signal that by emitting +the âLandedâ sound described above, after which it will beep +out the apogee height (in meters). Each digit is represented +by a sequence of short âditâ beeps, with a pause between +digits. A zero digit is represented with one long âdahâ +beep. The flight computer will continue to report landed mode +and beep out the maximum height until turned off.
+One âneat trickâ of particular value when TeleMetrum, TeleMega +or EasyMega are used with +very large air-frames, 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 air-frame to launch position, and issue a 'reset' command +via TeleDongle over the radio link to 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!
+TeleMini is configured solely via the radio link. Of course, that +means you need to know the TeleMini radio configuration values +or you won’t be able to communicate with it. For situations +when you don’t have the radio configuration values, +TeleMini v1.0 +offers an 'emergency recovery' mode. In this mode, +TeleMini v1.0 is +configured as follows:
+-
+
-
+
Sets the radio frequency to 434.550MHz
+
+ -
+
Sets the radio calibration back to the factory value.
+
+ -
+
Sets the callsign to N0CALL
+
+ -
+
Does not go to 'pad' mode after five seconds.
+
+
To get into 'emergency recovery' mode, first find the row of +four small holes opposite the switch wiring. Using a short +piece of small gauge wire, connect the outer two holes +together, then power TeleMini up. Once the red LED is lit, +disconnect the wire and the board should signal that it’s in +'idle' mode after the initial five second startup +period.
+A.2. GPS
+TeleMetrum and TeleMega include a complete GPS receiver. A +complete explanation of how GPS works is beyond the scope of +this manual, but the bottom line is that the GPS receiver +needs to lock onto at least four satellites to obtain a solid +3 dimensional position fix and know what time it is.
+The flight computers provide backup power to the GPS chip any time a +battery is connected. This allows the receiver to âwarm startâ on +the launch rail much faster than if every power-on were a GPS +âcold startâ. In typical operations, powering up +on the flight line in idle mode while performing final air-frame +preparation will be sufficient to allow the GPS receiver to cold +start and acquire lock. Then the board can be powered down during +RSO review and installation on a launch rod or rail. When the board +is turned back on, the GPS system should lock very quickly, typically +long before igniter installation and return to the flight line are +complete.
+A.3. Controlling An Altimeter Over The Radio Link
+One of the unique features of the Altus Metrum system 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.
+Any operation which can be performed with a flight computer can +either be done with the device directly connected to the +computer via the USB cable, or through the radio +link. TeleMini doesn’t provide a USB connector and so it is +always communicated with over radio. Select the appropriate +TeleDongle device when the list of devices is presented and +AltosUI will interact with an altimeter over the radio link.
+One oddity in the current interface is how AltosUI selects the +frequency for radio 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, and pick the +appropriate TeleDongle device. Once the flight monitoring +window is open, select the desired frequency and then close it +down again. All radio communications will now use that frequency.
+-
+
-
+
Save Flight DataâRecover flight data from the +rocket without opening it up.
+
+ -
+
Configure altimeter apogee delays, main deploy +heights and additional pyro event conditions to +respond to changing launch conditions. You can also +'reboot' the altimeter. Use this to remotely enable +the flight computer by turning TeleMetrum or +TeleMega on in âidleâ mode, then once the air-frame +is oriented for launch, you can reboot the +altimeter and have it restart in pad mode without +having to climb the scary ladder.
+
+ -
+
Fire IgnitersâTest your deployment charges without snaking +wires out through holes in the air-frame. Simply assemble the +rocket as if for flight with the apogee and main charges +loaded, then remotely command the altimeter to fire the +igniters.
+
+
Operation over the radio link for configuring an +altimeter, ground testing igniters, and so forth uses +the same RF frequencies as flight telemetry. To +configure the desired TeleDongle frequency, select the +monitor flight tab, then use the frequency selector +and close the window before performing other desired +radio operations.
+The flight computers only enable radio commanding in +'idle' mode. TeleMetrum and TeleMega use the +accelerometer to detect which orientation they start +up in, so make sure you have the flight computer lying +horizontally when you turn it on. Otherwise, it will +start in 'pad' mode ready for flight, and will not be +listening for command packets from TeleDongle.
+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. The easiest +way to connect to TeleMini is to initiate the command +and select the TeleDongle device. At this point, the +TeleDongle will be attempting to communicate with the +TeleMini. Now turn TeleMini on, and it should +immediately start communicating with the TeleDongle +and the desired operation can be performed.
+You can monitor the operation of the radio link by watching the +lights on the devices. The red LED will flash each time a packet +is transmitted, while the green LED will light up on TeleDongle when +it is waiting to receive a packet from the altimeter.
+A.4. Ground Testing
+An important aspect of preparing a rocket using electronic deployment +for flight is ground testing the recovery system. +Thanks +to the bi-directional radio link central to the Altus Metrum system, +this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket +with less work than you may be accustomed to with other systems. It +can even be fun!
+Just prep the rocket for flight, then power up the altimeter +in âidleâ +mode (placing air-frame horizontal for TeleMetrum or TeleMega, or +selecting the Configure Altimeter tab for TeleMini). +This will cause +the firmware to go into âidleâ mode, in which the normal flight +state machine is disabled and charges will not fire without +manual command. +You can now command the altimeter to fire the apogee +or main charges from a safe distance using your +computer and the Fire Igniter tab to complete ejection testing.
+A.5. Radio Link
+TeleMetrum, TeleMini and TeleMega all incorporate an +RF transceiver, but it’s not a full duplex system; +each end can only be transmitting or receiving at any +given moment. So we had to decide how to manage the +link.
+By design, the altimeter firmware listens for the +radio link when it’s in âidle modeâ, which allows us +to use the radio link to configure the rocket, do +things like ejection tests, and extract data after a +flight without having to crack open the air-frame. +However, when the board is in âflight modeâ, the +altimeter only transmits and doesn’t listen at all. +That’s because we want to put ultimate priority on +event detection and getting telemetry out of the +rocket through the radio in case the rocket crashes +and we aren’t able to extract data later.
+We don’t generally use a 'normal packet radio' mode +like APRS because they’re just too inefficient. The +GFSK modulation we use is FSK with the base-band +pulses passed through a Gaussian filter before they go +into the modulator to limit the transmitted bandwidth. +When combined with forward error correction and +interleaving, this allows us to have a very robust +19.2 kilobit data link with only 10-40 milliwatts of +transmit power, a whip antenna in the rocket, and a +hand-held Yagi on the ground. We’ve had flights to +above 21k feet AGL with great reception, and +calculations suggest we should be good to well over +40k feet AGL with a 5-element yagi on the ground with +our 10mW units and over 100k feet AGL with the 40mW +devices. We hope to fly boards to higher altitudes +over time, and would of course appreciate customer +feedback on performance in higher altitude flights!
+A.6. APRS
+TeleMetrum v2 and newer and TeleMega can send APRS if desired, and the +interval between APRS packets can be configured. As each APRS +packet takes a full second to transmit, we recommend an +interval of at least 5 seconds to avoid consuming too much +battery power or radio channel bandwidth. You can configure +the APRS interval using AltosUI; that process is described in +Configure Altimeter.
+AltOS supports both compressed and uncompressed APRS +position report data formats. The compressed format +provides for higher position precision and shorter +packets than the uncompressed APRS format. We’ve found +some older APRS receivers that do not handle the +compressed format. The Kenwood TH-72A requires the use +of uncompressed format to display altitude information +correctly. The Yaesu FT1D requires the use of +compressed format to display altitude information.
+APRS packets include an SSID (Secondary Station Identifier) +field that allows one operator to have multiple +transmitters. AltOS allows you to set this to a single digit +from 0 to 9, allowing you to fly multiple transmitters at the +same time while keeping the identify of each one separate in +the receiver. By default, the SSID is set to the last digit of +the device serial number.
+The APRS packet format includes a comment field that +can have arbitrary text in it. AltOS uses this to send +status information as shown in the following table.
+Field | +Example | +Description | +
---|---|---|
1 |
+L |
+GPS Status U for unlocked, L for locked |
+
2 |
+6 |
+Number of Satellites in View |
+
3 |
+B4.0 |
+Altimeter Battery Voltage |
+
4 |
+A3.7 |
+Apogee Igniter Voltage |
+
5 |
+M3.7 |
+Main Igniter Voltage |
+
6 |
+1286 |
+Device Serial Number |
+
4 |
+1286 |
+Device Serial Number |
+
Here’s an example of an APRS comment showing GPS lock with 6 +satellites in view, a primary battery at 4.0V, and +apogee and main igniters both at 3.7V from device 1286.
+L6 B4.0 A3.7 M3.7 1286+
Here’s an example of an APRS comment showing GPS lock with 6 +satellites in view and a primary battery at 4.0V from device 1876.
+L6 B4.0 1876+
Make sure your primary battery is above 3.8V +any connected igniters are above 3.5V +and GPS is locked with at least 5 or 6 satellites in +view before flying. If GPS is switching between L and +U regularly, then it doesn’t have a good lock and you +should wait until it becomes stable.
+If the GPS receiver loses lock, the APRS data +transmitted will contain the last position for which +GPS lock was available. You can tell that this has +happened by noticing that the GPS status character +switches from 'L' to 'U'. Before GPS has locked, APRS +will transmit zero for latitude, longitude and +altitude.
+A.7. Configurable Parameters
+Configuring an Altus Metrum altimeter for flight is +very simple. Even on our baro-only TeleMini and +EasyMini boards, the use of a Kalman filter means +there is no need to set a âmach delayâ. All of the +configurable parameters can be set using AltosUI. Read +Configure Altimeter for more information.
+Appendix B: Handling Precautions
+All Altus Metrum products are sophisticated electronic devices. +When handled gently and properly installed in an air-frame, they +will deliver impressive results. However, as with all electronic +devices, there are some precautions you must take.
++ + | ++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 air-frame. We +often wrap them in suitable scraps of closed-cell packing foam before +strapping them down, for example. + | +
The barometric sensors used on all of our flight computers are +sensitive to sunlight. In normal mounting situations, the baro sensor +and all of the other surface mount components +are âdownâ towards whatever the underlying mounting surface is, so +this is not normally a problem. Please consider this when designing an +installation in an air-frame with a see-through plastic payload bay. It +is particularly important to +consider this with TeleMini v1.0, both because the baro sensor is on the +âtopâ 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.
+The barometric sensor sampling port must be able to âbreatheâ, +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.
+As with all other rocketry electronics, Altus Metrum altimeters must +be protected from exposure to corrosive motor exhaust and ejection +charge gasses.
+Appendix C: Updating Device Firmware
+TeleMega, TeleMetrum v2 and newer, EasyMega, EasyMini and TeleDongle v3 +are all +programmed directly over their USB connectors (self +programming). +TeleMetrum v1, TeleMini v1.0 and TeleDongle v0.2 are +all programmed by using another device as a programmer (pair +programming). It’s important to recognize which kind of devices +you have before trying to reprogram them.
+You may wish to begin by ensuring you have current firmware +images. These are distributed as part of the AltOS software +bundle that also includes the AltosUI ground station program. +Newer ground station versions typically work fine with older +firmware versions, so you don’t need to update your devices +just to try out new software features. You can always +download the most recent version from +http://www.altusmetrum.org/AltOS/
+C.1. Updating TeleMega, TeleMetrum v2 or newer, EasyMega, EasyMini, TeleDongle v3 or TeleBT v3 Firmware
+Self-programmable devices are reprogrammed by +connecting them to your computer over USB.
+-
+
-
+
Attach a battery if necessary and power switch to +the target device. Power up the device.
+
+ -
+
Using a Micro USB cable, connect the target device to your +computer’s USB socket.
+
+ -
+
Run AltosUI, and select 'Flash Image' from the File menu.
+
+ -
+
Select the target device in the Device Selection dialog.
+
+ -
+
Select the image you want to flash to the device, +which should have a name in the form +<product>-v<product-version>-<software-version>.ihx, +such as EasyMini-v1.0-1.6.0.ihx.
+
+ -
+
Make sure the configuration parameters are +reasonable looking. If the serial number and/or RF +configuration values aren’t right, you’ll need to +change them.
+
+ -
+
Hit the 'OK' button and the software should proceed +to flash the device with new firmware, showing a +progress bar.
+
+ -
+
Verify that the device is working by using the +'Configure Altimeter' or 'Configure Groundstation' +item to check over the configuration.
+
+
C.1.1. Recovering From Self-Flashing Failure
+If the firmware loading fails, it can leave the device +unable to boot. Not to worry, you can force the device to +start the boot loader instead, which will let you try to +flash the device again.
+On each device, connecting two pins from one of the exposed +connectors will force the boot loader to start, even if the +regular operating system has been corrupted in some way.
+-
+
- TeleMega +
-
+
Connect pin 6 and pin 1 of the companion +connector. Pin 1 can be identified by the square pad +around it, and then the pins could sequentially across +the board. Be very careful to not short pin 8 to +anything as that is connected directly to the +battery. Pin 7 carries 3.3V and the board will crash +if that is connected to pin 1, but shouldn’t damage +the board.
+
+ - EasyMega +
-
+
Connect pin 6 and pin 1 of the companion +connector. Pin 1 can be identified by the square pad +around it, and then the pins could sequentially across +the board. Be very careful to not short pin 8 to +anything as that is connected directly to the +battery. Pin 7 carries 3.3V and the board will crash +if that is connected to pin 1, but shouldn’t damage +the board.
+
+ - TeleMetrum v2 and newer +
-
+
Connect pin 6 and pin 1 of the companion +connector. Pin 1 can be identified by the square pad +around it, and then the pins could sequentially across +the board. Be very careful to not short pin 8 to +anything as that is connected directly to the +battery. Pin 7 carries 3.3V and the board will crash +if that is connected to pin 1, but shouldn’t damage +the board.
+
+ - EasyMini +
-
+
Connect pin 6 and pin 1 of the debug connector, which +is the six holes next to the beeper. Pin 1 can be +identified by the square pad around it, and then the +pins could sequentially across the board, making Pin 6 +the one on the other end of the row.
+
+ - TeleGPS v1 +
-
+
Connect pin 32 on the CPU to ground. Pin 32 is the +right-most pin on the bottom edge of the CPU when the +board is oriented with the USB and battery connectors +to the right.
+
+ - TeleGPS v2 +
-
+
Connect together pins 1 and 5 of the Debug connector. +Pin 1 is the pin with the square pad around the hole.
+
+ - TeleDongle v3 +
-
+
Connect pin 32 on the CPU to ground. Pin 32 is closest +to the USB wires on the row of pins towards the center +of the board. Ground is available on the capacitor +next to it, on the end towards the USB wires.
+
+ - TeleBT v3 +
-
+
Connect pin 4 on the CPU to 3.3V, which can be done by +connecting pin 1 to pin 4. Pin 1 is the left pin on +the lower edge of the chip when the unit is oriented +such that the SMA is at the top.
+
+ - TeleBT v4 +
-
+
Connect pin 30 on the CPU to ground. Pin 30 is the 6th +pin from the right on the top when the unit is oriented +such that the SMA is at the top.
+
+
Once you’ve located the right pins:
+-
+
-
+
Turn the altimeter power off.
+
+ -
+
Connect a battery.
+
+ -
+
Connect the indicated terminals together with a +short piece of wire. Take care not to accidentally +connect anything else.
+
+ -
+
Connect USB
+
+ -
+
Turn the board power on.
+
+
The board should now be visible over USB as +'AltosFlash' and be ready to receive firmware. Once +the board has been powered up, you can remove the +piece of wire.
+C.2. Pair Programming
+The big concept to understand is that you have to use +a TeleMetrum v1.0, TeleBT v1.0 or TeleDongle v0.2 as a +programmer to update a pair programmed device. Due to +limited memory resources in the cc1111, we don’t +support programming directly over USB for these +devices.
+If you need to update the firmware on a TeleDongle +v0.2, we recommend updating the altimeter first, +before updating TeleDongle. However, note that +TeleDongle rarely need to be updated. Any firmware +version 1.0.1 or later will work, version 1.2.1 may +have improved receiver performance slightly.
+C.2.1. Updating TeleMetrum v1.x Firmware
+-
+
-
+
Find the 'programming cable' that you got as +part of the starter kit, that has a red +8-pin MicroMaTch connector on one end and a +red 4-pin MicroMaTch connector on the other +end.
+
+ -
+
Take the 2 screws out of the TeleDongle v0.2 +or TeleBT v1.0 case to get access to the +circuit board.
+
+ -
+
Plug the 8-pin end of the programming cable +to the matching connector on the TeleDongle +v0.2 or TeleBT v1.0, and the 4-pin end to +the matching connector on the TeleMetrum. +Note that each MicroMaTch connector has an +alignment pin that goes through a hole in +the PC board when you have the cable +oriented correctly.
+
+ -
+
Attach a battery to the TeleMetrum board.
+
+ -
+
Plug the TeleDongle v0.2 or TeleBT v1.0 into +your computer’s USB port, and power up the +TeleMetrum.
+
+ -
+
Run AltosUI, and select 'Flash Image' from +the File menu.
+
+ -
+
Pick the TeleDongle v0.2 or TeleBT v1.0 +device from the list, identifying it as the +programming device.
+
+ -
+
Select the image you want put on the +TeleMetrum, which should have a name in the +form telemetrum-v1.2-1.0.0.ihx. It should +be visible in the default directory, if not +you may have to poke around your system to +find it.
+
+ -
+
Make sure the configuration parameters are +reasonable looking. If the serial number +and/or RF configuration values aren’t right, +you’ll need to change them.
+
+ -
+
Hit the 'OK' button and the software should +proceed to flash the TeleMetrum with new +firmware, showing a progress bar.
+
+ -
+
Confirm that the TeleMetrum board seems to +have updated OK, which you can do by +plugging in to it over USB and using a +terminal program to connect to the board and +issue the 'v' command to check the version, +etc.
+
+
If something goes wrong, give it another try.
+C.2.2. Updating TeleMini v1.0 Firmware
+You’ll need a special 'programming cable' to +reprogram the TeleMini v1.0. You can make your own +using an 8-pin MicroMaTch connector on one end +and a set of four pins on the other.
+-
+
-
+
Take the 2 screws out of the TeleDongle v0.2 +or TeleBT v1.0 case to get access to the +circuit board.
+
+ -
+
Plug the 8-pin end of the programming cable +to the matching connector on the TeleDongle +v0.2 or TeleBT v1.0, and the 4-pins into the +holes in the TeleMini v1.0 circuit board. Note +that the MicroMaTch connector has an +alignment pin that goes through a hole in +the PC board when you have the cable +oriented correctly, and that pin 1 on the +TeleMini v1.0 board is marked with a square pad +while the other pins have round pads.
+
+ -
+
Attach a battery to the TeleMini v1.0 board.
+
+ -
+
Plug the TeleDongle v0.2 or TeleBT v1.0 into +your computer’s USB port, and power up the +TeleMini v1.0
+
+ -
+
Run AltosUI, and select 'Flash Image' from +the File menu.
+
+ -
+
Pick the TeleDongle v0.2 or TeleBT v1.0 +device from the list, identifying it as the +programming device.
+
+ -
+
Select the image you want put on the +TeleMini v1.0, which should have a name in the +form telemini-v1.0-1.0.0.ihx. It should be +visible in the default directory, if not you +may have to poke around your system to find +it.
+
+ -
+
Make sure the configuration parameters are +reasonable looking. If the serial number +and/or RF configuration values aren’t right, +you’ll need to change them.
+
+ -
+
Hit the 'OK' button and the software should +proceed to flash the TeleMini v1.0 with new +firmware, showing a progress bar.
+
+ -
+
Confirm that the TeleMini v1.0 board seems to +have updated OK, which you can do by +configuring it over the radio link through +the TeleDongle, or letting it come up in +âflightâ mode and listening for telemetry.
+
+
If something goes wrong, give it another try.
+C.2.3. Updating TeleDongle v0.2 Firmware
+Updating TeleDongle v0.2 firmware is just like +updating TeleMetrum v1.x or TeleMini v1.0 firmware, but you +use either a TeleMetrum v1.x, TeleDongle v0.2 or +TeleBT v1.0 as the programmer.
+-
+
-
+
Find the 'programming cable' that you got as part of +the starter kit, that has a red 8-pin MicroMaTch +connector on one end and a red 4-pin MicroMaTch +connector on the other end.
+
+ -
+
Find the USB cable that you got as part of the +starter kit, and plug the âminiâ end in to the +mating connector on TeleMetrum v1.x, TeleDongle v0.2 +or TeleBT v1.0.
+
+ -
+
Take the 2 screws out of the TeleDongle v0.2 or +TeleBT v1.0 case to get access to the circuit board.
+
+ -
+
Plug the 8-pin end of the programming cable to the +matching connector on the programmer, and the 4-pin +end to the matching connector on the TeleDongle +v0.2. Note that each MicroMaTch connector has an +alignment pin that goes through a hole in the PC +board when you have the cable oriented correctly.
+
+ -
+
Attach a battery to the TeleMetrum v1.x board if +you’re using one.
+
+ -
+
Plug both the programmer and the TeleDongle into +your computer’s USB ports, and power up the +programmer.
+
+ -
+
Run AltosUI, and select 'Flash Image' from the File +menu.
+
+ -
+
Pick the programmer device from the list, +identifying it as the programming device.
+
+ -
+
Select the image you want put on the TeleDongle +v0.2, which should have a name in the form +teledongle-v0.2-1.0.0.ihx. It should be visible in +the default directory, if not you may have to poke +around your system to find it.
+
+ -
+
Make sure the configuration parameters are +reasonable looking. If the serial number and/or RF +configuration values aren’t right, you’ll need to +change them. The TeleDongle v0.2 serial number is +on the âbottomâ of the circuit board, and can +usually be read through the translucent blue plastic +case without needing to remove the board from the +case.
+
+ -
+
Hit the 'OK' button and the software should proceed +to flash the TeleDongle v0.2 with new firmware, +showing a progress bar.
+
+ -
+
Confirm that the TeleDongle v0.2 board seems to have +updated OK, which you can do by plugging in to it +over USB and using a terminal program to connect to +the board and issue the 'v' command to check the +version, etc. Once you’re happy, remove the +programming cable and put the cover back on the +TeleDongle v0.2.
+
+
If something goes wrong, give it another try.
+Be careful removing the programming cable from the +locking 8-pin connector on TeleMetrum. You’ll need a +fingernail or perhaps a thin screwdriver or knife +blade to gently pry the locking ears out slightly to +extract the connector. We used a locking connector on +TeleMetrum to help ensure that the cabling to +companion boards used in a rocket don’t ever come +loose accidentally in flight.
+Appendix D: Flight Data Recording
+Each flight computer logs data at 100 samples per second +during ascent and 10 samples per second during +descent, except for TeleMini v1.0, which records ascent at 10 samples +per second and descent at 1 sample per second. +Data are logged to +an on-board flash memory part, which can be partitioned into +several equal-sized blocks, one for each flight.
+Device | +Bytes per Sample | +Total Storage | +Minutes at Full Rate | +
---|---|---|---|
TeleMetrum v1.0 |
+8 |
+1MB |
+20 |
+
TeleMetrum v1.1 v1.2 |
+8 |
+2MB |
+40 |
+
TeleMetrum v2.0 |
+16 |
+8MB |
+80 |
+
TeleMetrum v3.0 |
+16 |
+8MB |
+80 |
+
TeleMini v1.0 |
+2 |
+5kB |
+4 |
+
TeleMini v3.0 |
+16 |
+512kB |
+5 |
+
EasyMini |
+16 |
+1MB |
+10 |
+
TeleMega |
+32 |
+8MB |
+40 |
+
EasyMega |
+32 |
+8MB |
+40 |
+
The on-board flash is partitioned into separate flight logs, +each of a fixed maximum size. Increase the maximum size of +each log and you reduce the number of flights that can be +stored. Decrease the size and you can store more flights.
+Configuration data is also stored in the flash memory on +TeleMetrum v1.x, +TeleMini v3.0 and +EasyMini. +This consumes 64kB +of flash space. This configuration space is not available +for storing flight log data.
+TeleMetrum v2 or newer, TeleMega and EasyMega +store configuration data in a bit of eeprom available within +the processor chip, leaving that space available in flash for +more flight data.
+To compute the amount of space needed for a single flight, you +can multiply the expected ascent time (in seconds) by 100 +times bytes-per-sample, multiply the expected descent time (in +seconds) by 10 times the bytes per sample and add the two +together. That will slightly under-estimate the storage (in +bytes) needed for the flight. +For instance, a TeleMetrum v2 or newer flight spending +20 seconds in ascent and 150 seconds in descent will take +about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You +could store dozens of these flights in the on-board flash.
+The default size allows for several flights on each flight +computer, except for TeleMini v1.0, which +only holds data for a single flight. +You can adjust the size.
+Altus Metrum flight computers will not overwrite existing +flight data, so be sure to download flight data and erase it +from the flight computer before it fills up. The flight +computer will still successfully control the flight even if it +cannot log data, so the only thing you will lose is the data.
+Appendix E: Altus Metrum Hardware Specifications
+Here’s the full set of Altus Metrum products, both in +production and retired.
+Device | +Barometer | +Z-axis accel | +GPS | +3D sensors | +Storage | +RF Output | +Battery | +
---|---|---|---|---|---|---|---|
TeleMetrum v1.0 |
+MP3H6115 10km (33k') |
+MMA2202 50g |
+SkyTraq |
+- |
+1MB |
+10mW |
+3.7V |
+
TeleMetrum v1.1 |
+MP3H6115 10km (33k') |
+MMA2202 50g |
+SkyTraq |
+- |
+2MB |
+10mW |
+3.7V |
+
TeleMetrum v1.2 |
+MP3H6115 10km (33k') |
+ADXL78 70g |
+SkyTraq |
+- |
+2MB |
+10mW |
+3.7V |
+
TeleMetrum v2.0 |
+MS5607 30km (100k') |
+MMA6555 102g |
+uBlox Max-7Q |
+- |
+8MB |
+40mW |
+3.7V |
+
TeleMetrum v3.0 |
+MS5607 30km (100k') |
+ADXL375 200g |
+uBlox Max-8Q |
+- |
+8MB |
+40mW |
+3.7V |
+
TeleMini v1.0 |
+MP3H6115 10km (33k') |
+- |
+- |
+- |
+5kB |
+10mW |
+3.7V |
+
TeleMini v3.0 |
+MS5607 30km (100k') |
+- |
+- |
+- |
+512kB |
+40mW |
+3.7V |
+
EasyMini v1.0 |
+MS5607 30km (100k') |
+- |
+- |
+- |
+1MB |
+- |
+3.7-12V |
+
EasyMini v2.0 |
+MS5607 30km (100k') |
+- |
+- |
+- |
+1MB |
+- |
+3.7-12V |
+
TeleMega v1.0 |
+MS5607 30km (100k') |
+MMA6555 102g |
+uBlox Max-7Q |
+MPU6000 HMC5883 |
+8MB |
+40mW |
+3.7V |
+
TeleMega v2.0 |
+MS5607 30km (100k') |
+MMA6555 102g |
+uBlox Max-7Q |
+MPU6000 HMC5883 |
+8MB |
+40mW |
+3.7V |
+
TeleMega v3.0 |
+MS5607 30km (100k') |
+MMA6555 102g |
+uBlox Max-7Q |
+MPU9250 |
+8MB |
+40mW |
+3.7V |
+
TeleMega v4.0 |
+MS5607 30km (100k') |
+ADXL375 200g |
+uBlox Max-8Q |
+BMX160 |
+8MB |
+40mW |
+3.7V |
+
EasyMega v1.0 |
+MS5607 30km (100k') |
+MMA6555 102g |
+- |
+MPU6000 HMC5883 |
+8MB |
+- |
+3.7V |
+
EasyMega v2.0 |
+MS5607 30km (100k') |
+ADXL375 200g |
+- |
+MPU9250 |
+8MB |
+- |
+3.7V |
+
Device | +Connectors | +Screw Terminals | +Width | +Length | +Tube Size | +
---|---|---|---|---|---|
TeleMetrum |
+Antenna Debug Companion USB Battery |
+Apogee pyro Main pyro Switch |
+1 inch (2.54cm) |
+2 ¾ inch (6.99cm) |
+29mm coupler |
+
TeleMini v1.0 |
+Antenna Debug Battery |
+Apogee pyro Main pyro |
+½ inch (1.27cm) |
+1½ inch (3.81cm) |
+18mm coupler |
+
TeleMini v2.0 |
+Antenna Debug USB Battery |
+Apogee pyro Main pyro Battery Switch |
+0.8 inch (2.03cm) |
+1½ inch (3.81cm) |
+24mm coupler |
+
EasyMini |
+Debug USB Battery |
+Apogee pyro Main pyro Battery |
+0.8 inch (2.03cm) |
+1½ inch (3.81cm) |
+24mm coupler |
+
TeleMega |
+Antenna Debug Companion USB Battery |
+Apogee pyro Main pyro Pyro A-D Switch Pyro battery |
+1¼ inch (3.18cm) |
+3¼ inch (8.26cm) |
+38mm coupler |
+
EasyMega |
+Debug Companion USB Battery |
+Apogee pyro Main pyro Pyro A-D Switch Pyro battery |
+1¼ inch (3.18cm) |
+2¼ inch (5.62cm) |
+38mm coupler |
+
Appendix F: Release Notes
+F.1. Release Notes for Version 1.9.2
+Version 1.9.2
+F.1.1. AltOS
+-
+
-
+
Add support for TeleMega v4.0
+
+ -
+
Fix time wrapping issue with TeleLCO and TeleFire
+
+
F.1.2. AltosUI, TeleGPS, MicroPeak
+-
+
-
+
Add column in AltosUI for IMU data from TeleMega and EasyMega
+
+
F.1.3. AltosDroid
+-
+
-
+
Allow sorting of trackers by call, serial, frequency or age
+
+ -
+
Offer selection of font sizes
+
+ -
+
Various bug fixes for older Android versions
+
+
F.2. Release Notes for Version 1.9.1
+Version 1.9.1
+F.2.1. AltOS
+-
+
-
+
Add support for TeleMetrum v3.0
+
+ -
+
Fix accel cal value when changing EasyMega v2.0 pad orientation
+
+ -
+
Correct EasyMega v2.0 magnetometer data axes
+
+ -
+
Fix EasyMega v2.0 idle monitor display of IMU data
+
+ -
+
Report all sensor failures at power-up time.
+
+
F.2.2. AltosUI, TeleGPS, MicroPeak
+-
+
-
+
Display error message when attempting to graph unknown format file.
+
+ -
+
Make it possible to disable APRS once enabled.
+
+ -
+
Display some data for point near cursor in map tab.
+
+ -
+
Support upgrading devices from pre-1.8 firmware
+
+ -
+
Wait for Windows to prepare new devices during firmware +upgrade. This should avoid the âCOMxx: open failedâ message.
+
+
F.3. Release Notes for Version 1.9
+Version 1.9
+F.3.1. AltOS
+-
+
-
+
Add support for EasyMega v2.0
+
+ -
+
Replace C library for ARM devices
+
+ -
+
Remove support for 8051-based devices and SDCC compiler
+
+
F.3.2. AltosUI, TeleGPS, MicroPeak
+-
+
-
+
Select ROM images based on product name when reflashing
+
+ -
+
Fix TeleGPS v2 battery voltage display
+
+
F.4. Release Notes for Version 1.8.7
+Version 1.8.7
+F.4.1. AltOS
+-
+
-
+
Include TeleMega v3.0 firmware
+
+
F.4.2. AltosUI, TeleGPS, MicroPeak
+-
+
-
+
Poll for new devices while Device dialog is displayed
+
+ -
+
Wait for device to re-appear when flashing new firmware
+
+ -
+
Fetch correct TeleBT v4.0 RF calibration values from web +site when reflashing.
+
+ -
+
Change gyro headings in .csv files from x/y/z to +roll/pitch/yaw
+
+ -
+
Add documentation about Packet Link mode
+
+ -
+
Add documentation about forcing TeleMini RF parameters to +known values.
+
+ -
+
Create a proxy server for Google Maps to re-enable map +images
+
+ -
+
Fix Java version info in all distributed jar files so that +applications will run with standard Mac OS X Java.
+
+ -
+
Replace JavaApplicationStub for Mac OS X so that +applications will run with Oracle Java.
+
+
F.5. Release Notes for Version 1.8.6
+Version 1.8.6
+F.5.1. AltOS
+-
+
-
+
Use maximum of 64 previous tilt values in pyro tilt tests
+
+ -
+
Eliminate 100m height requirement for coast detection
+
+ -
+
Change After Motor pyro check to be >= instead of ==
+
+ -
+
Change Time since Boost to be Time since launch.
+
+
F.5.2. AltosUI, TeleGPS
+-
+
-
+
Clarify pyro test phrasing
+
+ -
+
Remove ascending/descending from pyro config UI
+
+ -
+
Fix accel calibration in Antenna Down mode
+
+ -
+
Add mag sensor reporting for TeleMega v3 idle monitoring.
+
+ -
+
Fix radio parameter saving at 2400 bps telmetry rate.
+
+
F.5.3. MicroPeak
+-
+
-
+
Report altimeter-recorded maximum height value
+
+
F.6. Release Notes for Version 1.8.5
+Version 1.8.5 includes fixes to the ground software support +for TeleBT v4, along with a few other minor updates.
+F.6.1. AltOS
+-
+
-
+
Fix startup beeps that indicate sensor failures.
+
+
F.6.2. AltosUI, TeleGPS
+-
+
-
+
When updating device firmware, make sure selected firmware +matches target device.
+
+ -
+
Correct Bluetooth device matching when looking for TeleBT +devices.
+
+
F.7. Release Notes for Version 1.8.4
+Version 1.8.4 includes support for EasyMini version 2.0
+F.7.1. AltOS
+-
+
-
+
Support for EasyMini version 2.0 hardware.
+
+
F.8. Release Notes for Version 1.8.3
+Version 1.8.3 includes support for TeleMega version 3.0 along +with two important flight computer fixes. This version also +changes KML export data to make Tripoli Record reporting +better and some updates to graph presentation and data +downloading.
+F.8.1. AltOS
+AltOS New Features
+-
+
-
+
Support for TeleMega version 3.0 hardware.
+
+
AltOS Bug Fixes
+-
+
-
+
Ground testing EasyMega and TeleMega additional pyro +channels could result in a sticky 'fired' status which would +prevent these channels from firing on future flights.
+
+ -
+
Corrupted flight log records could prevent future flights +from capturing log data.
+
+ -
+
Fixed saving of pyro configuration that ended with +'Descending'.
+
+
F.8.2. AltosUI and TeleGPS Applications
+AltosUI New Features
+-
+
-
+
Support for TeleMega version 3.0.
+
+ -
+
Graph lines have improved appearance to make them easier to +distinguish. Markers may be placed at data points to show +captured recorded data values.
+
+ -
+
Graphing offers the ability to adjust the smoothing of +computed speed and acceleration data.
+
+ -
+
The download dialog now offers to graph new flights, checks +for existing files to avoid overwriting data and reports if +there are checksum errors in the downloaded data.
+
+
AltosUI/TeleGPS Bug Fixes
+-
+
-
+
Restore TeleGPS tracking behavior.
+
+ -
+
Display flight computer call sign and serial number in +Monitor Idle mode instead of ground station values.
+
+
AltosUI and TeleGPS Changes
+-
+
-
+
KML export now reports both barometric and GPS altitude data +to make it more useful for Tripoli record reporting.
+
+ -
+
CSV export now includes TeleMega/EasyMega pyro voltages and +tilt angle.
+
+
F.9. Release Notes for Version 1.8.2
+Version 1.8.2 includes support for TeleGPS version 2.0 along +with accelerometer recalibration support in AltosUI.
+1.8.2 also contains a couple of minor fixes for AltosUI when +analyzing saved data files.
+F.9.1. AltOS
+AltOS New Features
+-
+
-
+
Support for TeleGPS version 2.0 hardware.
+
+
F.9.2. AltosUI and TeleGPS Applications
+AltosUI and TeleGPS New Features
+-
+
-
+
Support for TeleGPS version 2.0.
+
+ -
+
Accelerometer re-calibration user interface.
+
+
AltosUI and TeleGPS Bug Fixes
+-
+
-
+
Prevent some crashes when reading older saved flight data +for graphing or KML export.
+
+
F.10. Release Notes for Version 1.8.1
+Version 1.8.1 includes an important bug fix for Apogee Lockout +operation in all flight computers. Anyone using this option +must update firmware.
+This release also contains a change in how flight computers +with accelerometers deal with speeds around and above Mach +1. In previous versions, the flight computer would completely +disregard the barometric sensor above 330m/s (around Mach +1). Now, the data from the barometric sensor is reduced in +effect without ever going away entirely. This prevents early +drogue deployment for flights which spend considerable time +above Mach 1.
+1.8.1 also contains a couple of minor fixes for AltosUI when +analyzing saved data files.
+F.10.1. AltOS
+AltOS Bug Fixes
+-
+
-
+
Handle time value wrapping in Apogee Lockout +correctly. Without this, apogee lockout would sometimes +prevent any drogue charge from firing.
+
+ -
+
Change Kalman filter on flight computers with accelerometer +to continue using the barometric sensor even at high speeds +to avoid unintentional drogue deployment during +deceleration.
+
+
F.10.2. AltosUI and TeleGPS Applications
+AltosUI New Features
+-
+
-
+
Add new 'Huge' font size to make text even bigger on high +resolution monitors.
+
+
AltosUI Bug Fixes
+-
+
-
+
Prevent some crashes when reading older saved flight data +for graphing or KML export.
+
+ -
+
Load frequency preference at startup. The loading code was +broken, so you’d see only the default frequencies.
+
+
F.11. Release Notes for Version 1.8
+Version 1.8 includes support for our new TeleBT v4.0 ground +station, updates for data analysis in our ground station +software and bug fixes in in the flight software for all our +boards and ground station interfaces.
+F.11.1. AltOS
+AltOS New Features
+-
+
-
+
Add support for TeleBT v4.0 boards.
+
+
F.11.2. AltosUI and TeleGPS Applications
+AltosUI New Features
+-
+
-
+
Add support for TeleBT v4.0 hardware
+
+ -
+
Rewrite graphing and export functions. This code now handles +each data series separately so that graphs are drawn +correctly. Smoothing now uses a filter that looks both +forward and backwards in time to make computed speed and +acceleration data more accurate.
+
+
AltosUI Bug Fixes
+-
+
-
+
Correct axis labeling of magnetic sensor in TeleMega and +EasyMega. The Y and Z axes were flipped.
+
+
F.12. Release Notes for Version 1.7
+Version 1.7 includes support for our new TeleMini v3.0 +flight computer and bug fixes in in the flight software for all our boards +and ground station interfaces.
+F.12.1. AltOS
+AltOS New Features
+-
+
-
+
Add support for TeleMini v3.0 boards.
+
+
AltOS Fixes
+-
+
-
+
Fix interrupt priorities on STM32L processors. Run timer +interrupt at lowest priority so that device interrupts get +serviced first.
+
+
F.12.2. AltosUI and TeleGPS Applications
+AltosUI New Features
+-
+
-
+
Add support for TeleMini v3.0 hardware
+
+
F.13. Release Notes for Version 1.6.8
+Version 1.6.8 fixes a TeleMega and TeleMetrum v2.0 bug where +the device could stop logging data and transmitting +telemetry in flight. All TeleMega v1.0, v2.0 and TeleMetrum +v2.0 users should update their flight firmware.
+F.13.1. AltOS
+AltOS fixes:
+-
+
-
+
Fix STM32L DMA driver to work around STM32L SoC DMA priority +issue t lock-up in the logging or radio code, either of +which could stop data logging and telemetry.
+
+ -
+
Avoid having TeleBT battery status values smash telemetry +packet data by holding a lock during both operations.
+
+ -
+
Don’t start reporting 'flight 0' when the log fills in +flight.
+
+
AltOS changes:
+-
+
-
+
Flash LEDS on all products briefly during power up so that +they can be tested during production.
+
+
F.13.2. AltosUI, TeleGPS and AltosDroid Applications
+AltosUI fixes:
+-
+
-
+
Re-enable go/no-go entries after they’ve been disabled due +to lack of data. If telemetry information is delayed when +the Ui starts up, sometimes important fields would get +disabled to never re-appear.
+
+ -
+
Deal with ground station failure better during Configure +Ground Station operation by cleaning up pending operations.
+
+
F.14. Release Notes for Version 1.6.5
+Version 1.6.5 fixes a TeleMega and TeleMetrum v2.0 bug where +the device would often stop logging data and transmitting +telemetry in flight. All TeleMega v1.0, v2.0 and TeleMetrum +v2.0 users should update their flight firmware.
+F.14.1. AltOS
+AltOS fixes:
+-
+
-
+
Fix STM32L SPI driver to prevent lock-up in the logging or +radio code, either of which could stop data logging and +telemetry. Found and characterized by Chuck Haskin, who also +tested the new firmware before release.
+
+
F.14.2. AltosUI, TeleGPS and AltosDroid Applications
+AltosUI fixes:
+-
+
-
+
Deliver firmward for TeleMega v2.0 and TeleBT v3.0 with +Windows package.
+
+
F.15. Release Notes for Version 1.6.4
+Version 1.6.4 fixes a bluetooth communication problem with +TeleBT v1.0 devices, along with some altosui and altosdroid +minor nits. It also now ships firmware for some newer devices.
+F.15.1. AltOS
+AltOS fixes:
+-
+
-
+
Fix hardware flow control on TeleBT v1.0. Hardware RTS/CTS +doesn’t seem to work, switch from using the hardware to +driving these pins with software.
+
+ -
+
Fix ARM USB drivers to deal with OS restarts. Needed to +reset all USB-related state when the USB bus is reset. These +fixes affect all STM32L, STM32F0 and LPC11U14 based devices.
+
+
F.15.2. AltosUI, TeleGPS and AltosDroid Applications
+AltosUI, TeleGPS and AltosDroid New Features:
+-
+
-
+
Automatically switch from meters or feet to kilometers or +miles for distance units.
+
+ -
+
Add Monitor Idle mode to TeleGPS application.
+
+
AltosUI, TeleGPS and AltosDroid Fixes:
+-
+
-
+
Abort map preloading when the preload map dialog is closed.
+
+ -
+
In AltosDroid, Don’t reconnect to last device if the user +had disconnected it the last time the application was +active.
+
+
F.15.3. Documentation
+-
+
-
+
Mention TeleMega v2.0 in hardware specs table.
+
+ -
+
Document TeleGPS RF output in telegps manual.
+
+
F.16. Release Notes for Version 1.6.3
+Version 1.6.3 adds idle mode to AltosDroid and has bug fixes +for our host software on desktops, laptops an android devices +along with BlueTooth support for Windows.
+F.16.1. AltOS
+AltOS fixes:
+-
+
-
+
Fix hardware flow control on TeleBT v3.0. RTS/CTS is +wired backwards on this board, switch from using the +hardware to driving these pins with software.
+
+
F.16.2. AltosUI and TeleGPS Applications
+AltosUI and TeleGPS New Features:
+-
+
-
+
Add BlueTooth support for Windows operating system. This +supports connections to TeleBT over BlueTooth rather than +just USB.
+
+
AltosUI and TeleGPS Fixes:
+-
+
-
+
Change Java detection and install on Windows. Detection is +now done by looking for the 'javaw.exe' program, and +installation by opening a browser on the java.com web site.
+
+ -
+
Delay polling while the Fire Igniters is visible to allow +for TeleMega to report back complete status over the radio.
+
+ -
+
Disallow changing RF calibration numbers in the +configuration UI. There’s no good reason to change this from +the field, and recovering is really hard if you haven’t +written down the right number.
+
+ -
+
Fix USB device discovery on Mac OS X El Capitan. This makes +the connected Altus Metrum USB devices appear again.
+
+ -
+
Fix acceleration data presented in MonitorIdle mode for +TeleMetrum v2.0 flight computers.
+
+
F.16.3. AltosDroid
+AltosDroid new features:
+-
+
-
+
Monitor Idle mode. Check state of flight computer while in +idle mode over the radio link
+
+ -
+
Fire Igniters. Remotely fire ignires for recovery system +ground tests.
+
+ -
+
Remote reboot. Cause the flight computer to reboot over the +radio link. This provides a method for switching the flight +computer from idle to flight mode without needing to reach +the power switch.
+
+ -
+
Configurable frequency menu. Change the set of available +frequencies and provide more descriptive names.
+
+
AltosDroid bug fixes:
+-
+
-
+
Don’t set target location if GPS hasn’t locked yet.
+
+ -
+
Fix saving target states so they can be reloaded when the +application restarts. When the application is shut down and +restarted, all previous target state information will be +restored (including GPS position if available).
+
+ -
+
Fix crash on some Android devices for offline maps when +changing the map scale or location.
+
+ -
+
Don’t require USB OTG support. This kept the latest +AltosDroid from being offered on devices without USB device +support, although it can work without that just fine using +BlueTooth.
+
+ -
+
Don’t require bluetooth to be enabled. This allows the +application to operate with USB devices or just show old +data without turning on the bluetooth radio.
+
+ -
+
Recover old tracker positions when restarting +application. This finally allows you to safely stop and +restart the application without losing the last known +location of any tracker.
+
+
F.16.4. Documentation
+-
+
-
+
Document TeleMega and EasyMega additional pyro channel +continuity audio alert pattern.
+
+
F.17. Release Notes for Version 1.6.2
+Version 1.6.2 includes support for our updated TeleMega v2.0 +product and bug fixes in in the flight software for all our boards +and ground station interfaces.
+F.17.1. AltOS
+AltOS New Features:
+-
+
-
+
Add support for TeleMega v2.0 boards.
+
+ -
+
Add PWM servo driver. There’s no higher level code using +this yet, but the driver allows testing of the TeleMega v2.0 +servo output connector.
+
+
AltOS Fixes:
+-
+
-
+
Slow down telemetry packets to allow receiver to keep +up.
+
+
F.17.2. AltosUI and TeleGPS Applications
+AltosUI and TeleGPS Fixes:
+-
+
-
+
Fix post-flight orientation computation when processing +TeleMega and EasyMega eeprom data files.
+
+ -
+
Capture complete eeprom data even when there are invalid +entries in the data. This keeps reading eeprom contents and +writing the associated .eeprom file when an error is detected.
+
+
F.17.3. Documentation
+We spent a bunch of time trying to improve our documentation
+-
+
-
+
HTML versions now have a table of contents on the left side.
+
+ -
+
EasyMini now has its own shorter manual.
+
+ -
+
Provide links between sections in each document.
+
+ -
+
Lots of minor rewriting and restructuring to avoid +duplication of information
+
+
F.18. Release Notes for Version 1.6.1
+Version 1.6.1 includes support for our updated TeleBT v3.0 +product and bug fixes in in the flight software for all our boards +and ground station interfaces.
+F.18.1. AltOS
+AltOS New Features:
+-
+
-
+
Add support for TeleBT v3.0 boards.
+
+ -
+
Add support for uncompressed APRS data, providing support +for older APRS receivers. Uncompressed APRS data is less +precise, takes more bandwidth and doesn’t have integrated +altitude data.
+
+
AltOS Fixes:
+-
+
-
+
Make TeleDongle and TeleBT more tolerant of data rate +variations from transmitting devices.
+
+
F.18.2. AltosUI and TeleGPS Applications
+AltosUI and TeleGPS New Features:
+-
+
-
+
Add map to Monitor Idle display. It’s nice to be able to +verify that maps are working, instead of needing to use +Monitor Flight.
+
+
AltosUI and TeleGPS Fixes:
+-
+
-
+
Fix frequency configuration to round values instead of +truncate them, avoiding a common 1kHz error in the setting.
+
+ -
+
Turn the Windows stub into a more useful program that can +launch the application with parameters so that file manager +icons work more reliably.
+
+ -
+
Force KML export to use a C locale so that numbers are +formatted with '.' instead of ',' for a decimal separator in +non-US locales.
+
+ -
+
Preload map tiles based on distance rather than number of +tiles; this means you get the same resolution covering the +entire area, rather than having high resolution near the +center and low resolution further away.
+
+ -
+
Allow configuration of frequency and callsign in Monitor +Idle mode.
+
+ -
+
Fix layout weirdness when resizing windows on +Windows. Windows shouldn’t have giant blank spaces around +the useful content anymore.
+
+ -
+
Fix layout weirdness when resizing windows on +Windows. Windows shouldn’t have giant blank spaces around +the useful content anymore.
+
+ -
+
Use a longer filter for descent speed values. This should +provide something more useful on the display, although it +will take longer to respond to changes now.
+
+ -
+
Make Replay Flight run in realtime again. It had been set to +run at 10x speed by mistake.
+
+
F.18.3. AltosDroid
+AltosDroid New Features:
+-
+
-
+
Add offline map support using mapping code from AltosUI.
+
+ -
+
Support TeleDongle (and TeleBT via USB) on devices +supporting USB On-The-Go.
+
+ -
+
Display additional TeleMega pyro channel status in Pad tab.
+
+ -
+
Switch between metric and imperial units.
+
+ -
+
Monitor TeleBT battery voltage.
+
+ -
+
Track multiple devices at the same time, selecting between +them with a menu or using the map.
+
+ -
+
Add hybrid, satellite and terrain map types.
+
+
AltosDroid Fixes:
+-
+
-
+
Use standard Android display conventions so that a menu +button is available in the application title bar.
+
+ -
+
Adjust layout to work on large and small screens; shrinking +the go/no-go lights in smaller environments to try and make +everything visible.
+
+ -
+
Make voice announcements depend on current tab.
+
+ -
+
Compute adjustment to current travel direction while in +motion towards rocket.
+
+
F.19. Release Notes for Version 1.6
+Version 1.6 includes support for our updated TeleDongle v3.0 +product and bug fixes in in the flight software for all our boards +and ground station interfaces.
+F.19.1. AltOS
+AltOS New Features
+-
+
-
+
Add support for TeleDongle v3.0 boards.
+
+
AltOS Fixes
+-
+
-
+
Don’t beep out the continuity twice by accident in idle mode. +If the battery voltage report takes longer than the initialiation +sequence, the igniter continuity would get reported twice.
+
+ -
+
Record all 32 bits of gyro calibration data in TeleMega and +EasyMega log files. This fixes computation of the gyro rates +in AltosUI.
+
+ -
+
Change TeleDongle LED usage. Green LED flashes when valid +packet is received. Red LED flashes when invalid packet is +received.
+
+ -
+
Replace LPC11U14 SPI driver with non-interrupt version. The +interrupt code would occasionally wedge on long transfers +if interrupts were blocked for too long. This affects all +released TeleGPS products; if you have a TeleGPS device, +you’ll want to reflash the firmware.
+
+
F.19.2. AltosUI and TeleGPS Applications
+AltosUI and TeleGPS New Features
+-
+
-
+
Compute tilt angle from TeleMega and EasyMega log +files. This duplicates the quaternion-based angle tracking +code from the flight firmware inside the ground station +software so that post-flight analysis can include evaluation +of the tilt angle.
+
+ -
+
Shows the tool button window when starting with a data file +specified. This means that opening a data file from the file +manager will now bring up the main window to let you operate +the whole application.
+
+
AltosUI Fixes
+-
+
-
+
Show the 'Connecting' dialog when using Monitor Idle. Lets +you cancel the Monitor Idle startup when connecting over the +radio link.
+
+ -
+
Make 'Monitor Idle' work for TeleGPS devices when connected +over USB. It’s nice for testing without needing to broadcast +over the radio.
+
+ -
+
Use different Windows API to discover USB devices. This +works better on my Windows 7 box, and will be used if the +older API fails to provide the necessary information.
+
+ -
+
Look in more places in the registry to try and identify the +installed Java version on Windows. If you install the +default 32-bit version of Windows on a 64-bit OS, the Java +registry information is hiding \SOFTWARE\Wow6432Node for +some reason.
+
+ -
+
Fix file association on Windows by searching for the +javaw.exe program instead of assuming it is in +%SYSTEMROOT%. This makes double-clicking on Altus Metrum +data files in the file manager work correctly.
+
+ -
+
When replaying a file, put 'done' in the Age field when we +reach the end of the file, instead of continuing to count forever.
+
+ -
+
In the Scan Channels code, wait for five seconds if we see +any packet. This is needed because AltOS now sends the +callsign, serial number and flight number only once every +five seconds these days.
+
+ -
+
In the Scan Channels code, reset pending flight state +information each time we change channels. This avoids having +flight computers appear on multiple frequencies by accident.
+
+
F.20. Release Notes for Version 1.5
+Version 1.5 is a major release. It includes support for our new +EasyMega product, new features and bug fixes in in the flight +software for all our boards and the AltosUI ground station
+F.20.1. AltOS
+AltOS New Features
+-
+
-
+
Add support for EasyMega boards.
+
+ -
+
Make the APRS SSID be configurable. This lets you track +different rockets on the same receiver without getting +things mixed up.
+
+ -
+
Report extra pyro channel continuity state on EasyMega and +TeleMega via the beeper. This lets you easily verify flight +readiness on these boards after powering up the electronics +on the rail.
+
+ -
+
Add lower telemetry data rates (2400 and 9600 bps) to +increase telemetry radio range. This reduces the amount of +data received as well as increasing battery consumption in +the transmitter.
+
+ -
+
Change TeleGPS to have only a single log, and append new +data to it rather than using seperate per-flight logs. This +avoids accidentally filling up log storage by turning +TeleGPS on/off several times.
+
+
AltOS Fixes
+-
+
-
+
Increase the maximum range for altitude values from +/-32767m +to +/-2147483647m, allowing the flight computers to function +correctly above the 32km level.
+
+ -
+
Continuously test pyro firing conditions during delay stage, +inhibiting the pyro channel if the test fails. This prevents +firing pyro charges where the conditions were good before +the delay, but become bad before the delay expires.
+
+ -
+
Allow negative numbers in pyro configuration values. This +lets you specify things like descending speed or +deceleration.
+
+
F.20.2. AltosUI and TeleGPS Applications
+AltosUI and TeleGPS New Features
+-
+
-
+
Support telemetry baud rate selection. Adds menus to +the flight monitoring and configuration for baud rate +selection.
+
+ -
+
Support APRS SSID configuration.
+
+ -
+
Integrate with file managers. This provides icons for all of +our file types and associates our application with the files +so that using a file manager to open a AltOS data file +results in launching our application.
+
+
AltosUI Fixes
+-
+
-
+
Make the 'Graph' button on the landed tab work again.
+
+ -
+
Make tests for Java on Windows a bit smarter, and also +provide the user with the option to skip installing Java for +cases where we just can’t figure out what version is installed.
+
+
F.21. Release Notes for Version 1.4.2
+Version 1.4.2 is a minor release. It fixes Java-related install issues on +Windows
+F.21.1. AltosUI and TeleGPS Applications
+Windows Install Fixes
+-
+
-
+
Checks for Java installation data in more registry locations.
+
+ -
+
Allows user to bypass Java installation in case the +detection fails.
+
+
F.22. Release Notes for Version 1.4.1
+Version 1.4.1 is a minor release. It fixes install issues on +Windows and provides the missing TeleMetrum V2.0 firmware. There +aren’t any changes to the firmware or host applications at +all. All Windows users will want to upgrade to get the signed +driver, but Mac and Linux users who do not need the TeleMetrum +V2.0 firmware image will not need to upgrade.
+F.22.1. AltosUI and TeleGPS Applications:
+Windows Install Fixes
+-
+
-
+
Provide signed Windows driver files. This should avoid any need to +disable driver signature checking on Windows 7 or 8.
+
+ -
+
Fix Java version detection and download. Previously, the +installer would only look for Java 6 or 7 and insist on +downloading its own Java bits if there was something else +installed. Furthermore, the 64-bit Java link provided didn’t +work for anyone other than Keith, making it impossible to +install AltOS on any machine with Java SE 8 installed.
+
+
Other Fixes
+-
+
-
+
Include 1.4 firmware for TeleMetrum V2.0. None of the +installers shipped this file. Now it’s included in the AltOS +packages for Linux, Mac and Windows.
+
+ -
+
Include Google Application Key for map downloading. The 1.4 +release didn’t have this key in the released version of the +software, making map downloading fail for most people.
+
+
F.23. Release Notes for Version 1.4
+Version 1.4 is a major release. It includes support for our new +TeleGPS product, new features and bug fixes in in the flight +software for all our boards and the AltosUI ground station
+F.23.1. AltOS
+AltOS new features:
+-
+
-
+
Add support for TeleGPS boards.
+
+ -
+
Make the beeper tone configurable, making it +possible to distinguish between two Altus Metrum +products in the same ebay.
+
+ -
+
Make the firing time for extra pyro channels +configurable, allowing longer (or shorter) than the +default 50ms. Only relevant for TeleMega at this +time.
+
+
AltOS fixes:
+-
+
-
+
Replace the 'dit dit dit' tones at startup with the +current battery voltage, measured in tenths of a +volt. This lets you check the battery voltage +without needing telemetry, which is especially +useful on EasyMini.
+
+ -
+
Change state beeping to "Farnsworth spacing", which +means they’re quite a bit faster than before, and so +they take less time to send.
+
+ -
+
Fix bug preventing the selection of the 'Flight +State After' mode in pyro configuration.
+
+ -
+
Fix bug where erasing flights would reset the flight +number to 2 on TeleMega and TeleMetrum v2.
+
+ -
+
Fix u-Blox GPS driver to mark course and speed data +as being present.
+
+
F.23.2. AltosUI Application
+AltosUI new features:
+-
+
-
+
Add zooming and new content types (terrain and road +maps) to map view. Change map storage format from +PNG to Jpeg, which saves a huge amount of disk +space. You will need to re-download all of your +pre-loaded map images.
+
+ -
+
Add a distance measuring device to the maps +view. Select this by using any button other than the +left one, or by pressing shift or control on the +keyboard while using the left button.
+
+ -
+
Add new 'Ignitor' tab to the flight monitor display +for TeleMega’s extra ignitors.
+
+ -
+
Add additional ignitor firing marks and voltages to +the graph so you can see when the ignitors fired, +along with the ignitor voltages.
+
+ -
+
Add GPS course, ground speed and climb rate as +optional graph elements.
+
+
AltosUI fixes:
+-
+
-
+
When flashing new firmware, re-try opening the +device as sometimes it takes a while for the +underlying operating system to recognize that the +device has rebooted in preparation for the flashing +operation.
+
+ -
+
Hide Tilt Angle in ascent tab for devices that don’t +have a gyro.
+
+ -
+
Increase the width of data lines in the graphs to +make them easier to read.
+
+ -
+
Filter out speed and acceleration spikes caused by +ejection charge firing when computing the maximum +values. This provides a more accurate reading of +those maximums.
+
+ -
+
Fix EasyMini voltage displays. Early EasyMini +prototypes used a 3.0V regulator, and AltosUI still +used that value as the basis of the +computation. Production EasyMini boards have always +shipped with a 3.3V regulator. Also, purple EasyMini +boards sensed the battery voltage past the blocking +diode, resulting in a drop of about 150mV from the +true battery voltage. Compensate for that when +displaying the value.
+
+ -
+
Display error message when trying to configure +maximum flight log size while the flight computer +still has flight data stored.
+
+ -
+
Handle TeleMetrum and TeleMini eeprom files +generated with pre-1.0 firmware. Those ancient +versions didn’t report the log format, so just use +the product name instead.
+
+
F.23.3. TeleGPS Application
+-
+
-
+
New application designed for use with TeleGPS boards.
+
+ -
+
Shares code with AltosUI, mostly just trimmed down +to focus on TeleGPS-related functions.
+
+
F.23.4. Documentation
+Documentation changes:
+-
+
-
+
Re-create the drill template images; they should +print correctly from Firefox at least. Ship these as +individual PDF files so they’re easy to print.
+
+ -
+
Add a description of the 'Apogee Lockout' setting, +which prevents the apogee charge from firing for a +configurable amount of time after boost.
+
+
F.24. Release Notes for Version 1.3.2
+Version 1.3.2 is a minor release. It includes small bug fixes for +the TeleMega flight software and AltosUI ground station
+F.24.1. AltOS
+AltOS fixes:
+-
+
-
+
On TeleMega, limit number of logged GPS status +information to 12 satellites. That’s all there is +room for in the log structure.
+
+ -
+
Improve APRS behavior. Remembers last known GPS +position and keeps sending that if we lose GPS +lock. Marks locked/unlocked by sending L/U in the +APRS comment field along with the number of sats in +view and voltages.
+
+
F.24.2. AltosUI Application
+AltosUI fixes:
+-
+
-
+
If the TeleMega flight firmware reports that it has +logged information about more than 12 satellites, +don’t believe it as the log only holds 12 satellite +records.
+
+ -
+
Track the maximum height as computed from GPS +altitude data and report that in the flight summary +data.
+
+ -
+
Use letters (A, B, C, D) for alternate pyro channel +names instead of numbers (0, 1, 2, 3) in the Fire +Igniter dialog.
+
+
F.25. Release Notes for Version 1.3.1
+Version 1.3.1 is a minor release. It improves support for +TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
+F.25.1. AltOS
+AltOS new features:
+-
+
-
+
Improved APRS mode. Now uses compressed position +format for smaller data size, improved precision and +to include altitude data as well as latitude and +longitude. Also added battery and pyro voltage +reports in the APRS comment field so you can confirm +that the unit is ready for launch.
+
+
AltOS fixes:
+-
+
-
+
Improve sensor boot code. If sensors fail to +self-test, the device will still boot up and check +for pad/idle modes. If in idle mode, the device will +warn the user with a distinct beep, if in Pad mode, +the unit will operate as best it can. Also, the +Z-axis accelerometer now uses the factory +calibration values instead of re-calibrating on the +pad each time. This avoids accidental boost detect +when moving the device around while in Pad mode.
+
+ -
+
Fix antenna-down mode accelerometer +configuration. Antenna down mode wasn’t working +because the accelerometer calibration values were +getting re-computed incorrectly in inverted mode.
+
+
F.25.2. AltosUI Application
+AltosUI new features:
+-
+
-
+
Display additional TeleMega sensor values in real +units. Make all of these values available for +plotting. Display TeleMega orientation value in the +Ascent and Table tabs.
+
+ -
+
Support additional TeleMega pyro channels in the +Fire Igniter dialog. This lets you do remote testing +of all of the channels, rather than just Apogee and +Main.
+
+
AltosUI fixes:
+-
+
-
+
Limit data rate when downloading satellite images +from Google to make sure we stay within their limits +so that all of the map tiles download successfully.
+
+
F.26. Release Notes for Version 1.3
+Version 1.3 is a major release. It adds support for TeleMega, +TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
+F.26.1. AltOS
+AltOS new features:
+-
+
-
+
Add STM32L processor support. This includes +enhancements to the scheduler to support products +with many threads.
+
+ -
+
Add NXP LPC11U14 processor support.
+
+ -
+
Support additional pyro channels. These are +configurable through the UI to handle air starts, +staging, additional recovery events and external +devices such as cameras.
+
+ -
+
Add 3-axis gyro support for orientation +tracking. This integrates the gyros to compute the +angle from vertical during flight, allowing the +additional pyro events to be controlled by this +value.
+
+ -
+
Many more device drivers, including u-Blox Max 7Q +GPS, Freescale MMA6555 digital single-axis +accelerometer, Invensense MPU6000 3-axis +accelerometer + 3 axis gyro, Honeywell HMC5883 +3-axis magnetic sensor and the TI CC1120 and CC115L +digital FM transceivers
+
+
F.26.2. AltosUI Application
+AltosUI new features:
+-
+
-
+
Support TeleMega, TeleMetrum v2.0, TeleMini v2.0 and +EasyMini telemetry and log formats.
+
+
AltosUI fixes:
+-
+
-
+
Use preferred units for main deployment height +configuration, instead of always doing configuration in +meters. +== MicroPeak Application
+
+ -
+
Add 'Download' button to menu bar.
+
+ -
+
Save the last log directory and offer that as the +default for new downloads
+
+
F.27. Release Notes for Version 1.2.1
+Version 1.2.1 is a minor release. It adds support for TeleBT and +the AltosDroid application, provides several new features in +AltosUI and fixes some bugs in the AltOS firmware.
+F.27.1. AltOS
+AltOS new features:
+-
+
-
+
Add support for TeleBT
+
+
AltOS fixes:
+-
+
-
+
In TeleMini recovery mode (when booted with the +outer two debug pins connected together), the radio +parameters are also set back to defaults +(434.550MHz, N0CALL, factory radio cal).
+
+ -
+
Correct Kalman filter model error covariance +matrix. The values used previously assumed +continuous measurements instead of discrete +measurements.
+
+ -
+
Fix some bugs in the USB driver for TeleMetrum and +TeleDongle that affected Windows users.
+
+ -
+
Adjusted the automatic gain control parameters that +affect receive performance for TeleDongle. Field +tests indicate that this may improve receive +performance somewhat.
+
+
F.27.2. AltosUI Application
+AltosUI application new features:
+-
+
-
+
Make the initial position of the AltosUI top level +window configurable. Along with this change, the +other windows will pop up at 'sensible' places now, +instead of on top of one another.
+
+ -
+
Add GPS data and a map to the graph window. This +lets you see a complete summary of the flight +without needing to 'replay' the whole thing.
+
+
AltosUI application fixes:
+-
+
-
+
Handle missing GPS lock in 'Descent' +tab. Previously, if the GPS position of the pad was +unknown, an exception would be raised, breaking the +Descent tab contents.
+
+ -
+
Improve the graph, adding tool-tips to show values +near the cursor and making the displayed set of +values configurable, adding all of the flight data +as options while leaving the default settings alone +so that the graph starts by showing height, speed +and acceleration.
+
+ -
+
Add callsign to Monitor idle window and connecting +dialogs. This makes it clear which callsign is being +used so that the operator will be aware that it must +match the flight computer value or no communication +will work.
+
+ -
+
When downloading flight data, display the block +number so that the user has some sense of +progress. Unfortunately, we don’t know how many +blocks will need to be downloaded, but at least it +isn’t just sitting there doing nothing for a long +time.
+
+
F.27.3. AltosDroid
+-
+
-
+
First version of this application
+
+
F.28. Release Notes for Version 1.2
+Version 1.2 is a major release. It adds support for MicroPeak +and the MicroPeak USB adapter.
+F.28.1. AltOS
+AltOS New Features:
+-
+
-
+
Add MicroPeak support. This includes support for the +ATtiny85 processor and adaptations to the core code +to allow for devices too small to run the +multi-tasking scheduler.
+
+
F.28.2. AltosUI and MicroPeak Application
+New Features:
+-
+
-
+
Added MicroPeak application
+
+
AltosUI and MicroPeak fixes:
+-
+
-
+
Distribute Mac OS X packages in disk image ('.dmg') +format to greatly simplify installation.
+
+ -
+
Provide version numbers for the shared Java +libraries to ensure that upgrades work properly, and +to allow for multiple Altus Metrum software packages +to be installed in the same directory at the same +time.
+
+
F.29. Release Notes for Version 1.1
+Version 1.1.1 is a bug-fix release. It fixes a couple of bugs +in AltosUI and one firmware bug that affects TeleMetrum +version 1.0 boards. Thanks to Bob Brown for help diagnosing +the Google Earth file export issue, and for suggesting the +addition of the Ground Distance value in the Descent tab.
+F.29.1. AltOS
+AltOS fixes:
+-
+
-
+
TeleMetrum v1.0 boards use the AT45DB081D flash +memory part to store flight data, which is different +from later TeleMetrum boards. The AltOS v1.1 driver +for this chip couldn’t erase memory, leaving it +impossible to delete flight data or update +configuration values. This bug doesn’t affect newer +TeleMetrum boards, and it doesn’t affect the safety +of rockets flying version 1.1 firmware.
+
+
F.29.2. AltosUI
+AltosUI new features:
+-
+
-
+
The âDescentâ tab displays the range to the rocket, +which is a combination of the over-the-ground +distance to the rockets current latitude/longitude +and the height of the rocket. As such, it’s useful +for knowing how far away the rocket is, but +difficult to use when estimating where the rocket +might eventually land. A new âGround Distanceâ field +has been added which displays the distance to a spot +right underneath the rocket.
+
+
AltosUI fixes:
+-
+
-
+
Creating a Google Earth file (KML) from on-board +flight data (EEPROM) would generate an empty +file. The code responsible for reading the EEPROM +file wasn’t ever setting the GPS valid bits, and so +the KML export code thought there was no GPS data in +the file.
+
+ -
+
The âLandedâ tab was displaying all values in metric +units, even when AltosUI was configured to display +imperial units. Somehow I just missed this tab when +doing the units stuff.
+
+ -
+
Sensor data wasn’t being displayed for TeleMini +flight computers in Monitor Idle mode, including +things like battery voltage. The code that picked +which kinds of data to fetch from the flight +computer was missing a check for TeleMini when +deciding whether to fetch the analog sensor data.
+
+
F.30. Release Notes for Version 1.1
+Version 1.1 is a minor release. It provides a few new features +in AltosUI and the AltOS firmware and fixes bugs.
+F.30.1. AltOS
+AltOS Firmware New Features:
+-
+
-
+
Add apogee-lockout value. Overrides the apogee +detection logic to prevent incorrect apogee charge +firing.
+
+ -
+
Force the radio frequency to 434.550MHz when the +debug clock pin is connected to ground at boot +time. This provides a way to talk to a TeleMini +which is configured to some unknown frequency.
+
+ -
+
Provide RSSI values for Monitor Idle mode. This +makes it easy to check radio range without needing +to go to flight mode.
+
+
AltOS Fixes:
+-
+
-
+
Fix a bug where the data reported in telemetry +packets was from 320ms ago.
+
+ -
+
Fix a bug which caused the old received telemetry +packets to be retransmitted over the USB link when +the radio was turned off and back on.
+
+
F.30.2. AltosUI
+AltosUI New Features:
+-
+
-
+
Make the look-n-feel configurable, providing a choice from +the available options.
+
+ -
+
Add an 'Age' element to mark how long since a +telemetry packet has been received. Useful to +quickly gauge whether communications with the rocket +are still active.
+
+ -
+
Add 'Configure Ground Station' dialog to set the +radio frequency used by a particular TeleDongle +without having to go through the flight monitor UI.
+
+ -
+
Add configuration for the new apogee-lockout +value. A menu provides a list of reasonable values, +or the value can be set by hand.
+
+ -
+
Add Imperial units mode to present data in feet +instead of meters.
+
+
AltosUI Fixes:
+-
+
-
+
Fix a bug that caused GPS ready to happen too +quickly. The software was using every telemetry +packet to signal new GPS data, which caused GPS +ready to be signalled after 10 packets instead of 10 +GPS updates.
+
+ -
+
Fix Google Earth data export to work with recent +versions. The google earth file loading code got a +lot pickier, requiring some minor white space +changes in the export code.
+
+ -
+
Changed how flight data are downloaded. Now there’s +an initial dialog asking which flights to download, +and after that finishes, a second dialog comes up +asking which flights to delete.
+
+ -
+
Re-compute time spent in each state for the flight +graph; this figures out the actual boost and landing +times instead of using the conservative values +provide by the flight electronics. This improves the +accuracy of the boost acceleration and main descent +rate computations.
+
+ -
+
Make AltosUI run on Mac OS Lion. The default Java +heap space was dramatically reduced for this release +causing much of the UI to fail randomly. This most +often affected the satellite mapping download and +displays.
+
+ -
+
Change how data are displayed in the 'table' tab of +the flight monitoring window. This eliminates +entries duplicated from the header and adds both +current altitude and pad altitude, which are useful +in 'Monitor Idle' mode.
+
+
F.31. Release Notes for Version 1.0.1
+Version 1.0.1 is a major release, adding support for the +TeleMini device and lots of new AltosUI features
+F.31.1. AltOS
+AltOS New Features
+-
+
-
+
Add TeleMini v1.0 support.
+
+ -
+
Support operation of TeleMetrum with the antenna pointing +aft. Previous firmware versions required the antenna to be +pointing upwards, now there is a configuration option +allowing the antenna to point aft, to aid installation in +some airframes.
+
+ -
+
Ability to disable telemetry. For airframes where an antenna +just isn’t possible, or where radio transmissions might +cause trouble with other electronics, there’s a +configuration option to disable all telemetry. Note that the +board will still enable the radio link in idle mode.
+
+ -
+
Arbitrary frequency selection. The radios in Altus Metrum +devices can be programmed to a wide range of frequencies, so +instead of limiting devices to 10 pre-selected 'channels', +the new firmware allows the user to choose any frequency in +the 70cm band. Note that the RF matching circuit on the +boards is tuned for around 435MHz, so frequencies far from +that may reduce the available range.
+
+
AltOS Fixes
+-
+
-
+
Change telemetry to be encoded in multiple 32-byte +packets. This enables support for TeleMini and other devices +without requiring further updates to the TeleDongle +firmware.
+
+ -
+
Kalman-filter based flight-tracking. The model based sensor +fusion approach of a Kalman filter means that AltOS now +computes apogee much more accurately than before, generally +within a fraction of a second. In addition, this approach +allows the baro-only TeleMini device to correctly identify +Mach transitions, avoiding the error-prone selection of a +Mach delay.
+
+
F.31.2. AltosUI Application
+AltosUI New Features
+-
+
-
+
Add main/apogee voltage graphs to the data +plot. This provides a visual indication if the +igniters fail before being fired.
+
+ -
+
Scan for altimeter devices by watching the defined +telemetry frequencies. This avoids the problem of +remembering what frequency a device was configured +to use, which is especially important with TeleMini +which does not include a USB connection.
+
+ -
+
Monitor altimeter state in "Idle" mode. This +provides much of the information presented in the +"Pad" dialog from the Monitor Flight command, +monitoring the igniters, battery and GPS status +withing requiring the flight computer to be armed +and ready for flight.
+
+ -
+
Pre-load map images from home. For those launch +sites which don’t provide free Wi-Fi, this allows +you to download the necessary satellite images +given the location of the launch site. A list of +known launch sites is maintained at altusmetrum.org +which AltosUI downloads to populate a menu; if +you’ve got a launch site not on that list, please +send the name of it, latitude and longitude along +with a link to the web site of the controlling club +to the altusmetrum mailing list.
+
+ -
+
Flight statistics are now displayed in the Graph +data window. These include max height/speed/accel, +average descent rates and a few other bits of +information. The Graph Data window can now be +reached from the 'Landed' tab in the Monitor Flight +window so you can immediately see the results of a +flight.
+
+
AltosUI Changes
+-
+
-
+
Wait for altimeter when using packet mode. Instead +of quicly timing out when trying to initialize a +packet mode configuration connection, AltosUI now +waits indefinitely for the remote device to appear, +providing a cancel button should the user get +bored. This is necessary as the TeleMini can only be +placed in "Idle" mode if AltosUI is polling it.
+
+
F.32. Release Notes for Version 0.9.2
+Version 0.9.2 is an AltosUI bug-fix release, with no firmware +changes.
+F.32.1. AltosUI
+AltosUI fixes:
+-
+
-
+
Fix plotting problems due to missing file in the Mac +OS install image.
+
+ -
+
Always read whole eeprom blocks, mark empty records +invalid, display parsing errors to user.
+
+ -
+
Add software version to Configure AltosUI dialog
+
+
F.33. Release Notes for Version 0.9
+Version 0.9 adds a few new firmware features and accompanying +AltosUI changes, along with new hardware support.
+F.33.1. AltOS
+-
+
-
+
Support for TeleMetrum v1.1 hardware. Sources for the flash +memory part used in v1.0 dried up, so v1.1 uses a different +part which required a new driver and support for explicit +flight log erasing.
+
+ -
+
Multiple flight log support. This stores more than one +flight log in the on-board flash memory. It also requires +the user to explicitly erase flights so that you won’t lose +flight logs just because you fly the same board twice in one +day.
+
+ -
+
Telemetry support for devices with serial number >= 256. +Previous versions used a telemetry packet format that +provided only 8 bits for the device serial number. This +change requires that both ends of the telemetry link be +running the 0.9 firmware or they will not communicate.
+
+
F.33.2. AltosUI Application
+-
+
-
+
Support for telemetry format changes.
+
+ -
+
Support for multiple flight logs.
+
+
F.34. Release Notes for Version 0.8
+Version 0.8 offers a major upgrade in the AltosUI +interface.
+F.34.1. AltosUI Application:
+-
+
-
+
Post-flight graphing tool. This lets you explore the +behaviour of your rocket after flight with a scroll-able and +zoom-able chart showing the altitude, speed and acceleration +of the airframe along with events recorded by the flight +computer. You can export graphs to PNG files, or print them +directly.
+
+ -
+
Real-time moving map which overlays the in-progress flight +on satellite imagery fetched from Google Maps. This lets you +see in pictures where your rocket has landed, allowing you +to plan recovery activities more accurately.
+
+ -
+
Wireless recovery system testing. Prep your rocket for +flight and test fire the deployment charges to make sure +things work as expected. All without threading wires through +holes in your airframe.
+
+ -
+
Optimized flight status displays. Each flight state now has +it’s own custom 'tab' in the flight monitoring window so you +can focus on the most important details. Pre-flight, the +system shows a set of red/green status indicators for +battery voltage, apogee/main igniter continutity and GPS +reception. Wait until they’re all green and your rocket is +ready for flight. There are also tabs for ascent, descent +and landing along with the original tabular view of the +data.
+
+ -
+
Monitor multiple flights simultaneously. If you have more +than one TeleDongle, you can monitor a flight with each one +on the same computer.
+
+ -
+
Automatic flight monitoring at startup. Plug TeleDongle into +the machine before starting AltosUI and it will +automatically connect to it and prepare to monitor a flight.
+
+ -
+
Exports Google Earth flight tracks. Using the Keyhole Markup +Language (.kml) file format, this provides a 3D view of your +rocket flight through the Google Earth program.
+
+
F.35. Release Notes for Version 0.7.1
+Version 0.7.1 is the first release containing our new +cross-platform Java-based user interface.
+F.35.1. AltosUI Application
+-
+
-
+
Receive and log telemetry from a connected TeleDongle +device. All data received is saved to log files named with +the current date and the connected rocket serial and flight +numbers. There is no mode in which telemetry data will not +be saved.
+
+ -
+
Download logged data from TeleMetrum devices, either through +a direct USB connection or over the air through a TeleDongle +device.
+
+ -
+
Configure a TeleMetrum device, setting the radio channel, +callsign, apogee delay and main deploy height. This can be +done through either a USB connection or over a radio link +via a TeleDongle device.
+
+ -
+
Replay a flight in real-time. This takes a saved telemetry +log or eeprom download and replays it through the user +interface so you can relive your favorite rocket flights.
+
+ -
+
Reprogram Altus Metrum devices. Using an Altus Metrum device +connected via USB, another Altus Metrum device can be +reprogrammed using the supplied programming cable between +the two devices.
+
+ -
+
Export Flight data to a comma-separated-values file. This +takes either telemetry or on-board flight data and generates +data suitable for use in external applications. All data is +exported using standard units so that no device-specific +knowledge is needed to handle the data.
+
+ -
+
Speak to you during the flight. Instead of spending the +flight hunched over your laptop looking at the screen, enjoy +the view while the computer tells you whatâs going on up +there. During ascent, you hear the current flight state and +altitude information. During descent, you get azimuth, +elevation and range information to try and help you find +your rocket in the air. Once on the ground, the direction +and distance are reported.
+
+