From: Bdale Garbee Date: Thu, 23 Jan 2014 04:27:17 +0000 (-0700) Subject: update docs X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=3eae72cca7d33bf13d310e477241bc96e578375d;p=web%2Faltusmetrum update docs --- diff --git a/AltOS/doc/altos.html b/AltOS/doc/altos.html index e61b061..d8fae39 100644 --- a/AltOS/doc/altos.html +++ b/AltOS/doc/altos.html @@ -1,11 +1,11 @@ -AltOS

AltOS

Altos Metrum Operating System

Keith Packard

Copyright © 2010 Keith Packard

+AltOS

AltOS

Altos Metrum Operating System

Keith Packard

Copyright © 2010 Keith Packard

This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

Revision History
Revision 1.105 November 2012
Portable version
Revision 0.122 November 2010
Initial content

Table of Contents

1. Overview
2. AltOS Porting Layer
1. Low-level CPU operations
1.1. ao_arch_block_interrupts/ao_arch_release_interrupts
1.2. ao_arch_save_regs, ao_arch_save_stack, - ao_arch_restore_stack
1.3. ao_arch_wait_interupt
2. GPIO operations
2.1. GPIO setup
2.2. Reading and writing GPIO pins
3. Programming the 8051 with SDCC
1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements
4. Task functions
1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init
5. Timer Functions
1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init
6. AltOS Mutexes
1. ao_mutex_get
2. ao_mutex_put
7. DMA engine
1. CC1111 DMA Engine
1.1. ao_dma_alloc
1.2. ao_dma_set_transfer
1.3. ao_dma_start
1.4. ao_dma_trigger
1.5. ao_dma_abort
2. STM32L DMA Engine
2.1. ao_dma_alloc
2.2. ao_dma_set_transfer
2.3. ao_dma_set_isr
2.4. ao_dma_start
2.5. ao_dma_done_transfer
2.6. ao_dma_abort
8. Stdio interface
1. putchar
2. getchar
3. flush
4. ao_add_stdio
9. Command line interface
1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init
10. USB target device
1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init
11. Serial peripherals
1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init
12. CC1111 Radio peripheral
1. Radio Introduction
2. ao_radio_set_telemetry
3. ao_radio_set_packet
4. ao_radio_set_rdf
5. ao_radio_idle
6. ao_radio_get
7. ao_radio_put
8. ao_radio_abort
9. Radio Telemetry
9.1. ao_radio_send
9.2. ao_radio_recv
10. Radio Direction Finding
10.1. ao_radio_rdf
11. Radio Packet Mode
11.1. ao_packet_putchar
11.2. ao_packet_pollchar
11.3. ao_packet_slave_start
11.4. ao_packet_slave_stop
11.5. ao_packet_slave_init
11.6. ao_packet_master_init

Chapter 1. Overview

+

Revision History
Revision 1.105 November 2012
Portable version
Revision 0.122 November 2010
Initial content

Table of Contents

1. Overview
2. AltOS Porting Layer
1. Low-level CPU operations
1.1. ao_arch_block_interrupts/ao_arch_release_interrupts
1.2. ao_arch_save_regs, ao_arch_save_stack, + ao_arch_restore_stack
1.3. ao_arch_wait_interupt
2. GPIO operations
2.1. GPIO setup
2.2. Reading and writing GPIO pins
3. Programming the 8051 with SDCC
1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements
4. Task functions
1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init
5. Timer Functions
1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init
6. AltOS Mutexes
1. ao_mutex_get
2. ao_mutex_put
7. DMA engine
1. CC1111 DMA Engine
1.1. ao_dma_alloc
1.2. ao_dma_set_transfer
1.3. ao_dma_start
1.4. ao_dma_trigger
1.5. ao_dma_abort
2. STM32L DMA Engine
2.1. ao_dma_alloc
2.2. ao_dma_set_transfer
2.3. ao_dma_set_isr
2.4. ao_dma_start
2.5. ao_dma_done_transfer
2.6. ao_dma_abort
8. Stdio interface
1. putchar
2. getchar
3. flush
4. ao_add_stdio
9. Command line interface
1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init
10. USB target device
1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init
11. Serial peripherals
1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init
12. CC1111 Radio peripheral
1. Radio Introduction
2. ao_radio_set_telemetry
3. ao_radio_set_packet
4. ao_radio_set_rdf
5. ao_radio_idle
6. ao_radio_get
7. ao_radio_put
8. ao_radio_abort
9. Radio Telemetry
9.1. ao_radio_send
9.2. ao_radio_recv
10. Radio Direction Finding
10.1. ao_radio_rdf
11. Radio Packet Mode
11.1. ao_packet_putchar
11.2. ao_packet_pollchar
11.3. ao_packet_slave_start
11.4. ao_packet_slave_stop
11.5. ao_packet_slave_init
11.6. ao_packet_master_init

Chapter 1. Overview

AltOS is a operating system built for a variety of microcontrollers used in Altus Metrum devices. It has a simple porting layer for each CPU while providing a convenient @@ -85,8 +85,8 @@

As you can see, a long sequence of subsystems are initialized and then the scheduler is started. -

Chapter 2. AltOS Porting Layer

Table of Contents

1. Low-level CPU operations
1.1. ao_arch_block_interrupts/ao_arch_release_interrupts
1.2. ao_arch_save_regs, ao_arch_save_stack, - ao_arch_restore_stack
1.3. ao_arch_wait_interupt
2. GPIO operations
2.1. GPIO setup
2.2. Reading and writing GPIO pins

+

Chapter 2. AltOS Porting Layer

Table of Contents

1. Low-level CPU operations
1.1. ao_arch_block_interrupts/ao_arch_release_interrupts
1.2. ao_arch_save_regs, ao_arch_save_stack, + ao_arch_restore_stack
1.3. ao_arch_wait_interupt
2. GPIO operations
2.1. GPIO setup
2.2. Reading and writing GPIO pins

AltOS provides a CPU-independent interface to various common microcontroller subsystems, including GPIO pins, interrupts, SPI, I2C, USB and asynchronous serial interfaces. By making @@ -94,11 +94,11 @@ application code can all be written that work on any supported CPU. Many of the architecture abstraction interfaces are prefixed with ao_arch. -

1. Low-level CPU operations

+

1. Low-level CPU operations

These primitive operations provide the abstraction needed to run the multi-tasking framework while providing reliable interrupt delivery. -

1.1. ao_arch_block_interrupts/ao_arch_release_interrupts

+      
1.1. ao_arch_block_interrupts/ao_arch_release_interrupts
 	  static inline void
 	  ao_arch_block_interrupts(void);
 	  
@@ -109,7 +109,7 @@
 	  discard any interrupts. Use these for sections of code that
 	  must be atomic with respect to any code run from an
 	  interrupt handler.
-	
1.2. ao_arch_save_regs, ao_arch_save_stack,
+	
1.2. ao_arch_save_regs, ao_arch_save_stack,
 	ao_arch_restore_stack
 	  static inline void
 	  ao_arch_save_regs(void);
@@ -127,7 +127,7 @@
 	  in the current ao_task structure. ao_arch_restore_stack
 	  switches back to the saved stack, restores all registers and
 	  branches to the saved return address.
-	
1.3. ao_arch_wait_interupt
+	
1.3. ao_arch_wait_interupt
 	  #define ao_arch_wait_interrupt()
 	

 	  This stops the CPU, leaving clocks and interrupts
@@ -139,10 +139,10 @@
 	  disable interrupts again. If the CPU doesn't have any
 	  reduced power mode, this must at the least allow pending
 	  interrupts to be processed.
-	
2. GPIO operations

+	
2. GPIO operations

 	These functions provide an abstract interface to configure and
 	manipulate GPIO pins.
-      
2.1. GPIO setup

+      
2.1. GPIO setup

 	  These macros may be invoked at system initialization time to
 	  configure pins as needed for system operation. One tricky
 	  aspect is that some chips provide direct access to specific
@@ -151,14 +151,14 @@
 	  provide both port+bit and pin arguments. Simply define the
 	  arguments needed for the target platform and leave the
 	  others undefined.
-	
2.1.1. ao_enable_output
+	
2.1.1. ao_enable_output
 	    #define ao_enable_output(port, bit, pin, value)
 	  

 	    Set the specified port+bit (also called 'pin') for output,
 	    initializing to the specified value. The macro must avoid
 	    driving the pin with the opposite value if at all
 	    possible.
-	  
2.1.2. ao_enable_input
+	  
2.1.2. ao_enable_input
 	    #define ao_enable_input(port, bit, mode)
 	  

 	    Sets the specified port/bit to be an input pin. 'mode' is
@@ -176,18 +176,18 @@
 		0. Don't apply either a pull-up or pull-down. A
 		disconnected pin will read an undetermined value.
 

-	  
2.2. Reading and writing GPIO pins

+	  
2.2. Reading and writing GPIO pins

 	  These macros read and write individual GPIO pins.
-	
2.2.1. ao_gpio_set
+	
2.2.1. ao_gpio_set
 	    #define ao_gpio_set(port, bit, pin, value)
 	  

 	    Sets the specified port/bit or pin to the indicated value
-	  
2.2.2. ao_gpio_get
+	  
2.2.2. ao_gpio_get
 	    #define ao_gpio_get(port, bit, pin)
 	  

 	    Returns either 1 or 0 depending on whether the input to
 	    the pin is high or low.
-	  
Chapter 3. Programming the 8051 with SDCC
Table of Contents
1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements

+

Chapter 3. Programming the 8051 with SDCC

Table of Contents

1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements

The 8051 is a primitive 8-bit processor, designed in the mists of time in as few transistors as possible. The architecture is highly irregular and includes several separate memory @@ -198,7 +198,7 @@

When built on other architectures, the various SDCC-specific symbols are #defined as empty strings so they don't affect the compiler. -

1. 8051 memory spaces

+

1. 8051 memory spaces

The __data/__xdata/__code memory spaces below were completely separate in the original 8051 design. In the cc1111, this isn't true—they all live in a single unified 64kB address @@ -212,7 +212,7 @@ is decorated with a memory space identifier which clutters the code but makes the resulting code far smaller and more efficient. -

1.1. __data

+

1.1. __data

The 8051 can directly address these 128 bytes of memory. This makes them precious so they should be reserved for frequently addressed values. Oh, just to @@ -222,42 +222,42 @@ these registers located at 0x00 - 0x1F. AltOS uses only the first bank at 0x00 - 0x07, leaving the other 24 bytes available for other data. -

1.2. __idata

+

1.2. __idata

There are an additional 128 bytes of internal memory that share the same address space as __data but which cannot be directly addressed. The stack normally occupies this space and so AltOS doesn't place any static storage here. -

1.3. __xdata

+

1.3. __xdata

This is additional general memory accessed through a single 16-bit address register. The CC1111F32 has 32kB of memory available here. Most program data should live in this memory space. -

1.4. __pdata

+

1.4. __pdata

This is an alias for the first 256 bytes of __xdata memory, but uses a shorter addressing mode with single global 8-bit value for the high 8 bits of the address and any of several 8-bit registers for the low 8 bits. AltOS uses a few bits of this memory, it should probably use more. -

1.5. __code

+

1.5. __code

All executable code must live in this address space, but you can stick read-only data here too. It is addressed using the 16-bit address register and special 'code' access opcodes. Anything read-only should live in this space. -

1.6. __bit

+

1.6. __bit

The 8051 has 128 bits of bit-addressible memory that lives in the __data segment from 0x20 through 0x2f. Special instructions access these bits in a single atomic operation. This isn't so much a separate address space as a special addressing mode for a few bytes in the __data segment. -

1.7. __sfr, __sfr16, __sfr32, __sbit

+

1.7. __sfr, __sfr16, __sfr32, __sbit

Access to physical registers in the device use this mode which declares the variable name, it's type and the address it lives at. No memory is allocated for these variables. -

2. Function calls on the 8051

+

2. Function calls on the 8051

Because stack addressing is expensive, and stack space limited, the default function call declaration in SDCC allocates all parameters and local variables in static global @@ -265,7 +265,7 @@ non-reentrant, and also consume space for parameters and locals even when they are not running. The benefit is smaller code and faster execution. -

2.1. __reentrant functions

+

2.1. __reentrant functions

All functions which are re-entrant, either due to recursion or due to a potential context switch while executing, should be marked as __reentrant so that their parameters and local @@ -278,7 +278,7 @@ invoked can also be marked as __reentrant. The resulting code will be larger, but the savings in memory are frequently worthwhile. -

2.2. Non __reentrant functions

+

2.2. Non __reentrant functions

All parameters and locals in non-reentrant functions can have data space decoration so that they are allocated in __xdata, __pdata or __data space as desired. This can avoid @@ -290,14 +290,14 @@ non-reentrant. Because of this, interrupt handlers must not invoke any library functions, including the multiply and divide code. -

2.3. __interrupt functions

+

2.3. __interrupt functions

Interrupt functions are declared with with an __interrupt decoration that includes the interrupt number. SDCC saves and restores all of the registers in these functions and uses the 'reti' instruction at the end so that they operate as stand-alone interrupt handlers. Interrupt functions may call the ao_wakeup function to wake AltOS tasks. -

2.4. __critical functions and statements

+

2.4. __critical functions and statements

SDCC has built-in support for suspending interrupts during critical code. Functions marked as __critical will have interrupts suspended for the whole period of @@ -308,9 +308,9 @@ quickly as possible. AltOS doesn't use this form in shared code as other compilers wouldn't know what to do. Use ao_arch_block_interrupts and ao_arch_release_interrupts instead. -

Chapter 4. Task functions

Table of Contents

1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init

+

Chapter 4. Task functions

Table of Contents

1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init

This chapter documents how to create, destroy and schedule AltOS tasks. -

1. ao_add_task

+    
1. ao_add_task
 	void
 	ao_add_task(__xdata struct ao_task * task,
 	            void (*start)(void),
@@ -321,12 +321,12 @@
 	display), and the start address. It does not switch to the
 	new task. 'start' must not ever return; there is no place
 	to return to.
-      
2. ao_exit
+      
2. ao_exit
 	void
 	ao_exit(void)
       

 	This terminates the current task.
-      
3. ao_sleep
+      
3. ao_sleep
 	void
 	ao_sleep(__xdata void *wchan)
       

@@ -348,7 +348,7 @@
 	          ao_sleep(&ao_radio_done);
 	  ao_arch_release_interrupts();

-

4. ao_wakeup

+

4. ao_wakeup

 	void
 	ao_wakeup(__xdata void *wchan)

@@ -365,7 +365,7 @@ Note that this need not block interrupts as the ao_sleep block can only be run from normal mode, and so this sequence can never be interrupted with execution of the other sequence. -

5. ao_alarm

+

5. ao_alarm

 	void
 	ao_alarm(uint16_t delay);
 
@@ -390,18 +390,18 @@
 	incoming radio data. If no data is received before the
 	timeout fires, ao_sleep will return 1 and then this code
 	will abort the radio receive operation.
-

6. ao_start_scheduler

+

6. ao_start_scheduler

 	void
 	ao_start_scheduler(void);

This is called from 'main' when the system is all initialized and ready to run. It will not return. -

7. ao_clock_init

+

7. ao_clock_init

 	void
 	ao_clock_init(void);

This initializes the main CPU clock and switches to it. -

Chapter 5. Timer Functions

Table of Contents

1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init

+

Chapter 5. Timer Functions

Table of Contents

1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init

AltOS sets up one of the CPU timers to run at 100Hz and exposes this tick as the fundemental unit of time. At each interrupt, AltOS increments the counter, and schedules any tasks @@ -409,51 +409,51 @@ collect current data readings. Doing this from the ISR ensures that the values are sampled at a regular rate, independent of any scheduling jitter. -

1. ao_time

+    
1. ao_time
 	uint16_t
 	ao_time(void)
       

 	Returns the current system tick count. Note that this is
 	only a 16 bit value, and so it wraps every 655.36 seconds.
-      
2. ao_delay
+      
2. ao_delay
 	void
 	ao_delay(uint16_t ticks);
       

 	Suspend the current task for at least 'ticks' clock units.
-      
3. ao_timer_set_adc_interval
+      
3. ao_timer_set_adc_interval
 	void
 	ao_timer_set_adc_interval(uint8_t interval);
       

 	This sets the number of ticks between ADC samples. If set
 	to 0, no ADC samples are generated. AltOS uses this to
 	slow down the ADC sampling rate to save power.
-      
4. ao_timer_init
+      
4. ao_timer_init
 	void
 	ao_timer_init(void)
       

 	This turns on the 100Hz tick. It is required for any of the
 	time-based functions to work. It should be called by 'main'
 	before ao_start_scheduler.
-

Chapter 6. AltOS Mutexes

Table of Contents

1. ao_mutex_get
2. ao_mutex_put

+

Chapter 6. AltOS Mutexes

Table of Contents

1. ao_mutex_get
2. ao_mutex_put

AltOS provides mutexes as a basic synchronization primitive. Each mutexes is simply a byte of memory which holds 0 when the mutex is free or the task id of the owning task when the mutex is owned. Mutex calls are checked—attempting to acquire a mutex already held by the current task or releasing a mutex not held by the current task will both cause a panic. -

1. ao_mutex_get

+    
1. ao_mutex_get
 	void
 	ao_mutex_get(__xdata uint8_t *mutex);
       

 	Acquires the specified mutex, blocking if the mutex is
 	owned by another task.
-      
2. ao_mutex_put
+      
2. ao_mutex_put
 	void
 	ao_mutex_put(__xdata uint8_t *mutex);
       

 	Releases the specified mutex, waking up all tasks waiting
 	for it.
-

Chapter 7. DMA engine

Table of Contents

1. CC1111 DMA Engine
1.1. ao_dma_alloc
1.2. ao_dma_set_transfer
1.3. ao_dma_start
1.4. ao_dma_trigger
1.5. ao_dma_abort
2. STM32L DMA Engine
2.1. ao_dma_alloc
2.2. ao_dma_set_transfer
2.3. ao_dma_set_isr
2.4. ao_dma_start
2.5. ao_dma_done_transfer
2.6. ao_dma_abort

+

Chapter 7. DMA engine

Table of Contents

1. CC1111 DMA Engine
1.1. ao_dma_alloc
1.2. ao_dma_set_transfer
1.3. ao_dma_start
1.4. ao_dma_trigger
1.5. ao_dma_abort
2. STM32L DMA Engine
2.1. ao_dma_alloc
2.2. ao_dma_set_transfer
2.3. ao_dma_set_isr
2.4. ao_dma_start
2.5. ao_dma_done_transfer
2.6. ao_dma_abort

The CC1111 and STM32L both contain a useful bit of extra hardware in the form of a number of programmable DMA engines. They can be configured to copy data in memory, or @@ -476,7 +476,7 @@ from hardware to memory, that trigger event is supplied by the hardware device. When copying data from memory to hardware, the transfer is usually initiated by software. -

1. CC1111 DMA Engine

1.1. ao_dma_alloc

+    
1. CC1111 DMA Engine
1.1. ao_dma_alloc
 	  uint8_t
 	  ao_dma_alloc(__xdata uint8_t *done)
 	

@@ -486,7 +486,7 @@
 	  AO_DMA_ABORTED bit if ao_dma_abort was called. Note that it
 	  is possible to get both bits if the transfer was aborted
 	  after it had finished.
-	
1.2. ao_dma_set_transfer
+	
1.2. ao_dma_set_transfer
 	  void
 	  ao_dma_set_transfer(uint8_t id,
 	  void __xdata *srcaddr,
@@ -500,24 +500,24 @@
 	  cfg1 are values directly out of the CC1111 documentation
 	  and tell the DMA engine what the transfer unit size,
 	  direction and step are.
-	
1.3. ao_dma_start
+	
1.3. ao_dma_start
 	  void
 	  ao_dma_start(uint8_t id);
 	

 	  Arm the specified DMA engine and await a signal from
 	  either hardware or software to start transferring data.
-	
1.4. ao_dma_trigger
+	
1.4. ao_dma_trigger
 	  void
 	  ao_dma_trigger(uint8_t id)
 	

 	  Trigger the specified DMA engine to start copying data.
-	
1.5. ao_dma_abort
+	
1.5. ao_dma_abort
 	  void
 	  ao_dma_abort(uint8_t id)
 	

 	  Terminate any in-progress DMA transation, marking its
 	  'done' variable with the AO_DMA_ABORTED bit.
-	
2. STM32L DMA Engine
2.1. ao_dma_alloc
+	
2. STM32L DMA Engine
2.1. ao_dma_alloc
 	  uint8_t ao_dma_done[];
 
 	  void
@@ -525,7 +525,7 @@
 	

 	  Reserve a DMA engine for exclusive use by one
 	  driver.
-	
2.2. ao_dma_set_transfer
+	
2.2. ao_dma_set_transfer
 	  void
 	  ao_dma_set_transfer(uint8_t id,
 	  void *peripheral,
@@ -538,7 +538,7 @@
 	  value directly out of the STM32L documentation and tells the
 	  DMA engine what the transfer unit size, direction and step
 	  are.
-	
2.3. ao_dma_set_isr
+	
2.3. ao_dma_set_isr
 	  void
 	  ao_dma_set_isr(uint8_t index, void (*isr)(int))
 	

@@ -546,7 +546,7 @@
 	  completes in lieu of setting the ao_dma_done bits. Use this
 	  when some work needs to be done when the DMA finishes that
 	  cannot wait until user space resumes.
-	
2.4. ao_dma_start
+	
2.4. ao_dma_start
 	  void
 	  ao_dma_start(uint8_t id);
 	

@@ -557,19 +557,19 @@
 	  or the AO_DMA_ABORTED bit if ao_dma_abort was called. Note
 	  that it is possible to get both bits if the transfer was
 	  aborted after it had finished.
-	
2.5. ao_dma_done_transfer
+	
2.5. ao_dma_done_transfer
 	  void
 	  ao_dma_done_transfer(uint8_t id);
 	

 	  Signals that a specific DMA engine is done being used. This
 	  allows multiple drivers to use the same DMA engine safely.
-	
2.6. ao_dma_abort
+	
2.6. ao_dma_abort
 	  void
 	  ao_dma_abort(uint8_t id)
 	

 	  Terminate any in-progress DMA transation, marking its
 	  'done' variable with the AO_DMA_ABORTED bit.
-

Chapter 8. Stdio interface

Table of Contents

1. putchar
2. getchar
3. flush
4. ao_add_stdio

+

Chapter 8. Stdio interface

Table of Contents

1. putchar
2. getchar
3. flush
4. ao_add_stdio

AltOS offers a stdio interface over USB, serial and the RF packet link. This provides for control of the device localy or remotely. This is hooked up to the stdio functions by providing @@ -577,13 +577,13 @@ automatically multiplex the available communication channels; output is always delivered to the channel which provided the most recent input. -

1. putchar

+    
1. putchar
 	void
 	putchar(char c)
       

 	Delivers a single character to the current console
 	device.
-      
2. getchar
+      
2. getchar
 	char
 	getchar(void)
       

@@ -591,13 +591,13 @@
 	console devices. The current console device is set to
 	that which delivered this character. This blocks until
 	a character is available.
-      
3. flush
+      
3. flush
 	void
 	flush(void)
       

 	Flushes the current console device output buffer. Any
 	pending characters will be delivered to the target device.
-      xo	  
4. ao_add_stdio
+      xo	  
4. ao_add_stdio
 	void
 	ao_add_stdio(char (*pollchar)(void),
 	                   void (*putchar)(char),
@@ -619,13 +619,13 @@
 	'flush' forces the output buffer to be flushed. It may
 	block until the buffer is delivered, but it is not
 	required to do so.
-

Chapter 9. Command line interface

Table of Contents

1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init

+

Chapter 9. Command line interface

Table of Contents

1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init

AltOS includes a simple command line parser which is hooked up to the stdio interfaces permitting remote control of the device over USB, serial or the RF link as desired. Each command uses a single character to invoke it, the remaining characters on the line are available as parameters to the command. -

1. ao_cmd_register

+    
1. ao_cmd_register
 	void
 	ao_cmd_register(__code struct ao_cmds *cmds)
       

@@ -656,38 +656,38 @@
 		The command line is invalid for some reason other
 		than invalid tokens.
 	      

-

2. ao_cmd_lex

+

2. ao_cmd_lex

 	void
 	ao_cmd_lex(void);

This gets the next character out of the command line buffer and sticks it into ao_cmd_lex_c. At the end of the line, ao_cmd_lex_c will get a newline ('\n') character. -

3. ao_cmd_put16

+

3. ao_cmd_put16

 	void
 	ao_cmd_put16(uint16_t v);

Writes 'v' as four hexadecimal characters. -

4. ao_cmd_put8

+

4. ao_cmd_put8

 	void
 	ao_cmd_put8(uint8_t v);

Writes 'v' as two hexadecimal characters. -

5. ao_cmd_white

+

5. ao_cmd_white

 	void
 	ao_cmd_white(void)

This skips whitespace by calling ao_cmd_lex while ao_cmd_lex_c is either a space or tab. It does not skip any characters if ao_cmd_lex_c already non-white. -

6. ao_cmd_hex

+

6. ao_cmd_hex

 	void
 	ao_cmd_hex(void)

This reads a 16-bit hexadecimal value from the command line with optional leading whitespace. The resulting value is stored in ao_cmd_lex_i; -

7. ao_cmd_decimal

+

7. ao_cmd_decimal

 	void
 	ao_cmd_decimal(void)

@@ -695,7 +695,7 @@ line with optional leading whitespace. The resulting value is stored in ao_cmd_lex_u32 and the low 16 bits are stored in ao_cmd_lex_i; -

8. ao_match_word

+

8. ao_match_word

 	uint8_t
 	ao_match_word(__code char *word)

@@ -703,14 +703,14 @@ line. It does not skip leading white space. If 'word' is found, then 1 is returned. Otherwise, ao_cmd_status is set to ao_cmd_syntax_error and 0 is returned. -

9. ao_cmd_init

+

9. ao_cmd_init

 	void
 	ao_cmd_init(void

Initializes the command system, setting up the built-in commands and adding a task to run the command processing loop. It should be called by 'main' before ao_start_scheduler. -

Chapter 10. USB target device

Table of Contents

1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init

+

Chapter 10. USB target device

Table of Contents

1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init

AltOS contains a full-speed USB target device driver. It can be programmed to offer any kind of USB target, but to simplify interactions with a variety of operating systems, AltOS provides @@ -724,7 +724,7 @@ interface if desired, offering control of the device over the USB link. Alternatively, the functions can be accessed directly to provide for USB-specific I/O. -

1. ao_usb_flush

+    
1. ao_usb_flush
 	void
 	ao_usb_flush(void);
       

@@ -732,7 +732,7 @@
 	to be delivered to the USB host if there is pending data,
 	or if the last IN packet was full to indicate to the host
 	that there isn't any more pending data available.
-      
2. ao_usb_putchar
+      
2. ao_usb_putchar
 	void
 	ao_usb_putchar(char c);
       

@@ -741,7 +741,7 @@
 	adds a byte to the pending IN packet for delivery to the
 	USB host. If the USB packet is full, this queues the 'IN'
 	packet for delivery.
-      
3. ao_usb_pollchar
+      
3. ao_usb_pollchar
 	char
 	ao_usb_pollchar(void);
       

@@ -749,13 +749,13 @@
 	packet received, this returns AO_READ_AGAIN. Otherwise, it
 	returns the next character, reporting to the host that it
 	is ready for more data when the last character is gone.
-      
4. ao_usb_getchar
+      
4. ao_usb_getchar
 	char
 	ao_usb_getchar(void);
       

 	This uses ao_pollchar to receive the next character,
 	blocking while ao_pollchar returns AO_READ_AGAIN.
-      
5. ao_usb_disable
+      
5. ao_usb_disable
 	void
 	ao_usb_disable(void);
       

@@ -770,7 +770,7 @@
 	after disabling the USB device, it's likely that the cable
 	will need to be disconnected and reconnected before it
 	will work again.
-      
6. ao_usb_enable
+      
6. ao_usb_enable
 	void
 	ao_usb_enable(void);
       

@@ -778,7 +778,7 @@
 	disabled. See the note above about needing to physically
 	remove and re-insert the cable to get the host to
 	re-initialize the USB link.
-      
7. ao_usb_init
+      
7. ao_usb_init
 	void
 	ao_usb_init(void);
       

@@ -786,7 +786,7 @@
 	the control end point and adds the usb I/O functions to
 	the stdio system. Call this from main before
 	ao_start_scheduler.
-

Chapter 11. Serial peripherals

Table of Contents

1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init

+

Chapter 11. Serial peripherals

Table of Contents

1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init

The CC1111 provides two USART peripherals. AltOS uses one for asynch serial data, generally to communicate with a GPS device, and the other for a SPI bus. The UART is configured to operate @@ -797,25 +797,25 @@

To prevent loss of data, AltOS provides receive and transmit fifos of 32 characters each. -

1. ao_serial_getchar

+    
1. ao_serial_getchar
 	char
 	ao_serial_getchar(void);
       

 	Returns the next character from the receive fifo, blocking
 	until a character is received if the fifo is empty.
-      
2. ao_serial_putchar
+      
2. ao_serial_putchar
 	void
 	ao_serial_putchar(char c);
       

 	Adds a character to the transmit fifo, blocking if the
 	fifo is full. Starts transmitting characters.
-      
3. ao_serial_drain
+      
3. ao_serial_drain
 	void
 	ao_serial_drain(void);
       

 	Blocks until the transmit fifo is empty. Used internally
 	when changing serial speeds.
-      
4. ao_serial_set_speed
+      
4. ao_serial_set_speed
 	void
 	ao_serial_set_speed(uint8_t speed);
       

@@ -823,14 +823,14 @@
 	AO_SERIAL_SPEED_4800, AO_SERIAL_SPEED_9600 or
 	AO_SERIAL_SPEED_57600. This first flushes the transmit
 	fifo using ao_serial_drain.
-      
5. ao_serial_init
+      
5. ao_serial_init
 	void
 	ao_serial_init(void)
       

 	Initializes the serial peripheral. Call this from 'main'
 	before jumping to ao_start_scheduler. The default speed
 	setting is AO_SERIAL_SPEED_4800.
-

Chapter 12. CC1111 Radio peripheral

Table of Contents

1. Radio Introduction
2. ao_radio_set_telemetry
3. ao_radio_set_packet
4. ao_radio_set_rdf
5. ao_radio_idle
6. ao_radio_get
7. ao_radio_put
8. ao_radio_abort
9. Radio Telemetry
9.1. ao_radio_send
9.2. ao_radio_recv
10. Radio Direction Finding
10.1. ao_radio_rdf
11. Radio Packet Mode
11.1. ao_packet_putchar
11.2. ao_packet_pollchar
11.3. ao_packet_slave_start
11.4. ao_packet_slave_stop
11.5. ao_packet_slave_init
11.6. ao_packet_master_init

1. Radio Introduction

+

Chapter 12. CC1111 Radio peripheral

Table of Contents

1. Radio Introduction
2. ao_radio_set_telemetry
3. ao_radio_set_packet
4. ao_radio_set_rdf
5. ao_radio_idle
6. ao_radio_get
7. ao_radio_put
8. ao_radio_abort
9. Radio Telemetry
9.1. ao_radio_send
9.2. ao_radio_recv
10. Radio Direction Finding
10.1. ao_radio_rdf
11. Radio Packet Mode
11.1. ao_packet_putchar
11.2. ao_packet_pollchar
11.3. ao_packet_slave_start
11.4. ao_packet_slave_stop
11.5. ao_packet_slave_init
11.6. ao_packet_master_init

1. Radio Introduction

The CC1111 radio transceiver sends and receives digital packets with forward error correction and detection. The AltOS driver is fairly specific to the needs of the TeleMetrum and TeleDongle @@ -868,7 +868,7 @@ receiver. This is designed to provide a beacon to track the device when other location mechanisms fail.

-

2. ao_radio_set_telemetry

+

2. ao_radio_set_telemetry

 	  void
 	  ao_radio_set_telemetry(void);

@@ -877,7 +877,7 @@ other RF parameters. It does not include the base frequency or channel though. Those are set at the time of transmission or reception, in case the values are changed by the user. -

3. ao_radio_set_packet

+

3. ao_radio_set_packet

 	  void
 	  ao_radio_set_packet(void);

@@ -886,7 +886,7 @@ parameters. It does not include the base frequency or channel though. Those are set at the time of transmission or reception, in case the values are changed by the user. -

4. ao_radio_set_rdf

+

4. ao_radio_set_rdf

 	  void
 	  ao_radio_set_rdf(void);

@@ -896,38 +896,38 @@ and data whitening logic is turned off so that the resulting modulation is received as a 1kHz tone by a conventional 70cm FM audio receiver. -

5. ao_radio_idle

+

5. ao_radio_idle

 	  void
 	  ao_radio_idle(void);

Sets the radio device to idle mode, waiting until it reaches that state. This will terminate any in-progress transmit or receive operation. -

6. ao_radio_get

+

6. ao_radio_get

 	  void
 	  ao_radio_get(void);

Acquires the radio mutex and then configures the radio frequency using the global radio calibration and channel values. -

7. ao_radio_put

+

7. ao_radio_put

 	  void
 	  ao_radio_put(void);

Releases the radio mutex. -

8. ao_radio_abort

+

8. ao_radio_abort

 	  void
 	  ao_radio_abort(void);

Aborts any transmission or reception process by aborting the associated DMA object and calling ao_radio_idle to terminate the radio operation. -

9. Radio Telemetry

+

9. Radio Telemetry

In telemetry mode, you can send or receive a telemetry packet. The data from receiving a packet also includes the RSSI and status values supplied by the receiver. These are added after the telemetry data. -

9.1. ao_radio_send

+      
9.1. ao_radio_send
 	  void
 	  ao_radio_send(__xdata struct ao_telemetry *telemetry);
 	

@@ -936,7 +936,7 @@
 	  telemetry mode. This function calls ao_radio_get() before
 	  sending, and ao_radio_put() afterwards, to correctly
 	  serialize access to the radio device.
-	
9.2. ao_radio_recv
+	
9.2. ao_radio_recv
 	  void
 	  ao_radio_recv(__xdata struct ao_radio_recv *radio);
 	

@@ -947,21 +947,21 @@
 	  to the radio device. This returns non-zero if a packet was
 	  received, or zero if the operation was aborted (from some
 	  other task calling ao_radio_abort()).
-

10. Radio Direction Finding

+

10. Radio Direction Finding

In radio direction finding mode, there's just one function to use -

10.1. ao_radio_rdf

+      
10.1. ao_radio_rdf
 	  void
 	  ao_radio_rdf(int ms);
 	

 	  This sends an RDF packet lasting for the specified amount
 	  of time. The maximum length is 1020 ms.
-

11. Radio Packet Mode

+

11. Radio Packet Mode

Packet mode is asymmetrical and is configured at compile time for either master or slave mode (but not both). The basic I/O functions look the same at both ends, but the internals are different, along with the initialization steps. -

11.1. ao_packet_putchar

+      
11.1. ao_packet_putchar
 	  void
 	  ao_packet_putchar(char c);
 	

@@ -971,32 +971,32 @@
 	  transmit a packet if the output buffer is full. On the
 	  slave side, any pending data will be sent the next time
 	  the master polls for data.
-	
11.2. ao_packet_pollchar
+	
11.2. ao_packet_pollchar
 	  char
 	  ao_packet_pollchar(void);
 	

 	  This returns a pending input character if available,
 	  otherwise returns AO_READ_AGAIN. On the master side, if
 	  this empties the buffer, it triggers a poll for more data.
-	
11.3. ao_packet_slave_start
+	
11.3. ao_packet_slave_start
 	  void
 	  ao_packet_slave_start(void);
 	

 	  This is available only on the slave side and starts a task
 	  to listen for packet data.
-	
11.4. ao_packet_slave_stop
+	
11.4. ao_packet_slave_stop
 	  void
 	  ao_packet_slave_stop(void);
 	

 	  Disables the packet slave task, stopping the radio receiver.
-	
11.5. ao_packet_slave_init
+	
11.5. ao_packet_slave_init
 	  void
 	  ao_packet_slave_init(void);
 	

 	  Adds the packet stdio functions to the stdio package so
 	  that when packet slave mode is enabled, characters will
 	  get send and received through the stdio functions.
-	
11.6. ao_packet_master_init
+	
11.6. ao_packet_master_init
 	  void
 	  ao_packet_master_init(void);
 	

diff --git a/AltOS/doc/altos.pdf b/AltOS/doc/altos.pdf
index 5410b26..d9ae11f 100644
Binary files a/AltOS/doc/altos.pdf and b/AltOS/doc/altos.pdf differ
diff --git a/AltOS/doc/altusmetrum.html b/AltOS/doc/altusmetrum.html
index 5e9e028..d58c250 100644
--- a/AltOS/doc/altusmetrum.html
+++ b/AltOS/doc/altusmetrum.html
@@ -1,10 +1,13 @@
-The Altus Metrum System
The Altus Metrum System
An Owner's Manual for Altus Metrum Rocketry Electronics
Bdale Garbee
Keith Packard
Bob Finch
Anthony Towns
Copyright © 2013 Bdale Garbee and Keith Packard

+The Altus Metrum System
The Altus Metrum System
An Owner's Manual for Altus Metrum Rocketry Electronics
Bdale Garbee
Keith Packard
Bob Finch
Anthony Towns
Copyright © 2014 Bdale Garbee and Keith Packard

         This document is released under the terms of the
         
           Creative Commons ShareAlike 3.0
         
         license.
-      
Revision History
Revision 1.312 November 2013

+      
Revision History
Revision 1.3.121 January 2014

+	  Bug fixes for TeleMega and TeleMetrum v2.0 along with a few
+	  small UI improvements.
+	
Revision 1.312 November 2013

 	  Updated for software version 1.3. Version 1.3 adds support
 	  for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini
 	  and fixes bugs in AltosUI and the AltOS firmware.
@@ -30,7 +33,7 @@
 	  Updated for software version 0.9.  Note that 0.9 represents a
 	  telemetry format change, meaning both ends of a link (TeleMetrum and
 	  TeleDongle) must be updated or communications will fail.
-	
Revision 0.824 November 2010
Updated for software version 0.8 
Acknowledgments

+	
Revision 0.824 November 2010
Updated for software version 0.8 
Acknowledgments

       Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
       Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
       Kit” which formed the basis of the original Getting Started chapter 
@@ -53,19 +56,19 @@ NAR
 Keith Packard, KD7SQG

 NAR #88757, TRA #12200

       

-    
Table of Contents
1. Introduction and Overview
2. Getting Started
3. Handling Precautions
4. Altus Metrum Hardware
1. Overview
2. TeleMetrum
3. TeleMini
4. EasyMini
5. TeleMega
6. Flight Data Recording
7. Installation
5. System Operation
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
6.7. Configurable Pyro Channels
6. AltosUI
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Table
1.6. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
4.1. Flight Graph
4.2. Configure Graph
4.3. Flight Statistics
4.4. Map
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. RF Calibration
6.5. Telemetry/RDF/APRS Enable
6.6. APRS Interval
6.7. Callsign
6.8. Maximum Flight Log Size
6.9. Ignite Mode
6.10. Pad Orientation
6.11. Configure Pyro Channels
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Imperial Units
7.5. Font Size
7.6. Serial Debug
7.7. Manage Frequencies
8. Configure Groundstation
8.1. Frequency
8.2. Radio Calibration
9. Flash Image
10. Fire Igniter
11. Scan Channels
12. Load Maps
13. Monitor Idle
7. AltosDroid
1. Installing AltosDroid
2. Connecting to TeleBT
3. Configuring AltosDroid
4. AltosDroid Flight Monitoring
4.1. Pad
5. Downloading Flight Logs
8. Using Altus Metrum Products
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
9. Altimeter Installation Recommendations
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing
10. Updating Device Firmware
1. 
+    
Table of Contents
1. Introduction and Overview
2. Getting Started
3. Handling Precautions
4. Altus Metrum Hardware
1. Overview
2. TeleMetrum
3. TeleMini
4. EasyMini
5. TeleMega
6. Flight Data Recording
7. Installation
5. System Operation
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
6.7. Configurable Pyro Channels
6. AltosUI
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Table
1.6. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
4.1. Flight Graph
4.2. Configure Graph
4.3. Flight Statistics
4.4. Map
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. RF Calibration
6.5. Telemetry/RDF/APRS Enable
6.6. APRS Interval
6.7. Callsign
6.8. Maximum Flight Log Size
6.9. Ignite Mode
6.10. Pad Orientation
6.11. Configure Pyro Channels
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Imperial Units
7.5. Font Size
7.6. Serial Debug
7.7. Manage Frequencies
8. Configure Groundstation
8.1. Frequency
8.2. Radio Calibration
9. Flash Image
10. Fire Igniter
11. Scan Channels
12. Load Maps
13. Monitor Idle
7. AltosDroid
1. Installing AltosDroid
2. Connecting to TeleBT
3. Configuring AltosDroid
4. AltosDroid Flight Monitoring
4.1. Pad
5. Downloading Flight Logs
8. Using Altus Metrum Products
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
9. Altimeter Installation Recommendations
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing
10. Updating Device Firmware
1. 
 	Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
-      
1.1. Recovering From Self-Flashing Failure
2. Pair Programming
3. Updating TeleMetrum v1.x Firmware
4. Updating TeleMini Firmware
5. Updating TeleDongle Firmware
11. Hardware Specifications
1. 
+      
1.1. Recovering From Self-Flashing Failure
2. Pair Programming
3. Updating TeleMetrum v1.x Firmware
4. Updating TeleMini Firmware
5. Updating TeleDongle Firmware
11. Hardware Specifications
1. 
 	TeleMega Specifications
-      
2. 
+      
2. 
 	TeleMetrum v2 Specifications
-      
3. TeleMetrum v1 Specifications
4. 
+      
3. TeleMetrum v1 Specifications
4. 
 	TeleMini v2.0 Specifications
-      
5. 
+      
5. 
 	TeleMini v1.0 Specifications
-      
6. 
+      
6. 
 	EasyMini Specifications
-      
12. FAQ
A. Notes for Older Software
B. Drill Templates
1. TeleMega template
2. TeleMetrum template
3. TeleMini v2/EasyMini template
4. TeleMini v1 template
C. Calibration
1. Radio Frequency
2. TeleMetrum and TeleMega Accelerometers
D. Release Notes
List of Tables
4.1. Altus Metrum Electronics
4.2. Altus Metrum Boards
4.3. Data Storage on Altus Metrum altimeters
5.1. AltOS Modes
5.2. Pad/Idle Indications
Chapter 1. Introduction and Overview

+      
12. FAQ
A. Notes for Older Software
B. Drill Templates
1. TeleMega template
2. TeleMetrum template
3. TeleMini v2/EasyMini template
4. TeleMini v1 template
C. Calibration
1. Radio Frequency
2. TeleMetrum and TeleMega Accelerometers
D. Release Notes
List of Tables
4.1. Altus Metrum Electronics
4.2. Altus Metrum Boards
4.3. Data Storage on Altus Metrum altimeters
5.1. AltOS Modes
5.2. Pad/Idle Indications
Chapter 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
@@ -112,7 +115,7 @@ NAR
       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.
-    
Chapter 2. Getting Started

+    
Chapter 2. Getting Started

       The first thing to do after you check the inventory of parts in your
       “starter kit” is to charge the battery.
     

@@ -182,7 +185,7 @@ NAR
       over USB with your laptop computer; it acts exactly like a
       TeleDongle. Anywhere this manual talks about TeleDongle, you can
       also read that as 'and TeleBT when connected via USB'.
-    
Chapter 3. Handling Precautions

+    
Chapter 3. 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 
@@ -221,10 +224,10 @@ NAR
       As with all other rocketry electronics, Altus Metrum altimeters must 
       be protected from exposure to corrosive motor exhaust and ejection 
       charge gasses.
-    
Chapter 4. Altus Metrum Hardware
Table of Contents
1. Overview
2. TeleMetrum
3. TeleMini
4. EasyMini
5. TeleMega
6. Flight Data Recording
7. Installation
1. Overview

+    
Chapter 4. Altus Metrum Hardware
Table of Contents
1. Overview
2. TeleMetrum
3. TeleMini
4. EasyMini
5. TeleMega
6. Flight Data Recording
7. Installation
1. Overview

 	Here's the full set of Altus Metrum products, both in
 	production and retired.
-      
Table 4.1. Altus Metrum Electronics
DeviceBarometerZ-axis accelerometerGPS3D sensorsStorageRF OutputBattery
TeleMetrum v1.0
MP3H6115 10km (33k')
MMA2202 50g
SkyTraq-1MB10mW3.7V
TeleMetrum v1.1
MP3H6115 10km (33k')
MMA2202 50g
SkyTraq-2MB10mW3.7V
TeleMetrum v1.2
MP3H6115 10km (33k')
ADXL78 70g
SkyTraq-2MB10mW3.7V
TeleMetrum v2.0
MS5607 30km (100k')
MMA6555 102g
uBlox Max-7Q-8MB40mW3.7V
TeleMini v1.0
MP3H6115 10km (33k')
---5kB10mW3.7V
TeleMini v2.0
MS5607 30km (100k')
---1MB10mW3.7-12V
EasyMini v1.0
MS5607 30km (100k')
---1MB-3.7-12V
TeleMega v1.0
MS5607 30km (100k')
MMA6555 102g
uBlox Max-7Q
MPU6000 HMC5883
8MB40mW3.7V

Table 4.2. Altus Metrum Boards
DeviceConnectorsScrew TerminalsWidthLengthTube Size
TeleMetrum

+      
Table 4.1. Altus Metrum Electronics
DeviceBarometerZ-axis accelerometerGPS3D sensorsStorageRF OutputBattery
TeleMetrum v1.0
MP3H6115 10km (33k')
MMA2202 50g
SkyTraq-1MB10mW3.7V
TeleMetrum v1.1
MP3H6115 10km (33k')
MMA2202 50g
SkyTraq-2MB10mW3.7V
TeleMetrum v1.2
MP3H6115 10km (33k')
ADXL78 70g
SkyTraq-2MB10mW3.7V
TeleMetrum v2.0
MS5607 30km (100k')
MMA6555 102g
uBlox Max-7Q-8MB40mW3.7V
TeleMini v1.0
MP3H6115 10km (33k')
---5kB10mW3.7V
TeleMini v2.0
MS5607 30km (100k')
---1MB10mW3.7-12V
EasyMini v1.0
MS5607 30km (100k')
---1MB-3.7-12V
TeleMega v1.0
MS5607 30km (100k')
MMA6555 102g
uBlox Max-7Q
MPU6000 HMC5883
8MB40mW3.7V

Table 4.2. Altus Metrum Boards
DeviceConnectorsScrew TerminalsWidthLengthTube Size
TeleMetrum

 		Antenna
 		Debug
 		Companion
@@ -268,7 +271,7 @@ NAR
 		Pyro A-D
 		Switch
 		Pyro battery
-	      
1¼ inch (3.18cm)3¼ inch (8.26cm)38mm coupler

2. TeleMetrum

+	      
1¼ inch (3.18cm)3¼ inch (8.26cm)38mm coupler

2. 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
@@ -279,7 +282,7 @@ NAR
 	the e-matches for apogee and main ejection charges depart from the
 	fin can end of the board, meaning an ideal “simple” avionics
 	bay for TeleMetrum should have at least 10 inches of interior length.
-      
3. TeleMini

+      
3. TeleMini

 	TeleMini v1.0 is ½ inches by 1½ 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
@@ -298,25 +301,25 @@ NAR
 	screw terminals for the battery and power switch. The larger
 	board fits in a 24mm coupler. There's also a battery connector
 	for a LiPo battery if you want to use one of those.
-      
4. EasyMini

+      
4. EasyMini

 	EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
 	designed to fit in a 24mm coupler tube. The connectors and
 	screw terminals match TeleMini v2.0, so you can easily swap between
 	EasyMini and TeleMini.
-      
5. TeleMega

+      
5. 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.
-      
6. Flight Data Recording

+      
6. 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.
-      
Table 4.3. Data Storage on Altus Metrum altimeters
DeviceBytes per SampleTotal StorageMinutes at Full Rate
TeleMetrum v1.081MB20
TeleMetrum v1.1 v1.282MB40
TeleMetrum v2.0168MB80
TeleMini v1.025kB4
TeleMini v2.0161MB10
EasyMini161MB10
TeleMega328MB40


+      
Table 4.3. Data Storage on Altus Metrum altimeters
DeviceBytes per SampleTotal StorageMinutes at Full Rate
TeleMetrum v1.081MB20
TeleMetrum v1.1 v1.282MB40
TeleMetrum v2.0168MB80
TeleMini v1.025kB4
TeleMini v2.0161MB10
EasyMini161MB10
TeleMega328MB40


 	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
@@ -349,7 +352,7 @@ NAR
 	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.
-      
7. Installation

+      
7. 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 
@@ -397,7 +400,7 @@ NAR
 	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.
-      
Chapter 5. System Operation
Table of Contents
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
6.7. Configurable Pyro Channels
1. Firmware Modes 

+      
Chapter 5. System Operation
Table of Contents
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
6.7. Configurable Pyro Channels
1. Firmware Modes 

         The AltOS firmware build for the altimeters has two
         fundamental modes, “idle” and “flight”.  Which of these modes
         the firmware operates in is determined at start up time. For
@@ -425,7 +428,7 @@ NAR
 	mode. In the description of the beeping pattern, “dit” means a
 	short beep while "dah" means a long beep (three times as
 	long). “Brap” means a long dissonant tone.
-	
Table 5.1. AltOS Modes
Mode NameAbbreviationBeepsDescription
StartupSdit dit dit
+	
Table 5.1. AltOS Modes
Mode NameAbbreviationBeepsDescription
StartupSdit dit dit
 		  

 		    Calibrating sensors, detecting orientation.
 		  

@@ -499,7 +502,7 @@ NAR
 	slower than the “no continuity tone”)
       

 	Here's a summary of all of the “pad” and “idle” mode indications.
-	
Table 5.2. Pad/Idle Indications
NameBeepsDescription
Neitherbrap
+	
Table 5.2. Pad/Idle Indications
NameBeepsDescription
Neitherbrap
 		  

 		    No continuity detected on either apogee or main
 		    igniters.
@@ -566,7 +569,7 @@ NAR
 	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.
-      
2. GPS 

+      
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
@@ -584,7 +587,7 @@ NAR
         is turned back on, the GPS system should lock very quickly, typically
         long before igniter installation and return to the flight line are
         complete.
-      
3. Controlling An Altimeter Over The Radio Link

+      
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
@@ -655,7 +658,7 @@ NAR
         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.
-      
4. Ground Testing 

+      
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,
@@ -671,7 +674,7 @@ NAR
         manual command.  You can now command the altimeter to fire the apogee
         or main charges from a safe distance using your computer and 
         TeleDongle and the Fire Igniter tab to complete ejection testing.
-      
5. Radio Link 

+      
5. Radio Link 

         Our flight computers 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
@@ -710,13 +713,13 @@ NAR
 	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.
-      
6. Configurable Parameters

+      
6. 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 “mach delay”.  The few 
         configurable parameters can all be set using AltosUI over USB or
         or radio link via TeleDongle.
-      
6.1. Radio Frequency

+      
6.1. Radio Frequency

 	  Altus Metrum boards support radio frequencies in the 70cm
 	  band. By default, the configuration interface provides a
 	  list of 10 “standard” frequencies in 100kHz channels starting at
@@ -726,7 +729,7 @@ NAR
 	  frequency will be used to avoid interference.  And of course, both
 	  altimeter and TeleDongle must be configured to the same
 	  frequency to successfully communicate with each other.
-        
6.2. Apogee Delay

+        
6.2. Apogee Delay

           Apogee delay is the number of seconds after the altimeter detects flight
           apogee that the drogue charge should be fired.  In most cases, this
           should be left at the default of 0.  However, if you are flying
@@ -742,7 +745,7 @@ NAR
           or 3 seconds later to avoid any chance of both charges
           firing simultaneously.  We've flown several air-frames this
           way quite happily, including Keith's successful L3 cert.
-        
6.3. Main Deployment Altitude

+        
6.3. Main Deployment Altitude

           By default, the altimeter will fire the main deployment charge at an
           elevation of 250 meters (about 820 feet) above ground.  We think this
           is a good elevation for most air-frames, but feel free to change this
@@ -751,7 +754,7 @@ NAR
           deployment elevation for the backup altimeter to be something lower
           than the primary so that both pyrotechnic charges don't fire
           simultaneously.
-        
6.4. Maximum Flight Log

+        
6.4. Maximum Flight Log

 	  Changing this value will set the maximum amount of flight
 	  log storage that an individual flight will use. The
 	  available storage is divided into as many flights of the
@@ -763,7 +766,7 @@ NAR
 	  Even though our flight computers (except TeleMini v1.0) can store
 	  multiple flights, we strongly recommend downloading and saving
 	  flight data after each flight.
-	
6.5. Ignite Mode

+	
6.5. Ignite Mode

 	  Instead of firing one charge at apogee and another charge at
 	  a fixed height above the ground, you can configure the
 	  altimeter to fire both at apogee or both during
@@ -774,7 +777,7 @@ NAR
 	  main allows some level of redundancy without needing two
 	  flight computers.  In Redundant Apogee or Redundant Main
 	  mode, the two charges will be fired two seconds apart.
-	
6.6. Pad Orientation

+	
6.6. Pad Orientation

 	  TeleMetrum and TeleMega measure acceleration along the axis
 	  of the board. Which way the board is oriented affects the
 	  sign of the acceleration value. Instead of trying to guess
@@ -784,7 +787,7 @@ NAR
 	  of the board connected to the 70cm antenna to be nearest the
 	  nose of the rocket, with the end containing the screw
 	  terminals nearest the tail.
-	
6.7. Configurable Pyro Channels

+	
6.7. Configurable Pyro Channels

 	  In addition to the usual Apogee and Main pyro channels,
 	  TeleMega has four additional channels that can be configured
 	  to activate when various flight conditions are
@@ -884,7 +887,7 @@ NAR
 	      Coast state (depending on how fast it is moving). If the
 	      computer detects upwards acceleration again, it will
 	      move back to Boost state.
-	    
Chapter 6. AltosUI
Table of Contents
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Table
1.6. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
4.1. Flight Graph
4.2. Configure Graph
4.3. Flight Statistics
4.4. Map
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. RF Calibration
6.5. Telemetry/RDF/APRS Enable
6.6. APRS Interval
6.7. Callsign
6.8. Maximum Flight Log Size
6.9. Ignite Mode
6.10. Pad Orientation
6.11. Configure Pyro Channels
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Imperial Units
7.5. Font Size
7.6. Serial Debug
7.7. Manage Frequencies
8. Configure Groundstation
8.1. Frequency
8.2. Radio Calibration
9. Flash Image
10. Fire Igniter
11. Scan Channels
12. Load Maps
13. Monitor Idle

+	    
Chapter 6. AltosUI
Table of Contents
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Table
1.6. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
4.1. Flight Graph
4.2. Configure Graph
4.3. Flight Statistics
4.4. Map
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. RF Calibration
6.5. Telemetry/RDF/APRS Enable
6.6. APRS Interval
6.7. Callsign
6.8. Maximum Flight Log Size
6.9. Ignite Mode
6.10. Pad Orientation
6.11. Configure Pyro Channels
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Imperial Units
7.5. Font Size
7.6. Serial Debug
7.7. Manage Frequencies
8. Configure Groundstation
8.1. Frequency
8.2. Radio Calibration
9. Flash Image
10. Fire Igniter
11. Scan Channels
12. Load Maps
13. Monitor Idle

       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
@@ -892,12 +895,12 @@ NAR
       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.
-    
1. Monitor Flight
Receive, Record and Display Telemetry Data

+    
1. Monitor Flight
Receive, Record and Display Telemetry Data

         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.
@@ -939,7 +942,7 @@ NAR
         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.
-      
1.1. Launch Pad

+      
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
@@ -989,15 +992,15 @@ NAR
 	  The Launchpad tab also shows the computed launch pad position
 	  and altitude, averaging many reported positions to improve the
 	  accuracy of the fix.
-	
1.2. Ascent

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

           The current latitude and longitude reported by the GPS are
           also shown. Note that under high acceleration, these values
@@ -1008,7 +1011,7 @@ NAR
           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.
-        
1.3. Descent

+        
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,
@@ -1037,7 +1040,7 @@ NAR
 	  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.
-        
1.4. Landed

+        
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
@@ -1066,13 +1069,13 @@ NAR
 	  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.
-	
1.5. Table

+	
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.
-	
1.6. Site Map

+	
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
@@ -1091,7 +1094,7 @@ NAR
         

 	  You can pre-load images for your favorite launch sites
 	  before you leave home; check out the 'Preload Maps' section below.
-	
2. Save Flight Data

+	
2. Save Flight Data

         The altimeter records flight data to its internal flash memory.
         TeleMetrum data is recorded at a much higher rate than the telemetry
         system can handle, and is not subject to radio drop-outs. As
@@ -1120,7 +1123,7 @@ NAR
         The file name for each flight log is computed automatically
         from the recorded flight date, altimeter serial number and
         flight number information.
-      
3. Replay Flight

+      
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
@@ -1129,7 +1132,7 @@ NAR
         Once a flight record is selected, the flight monitor interface
         is displayed and the flight is re-enacted in real time. Check
         the Monitor Flight chapter above to learn how this window operates.
-      
4. Graph Data

+      
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
@@ -1141,7 +1144,7 @@ NAR
       

         Once a flight record is selected, a window with multiple tabs is
         opened.
-      
4.1. Flight Graph

+      
4.1. Flight Graph

 	  By default, the graph contains acceleration (blue),
 	  velocity (green) and altitude (red).
 	

@@ -1151,18 +1154,18 @@ NAR
         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.
-      
4.2. Configure Graph

+      
4.2. Configure Graph

 	  This selects which graph elements to show, and, at the
 	  very bottom, lets you switch between metric and
 	  imperial units
-	
4.3. Flight Statistics

+	
4.3. Flight Statistics

 	  Shows overall data computed from the flight.
-	
4.4. Map

+	
4.4. Map

 	  Shows a satellite image of the flight area overlaid
 	  with the path of the flight. The red concentric
 	  circles mark the launch pad, the black concentric
 	  circles mark the landing location.
-	
5. Export Data

+	
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.
@@ -1171,7 +1174,7 @@ NAR
 	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.
-      
5.1. Comma Separated Value Format

+      
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
@@ -1185,11 +1188,11 @@ NAR
           the sensor values are converted to standard units, with the
           barometric data reported in both pressure, altitude and
           height above pad units.
-        
5.2. Keyhole Markup Language (for Google Earth)

+        
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.
-        
6. Configure Altimeter

+        
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. 
@@ -1217,14 +1220,14 @@ NAR
 	      lost.
 	    

         The rest of the dialog contains the parameters to be configured.
-      
6.1. Main Deploy Altitude

+      
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.
-        
6.2. Apogee Delay

+        
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
@@ -1232,13 +1235,13 @@ NAR
           Delay parameter tells the flight computer to fire the apogee
           charge a certain number of seconds after apogee has been
           detected.
-        
6.3. Radio Frequency

+        
6.3. Radio 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.
-        
6.4. RF Calibration

+        
6.4. 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 
@@ -1246,26 +1249,26 @@ NAR
 	  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.
-        
6.5. Telemetry/RDF/APRS Enable

+        
6.5. Telemetry/RDF/APRS Enable

 	  Enables the radio for transmission during flight. When
 	  disabled, the radio will not transmit anything during flight
 	  at all.
-	
6.6. APRS Interval

+	
6.6. APRS Interval

 	  How often to transmit GPS information via APRS. This option
 	  is available on TeleMetrum v2 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.
-	
6.7. Callsign

+	
6.7. Callsign

           This sets the call sign included in each telemetry packet. Set this
           as needed to conform to your local radio regulations.
-        
6.8. Maximum Flight Log Size

+        
6.8. 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.
-	
6.9. Ignite Mode

+	
6.9. Ignite Mode

 	  TeleMetrum and TeleMini provide two igniter channels as they
 	  were originally designed as dual-deploy flight
 	  computers. This configuration parameter allows the two
@@ -1285,7 +1288,7 @@ NAR
 		  Altitude setting during descent. The 'apogee'
 		  channel is fired first, followed after a two second
 		  delay by the 'main' channel.
-		
6.10. Pad Orientation

+		
6.10. Pad Orientation

 	  Because they include accelerometers, TeleMetrum and
 	  TeleMega are sensitive to the orientation of the board. By
 	  default, they expect the antenna end to point forward. This
@@ -1299,7 +1302,7 @@ NAR
 		In this mode, the antenna end of the
 		flight computer must point aft, in line with the
 		expected flight path.
-	      
6.11. Configure Pyro Channels

+	      
6.11. Configure Pyro Channels

 	  This opens a separate window to configure the additional
 	  pyro channels available on TeleMega.  One column is
 	  presented for each channel. Each row represents a single
@@ -1319,9 +1322,9 @@ NAR
 	  configuration along with the rest of the flight computer
 	  configuration by pressing the 'Save' button in the main
 	  Configure Flight Computer window.
-	
7. Configure AltosUI

+	
7. Configure AltosUI

         This button presents a dialog so that you can configure the AltosUI global settings.
-      
7.1. Voice Settings

+      
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
@@ -1330,7 +1333,7 @@ NAR
 		Plays a short message allowing you to verify
 		that the audio system is working and the volume settings
 		are reasonable
-	      
7.2. Log Directory

+	      
7.2. Log Directory

           AltosUI logs all telemetry data and saves all TeleMetrum flash
           data to this directory. This directory is also used as the
           staring point when selecting data files for display or export.
@@ -1338,7 +1341,7 @@ NAR
           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.
-        
7.3. Callsign

+        
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
@@ -1351,30 +1354,30 @@ NAR
 	  the callsign configured here must exactly match the callsign
 	  configured in the flight computer.  This matching is case 
 	  sensitive.
-        
7.4. Imperial Units

+        
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.
-	
7.5. Font Size

+	
7.5. Font Size

 	  Selects the set of fonts used in the flight monitor
 	  window. Choose between the small, medium and large sets.
-	
7.6. Serial Debug

+	
7.6. 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.
-        
7.7. Manage Frequencies

+        
7.7. 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.
-	
8. Configure Groundstation

+	
8. Configure Groundstation

         Select this button and then select a TeleDongle Device from the list provided.
       

         The first few lines of the dialog provide information about the
@@ -1401,20 +1404,20 @@ NAR
 	      lost.
 	    

         The rest of the dialog contains the parameters to be configured.
-      
8.1. Frequency

+      
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.
-        
8.2. Radio Calibration

+        
8.2. Radio 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's calibration, 
 	  you must reprogram the unit completely, so this entry simply
 	  shows the current value and doesn't allow any changes.
-        
9. Flash Image

+        
9. Flash Image

         This reprograms Altus Metrum devices with new
         firmware. TeleMetrum v1.x, TeleDongle, TeleMini and TeleBT are
         all reprogrammed by using another similar unit as a
@@ -1422,7 +1425,7 @@ NAR
         and EasyMini are all programmed directly over their USB ports
         (self programming).  Please read the directions for flashing
         devices in the Updating Device Firmware chapter below.
-      
10. Fire Igniter

+      
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
@@ -1431,8 +1434,8 @@ NAR
       

 	Selecting the 'Fire Igniter' button brings up the usual device
 	selection dialog. Pick the desired device. This brings up another 
-	window which shows the current continuity test status for both 
-	apogee and main charges.
+	window which shows the current continuity test status for all
+	of the pyro channels.
       

 	Next, select the desired igniter to fire. This will enable the
 	'Arm' button.
@@ -1442,14 +1445,14 @@ NAR
 	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. Scan Channels

+      
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 three
 	telemetry formats should be tried; by default, it only listens
 	for the standard telemetry packets used in v1.0 and later
 	firmware.
-      
12. Load Maps

+      
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. This loads a fairly large area
@@ -1468,7 +1471,7 @@ NAR
 	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.
-      
13. Monitor Idle

+      
13. Monitor Idle

 	This brings up a dialog similar to the Monitor Flight UI,
 	except it works with the altimeter in “idle” mode by sending
 	query commands to discover the current state rather than
@@ -1477,7 +1480,7 @@ NAR
 	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.
-      
Chapter 7. AltosDroid
Table of Contents
1. Installing AltosDroid
2. Connecting to TeleBT
3. Configuring AltosDroid
4. AltosDroid Flight Monitoring
4.1. Pad
5. Downloading Flight Logs

+      
Chapter 7. AltosDroid
Table of Contents
1. Installing AltosDroid
2. Connecting to TeleBT
3. Configuring AltosDroid
4. AltosDroid Flight Monitoring
4.1. Pad
5. Downloading Flight Logs

       AltosDroid provides the same flight monitoring capabilities as
       AltosUI, but runs on Android devices and is designed to connect
       to a TeleBT receiver over Bluetooth™. AltosDroid monitors
@@ -1488,14 +1491,14 @@ NAR
       This manual will explain how to configure AltosDroid, connect
       to TeleBT, operate the flight monitoring interface and describe
       what the displayed data means.
-    
1. Installing AltosDroid

+    
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 “altosdroid”. Make sure you don't
 	have a space between “altos” and “droid” 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.
-      
2. Connecting to TeleBT

+      
2. Connecting to TeleBT

 	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
@@ -1505,19 +1508,19 @@ NAR
 	Subsequent connections will not require you to enter that
 	code, and your 'paired' device will appear in the list without
 	scanning.
-      
3. Configuring AltosDroid

+      
3. Configuring AltosDroid

 	The only configuration option available for AltosDroid is
 	which frequency to listen on. Press the Android 'Menu' button
 	or soft-key and pick the 'Select radio frequency' entry. That
 	brings up a menu of pre-set radio frequencies; pick the one
 	which matches your altimeter.
-      
4. AltosDroid Flight Monitoring

+      
4. 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.
-      
4.1. Pad

+      
4.1. 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
@@ -1565,18 +1568,18 @@ NAR
 	  The Launchpad tab also shows the computed launch pad position
 	  and altitude, averaging many reported positions to improve the
 	  accuracy of the fix.
-	
5. Downloading Flight Logs

+	
5. Downloading Flight Logs

 	AltosDroid always saves every bit of telemetry data it
 	receives. To download that to a computer for use with AltosUI,
 	simply 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.
-      
Chapter 8. Using Altus Metrum Products
Table of Contents
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
1. Being Legal

+      
Chapter 8. Using Altus Metrum Products
Table of Contents
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
1. Being Legal

         First off, in the US, you need an amateur radio license or
         other authorization to legally operate the radio transmitters that are part
         of our products.
-      
2. In the Rocket

+      
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 
@@ -1592,7 +1595,7 @@ NAR
 	  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.
-        
3. On the Ground

+        
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 
@@ -1654,7 +1657,7 @@ NAR
           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.
-        
4. Data Analysis

+        
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
@@ -1669,7 +1672,7 @@ NAR
           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.
-        
5. Future Plans

+        
5. Future Plans

 	  We've designed a simple GPS based radio tracker called TeleGPS.  
 	  If all goes well, we hope to introduce this in the first
 	  half of 2014.
@@ -1692,14 +1695,14 @@ NAR
 	  Watch our 
 	  web site for more news 
 	  and information as our family of products evolves!
-        
Chapter 9. Altimeter Installation Recommendations
Table of Contents
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing

+        
Chapter 9. Altimeter Installation Recommendations
Table of Contents
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing

       Building high-power rockets that fly safely is hard enough. Mix
       in some sophisticated electronics and a bunch of radio energy
       and some creativity and/or compromise may be required. This chapter
       contains some suggestions about how to install Altus Metrum
       products into a rocket air-frame, including how to safely and
       reliably mix a variety of electronics into the same air-frame.
-    
1. Mounting the Altimeter

+    
1. Mounting the Altimeter

 	The first consideration is to ensure that the altimeter is
 	securely fastened to the air-frame. For most of our products, we 
 	prefer nylon standoffs and nylon screws; they're good to at least 50G
@@ -1719,7 +1722,7 @@ NAR
 	    Watch for any metal touching components on the
 	    board. Shorting out connections on the bottom of the board
 	    can cause the altimeter to fail during flight.
-	  
2. Dealing with the Antenna

+	  
2. Dealing with the Antenna

 	The antenna supplied is just a piece of solid, insulated,
 	wire. If it gets damaged or broken, it can be easily
 	replaced. It should be kept straight and not cut; bending or
@@ -1762,7 +1765,7 @@ NAR
 	SMA connector, and then run 50Ω coax from the board to the
 	antenna. Building a remote antenna is beyond the scope of this
 	manual.
-      
3. Preserving GPS Reception

+      
3. Preserving GPS Reception

 	The GPS antenna and receiver used in TeleMetrum and TeleMega is 
 	highly sensitive and normally have no trouble tracking enough
 	satellites to provide accurate position information for
@@ -1781,7 +1784,7 @@ NAR
 	    antenna as that's covered with a ground plane. But, keep
 	    wires and metal out from above the patch antenna.
 	  

-      
4. Radio Frequency Interference

+      
4. Radio Frequency Interference

 	Any altimeter will generate RFI; the digital circuits use
 	high-frequency clocks that spray radio interference across a
 	wide band. Altus Metrum altimeters generate intentional radio
@@ -1819,7 +1822,7 @@ NAR
 	  70cm amateur band, so you should avoid lengths that are a
 	  simple ratio of that length; essentially any multiple of ¼
 	  of the wavelength (17.5cm).
-	  
5. The Barometric Sensor

+	  
5. The Barometric Sensor

 	Altusmetrum altimeters measure altitude with a barometric
 	sensor, essentially measuring the amount of air above the
 	rocket to figure out how high it is. A large number of
@@ -1837,7 +1840,7 @@ NAR
 	the products of APCP or BP combustion, so make sure the ebay is 
 	carefully sealed from any compartment which contains ejection 
 	charges or motors.
-      
6. Ground Testing

+      
6. Ground Testing

 	The most important aspect of any installation is careful
 	ground testing. Bringing an air-frame up to the LCO table which
 	hasn't been ground tested can lead to delays or ejection
@@ -1859,9 +1862,9 @@ NAR
 	interface through a TeleDongle to command each charge to
 	fire. Make sure the charge is sufficient to robustly separate
 	the air-frame and deploy the recovery system.
-      
Chapter 10. Updating Device Firmware
Table of Contents
1. 
+      
Chapter 10. Updating Device Firmware
Table of Contents
1. 
 	Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
-      
1.1. Recovering From Self-Flashing Failure
2. Pair Programming
3. Updating TeleMetrum v1.x Firmware
4. Updating TeleMini Firmware
5. Updating TeleDongle Firmware

+      
1.1. Recovering From Self-Flashing Failure
2. Pair Programming
3. Updating TeleMetrum v1.x Firmware
4. Updating TeleMini Firmware
5. Updating TeleDongle Firmware

       TeleMega, TeleMetrum v2 and EasyMini are all programmed directly
       over their USB connectors (self programming). TeleMetrum v1, TeleMini and
       TeleDongle are all programmed by using another device as a
@@ -1884,7 +1887,7 @@ NAR
     

       Self-programmable devices (TeleMega, TeleMetrum v2 and EasyMini)
       are reprogrammed by connecting them to your computer over USB
-    
1. 
+    
1. 
 	Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
       
  1. 
 	    Attach a battery and power switch to the target
@@ -1911,7 +1914,7 @@ NAR
 	  
  2. 
 	    Verify that the device is working by using the 'Configure
 	    Altimeter' item to check over the configuration.
-	  
1.1. Recovering From Self-Flashing Failure

+	  
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
@@ -1942,13 +1945,13 @@ NAR
 		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.
-	      
2. Pair Programming

+	      
2. Pair Programming

 	The big concept to understand is that you have to use a
 	TeleMega, TeleMetrum or TeleDongle 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.
-      
3. Updating TeleMetrum v1.x Firmware
  1. 
+      
3. Updating TeleMetrum v1.x Firmware
  1. 
           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.
@@ -1991,7 +1994,7 @@ NAR
           the version, etc.
 	  
  2. 
           If something goes wrong, give it another try.
-	  
4. Updating TeleMini Firmware
  1. 
+	  
4. Updating TeleMini Firmware
  1. 
 	  You'll need a special 'programming cable' to reprogram the
 	  TeleMini.  You can make your own using an 8-pin MicroMaTch 
 	  connector on one end and a set of four pins on the other.
@@ -2034,7 +2037,7 @@ NAR
 	  letting it come up in “flight” mode and listening for telemetry.
         
  2. 
           If something goes wrong, give it another try.
-        
5. Updating TeleDongle Firmware

+        
5. Updating TeleDongle Firmware

         Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini
 	firmware, but you use either a TeleMetrum or another TeleDongle as the programmer.
 	
  1. 
@@ -2094,17 +2097,17 @@ NAR
         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.
-      
Chapter 11. Hardware Specifications
Table of Contents
1. 
+      
Chapter 11. Hardware Specifications
Table of Contents
1. 
 	TeleMega Specifications
-      
2. 
+      
2. 
 	TeleMetrum v2 Specifications
-      
3. TeleMetrum v1 Specifications
4. 
+      
3. TeleMetrum v1 Specifications
4. 
 	TeleMini v2.0 Specifications
-      
5. 
+      
5. 
 	TeleMini v1.0 Specifications
-      
6. 
+      
6. 
 	EasyMini Specifications
-      
1. 
+      
1. 
 	TeleMega Specifications
       
  • 
 	    Recording altimeter for model rocketry.
@@ -2134,7 +2137,7 @@ NAR
 	    to fire e-matches.
 	  
  • 
 	    3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
-	  
2. 
+	  
2. 
 	TeleMetrum v2 Specifications
       
  • 
 	    Recording altimeter for model rocketry.
@@ -2160,7 +2163,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
  • 
 	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
-	  
3. TeleMetrum v1 Specifications
  • 
+	  
3. TeleMetrum v1 Specifications
  • 
 	    Recording altimeter for model rocketry.
 	  
  • 
 	    Supports dual deployment (can fire 2 ejection charges).
@@ -2184,7 +2187,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
  • 
 	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
-	  
4. 
+	  
4. 
 	TeleMini v2.0 Specifications
       
  • 
 	    Recording altimeter for model rocketry.
@@ -2206,7 +2209,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
  • 
 	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
-	  
5. 
+	  
5. 
 	TeleMini v1.0 Specifications
       
  • 
 	    Recording altimeter for model rocketry.
@@ -2227,7 +2230,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
  • 
 	    1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube.
-	  
6. 
+	  
6. 
 	EasyMini Specifications
       
  • 
 	    Recording altimeter for model rocketry.
@@ -2247,7 +2250,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
  • 
 	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
-	  
Chapter 12. FAQ

+	  
Chapter 12. FAQ

         TeleMetrum seems to shut off when disconnected from the
         computer.  
 	Make sure the battery is adequately charged.  Remember the
@@ -2292,7 +2295,7 @@ NAR
         data after physically retrieving your altimeter.  Make sure to save
         the on-board data after each flight; while the TeleMetrum can store
 	multiple flights, you never know when you'll lose the altimeter...
-      
Appendix A. Notes for Older Software

+      
Appendix A. Notes for Older Software

       
       Before AltosUI was written, using Altus Metrum devices required
       some finesse with the Linux command line. There was a limited
@@ -2385,11 +2388,12 @@ NAR
           Then, divide 434.550 MHz by the
           measured frequency and multiply by the current radio cal value show
           in the 'c s' command.  For an unprogrammed board, the default value
-          is 1186611.  Take the resulting integer and program it using the 'c f'
+          is 1186611 for cc1111 based products and 7119667 for cc1120
+	  based products.  Take the resulting integer and program it using the 'c f'
           command.  Testing with the 'C' command again should show a carrier
           within a few tens of Hertz of the intended frequency.
           As with all 'c' sub-commands, follow this with a 'c w' to write the
-          change to the parameter block in the on-board DataFlash chip.
+          change to the configuration memory.
         

       Note that the 'reboot' command, which is very useful on the altimeters,
       will likely just cause problems with the dongle.  The *correct* way
@@ -2468,22 +2472,22 @@ NAR
       the Log and Device menus.  It has a wonderful display of the incoming
       flight data and I am sure you will enjoy what it has to say to you
       once you enable the voice output!
-    
Appendix B. Drill Templates
Table of Contents
1. TeleMega template
2. TeleMetrum template
3. TeleMini v2/EasyMini template
4. TeleMini v1 template

+    
Appendix B. Drill Templates
Table of Contents
1. TeleMega template
2. TeleMetrum template
3. TeleMini v2/EasyMini template
4. TeleMini v1 template

       These images, when printed, provide precise templates for the
       mounting holes in Altus Metrum flight computers
-    
1. TeleMega template

+    
1. TeleMega template

 	TeleMega has overall dimensions of 1.250 x 3.250 inches, and
 	the mounting holes are sized for use with 4-40 or M3 screws.
-      
2. TeleMetrum template

+      
2. TeleMetrum template

 	TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
 	mounting holes are sized for use with 4-40 or M3 screws.
-      
3. TeleMini v2/EasyMini template

+      
3. TeleMini v2/EasyMini template

 	TeleMini v2 and EasyMini have overall dimensions of 0.800 x 1.500 inches, and the
 	mounting holes are sized for use with 4-40 or M3 screws.
-      
4. TeleMini v1 template

+      
4. TeleMini v1 template

 	TeleMini has overall dimensions of 0.500 x 1.500 inches, and the
 	mounting holes are sized for use with 2-56 or M2 screws.
-      
Appendix C. Calibration
Table of Contents
1. Radio Frequency
2. TeleMetrum and TeleMega Accelerometers

+      
Appendix C. Calibration
Table of Contents
1. Radio Frequency
2. TeleMetrum and TeleMega Accelerometers

         There are only two calibrations required for TeleMetrum and
         TeleMega, and only one for TeleDongle, TeleMini and EasyMini.
         All boards are shipped from the factory pre-calibrated, but
@@ -2492,7 +2496,7 @@ NAR
         connect to the board with a serial terminal program and
         interact directly with the on-board command interpreter to
         effect calibration.
-      
1. Radio Frequency

+      
1. Radio Frequency

           The radio frequency is synthesized from a clock based on the
           crystal on the board.  The actual frequency of this oscillator 
           must be measured to generate a calibration constant.  While our 
@@ -2528,7 +2532,7 @@ NAR
 	  radio frequency is reset to the default 434.550 Mhz.  If you want
 	  to use another frequency, you will have to set that again after
 	  calibration is completed.
-	
2. TeleMetrum and TeleMega Accelerometers

+	
2. TeleMetrum and TeleMega Accelerometers

           While barometric sensors are factory-calibrated,
           accelerometers are not, and so each must be calibrated once
           installed in a flight computer.  Explicitly calibrating the
@@ -2565,7 +2569,49 @@ NAR
          to the index post on the 4-pin end of the programming cable,
          and power up the board.  It should come up in 'idle mode'
          (two beeps), allowing a re-cal.
-        
Appendix D. Release Notes
Version 1.3

+        
Appendix D. Release Notes
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.
+  

+    AltOS Firmware Changes
+    
  • 
+	  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.
+	
  • 
+	  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.
+	

+  

+    AltosUI changes
+    
  • 
+	  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.
+	
  • 
+	  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.
+	

+  
Version 1.3

     Version 1.3 is a major release. It adds support for TeleMega,
     TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
   

@@ -2606,7 +2652,7 @@ NAR
 	
  • 
 	  Save the last log directory and offer that as the default for new downloads
 	
    • 
-  
    Version 1.2.1
    
+  
    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.
@@ -2666,7 +2712,7 @@ NAR
 	a complete summary of the flight without needing to 'replay'
 	the whole thing.
       
    
-  
    Version 1.2
    
+  
    Version 1.2
    
     Version 1.2 is a major release. It adds support for MicroPeak and
     the MicroPeak USB adapter.
   
    
@@ -2692,7 +2738,7 @@ NAR
 	Altus Metrum software packages to be installed in the same
 	directory at the same time.
       
    
-  
    Version 1.1.1
    
+  
    Version 1.1.1
    
     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
@@ -2737,7 +2783,7 @@ NAR
 	from the flight computer was missing a check for TeleMini when
 	deciding whether to fetch the analog sensor data.
       
    
-  
    Version 1.1
    
+  
    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.
   
    
@@ -2809,7 +2855,7 @@ NAR
 	Add Imperial units mode to present data in feet instead of
 	meters.
       
    
-  
    Version 1.0.1
    
+  
    Version 1.0.1
    
     Version 1.0.1 is a major release, adding support for the TeleMini
     device and lots of new AltosUI features
   
    
@@ -2889,7 +2935,7 @@ NAR
 	Flight window so you can immediately see the results of a
 	flight.
       
    
-  
    Version 0.9.2
    
+  
    Version 0.9.2
    
     Version 0.9.2 is an AltosUI bug-fix release, with no firmware changes.
   
    • 
       Fix plotting problems due to missing file in the Mac OS install image.
@@ -2897,7 +2943,7 @@ NAR
       Always read whole eeprom blocks, mark empty records invalid, display parsing errors to user.
 
    • 
       Add software version to Configure AltosUI dialog
-
    Version 0.9
    
+
    Version 0.9
    
     Version 0.9 adds a few new firmware features and accompanying
     AltosUI changes, along with new hardware support.
   
    • 
@@ -2916,7 +2962,7 @@ NAR
       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.
-
    Version 0.8
    
+
    Version 0.8
    
     Version 0.8 offers a major upgrade in the AltosUI
     interface. Significant new features include:
   
    • 
@@ -2956,7 +3002,7 @@ NAR
       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.
-    
    Version 0.7.1
    
+    
    Version 0.7.1
    
 Version 0.7.1 is the first release containing our new cross-platform Java-based user interface. AltosUI can:
   
    
-    
    2. Companion SPI Protocol
    
+    
    2. Companion SPI Protocol
    
       The flight computer implements a SPI master communications
       channel over the companion port, and uses this to get
       information about a connected companion board and then to get
@@ -42,11 +42,11 @@
     
    
       Because of the limits of the AVR processors used in the first
       two companion boards, the SPI data rate is set to 187.5kbaud.
-    
    3. SPI Message Formats
    
+    
    3. SPI Message Formats
    
     This section first defines the command message format sent from
     the flight computer to the companion board, and then the various
     reply message formats for each type of command message.
-    
    3.1. Command Message
    Table 1. Companion Command Message
    OffsetData TypeNameDescription
    0uint8_tcommandCommand identifier
    1uint8_tflight_stateCurrent flight computer state
    2uint16_ttickFlight computer clock (100 ticks/second)
    4uint16_tserialFlight computer serial number
    6uint16_tflightFlight number
    8   

    Table 2. Companion Command Identifiers
    ValueNameDescription
    1SETUPSupply the flight computer with companion
+    
    3.1. Command Message
    Table 1. Companion Command Message
    OffsetData TypeNameDescription
    0uint8_tcommandCommand identifier
    1uint8_tflight_stateCurrent flight computer state
    2uint16_ttickFlight computer clock (100 ticks/second)
    4uint16_tserialFlight computer serial number
    6uint16_tflightFlight number
    8   

    Table 2. Companion Command Identifiers
    ValueNameDescription
    1SETUPSupply the flight computer with companion
 	      information
    2FETCHReturn telemetry information
    3NOTIFYTell companion board when flight state
 	      changes

    
 	The flight computer will send a SETUP message shortly after
@@ -74,7 +74,7 @@
 	use this to change data collection parameters, disabling data
 	logging until the flight starts and terminating it when the
 	flight ends.
-      
    3.2. SETUP reply message
    Table 3. SETUP reply contents
    OffsetData TypeNameDescription
    0uint16_tboard_idBoard identifier
    2uint16_tboard_id_inverse~board_id—used to tell if a board is present
    4uint8_tupdate_periodMinimum time (in 100Hz ticks) between FETCH commands
    5uint8_tchannelsNumber of data channels to retrieve in FETCH command
    6   

    
+      
    3.2. SETUP reply message
    Table 3. SETUP reply contents
    OffsetData TypeNameDescription
    0uint16_tboard_idBoard identifier
    2uint16_tboard_id_inverse~board_id—used to tell if a board is present
    4uint8_tupdate_periodMinimum time (in 100Hz ticks) between FETCH commands
    5uint8_tchannelsNumber of data channels to retrieve in FETCH command
    6   

    
 	The SETUP reply contains enough information to uniquely
 	identify the companion board to the end user as well as for
 	the flight computer to know how many data values to expect in
@@ -85,12 +85,12 @@
 	bit-wise inverse of board_id. Current companion boards use
 	USB product ID as the board_id, but the flight computer does
 	not interpret this data and so it can be any value.
-      
    3.3. FETCH reply message
    Table 4. FETCH reply contents
    OffsetData TypeNameDescription
    0uint16_tdata00th data item
    2uint16_tdata11st data item
    ...   

    
+      
    3.3. FETCH reply message
    Table 4. FETCH reply contents
    OffsetData TypeNameDescription
    0uint16_tdata00th data item
    2uint16_tdata11st data item
    ...   

    
 	The FETCH reply contains arbitrary data to be reported over
 	the flight computer telemetry link. The number of 16-bit data items
 	must match the 'channels' value provided in the SETUP reply
 	message.
-      
    4. History and Motivation
    
+      
    4. History and Motivation
    
       To allow cross-programming, the original TeleMetrum and
       TeleDongle designs needed to include some kind of
       connector. With that in place, adding the ability to connect
diff --git a/AltOS/doc/companion.pdf b/AltOS/doc/companion.pdf
index a0e0f60..bb75d2d 100644
Binary files a/AltOS/doc/companion.pdf and b/AltOS/doc/companion.pdf differ
diff --git a/AltOS/doc/descent.png b/AltOS/doc/descent.png
index 0c479e7..3dd838d 100644
Binary files a/AltOS/doc/descent.png and b/AltOS/doc/descent.png differ
diff --git a/AltOS/doc/fire-igniter.png b/AltOS/doc/fire-igniter.png
index 8580457..f870c49 100644
Binary files a/AltOS/doc/fire-igniter.png and b/AltOS/doc/fire-igniter.png differ
diff --git a/AltOS/doc/graph-configure.png b/AltOS/doc/graph-configure.png
index b588833..e72b6c5 100644
Binary files a/AltOS/doc/graph-configure.png and b/AltOS/doc/graph-configure.png differ
diff --git a/AltOS/doc/landed.png b/AltOS/doc/landed.png
index 7b4f317..41eeba2 100644
Binary files a/AltOS/doc/landed.png and b/AltOS/doc/landed.png differ
diff --git a/AltOS/doc/launch-pad.png b/AltOS/doc/launch-pad.png
index a6f142d..701074e 100644
Binary files a/AltOS/doc/launch-pad.png and b/AltOS/doc/launch-pad.png differ
diff --git a/AltOS/doc/micropeak.html b/AltOS/doc/micropeak.html
index 2f6afb7..28be810 100644
--- a/AltOS/doc/micropeak.html
+++ b/AltOS/doc/micropeak.html
@@ -1,4 +1,4 @@
-MicroPeak Owner's Manual
    MicroPeak Owner's Manual
    A recording altimeter for hobby rocketry
    Keith Packard
    Copyright © 2012 Bdale Garbee and Keith Packard
    
+MicroPeak Owner's Manual
    MicroPeak Owner's Manual
    A recording altimeter for hobby rocketry
    Keith Packard
    Copyright © 2012 Bdale Garbee and Keith Packard
    Acknowledgements
    
+	
    Acknowledgements
    
       Thanks to John Lyngdal for suggesting that we build something like this.
     
    
       Have fun using these products, and we hope to meet all of you
@@ -26,7 +26,7 @@ NAR
 Keith Packard, KD7SQG
    
 NAR #88757, TRA #12200
    
       
    
-    
    Table of Contents
    1. Quick Start Guide
    2. Handling Precautions
    3. The MicroPeak USB adapter
    1. Installing the MicroPeak software
    2. Downloading Micro Peak data
    3. Analyzing MicroPeak Data
    4. Configuring the MicroPeak application
    4. Technical Information
    1. Barometric Sensor
    2. Micro-controller
    3. Lithium Battery
    4. Atmospheric Model
    5. Mechanical Considerations
    6. On-board data storage
    7. MicroPeak Programming Interface
    List of Tables
    4.1. MicroPeak EEPROM Data Storage
    Chapter 1. Quick Start Guide
    
+    
    Table of Contents
    1. Quick Start Guide
    2. Handling Precautions
    3. The MicroPeak USB adapter
    1. Installing the MicroPeak software
    2. Downloading Micro Peak data
    3. Analyzing MicroPeak Data
    4. Configuring the MicroPeak application
    4. Technical Information
    1. Barometric Sensor
    2. Micro-controller
    3. Lithium Battery
    4. Atmospheric Model
    5. Mechanical Considerations
    6. On-board data storage
    7. MicroPeak Programming Interface
    List of Tables
    4.1. MicroPeak EEPROM Data Storage
    Chapter 1. Quick Start Guide
    
       MicroPeak is designed to be easy to use. Requiring no external
       components, flying takes just a few steps
     
    • 
@@ -77,7 +77,7 @@ NAR
 	  Recover the data. Turn MicroPeak off and then back on. MicroPeak
 	  will blink out the maximum height for the last flight. Turn
 	  MicroPeak back off to conserve battery power.
-	
    Chapter 2. Handling Precautions
    
+	
    Chapter 2. 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 
@@ -107,12 +107,12 @@ NAR
       As with all other rocketry electronics, Altus Metrum altimeters must 
       be protected from exposure to corrosive motor exhaust and ejection 
       charge gasses.
-    
    Chapter 3. The MicroPeak USB adapter
    Table of Contents
    1. Installing the MicroPeak software
    2. Downloading Micro Peak data
    3. Analyzing MicroPeak Data
    4. Configuring the MicroPeak application
    
+    
    Chapter 3. The MicroPeak USB adapter
    Table of Contents
    1. Installing the MicroPeak software
    2. Downloading Micro Peak data
    3. Analyzing MicroPeak Data
    4. Configuring the MicroPeak application
    
       MicroPeak stores barometric pressure information for the first
       48 seconds of the flight in on-board non-volatile memory. The
       contents of this memory can be downloaded to a computer using
       the MicroPeak USB adapter.
-    
    1. Installing the MicroPeak software
    
+    
    1. Installing the MicroPeak software
    
 	The MicroPeak application runs on Linux, Mac OS X and
 	Windows. You can download the latest version from
 	http://altusmetrum.org/AltOS.
@@ -121,7 +121,7 @@ NAR
 	be installed. A compatible version of this driver is included
 	with the MicroPeak application, but you may want to download a
 	newer version from http://www.ftdichip.com/FTDrivers.htm.
-      
    2. Downloading Micro Peak data
    • 
+      
    2. Downloading Micro Peak data
    • 
 	    Connect the MicroPeak USB adapter to a USB cable and plug it
 	    in to your computer.
 	  
    • 
@@ -147,7 +147,7 @@ NAR
 	    it will present the data in a graph and offer to save the
 	    data to a file. If not, you can power cycle the MicroPeak
 	    board and try again.
-	  
    3. Analyzing MicroPeak Data
    
+	  
    3. Analyzing MicroPeak Data
    
 	The MicroPeak application can present flight data in the form
 	of a graph, a collection of computed statistics or in tabular
 	form.
@@ -190,7 +190,7 @@ NAR
 	Data tab) to a file, change the application Preferences, Close
 	the current window or close all windows and Exit the
 	application.
-      
    4. Configuring the MicroPeak application
    
+      
    4. Configuring the MicroPeak application
    
 	The MicroPeak application has a few user settings which are
 	configured through the Preferences dialog, which can be
 	accessed from the File menu.
@@ -224,7 +224,7 @@ NAR
 	Note that MicroPeak shares a subset of the AltosUI
 	preferences, so if you use both of these applications, change
 	in one application will affect the other.
-      
    Chapter 4. Technical Information
    Table of Contents
    1. Barometric Sensor
    2. Micro-controller
    3. Lithium Battery
    4. Atmospheric Model
    5. Mechanical Considerations
    6. On-board data storage
    7. MicroPeak Programming Interface
    1. Barometric Sensor
    
+      
    Chapter 4. Technical Information
    Table of Contents
    1. Barometric Sensor
    2. Micro-controller
    3. Lithium Battery
    4. Atmospheric Model
    5. Mechanical Considerations
    6. On-board data storage
    7. MicroPeak Programming Interface
    1. Barometric Sensor
    
 	MicroPeak uses the Measurement Specialties MS5607 sensor. This
 	has a range of 120kPa to 1kPa with an absolute accuracy of
 	150Pa and a resolution of 2.4Pa.
@@ -238,7 +238,7 @@ NAR
 	taken while the altimeter is at rest. Flight pressure is
 	computed from a Kalman filter designed to smooth out any minor
 	noise in the sensor values. 
-      
    2. Micro-controller
    
+      
    2. Micro-controller
    
 	MicroPeak uses an Atmel ATtiny85 micro-controller. This tiny
 	CPU contains 8kB of flash for the application, 512B of RAM for
 	temporary data storage and 512B of EEPROM for non-volatile
@@ -249,7 +249,7 @@ NAR
 	this mode, the chip consumes only .1μA of power. MicroPeak
 	uses this mode once the flight has ended to preserve battery
 	power.
-      
    3. Lithium Battery
    
+      
    3. Lithium Battery
    
 	The CR1025 battery used by MicroPeak holds 30mAh of power,
 	which is sufficient to run for over 40 hours. Because
 	MicroPeak powers down on landing, run time includes only time
@@ -266,7 +266,7 @@ NAR
 	battery with MicroPeak. If so, many stores carry CR1025
 	batteries as they are commonly used in small electronic
 	devices such as flash lights.
-      
    4. Atmospheric Model
    
+      
    4. Atmospheric Model
    
 	MicroPeak contains a fixed atmospheric model which is used to
 	convert barometric pressure into altitude. The model was
 	converted into a 469-element piece wise linear approximation
@@ -282,7 +282,7 @@ NAR
 	altitude is subtracted from the computed apogee altitude, so
 	the resulting height is more accurate than either the ground
 	or apogee altitudes.
-      
    5. Mechanical Considerations
    
+      
    5. Mechanical Considerations
    
 	MicroPeak is designed to be rugged enough for typical rocketry
 	applications. It contains two moving parts, the battery holder
 	and the power switch, which were selected for their
@@ -298,7 +298,7 @@ NAR
 	any direction. Because it is a sliding switch, orienting the
 	switch perpendicular to the direction of rocket travel will
 	serve to further protect the switch from launch forces.
-      
    6. On-board data storage
    
+      
    6. On-board data storage
    
 	The ATtiny85 has 512 bytes of non-volatile storage, separate
 	from the code storage memory. The MicroPeak firmware uses this
 	to store information about the last completed
@@ -311,7 +311,7 @@ NAR
 	at regular intervals during the flight. This information can
 	be extracted from MicroPeak through any AVR programming
 	tool.
-      
    Table 4.1. MicroPeak EEPROM Data Storage
    AddressSize (bytes)Description
    0x0004Average ground pressure (Pa)
    0x0044Minimum flight pressure (Pa)
    0x0082Number of in-flight samples
    0x00a … 0x1fe2Instantaneous flight pressure (Pa) low 16 bits

    
+      
    Table 4.1. MicroPeak EEPROM Data Storage
    AddressSize (bytes)Description
    0x0004Average ground pressure (Pa)
    0x0044Minimum flight pressure (Pa)
    0x0082Number of in-flight samples
    0x00a … 0x1fe2Instantaneous flight pressure (Pa) low 16 bits

    
 	All EEPROM data are stored least-significant byte first. The
 	instantaneous flight pressure data are stored without the
 	upper 16 bits of data. The upper bits can be reconstructed
@@ -331,7 +331,7 @@ NAR
 	25°C. So, you can count on the pressure data being accurate,
 	but speed or acceleration data computed from this will be
 	limited by the accuracy of this clock.
-      
    7. MicroPeak Programming Interface
    
+      
    7. MicroPeak Programming Interface
    
 	MicroPeak exposes a standard 6-pin AVR programming interface,
 	but not using the usual 2x3 array of pins on 0.1"
 	centers. Instead, there is a single row of tiny 0.60mm ×
diff --git a/AltOS/doc/micropeak.pdf b/AltOS/doc/micropeak.pdf
index 5379725..ba827f1 100644
Binary files a/AltOS/doc/micropeak.pdf and b/AltOS/doc/micropeak.pdf differ
diff --git a/AltOS/doc/release-notes-1.3.1.html b/AltOS/doc/release-notes-1.3.1.html
new file mode 100644
index 0000000..8f82e36
--- /dev/null
+++ b/AltOS/doc/release-notes-1.3.1.html
@@ -0,0 +1,43 @@
+
    
+    Version 1.3.1 is a minor release. It improves support for TeleMega,
+    TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
+  
    
+    AltOS Firmware Changes
+    
    • 
+	  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.
+	
    • 
+	  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.
+	
    
+  
    
+    AltosUI changes
+    
    • 
+	  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.
+	
    • 
+	  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.
+	
    
+  
    
diff --git a/AltOS/doc/site-map.png b/AltOS/doc/site-map.png
index a6d3f78..e0a99ec 100644
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diff --git a/AltOS/doc/table.png b/AltOS/doc/table.png
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diff --git a/AltOS/doc/telemetry.html b/AltOS/doc/telemetry.html
index db76d5d..4dfb659 100644
--- a/AltOS/doc/telemetry.html
+++ b/AltOS/doc/telemetry.html
@@ -1,10 +1,10 @@
-AltOS Telemetry
    AltOS Telemetry
    Packet Definitions
    Keith Packard
    Copyright © 2011 Keith Packard
    
+AltOS Telemetry
    AltOS Telemetry
    Packet Definitions
    Keith Packard
    Copyright © 2011 Keith Packard
    
 	This document is released under the terms of the
 	
 	  Creative Commons ShareAlike 3.0
 	
 	license.
-      
    Revision History
    Revision 0.101 July 2011
    Initial content
    Table of Contents
    1. Packet Format Design
    2. Packet Formats
    2.1. Packet Header
    2.2. Sensor Data
    2.3. Configuration Data
    2.4. GPS Location
    2.5. GPS Satellite Data
    3. Data Transmission
    3.1. Modulation Scheme
    3.2. Error Correction
    4. TeleDongle packet format
    5. History and Motivation
    1. Packet Format Design
    
+      
    Revision History
    Revision 0.101 July 2011
    Initial content
    Table of Contents
    1. Packet Format Design
    2. Packet Formats
    2.1. Packet Header
    2.2. Sensor Data
    2.3. Configuration Data
    2.4. GPS Location
    2.5. GPS Satellite Data
    3. Data Transmission
    3.1. Modulation Scheme
    3.2. Error Correction
    4. TeleDongle packet format
    5. History and Motivation
    1. Packet Format Design
    
       AltOS telemetry data is split into multiple different packets,
       all the same size, but each includs an identifier so that the
       ground station can distinguish among different types. A single
@@ -22,14 +22,14 @@
       All packet types start with a five byte header which encodes the
       device serial number, device clock value and the packet
       type. The remaining 27 bytes encode type-specific data.
-    
    2. Packet Formats
    
+    
    2. Packet Formats
    
       This section first defines the packet header common to all packets
       and then the per-packet data layout.
-    
    2.1. Packet Header
    Table 1. Telemetry Packet Header
    OffsetData TypeNameDescription
    0uint16_tserialDevice serial Number
    2uint16_ttickDevice time in 100ths of a second
    4uint8_ttypePacket type
    5   

    
+    
    2.1. Packet Header
    Table 1. Telemetry Packet Header
    OffsetData TypeNameDescription
    0uint16_tserialDevice serial Number
    2uint16_ttickDevice time in 100ths of a second
    4uint8_ttypePacket type
    5   

    
       Each packet starts with these five bytes which serve to identify
       which device has transmitted the packet, when it was transmitted
       and what the rest of the packet contains.
-      
    2.2. Sensor Data
    TypeDescription
    0x01TeleMetrum Sensor Data
    0x02TeleMini Sensor Data
    0x03TeleNano Sensor Data
    
+      
    2.2. Sensor Data
    TypeDescription
    0x01TeleMetrum Sensor Data
    0x02TeleMini Sensor Data
    0x03TeleNano Sensor Data
    
 	TeleMetrum, TeleMini and TeleNano share this same packet
 	format for sensor data. Each uses a distinct packet type so
 	that the receiver knows which data values are valid and which
@@ -38,63 +38,63 @@
 	Sensor Data packets are transmitted once per second on the
 	ground, 10 times per second during ascent and once per second
 	during descent and landing
-      
    Table 2. Sensor Packet Contents
    OffsetData TypeNameDescription
    5uint8_tstateFlight state
    6int16_taccelaccelerometer (TM only)
    8int16_tprespressure sensor
    10int16_ttemptemperature sensor
    12int16_tv_battbattery voltage
    14int16_tsense_ddrogue continuity sense (TM/Tm)
    16int16_tsense_mmain continuity sense (TM/Tm)
    18int16_taccelerationm/s² * 16
    20int16_tspeedm/s * 16
    22int16_theightm
    24int16_tground_presAverage barometer reading on ground
    26int16_tground_accelTM
    28int16_taccel_plus_gTM
    30int16_taccel_minus_gTM
    32   

    2.3. Configuration Data
    TypeDescription
    0x04Configuration Data
    
+      
    Table 2. Sensor Packet Contents
    OffsetData TypeNameDescription
    5uint8_tstateFlight state
    6int16_taccelaccelerometer (TM only)
    8int16_tprespressure sensor
    10int16_ttemptemperature sensor
    12int16_tv_battbattery voltage
    14int16_tsense_ddrogue continuity sense (TM/Tm)
    16int16_tsense_mmain continuity sense (TM/Tm)
    18int16_taccelerationm/s² * 16
    20int16_tspeedm/s * 16
    22int16_theightm
    24int16_tground_presAverage barometer reading on ground
    26int16_tground_accelTM
    28int16_taccel_plus_gTM
    30int16_taccel_minus_gTM
    32   

    2.3. Configuration Data
    TypeDescription
    0x04Configuration Data
    
 	This provides a description of the software installed on the
 	flight computer as well as any user-specified configuration data.
       
    
 	Configuration data packets are transmitted once per second
 	during all phases of the flight
-      
    Table 3. Sensor Packet Contents
    OffsetData TypeNameDescription
    5uint8_ttypeDevice type
    6uint16_tflightFlight number
    8uint8_tconfig_majorConfig major version
    9uint8_tconfig_minorConfig minor version
    10uint16_tapogee_delayApogee deploy delay in seconds
    12uint16_tmain_deployMain deploy alt in meters
    14uint16_tflight_log_maxMaximum flight log size (kB)
    16charcallsign[8]Radio operator identifier
    24charversion[8]Software version identifier
    32   

    2.4. GPS Location
    TypeDescription
    0x05GPS Location
    
+      
    Table 3. Sensor Packet Contents
    OffsetData TypeNameDescription
    5uint8_ttypeDevice type
    6uint16_tflightFlight number
    8uint8_tconfig_majorConfig major version
    9uint8_tconfig_minorConfig minor version
    10uint16_tapogee_delayApogee deploy delay in seconds
    12uint16_tmain_deployMain deploy alt in meters
    14uint16_tflight_log_maxMaximum flight log size (kB)
    16charcallsign[8]Radio operator identifier
    24charversion[8]Software version identifier
    32   

    2.4. GPS Location
    TypeDescription
    0x05GPS Location
    
 	This packet provides all of the information available from the
 	Venus SkyTraq GPS receiver—position, time, speed and precision
 	estimates. 
       
    
 	GPS Location packets are transmitted once per second during
 	all phases of the flight
-      
    Table 4. GPS Location Packet Contents
    OffsetData TypeNameDescription
    5uint8_tflagsSee GPS Flags table below
    6int16_taltitudem
    8int32_tlatitudedegrees * 107
    12int32_tlongitudedegrees * 107
    16uint8_tyear 
    17uint8_tmonth 
    18uint8_tday 
    19uint8_thour 
    20uint8_tminute 
    21uint8_tsecond 
    22uint8_tpdop* 5
    23uint8_thdop* 5
    24uint8_tvdop* 5
    25uint8_tmodeSee GPS Mode table below
    26uint16_tground_speedcm/s
    28int16_tclimb_ratecm/s
    30uint8_tcourse/ 2
    31uint8_tunused[1] 
    32   

    
+      
    Table 4. GPS Location Packet Contents
    OffsetData TypeNameDescription
    5uint8_tflagsSee GPS Flags table below
    6int16_taltitudem
    8int32_tlatitudedegrees * 107
    12int32_tlongitudedegrees * 107
    16uint8_tyear 
    17uint8_tmonth 
    18uint8_tday 
    19uint8_thour 
    20uint8_tminute 
    21uint8_tsecond 
    22uint8_tpdop* 5
    23uint8_thdop* 5
    24uint8_tvdop* 5
    25uint8_tmodeSee GPS Mode table below
    26uint16_tground_speedcm/s
    28int16_tclimb_ratecm/s
    30uint8_tcourse/ 2
    31uint8_tunused[1] 
    32   

    
 	Packed into a one byte field are status flags and the count of
 	satellites used to compute the position fix. Note that this
 	number may be lower than the number of satellites being
 	tracked; the receiver will not use information from satellites
 	with weak signals or which are close enough to the horizon to
 	have significantly degraded position accuracy.
-      
    Table 5. GPS Flags
    BitsNameDescription
    0-3nsatsNumber of satellites in solution
    4validGPS solution is valid
    5runningGPS receiver is operational
    6date_validReported date is valid
    7course_validground speed, course and climb rates are valid

    
+      
    Table 5. GPS Flags
    BitsNameDescription
    0-3nsatsNumber of satellites in solution
    4validGPS solution is valid
    5runningGPS receiver is operational
    6date_validReported date is valid
    7course_validground speed, course and climb rates are valid

    
 	Here are all of the valid GPS operational modes. Altus Metrum
 	products will only ever report 'N' (not valid), 'A'
 	(Autonomous) modes or 'E' (Estimated). The remaining modes
 	are either testing modes or require additional data.
-      
    Table 6. GPS Mode
    ModeNameDecsription
    NNot ValidAll data are invalid
    AAutonomous modeData are derived from satellite data
    DDifferential Mode
+      
    Table 6. GPS Mode
    ModeNameDecsription
    NNot ValidAll data are invalid
    AAutonomous modeData are derived from satellite data
    DDifferential Mode
 		  Data are augmented with differential data from a
 		  known ground station. The SkyTraq unit in TeleMetrum
 		  does not support this mode
 		
    EEstimated
 		  Data are estimated using dead reckoning from the
 		  last known data
-		
    MManualData were entered manually
    SSimulatedGPS receiver testing mode

    2.5. GPS Satellite Data
    TypeDescription
    0x06GPS Satellite Data
    
+		
    MManualData were entered manually
    SSimulatedGPS receiver testing mode

    2.5. GPS Satellite Data
    TypeDescription
    0x06GPS Satellite Data
    
 	This packet provides space vehicle identifiers and signal
 	quality information in the form of a C/N1 number for up to 12
 	satellites. The order of the svids is not specified.
       
    
 	GPS Satellite data are transmitted once per second during all
 	phases of the flight.
-      
    Table 7. GPS Satellite Data Contents
    OffsetData TypeNameDescription
    5uint8_tchannelsNumber of reported satellite information
    6sat_info_tsats[12]See Per-Satellite data table below
    30uint8_tunused[2] 
    32   

    Table 8. GPS Per-Satellite data (sat_info_t)
    OffsetData TypeNameDescription
    0uint8_tsvidSpace Vehicle Identifier
    1uint8_tc_n_1C/N1 signal quality indicator
    2   

    3. Data Transmission
    
+      
    Table 7. GPS Satellite Data Contents
    OffsetData TypeNameDescription
    5uint8_tchannelsNumber of reported satellite information
    6sat_info_tsats[12]See Per-Satellite data table below
    30uint8_tunused[2] 
    32   

    Table 8. GPS Per-Satellite data (sat_info_t)
    OffsetData TypeNameDescription
    0uint8_tsvidSpace Vehicle Identifier
    1uint8_tc_n_1C/N1 signal quality indicator
    2   

    3. Data Transmission
    
       Altus Metrum devices use the Texas Instruments CC1111
       microcontroller which includes an integrated sub-GHz digital
       transceiver. This transceiver is used to both transmit and
       receive the telemetry packets. This section discusses what
       modulation scheme is used and how this device is configured.
-    
    3.1. Modulation Scheme
    
+    
    3.1. Modulation Scheme
    
 	Texas Instruments provides a tool for computing modulation
 	parameters given a desired modulation format and basic bit
 	rate. For AltOS, the basic bit rate was specified as 38 kBaud,
 	resulting in the following signal parmeters:
-      
    Table 9. Modulation Scheme
    ParameterValueDescription
    ModulationGFSKGaussian Frequency Shift Keying
    Deviation20.507812 kHzFrequency modulation
    Data rate38.360596 kBaudRaw bit rate
    RX Filter Bandwidth93.75 kHzReceiver Band pass filter bandwidth
    IF Frequency140.62 kHzReceiver intermediate frequency

    3.2. Error Correction
    
+      
    Table 9. Modulation Scheme
    ParameterValueDescription
    ModulationGFSKGaussian Frequency Shift Keying
    Deviation20.507812 kHzFrequency modulation
    Data rate38.360596 kBaudRaw bit rate
    RX Filter Bandwidth93.75 kHzReceiver Band pass filter bandwidth
    IF Frequency140.62 kHzReceiver intermediate frequency

    3.2. Error Correction
    
 	The cc1111 provides forward error correction in hardware,
 	which AltOS uses to improve reception of weak signals. The
 	overall effect of this is to halve the available bandwidth for
 	data from 38 kBaud to 19 kBaud.
-      
    Table 10. Error Correction
    ParameterValueDescription
    Error CorrectionConvolutional coding1/2 rate, constraint length m=4
    Interleaving4 x 4Reduce effect of noise burst
    Data WhiteningXOR with 9-bit PNRRotate right with bit 8 = bit 0 xor bit 5, initial
-	      value 111111111

    4. TeleDongle packet format
    
+      
    Table 10. Error Correction
    ParameterValueDescription
    Error CorrectionConvolutional coding1/2 rate, constraint length m=4
    Interleaving4 x 4Reduce effect of noise burst
    Data WhiteningXOR with 9-bit PNRRotate right with bit 8 = bit 0 xor bit 5, initial
+	      value 111111111

    4. TeleDongle packet format
    
       TeleDongle does not do any interpretation of the packet data,
       instead it is configured to receive packets of a specified
       length (32 bytes in this case). For each received packet,
@@ -106,9 +106,9 @@
       the packet data, two bytes added by the cc1111 radio receiver
       hardware and finally a checksum so that the host software can
       validate that the line was transmitted without any errors.
-    
    Table 11. Packet Format
    OffsetNameExampleDescription
    0length22Total length of data bytes in the line. Note that
+    
    Table 11. Packet Format
    OffsetNameExampleDescription
    0length22Total length of data bytes in the line. Note that
 	    this includes the added RSSI and status bytes
    1 ·· length-3packet4f ·· 00Bytes of actual packet data
    length-2rssi3fReceived signal strength. dBm = rssi / 2 - 74
    length-1lqia9Link Quality Indicator and CRC status. Bit 7
-	    is set when the CRC is correct
    lengthchecksum88(0x5a + sum(bytes 1 ·· length-1)) % 256

    5. History and Motivation
    
+	    is set when the CRC is correct
    lengthchecksum88(0x5a + sum(bytes 1 ·· length-1)) % 256

    5. History and Motivation
    
       The original AltoOS telemetry mechanism encoded everything
       available piece of information on the TeleMetrum hardware into a
       single unified packet. Initially, the packets contained very
diff --git a/AltOS/doc/telemetry.pdf b/AltOS/doc/telemetry.pdf
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