From 55926756e3f28ddda9150387f93e9ade209fbad9 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sat, 7 Feb 2015 23:55:16 -0700 Subject: [PATCH] update docs --- AltOS/doc/altos.html | 214 +++++----- AltOS/doc/altos.pdf | Bin 162027 -> 161864 bytes AltOS/doc/altusmetrum.html | 669 +++++++++++++++++++------------ AltOS/doc/altusmetrum.pdf | Bin 14603787 -> 14613242 bytes AltOS/doc/companion.html | 16 +- AltOS/doc/companion.pdf | Bin 24524 -> 24082 bytes AltOS/doc/easymega-outline.pdf | Bin 7022 -> 6883 bytes AltOS/doc/easymini-outline.pdf | Bin 7047 -> 6908 bytes AltOS/doc/micropeak.html | 42 +- AltOS/doc/micropeak.pdf | Bin 3675043 -> 3674887 bytes AltOS/doc/release-notes-1.6.html | 83 ++++ AltOS/doc/telegps.html | 224 +++++++---- AltOS/doc/telegps.pdf | Bin 2886587 -> 2889483 bytes AltOS/doc/telemega-outline.pdf | Bin 7025 -> 6886 bytes AltOS/doc/telemetrum-outline.pdf | Bin 7097 -> 6958 bytes AltOS/doc/telemetry.html | 36 +- AltOS/doc/telemetry.pdf | Bin 40587 -> 39033 bytes 17 files changed, 796 insertions(+), 488 deletions(-) create mode 100644 AltOS/doc/release-notes-1.6.html diff --git a/AltOS/doc/altos.html b/AltOS/doc/altos.html index bae58c0..48eca8d 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, its 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 transaction, 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 transaction, 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 locally 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.
-      
4. ao_add_stdio
+      
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
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diff --git a/AltOS/doc/altusmetrum.html b/AltOS/doc/altusmetrum.html
index f104894..bbf73d4 100644
--- a/AltOS/doc/altusmetrum.html
+++ b/AltOS/doc/altusmetrum.html
@@ -1,10 +1,12 @@
-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

+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 © 2015 Bdale Garbee and Keith Packard

         This document is released under the terms of the
         
           Creative Commons ShareAlike 3.0
         
         license.
-      
Revision History
Revision 1.56 September 2014

+      
Revision History
Revision 1.68 January 2015

+	  Major release adding TeleDongle v3.0 support.
+	
Revision 1.56 September 2014

 	  Major release adding EasyMega support.
 	
Revision 1.4.120 June 2014

 	  Minor release fixing some installation bugs.
@@ -41,7 +43,7 @@
 	  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 
@@ -64,21 +66,22 @@ 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. General Usage Instructions
1.1. Hooking Up Lithium Polymer Batteries
1.2. Hooking Up Pyro Charges
1.3. Hooking Up a Power Switch
1.4. Using a Separate Pyro Battery
1.5. Using a Different Kind of Battery
2. Specifications
3. TeleMetrum
3.1. TeleMetrum Screw Terminals
3.2. Using a Separate Pyro Battery with TeleMetrum
3.3. Using an Active Switch with TeleMetrum
4. TeleMini v1.0
4.1. TeleMini v1.0 Screw Terminals
4.2. Using a Separate Pyro Battery with TeleMini v1.0
4.3. Using an Active Switch with TeleMini v1.0
5. TeleMini v2.0
5.1. TeleMini v2.0 Screw Terminals
5.2. Using a Separate Pyro Battery with TeleMini v2.0
5.3. Using an Active Switch with TeleMini v2.0
6. EasyMini
6.1. EasyMini Screw Terminals
6.2. Using a Separate Pyro Battery with EasyMini
6.3. Using an Active Switch with EasyMini
7. TeleMega
7.1. TeleMega Screw Terminals
7.2. Using a Separate Pyro Battery with TeleMega
7.3. Using Only One Battery With TeleMega
7.4. Using an Active Switch with TeleMega
8. EasyMega
8.1. EasyMega Screw Terminals
8.2. Using a Separate Pyro Battery with EasyMega
8.3. Using Only One Battery With EasyMega
8.4. Using an Active Switch with EasyMega
9. Flight Data Recording
10. Installation
5. System Operation
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. APRS
7. Configurable Parameters
7.1. Radio Frequency
7.2. Callsign
7.3. Telemetry/RDF/APRS Enable
7.4. Telemetry baud rate
7.5. APRS Interval
7.6. APRS SSID
7.7. Apogee Delay
7.8. Apogee Lockout
7.9. Main Deployment Altitude
7.10. Maximum Flight Log
7.11. Ignite Mode
7.12. Pad Orientation
7.13. 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
1.7. Ignitor
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. Apogee Lockoug
6.4. Frequency
6.5. RF Calibration
6.6. Telemetry/RDF/APRS Enable
6.7. Telemetry baud rate
6.8. APRS Interval
6.9. APRS SSID
6.10. Callsign
6.11. Maximum Flight Log Size
6.12. Ignitor Firing Mode
6.13. Pad Orientation
6.14. Beeper Frequency
6.15. 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. RF Calibration
8.3. Telemetry Rate
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, EasyMega 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. 
+    
Table of Contents
1. Introduction and Overview
2. Getting Started
3. Handling Precautions
4. Altus Metrum Hardware
1. General Usage Instructions
1.1. Hooking Up Lithium Polymer Batteries
1.2. Hooking Up Pyro Charges
1.3. Hooking Up a Power Switch
1.4. Using a Separate Pyro Battery
1.5. Using a Different Kind of Battery
2. Specifications
3. TeleMetrum
3.1. TeleMetrum Screw Terminals
3.2. Using a Separate Pyro Battery with TeleMetrum
3.3. Using an Active Switch with TeleMetrum
4. TeleMini v1.0
4.1. TeleMini v1.0 Screw Terminals
4.2. Using a Separate Pyro Battery with TeleMini v1.0
4.3. Using an Active Switch with TeleMini v1.0
5. TeleMini v2.0
5.1. TeleMini v2.0 Screw Terminals
5.2. Using a Separate Pyro Battery with TeleMini v2.0
5.3. Using an Active Switch with TeleMini v2.0
6. EasyMini
6.1. EasyMini Screw Terminals
6.2. Using a Separate Pyro Battery with EasyMini
6.3. Using an Active Switch with EasyMini
7. TeleMega
7.1. TeleMega Screw Terminals
7.2. Using a Separate Pyro Battery with TeleMega
7.3. Using Only One Battery With TeleMega
7.4. Using an Active Switch with TeleMega
8. EasyMega
8.1. EasyMega Screw Terminals
8.2. Using a Separate Pyro Battery with EasyMega
8.3. Using Only One Battery With EasyMega
8.4. Using an Active Switch with EasyMega
9. Flight Data Recording
10. Installation
5. System Operation
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. APRS
7. Configurable Parameters
7.1. Radio Frequency
7.2. Callsign
7.3. Telemetry/RDF/APRS Enable
7.4. Telemetry baud rate
7.5. APRS Interval
7.6. APRS SSID
7.7. Apogee Delay
7.8. Apogee Lockout
7.9. Main Deployment Altitude
7.10. Maximum Flight Log
7.11. Ignite Mode
7.12. Pad Orientation
7.13. 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
1.7. Ignitor
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. Apogee Lockoug
6.4. Frequency
6.5. RF Calibration
6.6. Telemetry/RDF/APRS Enable
6.7. Telemetry baud rate
6.8. APRS Interval
6.9. APRS SSID
6.10. Callsign
6.11. Maximum Flight Log Size
6.12. Ignitor Firing Mode
6.13. Pad Orientation
6.14. Beeper Frequency
6.15. 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. RF Calibration
8.3. Telemetry Rate
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, EasyMega, EasyMini or
+	TeleDongle v3 Firmware
+      
1.1. Recovering From Self-Flashing Failure
2. Pair Programming
3. Updating TeleMetrum v1.x Firmware
4. Updating TeleMini Firmware
5. Updating TeleDongle v0.2 Firmware
11. Hardware Specifications
1. 
 	TeleMega Specifications
-      
2. 
+      
2. 
 	EasyMega Specifications
-      
3. 
+      
3. 
 	TeleMetrum v2 Specifications
-      
4. TeleMetrum v1 Specifications
5. 
+      
4. TeleMetrum v1 Specifications
5. 
 	TeleMini v2.0 Specifications
-      
6. 
+      
6. 
 	TeleMini v1.0 Specifications
-      
7. 
+      
7. 
 	EasyMini Specifications
-      
12. FAQ
A. Notes for Older Software
B. Drill Templates
1. TeleMega template
2. EasyMega template
3. TeleMetrum template
4. TeleMini v2/EasyMini template
5. TeleMini v1 template
C. Calibration
1. Radio Frequency
2. TeleMetrum, TeleMega and EasyMega Accelerometers
D. Release Notes
List of Tables
4.1. Altus Metrum Electronics
4.2. Altus Metrum Boards
4.3. TeleMetrum Screw Terminals
4.4. TeleMini v1.0 Connections
4.5. TeleMini v2.0 Connections
4.6. EasyMini Connections
4.7. TeleMega Screw Terminals
4.8. EasyMega Screw Terminals
4.9. Data Storage on Altus Metrum altimeters
5.1. AltOS Modes
5.2. Pad/Idle Indications
5.3. Altus Metrum APRS Comments
Chapter 1. Introduction and Overview

+      
12. FAQ
A. Notes for Older Software
B. Drill Templates
1. TeleMega template
2. EasyMega template
3. TeleMetrum template
4. TeleMini v2/EasyMini template
5. TeleMini v1 template
C. Calibration
1. Radio Frequency
2. TeleMetrum, TeleMega and EasyMega Accelerometers
D. Igniter Current
1. Current Products
2. Version 1 Products
E. Release Notes
List of Tables
4.1. Altus Metrum Electronics
4.2. Altus Metrum Boards
4.3. TeleMetrum Screw Terminals
4.4. TeleMini v1.0 Connections
4.5. TeleMini v2.0 Connections
4.6. EasyMini Connections
4.7. TeleMega Screw Terminals
4.8. EasyMega Screw Terminals
4.9. Data Storage on Altus Metrum altimeters
5.1. AltOS Modes
5.2. Pad/Idle Indications
5.3. Altus Metrum APRS Comments
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
@@ -112,13 +115,15 @@ NAR
       and telemetry transmitter removed. It offers the same 6 pyro
       channels and integrated gyroscopes for staging/air-start inhibit.
     

-      TeleDongle was our first ground station, providing a USB to RF
+      TeleDongle v0.2 was our first ground station, providing a USB to RF
       interfaces for communicating with the altimeters. Combined with
       your choice of antenna and notebook computer, TeleDongle and our
       associated user interface software form a complete ground
       station capable of logging and displaying in-flight telemetry,
       aiding rocket recovery, then processing and archiving flight
-      data for analysis and review.
+      data for analysis and review. The latest version, TeleDongle
+      v3, has all new electronics with a higher performance radio
+      for improved range.
     

       For a slightly more portable ground station experience that also
       provides direct rocket recovery support, TeleBT offers flight
@@ -129,7 +134,7 @@ 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.
     

@@ -199,7 +204,7 @@ 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 
@@ -238,7 +243,7 @@ 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. General Usage Instructions
1.1. Hooking Up Lithium Polymer Batteries
1.2. Hooking Up Pyro Charges
1.3. Hooking Up a Power Switch
1.4. Using a Separate Pyro Battery
1.5. Using a Different Kind of Battery
2. Specifications
3. TeleMetrum
3.1. TeleMetrum Screw Terminals
3.2. Using a Separate Pyro Battery with TeleMetrum
3.3. Using an Active Switch with TeleMetrum
4. TeleMini v1.0
4.1. TeleMini v1.0 Screw Terminals
4.2. Using a Separate Pyro Battery with TeleMini v1.0
4.3. Using an Active Switch with TeleMini v1.0
5. TeleMini v2.0
5.1. TeleMini v2.0 Screw Terminals
5.2. Using a Separate Pyro Battery with TeleMini v2.0
5.3. Using an Active Switch with TeleMini v2.0
6. EasyMini
6.1. EasyMini Screw Terminals
6.2. Using a Separate Pyro Battery with EasyMini
6.3. Using an Active Switch with EasyMini
7. TeleMega
7.1. TeleMega Screw Terminals
7.2. Using a Separate Pyro Battery with TeleMega
7.3. Using Only One Battery With TeleMega
7.4. Using an Active Switch with TeleMega
8. EasyMega
8.1. EasyMega Screw Terminals
8.2. Using a Separate Pyro Battery with EasyMega
8.3. Using Only One Battery With EasyMega
8.4. Using an Active Switch with EasyMega
9. Flight Data Recording
10. Installation
1. General Usage Instructions

+    
Chapter 4. Altus Metrum Hardware
Table of Contents
1. General Usage Instructions
1.1. Hooking Up Lithium Polymer Batteries
1.2. Hooking Up Pyro Charges
1.3. Hooking Up a Power Switch
1.4. Using a Separate Pyro Battery
1.5. Using a Different Kind of Battery
2. Specifications
3. TeleMetrum
3.1. TeleMetrum Screw Terminals
3.2. Using a Separate Pyro Battery with TeleMetrum
3.3. Using an Active Switch with TeleMetrum
4. TeleMini v1.0
4.1. TeleMini v1.0 Screw Terminals
4.2. Using a Separate Pyro Battery with TeleMini v1.0
4.3. Using an Active Switch with TeleMini v1.0
5. TeleMini v2.0
5.1. TeleMini v2.0 Screw Terminals
5.2. Using a Separate Pyro Battery with TeleMini v2.0
5.3. Using an Active Switch with TeleMini v2.0
6. EasyMini
6.1. EasyMini Screw Terminals
6.2. Using a Separate Pyro Battery with EasyMini
6.3. Using an Active Switch with EasyMini
7. TeleMega
7.1. TeleMega Screw Terminals
7.2. Using a Separate Pyro Battery with TeleMega
7.3. Using Only One Battery With TeleMega
7.4. Using an Active Switch with TeleMega
8. EasyMega
8.1. EasyMega Screw Terminals
8.2. Using a Separate Pyro Battery with EasyMega
8.3. Using Only One Battery With EasyMega
8.4. Using an Active Switch with EasyMega
9. Flight Data Recording
10. Installation
1. General Usage Instructions

 	Here are general instructions for hooking up an Altus Metrum
 	flight computer. Instructions specific to each model will be
 	found in the section devoted to that model below.
@@ -248,7 +253,7 @@ NAR
 	twist pairs of wires connected to the board. Twist the switch
 	leads, the pyro leads and the battery leads. This reduces
 	interference through a mechanism called common mode rejection.
-      
1.1. Hooking Up Lithium Polymer Batteries

+      
1.1. Hooking Up Lithium Polymer Batteries

 	  All Altus Metrum flight computers have a two pin JST PH
 	  series connector to connect up a single-cell Lithium Polymer
 	  cell (3.7V nominal). You can purchase matching batteries
@@ -262,7 +267,7 @@ NAR
 	  this same connector. All that we have found use the opposite
 	  polarity, and if you use them that way, you will damage or
 	  destroy the flight computer.
-	
1.2. Hooking Up Pyro Charges

+	
1.2. Hooking Up Pyro Charges

 	  Altus Metrum flight computers always have two screws for
 	  each pyro charge. This means you shouldn't need to put two
 	  wires into a screw terminal or connect leads from pyro
@@ -273,13 +278,13 @@ NAR
 	  The other lead is connected through the pyro circuit, which
 	  is connected to the negative battery terminal when the pyro
 	  circuit is fired.
-	
1.3. Hooking Up a Power Switch

+	
1.3. Hooking Up a Power Switch

 	  Altus Metrum flight computers need an external power switch
 	  to turn them on. This disconnects both the computer and the
 	  pyro charges from the battery, preventing the charges from
 	  firing when in the Off position. The switch is in-line with
 	  the positive battery terminal.
-	
1.3.1. Using an External Active Switch Circuit

+	
1.3.1. Using an External Active Switch Circuit

 	    You can use an active switch circuit, such as the
 	    Featherweight Magnetic Switch, with any Altus Metrum
 	    flight computer. These require three connections, one to
@@ -288,7 +293,7 @@ NAR
 	    hook these up for each flight computer below. The follow
 	    the instructions that come with your active switch to
 	    connect it up.
-	  
1.4. Using a Separate Pyro Battery

+	  
1.4. Using a Separate Pyro Battery

 	  As mentioned above in the section on hooking up pyro
 	  charges, one lead for each of the pyro charges is connected
 	  through the power switch directly to the positive battery
@@ -305,7 +310,7 @@ NAR
 	  circuit between the negative pyro terminal and the ground
 	  terminal, firing the igniter. Specific instructions on how
 	  to hook this up will be found in each section below.
-	
1.5. Using a Different Kind of Battery

+	
1.5. Using a Different Kind of Battery

 	  EasyMini and TeleMini v2 are designed to use either a
 	  lithium polymer battery or any other battery producing
 	  between 4 and 12 volts, such as a rectangular 9V
@@ -313,10 +318,10 @@ NAR
 	  and must only be powered by a lithium polymer battery. Find
 	  instructions on how to use other batteries in the EasyMini
 	  and TeleMini sections below.
-	
2. Specifications

+	
2. Specifications

 	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
EasyMega v1.0
MS5607 30km (100k')
MMA6555 102g
-
MPU6000 HMC5883
8MB-3.7V

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
EasyMega v1.0
MS5607 30km (100k')
MMA6555 102g
-
MPU6000 HMC5883
8MB-3.7V

Table 4.2. Altus Metrum Boards
DeviceConnectorsScrew TerminalsWidthLengthTube Size
TeleMetrum

 		Antenna
 		Debug
 		Companion
@@ -371,7 +376,7 @@ NAR
 		Pyro A-D
 		Switch
 		Pyro battery
-	      
1¼ inch (3.18cm)2¼ inch (5.62cm)38mm coupler

3. TeleMetrum

+	      
1¼ inch (3.18cm)2¼ inch (5.62cm)38mm coupler

3. 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
@@ -382,13 +387,13 @@ 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.
-      
3.1. TeleMetrum Screw Terminals

+      
3.1. TeleMetrum Screw Terminals

 	  TeleMetrum has six screw terminals on the end of the board
 	  opposite the telemetry antenna. Two are for the power
 	  switch, and two each for the apogee and main igniter
 	  circuits. Using the picture above and starting from the top,
 	  the terminals are as follows:
-	
Table 4.3. TeleMetrum Screw Terminals
Terminal #Terminal NameDescription
1Switch OutputSwitch connection to flight computer
2Switch InputSwitch connection to positive battery terminal
3Main +Main pyro channel common connection to battery +
4Main -Main pyro channel connection to pyro circuit
5Apogee +Apogee pyro channel common connection to battery +
6Apogee -Apogee pyro channel connection to pyro circuit

3.2. Using a Separate Pyro Battery with TeleMetrum

+	
Table 4.3. TeleMetrum Screw Terminals
Terminal #Terminal NameDescription
1Switch OutputSwitch connection to flight computer
2Switch InputSwitch connection to positive battery terminal
3Main +Main pyro channel common connection to battery +
4Main -Main pyro channel connection to pyro circuit
5Apogee +Apogee pyro channel common connection to battery +
6Apogee -Apogee pyro channel connection to pyro circuit

3.2. Using a Separate Pyro Battery with TeleMetrum

 	  As described above, using an external pyro battery involves
 	  connecting the negative battery terminal to the flight
 	  computer ground, connecting the positive battery terminal to
@@ -407,7 +412,7 @@ NAR
 	  The other lead from each pyro charge is then inserted into
 	  the appropriate per-pyro channel screw terminal (terminal 4 for the
 	  Main charge, terminal 6 for the Apogee charge).
-	
3.3. Using an Active Switch with TeleMetrum

+	
3.3. Using an Active Switch with TeleMetrum

 	  As explained above, an external active switch requires three
 	  connections, one to the positive battery terminal, one to
 	  the flight computer positive input and one to ground.
@@ -416,7 +421,7 @@ NAR
 	  2, the positive flight computer input is on terminal 1. To
 	  hook a lead to ground, solder a piece of wire, 24 to 28
 	  gauge stranded, to the GND hole just above terminal 1.
-	
4. TeleMini v1.0

+	
4. TeleMini v1.0

 	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
@@ -429,7 +434,7 @@ NAR
 	apogee and main ejection charges depart from the other end of
 	the board, meaning an ideal “simple” avionics bay for TeleMini
 	should have at least 9 inches of interior length.
-      
4.1. TeleMini v1.0 Screw Terminals

+      
4.1. TeleMini v1.0 Screw Terminals

 	  TeleMini v1.0 has four screw terminals on the end of the
 	  board opposite the telemetry antenna. Two are for the apogee
 	  and two are for main igniter circuits. There are also wires
@@ -437,7 +442,7 @@ NAR
 	  picture above and starting from the top for the terminals
 	  and from the left for the power switch wires, the
 	  connections are as follows:
-	
Table 4.4. TeleMini v1.0 Connections
Terminal #Terminal NameDescription
1Apogee -Apogee pyro channel connection to pyro circuit
2Apogee +Apogee pyro channel common connection to battery +
3Main -Main pyro channel connection to pyro circuit
4Main +Main pyro channel common connection to battery +
LeftSwitch OutputSwitch connection to flight computer
RightSwitch InputSwitch connection to positive battery terminal

4.2. Using a Separate Pyro Battery with TeleMini v1.0

+	
Table 4.4. TeleMini v1.0 Connections
Terminal #Terminal NameDescription
1Apogee -Apogee pyro channel connection to pyro circuit
2Apogee +Apogee pyro channel common connection to battery +
3Main -Main pyro channel connection to pyro circuit
4Main +Main pyro channel common connection to battery +
LeftSwitch OutputSwitch connection to flight computer
RightSwitch InputSwitch connection to positive battery terminal

4.2. Using a Separate Pyro Battery with TeleMini v1.0

 	  As described above, using an external pyro battery involves
 	  connecting the negative battery terminal to the flight
 	  computer ground, connecting the positive battery terminal to
@@ -458,7 +463,7 @@ NAR
 	  The other lead from each pyro charge is then inserted into
 	  the appropriate per-pyro channel screw terminal (terminal 3 for the
 	  Main charge, terminal 1 for the Apogee charge).
-	
4.3. Using an Active Switch with TeleMini v1.0

+	
4.3. Using an Active Switch with TeleMini v1.0

 	  As explained above, an external active switch requires three
 	  connections, one to the positive battery terminal, one to
 	  the flight computer positive input and one to ground. Again,
@@ -469,21 +474,21 @@ NAR
 	  power switch wire, the positive flight computer input is on
 	  the left power switch wire. Hook a lead to either of the
 	  mounting holes for a ground connection.
-	
5. TeleMini v2.0

+	
5. TeleMini v2.0

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

+      
5.1. TeleMini v2.0 Screw Terminals

 	  TeleMini v2.0 has two sets of four screw terminals on the end of the
 	  board opposite the telemetry antenna. Using the picture
 	  above, the top four have connections for the main pyro
 	  circuit and an external battery and the bottom four have
 	  connections for the apogee pyro circuit and the power
 	  switch. Counting from the left, the connections are as follows:
-	
Table 4.5. TeleMini v2.0 Connections
Terminal #Terminal NameDescription
Top 1Main -Main pyro channel connection to pyro circuit
Top 2Main +Main pyro channel common connection to battery +
Top 3Battery +Positive external battery terminal
Top 4Battery -Negative external battery terminal
Bottom 1Apogee -Apogee pyro channel connection to pyro circuit
Bottom 2Apogee +Apogee pyro channel common connection to
-		battery +
Bottom 3Switch OutputSwitch connection to flight computer
Bottom 4Switch InputSwitch connection to positive battery terminal

5.2. Using a Separate Pyro Battery with TeleMini v2.0

+	
Table 4.5. TeleMini v2.0 Connections
Terminal #Terminal NameDescription
Top 1Main -Main pyro channel connection to pyro circuit
Top 2Main +Main pyro channel common connection to battery +
Top 3Battery +Positive external battery terminal
Top 4Battery -Negative external battery terminal
Bottom 1Apogee -Apogee pyro channel connection to pyro circuit
Bottom 2Apogee +Apogee pyro channel common connection to
+		battery +
Bottom 3Switch OutputSwitch connection to flight computer
Bottom 4Switch InputSwitch connection to positive battery terminal

5.2. Using a Separate Pyro Battery with TeleMini v2.0

 	  As described above, using an external pyro battery involves
 	  connecting the negative battery terminal to the flight
 	  computer ground, connecting the positive battery terminal to
@@ -502,7 +507,7 @@ NAR
 	  the appropriate per-pyro channel screw terminal (top
 	  terminal 1 for the Main charge, bottom terminal 1 for the
 	  Apogee charge).
-	
5.3. Using an Active Switch with TeleMini v2.0

+	
5.3. Using an Active Switch with TeleMini v2.0

 	  As explained above, an external active switch requires three
 	  connections, one to the positive battery terminal, one to
 	  the flight computer positive input and one to ground. Use
@@ -512,20 +517,20 @@ NAR
 	  The positive battery terminal is available on bottom
 	  terminal 4, the positive flight computer input is on the
 	  bottom terminal 3.
-	
6. EasyMini

+	
6. EasyMini

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

+      
6.1. EasyMini Screw Terminals

 	  EasyMini has two sets of four screw terminals on the end of the
 	  board opposite the telemetry antenna. Using the picture
 	  above, the top four have connections for the main pyro
 	  circuit and an external battery and the bottom four have
 	  connections for the apogee pyro circuit and the power
 	  switch. Counting from the left, the connections are as follows:
-	
Table 4.6. EasyMini Connections
Terminal #Terminal NameDescription
Top 1Main -Main pyro channel connection to pyro circuit
Top 2Main +Main pyro channel common connection to battery +
Top 3Battery +Positive external battery terminal
Top 4Battery -Negative external battery terminal
Bottom 1Apogee -Apogee pyro channel connection to pyro circuit
Bottom 2Apogee +Apogee pyro channel common connection to
-		battery +
Bottom 3Switch OutputSwitch connection to flight computer
Bottom 4Switch InputSwitch connection to positive battery terminal

6.2. Using a Separate Pyro Battery with EasyMini

+	
Table 4.6. EasyMini Connections
Terminal #Terminal NameDescription
Top 1Main -Main pyro channel connection to pyro circuit
Top 2Main +Main pyro channel common connection to battery +
Top 3Battery +Positive external battery terminal
Top 4Battery -Negative external battery terminal
Bottom 1Apogee -Apogee pyro channel connection to pyro circuit
Bottom 2Apogee +Apogee pyro channel common connection to
+		battery +
Bottom 3Switch OutputSwitch connection to flight computer
Bottom 4Switch InputSwitch connection to positive battery terminal

6.2. Using a Separate Pyro Battery with EasyMini

 	  As described above, using an external pyro battery involves
 	  connecting the negative battery terminal to the flight
 	  computer ground, connecting the positive battery terminal to
@@ -544,7 +549,7 @@ NAR
 	  the appropriate per-pyro channel screw terminal (top
 	  terminal 1 for the Main charge, bottom terminal 1 for the
 	  Apogee charge).
-	
6.3. Using an Active Switch with EasyMini

+	
6.3. Using an Active Switch with EasyMini

 	  As explained above, an external active switch requires three
 	  connections, one to the positive battery terminal, one to
 	  the flight computer positive input and one to ground. Use
@@ -554,19 +559,19 @@ NAR
 	  The positive battery terminal is available on bottom
 	  terminal 4, the positive flight computer input is on the
 	  bottom terminal 3.
-	
7. TeleMega

+	
7. TeleMega

 	TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
 	designed to easily fit in a 38mm coupler. Like TeleMetrum,
 	TeleMega has an accelerometer and so it must be mounted so that
 	the board is aligned with the flight axis. It can be mounted
 	either antenna up or down.
-      
7.1. TeleMega Screw Terminals

+      
7.1. TeleMega Screw Terminals

 	  TeleMega has two sets of nine screw terminals on the end of
 	  the board opposite the telemetry antenna. They are as follows:
-	
Table 4.7. TeleMega Screw Terminals
Terminal #Terminal NameDescription
Top 1Switch InputSwitch connection to positive battery terminal
Top 2Switch OutputSwitch connection to flight computer
Top 3GNDGround connection for use with external active switch
Top 4Main -Main pyro channel connection to pyro circuit
Top 5Main +Main pyro channel common connection to battery +
Top 6Apogee -Apogee pyro channel connection to pyro circuit
Top 7Apogee +Apogee pyro channel common connection to battery +
Top 8D -D pyro channel connection to pyro circuit
Top 9D +D pyro channel common connection to battery +
Bottom 1GNDGround connection for negative pyro battery terminal
Bottom 2PyroPositive pyro battery terminal
Bottom 3Lipo
+	
Table 4.7. TeleMega Screw Terminals
Terminal #Terminal NameDescription
Top 1Switch InputSwitch connection to positive battery terminal
Top 2Switch OutputSwitch connection to flight computer
Top 3GNDGround connection for use with external active switch
Top 4Main -Main pyro channel connection to pyro circuit
Top 5Main +Main pyro channel common connection to battery +
Top 6Apogee -Apogee pyro channel connection to pyro circuit
Top 7Apogee +Apogee pyro channel common connection to battery +
Top 8D -D pyro channel connection to pyro circuit
Top 9D +D pyro channel common connection to battery +
Bottom 1GNDGround connection for negative pyro battery terminal
Bottom 2PyroPositive pyro battery terminal
Bottom 3Lipo
 		  Power switch output. Use to connect main battery to
 		  pyro battery input
-		
Bottom 4A -A pyro channel connection to pyro circuit
Bottom 5A +A pyro channel common connection to battery +
Bottom 6B -B pyro channel connection to pyro circuit
Bottom 7B +B pyro channel common connection to battery +
Bottom 8C -C pyro channel connection to pyro circuit
Bottom 9C +C pyro channel common connection to battery +

7.2. Using a Separate Pyro Battery with TeleMega

+		
Bottom 4A -A pyro channel connection to pyro circuit
Bottom 5A +A pyro channel common connection to battery +
Bottom 6B -B pyro channel connection to pyro circuit
Bottom 7B +B pyro channel common connection to battery +
Bottom 8C -C pyro channel connection to pyro circuit
Bottom 9C +C pyro channel common connection to battery +

7.2. Using a Separate Pyro Battery with TeleMega

 	  TeleMega provides explicit support for an external pyro
 	  battery. All that is required is to remove the jumper
 	  between the lipo terminal (Bottom 3) and the pyro terminal
@@ -574,7 +579,7 @@ NAR
 	  (Bottom 1) and the positive pyro battery to the pyro battery
 	  input (Bottom 2). You can then use the existing pyro screw
 	  terminals to hook up all of the pyro charges.
-	
7.3. Using Only One Battery With TeleMega

+	
7.3. Using Only One Battery With TeleMega

 	  Because TeleMega has built-in support for a separate pyro
 	  battery, if you want to fly with just one battery running
 	  both the computer and firing the charges, you need to
@@ -582,7 +587,7 @@ NAR
 	  circuit. TeleMega has two screw terminals for this—hook a
 	  wire from the Lipo terminal (Bottom 3) to the Pyro terminal
 	  (Bottom 2).
-	
7.4. Using an Active Switch with TeleMega

+	
7.4. Using an Active Switch with TeleMega

 	  As explained above, an external active switch requires three
 	  connections, one to the positive battery terminal, one to
 	  the flight computer positive input and one to ground.
@@ -590,19 +595,19 @@ NAR
 	  The positive battery terminal is available on Top terminal
 	  1, the positive flight computer input is on Top terminal
 	  2. Ground is on Top terminal 3.
-	
8. EasyMega

+	
8. EasyMega

 	EasyMega is a 1¼ inch by 2¼ inch circuit board. It was
 	designed to easily fit in a 38mm coupler. Like TeleMetrum,
 	EasyMega has an accelerometer and so it must be mounted so that
 	the board is aligned with the flight axis. It can be mounted
 	either antenna up or down.
-      
8.1. EasyMega Screw Terminals

+      
8.1. EasyMega Screw Terminals

 	  EasyMega has two sets of nine screw terminals on the end of
 	  the board opposite the telemetry antenna. They are as follows:
-	
Table 4.8. EasyMega Screw Terminals
Terminal #Terminal NameDescription
Top 1Switch InputSwitch connection to positive battery terminal
Top 2Switch OutputSwitch connection to flight computer
Top 3GNDGround connection for use with external active switch
Top 4Main -Main pyro channel connection to pyro circuit
Top 5Main +Main pyro channel common connection to battery +
Top 6Apogee -Apogee pyro channel connection to pyro circuit
Top 7Apogee +Apogee pyro channel common connection to battery +
Top 8D -D pyro channel connection to pyro circuit
Top 9D +D pyro channel common connection to battery +
Bottom 1GNDGround connection for negative pyro battery terminal
Bottom 2PyroPositive pyro battery terminal
Bottom 3Lipo
+	
Table 4.8. EasyMega Screw Terminals
Terminal #Terminal NameDescription
Top 1Switch InputSwitch connection to positive battery terminal
Top 2Switch OutputSwitch connection to flight computer
Top 3GNDGround connection for use with external active switch
Top 4Main -Main pyro channel connection to pyro circuit
Top 5Main +Main pyro channel common connection to battery +
Top 6Apogee -Apogee pyro channel connection to pyro circuit
Top 7Apogee +Apogee pyro channel common connection to battery +
Top 8D -D pyro channel connection to pyro circuit
Top 9D +D pyro channel common connection to battery +
Bottom 1GNDGround connection for negative pyro battery terminal
Bottom 2PyroPositive pyro battery terminal
Bottom 3Lipo
 		  Power switch output. Use to connect main battery to
 		  pyro battery input
-		
Bottom 4A -A pyro channel connection to pyro circuit
Bottom 5A +A pyro channel common connection to battery +
Bottom 6B -B pyro channel connection to pyro circuit
Bottom 7B +B pyro channel common connection to battery +
Bottom 8C -C pyro channel connection to pyro circuit
Bottom 9C +C pyro channel common connection to battery +

8.2. Using a Separate Pyro Battery with EasyMega

+		
Bottom 4A -A pyro channel connection to pyro circuit
Bottom 5A +A pyro channel common connection to battery +
Bottom 6B -B pyro channel connection to pyro circuit
Bottom 7B +B pyro channel common connection to battery +
Bottom 8C -C pyro channel connection to pyro circuit
Bottom 9C +C pyro channel common connection to battery +

8.2. Using a Separate Pyro Battery with EasyMega

 	  EasyMega provides explicit support for an external pyro
 	  battery. All that is required is to remove the jumper
 	  between the lipo terminal (Bottom 3) and the pyro terminal
@@ -610,7 +615,7 @@ NAR
 	  (Bottom 1) and the positive pyro battery to the pyro battery
 	  input (Bottom 2). You can then use the existing pyro screw
 	  terminals to hook up all of the pyro charges.
-	
8.3. Using Only One Battery With EasyMega

+	
8.3. Using Only One Battery With EasyMega

 	  Because EasyMega has built-in support for a separate pyro
 	  battery, if you want to fly with just one battery running
 	  both the computer and firing the charges, you need to
@@ -618,7 +623,7 @@ NAR
 	  circuit. EasyMega has two screw terminals for this—hook a
 	  wire from the Lipo terminal (Bottom 3) to the Pyro terminal
 	  (Bottom 2).
-	
8.4. Using an Active Switch with EasyMega

+	
8.4. Using an Active Switch with EasyMega

 	  As explained above, an external active switch requires three
 	  connections, one to the positive battery terminal, one to
 	  the flight computer positive input and one to ground.
@@ -626,14 +631,14 @@ NAR
 	  The positive battery terminal is available on Top terminal
 	  1, the positive flight computer input is on Top terminal
 	  2. Ground is on Top terminal 3.
-	
9. Flight Data Recording

+	
9. 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 4.9. 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
EasyMega328MB40


+      
Table 4.9. 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
EasyMega328MB40


 	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
@@ -666,7 +671,7 @@ 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.
-      
10. Installation

+      
10. 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 
@@ -713,7 +718,7 @@ 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. APRS
7. Configurable Parameters
7.1. Radio Frequency
7.2. Callsign
7.3. Telemetry/RDF/APRS Enable
7.4. Telemetry baud rate
7.5. APRS Interval
7.6. APRS SSID
7.7. Apogee Delay
7.8. Apogee Lockout
7.9. Main Deployment Altitude
7.10. Maximum Flight Log
7.11. Ignite Mode
7.12. Pad Orientation
7.13. 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. APRS
7. Configurable Parameters
7.1. Radio Frequency
7.2. Callsign
7.3. Telemetry/RDF/APRS Enable
7.4. Telemetry baud rate
7.5. APRS Interval
7.6. APRS SSID
7.7. Apogee Delay
7.8. Apogee Lockout
7.9. Main Deployment Altitude
7.10. Maximum Flight Log
7.11. Ignite Mode
7.12. Pad Orientation
7.13. 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
@@ -744,7 +749,7 @@ 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
StartupSbattery voltage in decivolts
+	
Table 5.1. AltOS Modes
Mode NameAbbreviationBeepsDescription
StartupSbattery voltage in decivolts
 		  

 		    Calibrating sensors, detecting orientation.
 		  

@@ -818,7 +823,7 @@ 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.
@@ -886,7 +891,7 @@ 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
@@ -904,7 +909,7 @@ 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
@@ -975,7 +980,7 @@ 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,
@@ -991,7 +996,7 @@ 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
@@ -1024,7 +1029,7 @@ NAR
         40mW devices.  We hope to fly boards to higher altitudes over
         time, and would of course appreciate customer feedback on
         performance in higher altitude flights!
-      
6. APRS

+      
6. APRS

 	TeleMetrum v2.0 and TeleMega can send APRS if desired, and the
 	interval between APRS packets can be configured. As each APRS
 	packet takes a full second to transmit, we recommend an
@@ -1055,7 +1060,7 @@ NAR
 	arbitrary text in it. AltOS uses this to send status
 	information about the flight computer. It sends four fields as
 	shown in the following table.
-      
Table 5.3. Altus Metrum APRS Comments
FieldExampleDescription
1LGPS Status U for unlocked, L for locked
26Number of Satellites in View
3B4.0Altimeter Battery Voltage
4A3.7Apogee Igniter Voltage
5M3.7Main Igniter Voltage
61286Device Serial Number


+      
Table 5.3. Altus Metrum APRS Comments
FieldExampleDescription
1LGPS Status U for unlocked, L for locked
26Number of Satellites in View
3B4.0Altimeter Battery Voltage
4A3.7Apogee Igniter Voltage
5M3.7Main Igniter Voltage
61286Device Serial Number


 	Here's an example of an APRS comment showing GPS lock with 6
 	satellites in view, a primary battery at 4.0V, and
 	apogee and main igniters both at 3.7V from device 1286.
@@ -1075,7 +1080,7 @@ NAR
 	that the GPS status character switches from 'L' to 'U'. Before
 	GPS has locked, APRS will transmit zero for latitude,
 	longitude and altitude.
-      
7. Configurable Parameters

+      
7. Configurable Parameters

         Configuring an Altus Metrum altimeter for flight is very
         simple.  Even on our baro-only TeleMini and EasyMini boards,
         the use of a Kalman filter means there is no need to set a
@@ -1083,7 +1088,7 @@ NAR
         using AltosUI over USB or or radio link via TeleDongle. Read
 	the Configure Altimeter section in the AltosUI chapter below
 	for more information.
-      
7.1. Radio Frequency

+      
7.1. 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
@@ -1093,18 +1098,18 @@ 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.
-        
7.2. Callsign

+        
7.2. Callsign

 	  This sets the callsign used for telemetry, APRS and the
 	  packet link. For telemetry and APRS, this is used to
 	  identify the device. For the packet link, the callsign must
 	  match that configured in AltosUI or the link will not
 	  work. This is to prevent accidental configuration of another
 	  Altus Metrum flight computer operating on the same frequency nearby.
-	
7.3. Telemetry/RDF/APRS Enable

+	
7.3. Telemetry/RDF/APRS Enable

 	  You can completely disable the radio while in flight, if
 	  necessary. This doesn't disable the packet link in idle
 	  mode.
-	
7.4. Telemetry baud rate

+	
7.4. Telemetry baud rate

 	  This sets the modulation bit rate for data transmission for
 	  both telemetry and packet link mode. Lower bit
 	  rates will increase range while reducing the amount of data
@@ -1112,17 +1117,17 @@ NAR
 	  telemetry is done using a rate 1/2 constraint 4 convolution
 	  code, so the actual data transmission rate is 1/2 of the
 	  modulation bit rate specified here.
-	
7.5. APRS Interval

+	
7.5. APRS Interval

 	  This selects how often APRS packets are transmitted. Set
 	  this to zero to disable APRS without also disabling the
 	  regular telemetry and RDF transmissions. As APRS takes a
 	  full second to transmit a single position report, we
 	  recommend sending packets no more than once every 5 seconds.
-	
7.6. APRS SSID

+	
7.6. APRS SSID

 	  This selects the SSID reported in APRS packets. By default,
 	  it is set to the last digit of the serial number, but you
 	  can change this to any value from 0 to 9.
-	
7.7. Apogee Delay

+	
7.7. 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
@@ -1138,7 +1143,7 @@ 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.
-        
7.8. Apogee Lockout

+        
7.8. Apogee Lockout

 	  Apogee lockout is the number of seconds after boost where
 	  the flight computer will not fire the apogee charge, even if
 	  the rocket appears to be at apogee. This is often called
@@ -1148,7 +1153,7 @@ NAR
 	  flight computers include a Kalman filter which is not fooled
 	  by this sharp pressure increase, and so this setting should
 	  be left at the default value of zero to disable it.
-	
7.9. Main Deployment Altitude

+	
7.9. 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
@@ -1157,7 +1162,7 @@ NAR
           deployment elevation for the backup altimeter to be something lower
           than the primary so that both pyrotechnic charges don't fire
           simultaneously.
-        
7.10. Maximum Flight Log

+        
7.10. 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
@@ -1169,7 +1174,7 @@ 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.
-	
7.11. Ignite Mode

+	
7.11. 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
@@ -1180,7 +1185,7 @@ 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.
-	
7.12. Pad Orientation

+	
7.12. Pad Orientation

 	  TeleMetrum, TeleMega and EasyMega 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
@@ -1190,7 +1195,7 @@ 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.
-	
7.13. Configurable Pyro Channels

+	
7.13. Configurable Pyro Channels

 	  In addition to the usual Apogee and Main pyro channels,
 	  TeleMega and EasyMega have four additional channels that can be configured
 	  to activate when various flight conditions are
@@ -1290,7 +1295,7 @@ 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
1.7. Ignitor
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. Apogee Lockoug
6.4. Frequency
6.5. RF Calibration
6.6. Telemetry/RDF/APRS Enable
6.7. Telemetry baud rate
6.8. APRS Interval
6.9. APRS SSID
6.10. Callsign
6.11. Maximum Flight Log Size
6.12. Ignitor Firing Mode
6.13. Pad Orientation
6.14. Beeper Frequency
6.15. 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. RF Calibration
8.3. Telemetry Rate
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
1.7. Ignitor
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. Apogee Lockoug
6.4. Frequency
6.5. RF Calibration
6.6. Telemetry/RDF/APRS Enable
6.7. Telemetry baud rate
6.8. APRS Interval
6.9. APRS SSID
6.10. Callsign
6.11. Maximum Flight Log Size
6.12. Ignitor Firing Mode
6.13. Pad Orientation
6.14. Beeper Frequency
6.15. 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. RF Calibration
8.3. Telemetry Rate
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
@@ -1298,7 +1303,7 @@ 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
@@ -1326,9 +1331,12 @@ NAR
             Landed.
           
  • 
             The Received Signal Strength Indicator value. This lets
-            you know how strong a signal TeleDongle is receiving. The
-            radio inside TeleDongle operates down to about -99dBm;
-            weaker signals may not be receivable. The packet link uses
+            you know how strong a signal TeleDongle is receiving. At
+            the default data rate, 38400 bps, in bench testing, the
+            radio inside TeleDongle v0.2 operates down to about
+            -106dBm, while the v3 radio works down to about -111dBm.
+            Weaker signals, or an environment with radio noise may
+            cause the data to not be received. The packet link uses
             error detection and correction techniques which prevent
             incorrect data from being reported.
           
  • 
@@ -1345,7 +1353,7 @@ 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
@@ -1395,7 +1403,7 @@ 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.
@@ -1414,7 +1422,7 @@ 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,
@@ -1443,7 +1451,7 @@ 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
@@ -1472,13 +1480,13 @@ 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
@@ -1505,14 +1513,14 @@ NAR
         
    
 	  You can pre-load images for your favorite launch sites
 	  before you leave home; check out the 'Preload Maps' section below.
-	
    1.7. Ignitor
    
+	
    1.7. Ignitor
    
           TeleMega includes four additional programmable pyro
           channels. The Ignitor tab shows whether each of them has
           continuity. If an ignitor has a low resistance, then the
           voltage measured here will be close to the pyro battery
           voltage. A value greater than 3.2V is required for a 'GO'
           status.
-	
    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
@@ -1541,7 +1549,7 @@ 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
@@ -1550,7 +1558,7 @@ 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
@@ -1562,7 +1570,7 @@ 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).
 	
    
@@ -1572,18 +1580,18 @@ 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.
@@ -1592,7 +1600,7 @@ 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
@@ -1606,11 +1614,11 @@ 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. 
@@ -1638,14 +1646,14 @@ 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
@@ -1653,7 +1661,7 @@ NAR
           Delay parameter tells the flight computer to fire the apogee
           charge a certain number of seconds after apogee has been
           detected.
-        
    6.3. Apogee Lockoug
    
+        
    6.3. Apogee Lockoug
    
 	  Apogee lockout is the number of seconds after boost where
 	  the flight computer will not fire the apogee charge, even if
 	  the rocket appears to be at apogee. This is often called
@@ -1663,13 +1671,13 @@ NAR
 	  flight computers include a Kalman filter which is not fooled
 	  by this sharp pressure increase, and so this setting should
 	  be left at the default value of zero to disable it.
-        
    6.4. Frequency
    
+        
    6.4. Frequency
    
           This configures which of the frequencies to use for both
           telemetry and packet command mode. Note that if you set this
           value via packet command mode, the TeleDongle frequency will
           also be automatically reconfigured to match so that
           communication will continue afterwards.
-        
    6.5. RF Calibration
    
+        
    6.5. RF Calibration
    
           The radios in every Altus Metrum device are calibrated at the
           factory to ensure that they transmit and receive on the
           specified frequency.  If you need to you can adjust the calibration 
@@ -1677,11 +1685,11 @@ 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.
-        
    6.6. Telemetry/RDF/APRS Enable
    
+        
    6.6. Telemetry/RDF/APRS Enable
    
 	  Enables the radio for transmission during flight. When
 	  disabled, the radio will not transmit anything during flight
 	  at all.
-	
    6.7. Telemetry baud rate
    
+	
    6.7. Telemetry baud rate
    
 	  This sets the modulation bit rate for data transmission for
 	  both telemetry and packet link mode. Lower bit
 	  rates will increase range while reducing the amount of data
@@ -1689,7 +1697,7 @@ NAR
 	  telemetry is done using a rate 1/2 constraint 4 convolution
 	  code, so the actual data transmission rate is 1/2 of the
 	  modulation bit rate specified here.
-	
    6.8. APRS Interval
    
+	
    6.8. APRS Interval
    
 	  How often to transmit GPS information via APRS (in
 	  seconds). When set to zero, APRS transmission is
 	  disabled. This option is available on TeleMetrum v2 and
@@ -1697,19 +1705,19 @@ NAR
 	  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.
-	
    6.9. APRS SSID
    
+	
    6.9. APRS SSID
    
 	  Which SSID to report in APRS packets. By default, this is
 	  set to the last digit of the serial number, but can be
 	  configured to any value from 0 to 9.
-	
    6.10. Callsign
    
+	
    6.10. Callsign
    
           This sets the call sign included in each telemetry packet. Set this
           as needed to conform to your local radio regulations.
-        
    6.11. Maximum Flight Log Size
    
+        
    6.11. 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.
-	
    6.12. Ignitor Firing Mode
    
+	
    6.12. Ignitor Firing Mode
    
 	  This configuration parameter allows the two standard ignitor
 	  channels (Apogee and Main) to be used in different
 	  configurations.
@@ -1728,7 +1736,7 @@ NAR
 		  Altitude setting during descent. The 'apogee'
 		  channel is fired first, followed after a two second
 		  delay by the 'main' channel.
-		
    6.13. Pad Orientation
    
+		
    6.13. Pad Orientation
    
 	  Because they include accelerometers, TeleMetrum,
 	  TeleMega and EasyMega are sensitive to the orientation of the board. By
 	  default, they expect the antenna end to point forward. This
@@ -1742,13 +1750,13 @@ NAR
 		In this mode, the antenna end of the
 		flight computer must point aft, in line with the
 		expected flight path.
-	      
    6.14. Beeper Frequency
    
+	      
    6.14. Beeper Frequency
    
 	  The beeper on all Altus Metrum flight computers works best
 	  at 4000Hz, however if you have more than one flight computer
 	  in a single airframe, having all of them sound at the same
 	  frequency can be confusing. This parameter lets you adjust
 	  the base beeper frequency value.
-	
    6.15. Configure Pyro Channels
    
+	
    6.15. Configure Pyro Channels
    
 	  This opens a separate window to configure the additional
 	  pyro channels available on TeleMega and EasyMega.  One column is
 	  presented for each channel. Each row represents a single
@@ -1772,9 +1780,9 @@ 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
@@ -1783,7 +1791,7 @@ 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.
@@ -1791,7 +1799,7 @@ 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
@@ -1804,30 +1812,30 @@ 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 or TeleBT Device from the list provided.
       
    
         The first few lines of the dialog provide information about the
@@ -1854,32 +1862,33 @@ 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. RF Calibration
    
+        
    8.2. RF Calibration
    
           The radios in every Altus Metrum device are calibrated at the
           factory to ensure that they transmit and receive on the
           specified frequency.  To change a TeleDongle or TeleBT's calibration, 
 	  you must reprogram the unit completely, so this entry simply
 	  shows the current value and doesn't allow any changes.
-        
    8.3. Telemetry Rate
    
+        
    8.3. Telemetry Rate
    
           This lets you match the telemetry and packet link rate from
           the transmitter. If they don't match, the device won't
           receive any data.
-        
    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
-        programming dongle (pair programming). TeleMega, EasyMega, TeleMetrum v2
-        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
    
+        firmware. TeleMetrum v1.x, TeleDongle v0.2, TeleMini and
+        TeleBT are all reprogrammed by using another similar unit as a
+        programming dongle (pair programming). TeleMega, EasyMega,
+        TeleMetrum v2, EasyMini and TeleDongle v3 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
    
 	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
@@ -1899,14 +1908,14 @@ 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 baud rates
 	and telemetry formats should be tried; by default, it only listens
 	at 38400 baud with the standard telemetry format used in v1.0 and later
 	firmware.
-      
    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
@@ -1951,7 +1960,7 @@ 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
@@ -1960,7 +1969,7 @@ 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
@@ -1971,14 +1980,14 @@ 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
@@ -1988,19 +1997,19 @@ 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
@@ -2048,18 +2057,18 @@ 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 
@@ -2075,7 +2084,7 @@ 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 
@@ -2137,7 +2146,7 @@ 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
@@ -2152,7 +2161,7 @@ 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 have designed and prototyped several “companion boards” that 
 	  can attach to the companion connector on TeleMetrum,
 	  TeleMega and EasyMega
@@ -2172,14 +2181,14 @@ 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
@@ -2199,7 +2208,7 @@ 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
@@ -2242,7 +2251,7 @@ 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
@@ -2261,7 +2270,7 @@ 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
@@ -2299,7 +2308,7 @@ 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
@@ -2317,7 +2326,7 @@ 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
@@ -2339,14 +2348,16 @@ 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. 
-	Updating TeleMega, TeleMetrum v2, EasyMega 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
    
-      TeleMega, TeleMetrum v2, EasyMega 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
-      programmer (pair programming). It's important to recognize which
-      kind of devices you have before trying to reprogram them.
+      
    Chapter 10. Updating Device Firmware
    Table of Contents
    1. 
+	Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or
+	TeleDongle v3 Firmware
+      
    1.1. Recovering From Self-Flashing Failure
    2. Pair Programming
    3. Updating TeleMetrum v1.x Firmware
    4. Updating TeleMini Firmware
    5. Updating TeleDongle v0.2 Firmware
    
+      TeleMega, TeleMetrum v2, EasyMega, EasyMini and TeleDongle v3
+      are all programmed directly over their USB connectors (self
+      programming). TeleMetrum v1, TeleMini and TeleDongle v0.2 are
+      all programmed by using another device as a programmer (pair
+      programming). It's important to recognize which kind of devices
+      you have before trying to reprogram them.
     
    
       You may wish to begin by ensuring you have current firmware images.
       These are distributed as part of the AltOS software bundle that
@@ -2356,7 +2367,7 @@ NAR
       software features.  You can always download the most recent
       version from http://www.altusmetrum.org/AltOS/.
     
    
-      If you need to update the firmware on a TeleDongle, we recommend 
+      If you need to update the firmware on a TeleDongle v0.2, we recommend 
       updating the altimeter first, before updating TeleDongle.  However,
       note that TeleDongle rarely need to be updated.  Any firmware version
       1.0.1 or later will work, version 1.2.1 may have improved receiver
@@ -2364,10 +2375,11 @@ NAR
     
    
       Self-programmable devices (TeleMega, TeleMetrum v2, EasyMega and EasyMini)
       are reprogrammed by connecting them to your computer over USB
-    
    1. 
-	Updating TeleMega, TeleMetrum v2, EasyMega or EasyMini Firmware
+    
    1. 
+	Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or
+	TeleDongle v3 Firmware
       
    1. 
-	    Attach a battery and power switch to the target
+	    Attach a battery if necessary and power switch to the target
 	    device. Power up the device.
 	  
    2. 
 	    Using a Micro USB cable, connect the target device to your
@@ -2390,8 +2402,9 @@ NAR
 	    the device with new firmware, showing a progress bar.
 	  
    3. 
 	    Verify that the device is working by using the 'Configure
-	    Altimeter' item to check over the configuration.
-	  
    1.1. Recovering From Self-Flashing Failure
    
+	    Altimeter' or 'Configure Groundstation' item to check over
+	    the configuration.
+	  
    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
@@ -2430,6 +2443,11 @@ 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.
+	      
    TeleDongle v3
    
+		Connect pin 32 on the CPU to ground. Pin 32 is closest
+		to the USB wires on the row of pins towards the center
+		of the board. Ground is available on the capacitor
+		next to it, on the end towards the USB wires.
 	      
    
 	  Once you've located the right pins:
 	
    1. 
@@ -2450,22 +2468,22 @@ NAR
 	    
    2. 
 	      Once the board has been powered up, you can remove the
 	      piece of wire.
-	    
    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. 
+	TeleMetrum v1.0, TeleBT v1.0 or TeleDongle v0.2 as a
+	programmer to update a pair programmed device. Due to limited
+	memory resources in the cc1111, we don't support programming
+	directly over USB for these devices.
+      
    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.
 	  
    2. 
-          Take the 2 screws out of the TeleDongle case to get access
-          to the circuit board.
+          Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0
+          case to get access to the circuit board.
 	  
    3. 
           Plug the 8-pin end of the programming cable to the
-          matching connector on the TeleDongle, and the 4-pin end to the
+          matching connector on the TeleDongle v0.2 or TeleBT v1.0, and the 4-pin end to the
           matching connector on the TeleMetrum.
 	  Note that each MicroMaTch connector has an alignment pin that
 	  goes through a hole in the PC board when you have the cable
@@ -2473,12 +2491,12 @@ NAR
 	  
    4. 
           Attach a battery to the TeleMetrum board.
 	  
    5. 
-          Plug the TeleDongle into your computer's USB port, and power
+          Plug the TeleDongle v0.2 or TeleBT v1.0 into your computer's USB port, and power
           up the TeleMetrum.
 	  
    6. 
           Run AltosUI, and select 'Flash Image' from the File menu.
 	  
    7. 
-          Pick the TeleDongle device from the list, identifying it as the
+          Pick the TeleDongle v0.2 or TeleBT v1.0 device from the list, identifying it as the
           programming device.
 	  
    8. 
           Select the image you want put on the TeleMetrum, which should have a
@@ -2499,16 +2517,16 @@ NAR
           the version, etc.
 	  
    9. 
           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.
         
    2. 
-          Take the 2 screws out of the TeleDongle case to get access
+          Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 case to get access
           to the circuit board.
         
    3. 
           Plug the 8-pin end of the programming cable to the matching
-          connector on the TeleDongle, and the 4-pins into the holes
+          connector on the TeleDongle v0.2 or TeleBT v1.0, and the 4-pins into the holes
           in the TeleMini circuit board.  Note that the MicroMaTch
           connector has an alignment pin that goes through a hole in
           the PC board when you have the cable oriented correctly, and
@@ -2517,12 +2535,12 @@ NAR
         
    4. 
           Attach a battery to the TeleMini board.
         
    5. 
-          Plug the TeleDongle into your computer's USB port, and power
+          Plug the TeleDongle v0.2 or TeleBT v1.0 into your computer's USB port, and power
           up the TeleMini
         
    6. 
           Run AltosUI, and select 'Flash Image' from the File menu.
         
    7. 
-          Pick the TeleDongle device from the list, identifying it as the
+          Pick the TeleDongle v0.2 or TeleBT v1.0 device from the list, identifying it as the
           programming device.
         
    8. 
           Select the image you want put on the TeleMini, which should have a
@@ -2542,28 +2560,31 @@ NAR
 	  letting it come up in “flight” mode and listening for telemetry.
         
    9. 
           If something goes wrong, give it another try.
-        
    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.
+        
    5. Updating TeleDongle v0.2 Firmware
    
+        Updating TeleDongle v0.2 firmware is just like updating
+	TeleMetrum v1.x or TeleMini
+	firmware, but you use either a TeleMetrum v1.x, TeleDongle
+	v0.2 or TeleBT v1.0 as the programmer.
 	
    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.
         
    2. 
 	  Find the USB cable that you got as part of the starter kit, and
-	  plug the “mini” end in to the mating connector on TeleMetrum or TeleDongle.
+	  plug the “mini” end in to the mating connector on TeleMetrum
+	  v1.x, TeleDongle v0.2 or TeleBT v1.0.
         
    3. 
-          Take the 2 screws out of the TeleDongle case to get access
+          Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 case to get access
           to the circuit board.
         
    4. 
           Plug the 8-pin end of the programming cable to the
           matching connector on the programmer, and the 4-pin end to the
-          matching connector on the TeleDongle.
+          matching connector on the TeleDongle v0.2.
 	  Note that each MicroMaTch connector has an alignment pin that
 	  goes through a hole in the PC board when you have the cable
 	  oriented correctly.
         
    5. 
-          Attach a battery to the TeleMetrum board if you're using one.
+          Attach a battery to the TeleMetrum v1.x board if you're using one.
         
    6. 
           Plug both the programmer and the TeleDongle into your computer's USB
 	  ports, and power up the programmer.
@@ -2573,26 +2594,27 @@ NAR
           Pick the programmer device from the list, identifying it as the
           programming device.
         
    7. 
-          Select the image you want put on the TeleDongle, which should have a
+          Select the image you want put on the TeleDongle v0.2, which should have a
           name in the form teledongle-v0.2-1.0.0.ihx.  It should be visible
 	in the default directory, if not you may have to poke around
 	your system to find it.
         
    8. 
           Make sure the configuration parameters are reasonable
           looking. If the serial number and/or RF configuration
-          values aren't right, you'll need to change them.  The TeleDongle
+          values aren't right, you'll need to change them.  The
+	  TeleDongle v0.2
 	  serial number is on the “bottom” of the circuit board, and can
 	  usually be read through the translucent blue plastic case without
 	  needing to remove the board from the case.
         
    9. 
           Hit the 'OK' button and the software should proceed to flash
-          the TeleDongle with new firmware, showing a progress bar.
+          the TeleDongle v0.2 with new firmware, showing a progress bar.
         
    10. 
-          Confirm that the TeleDongle board seems to have updated OK, which you
+          Confirm that the TeleDongle v0.2 board seems to have updated OK, which you
           can do by plugging in to it over USB and using a terminal program
           to connect to the board and issue the 'v' command to check
           the version, etc.  Once you're happy, remove the programming cable
-	  and put the cover back on the TeleDongle.
+	  and put the cover back on the TeleDongle v0.2.
         
    11. 
           If something goes wrong, give it another try.
         
    
@@ -2602,19 +2624,19 @@ 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. 
 	EasyMega Specifications
-      
    3. 
+      
    3. 
 	TeleMetrum v2 Specifications
-      
    4. TeleMetrum v1 Specifications
    5. 
+      
    4. TeleMetrum v1 Specifications
    5. 
 	TeleMini v2.0 Specifications
-      
    6. 
+      
    6. 
 	TeleMini v1.0 Specifications
-      
    7. 
+      
    7. 
 	EasyMini Specifications
-      
    1. 
+      
    1. 
 	TeleMega Specifications
       
    • 
 	    Recording altimeter for model rocketry.
@@ -2644,7 +2666,7 @@ NAR
 	    to fire e-matches.
 	  
    • 
 	    3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
-	  
    2. 
+	  
    2. 
 	EasyMega Specifications
       
    • 
 	    Recording altimeter for model rocketry.
@@ -2670,7 +2692,7 @@ NAR
 	    to fire e-matches.
 	  
    • 
 	    1.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
-	  
    3. 
+	  
    3. 
 	TeleMetrum v2 Specifications
       
    • 
 	    Recording altimeter for model rocketry.
@@ -2696,7 +2718,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
    • 
 	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
-	  
    4. TeleMetrum v1 Specifications
    • 
+	  
    4. TeleMetrum v1 Specifications
    • 
 	    Recording altimeter for model rocketry.
 	  
    • 
 	    Supports dual deployment (can fire 2 ejection charges).
@@ -2720,7 +2742,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
    • 
 	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
-	  
    5. 
+	  
    5. 
 	TeleMini v2.0 Specifications
       
    • 
 	    Recording altimeter for model rocketry.
@@ -2742,7 +2764,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
    • 
 	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
-	  
    6. 
+	  
    6. 
 	TeleMini v1.0 Specifications
       
    • 
 	    Recording altimeter for model rocketry.
@@ -2763,7 +2785,7 @@ NAR
 	    optional separate pyro battery if needed.
 	  
    • 
 	    1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube.
-	  
    7. 
+	  
    7. 
 	EasyMini Specifications
       
    • 
 	    Recording altimeter for model rocketry.
@@ -2783,7 +2805,7 @@ 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
@@ -2828,7 +2850,7 @@ 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
@@ -3005,25 +3027,25 @@ 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. EasyMega template
    3. TeleMetrum template
    4. TeleMini v2/EasyMini template
    5. TeleMini v1 template
    
+    
    Appendix B. Drill Templates
    Table of Contents
    1. TeleMega template
    2. EasyMega template
    3. TeleMetrum template
    4. TeleMini v2/EasyMini template
    5. 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. EasyMega template
    
+      
    2. EasyMega template
    
 	EasyMega has overall dimensions of 1.250 x 2.250 inches, and
 	the mounting holes are sized for use with 4-40 or M3 screws.
-      
    3. TeleMetrum template
    
+      
    3. 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.
-      
    4. TeleMini v2/EasyMini template
    
+      
    4. 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.
-      
    5. TeleMini v1 template
    
+      
    5. 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, TeleMega and EasyMega Accelerometers
    
+      
    Appendix C. Calibration
    Table of Contents
    1. Radio Frequency
    2. TeleMetrum, TeleMega and EasyMega Accelerometers
    
         There are only two calibrations required for TeleMetrum and
         TeleMega, and only one for EasyMega, TeleDongle, TeleMini and EasyMini.
         All boards are shipped from the factory pre-calibrated, but
@@ -3032,7 +3054,7 @@ 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 
@@ -3068,7 +3090,7 @@ 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, TeleMega and EasyMega Accelerometers
    
+	
    2. TeleMetrum, TeleMega and EasyMega 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
@@ -3105,38 +3127,126 @@ 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 1.4.1
    
-    Version 1.4.1 is a minor release. It fixes install issues on
-    Windows and provides the missing TeleMetrum V2.0 firmware. There
-    aren't any changes to the firmware or host applications at
-    all. All Windows users will want to upgrade to get the signed
-    driver, but Mac and Linux users who do not need the TeleMetrum
-    V2.0 firmware image will not need to upgrade.
+        
    Appendix D. Igniter Current
    Table of Contents
    1. Current Products
    2. Version 1 Products
    
+	The question "how much igniter current can Altus Metrum products 
+	handle?" comes up fairly frequently.  The short answer is "more than
+	you're likely to need", the remainder of this appendix provides a
+	longer answer.
+      
    1. Current Products
    
+	  The FET switches we're using on all of our current products that 
+	  have pyro channels are the Vishay Siliconix Si7232DN.  These parts 
+	  have exceptionally low Rds(on) values, better than 0.02 ohms!  That 
+	  means they aren't making a lot of heat... and the limit on current 
+	  is "package limited", meaning it's all about how much you can heat 
+	  the die before something breaks.
+	
    
+	  Cutting to the chase, the Si7232DN specs are 25 amps continuous at
+	  20V at a temperature of 25C.  In pulsed mode, they're rated for 40A.
+	  However, those specs are a little mis-leading because it really is 
+	  all about the heat generated... you can get something like 85A 
+	  through one briefly.  Note that a typical commercial e-match only 
+	  needed about 13 microseconds to fire in tests on my bench a couple 
+	  years ago!
+	
    
+	  So a great plan is to use something like an e-match as the initiator 
+	  and build up pyrogen(s) as required to actually light what you're 
+	  trying to light...  But if you want to use a high-current igniter, 
+	  we can probably handle it!
+	
    2. Version 1 Products
    
+	  The FET switches used on TeleMetrum v1 and TeleMini v1 products
+	  were Fairchild FDS9926A.  The Rds(on) values under our operating
+	  conditions are on the order of 0.04 ohms.  These parts were rated
+	  for a continuous current-carrying capacity of 6.5A, and a pulsed 
+	  current capacity of 20A.
+	
    
+	  As with the more modern parts, the real limit is based on the heat
+	  generated in the part during the firing interval.  So, while the 
+	  specs on these parts aren't as good as the ones we use on current
+	  products, they were still great, and we never had a complaint about
+	  current carrying capacity with any of our v1 boards.
+	
    Appendix E. Release Notes
    Version 1.6
    
+    Version 1.6 includes support for our updated TeleDongle v3.0
+    product and bug fixes in in the flight software for all our boards
+    and ground station interfaces.
   
    
-    Windows Install Fixes
+    AltOS New Features
     
    • 
-	  Provide signed Windows driver files. This should avoid any need to
-	  disable driver signature checking on Windows 7 or 8.
+	  Add support for TeleDongle v3.0 boards.
+	
    
+  
    
+    AltOS Fixes
+    
    • 
+	  Don't beep out the continuity twice by accident in idle mode.
+	  If the battery voltage report takes longer than the initialiation
+	  sequence, the igniter continuity would get reported twice.
 	
    • 
-	  Fix Java version detection and download. Previously, the
-	  installer would only look for Java 6 or 7 and insist on
-	  downloading its own Java bits if there was something else
-	  installed. Furthermore, the 64-bit Java link provided didn't
-	  work for anyone other than Keith, making it impossible to
-	  install AltOS on any machine with Java SE 8 installed.
+	  Record all 32 bits of gyro calibration data in TeleMega and
+	  EasyMega log files. This fixes computation of the gyro rates
+	  in AltosUI.
+	
    • 
+	  Change TeleDongle LED usage. Green LED flashes when valid
+	  packet is received. Red LED flashes when invalid packet is
+	  received.
+	
    • 
+	  Replace LPC11U14 SPI driver with non-interrupt version. The
+	  interrupt code would occasionally wedge on long transfers
+	  if interrupts were blocked for too long. This affects all
+	  released TeleGPS products; if you have a TeleGPS device,
+	  you'll want to reflash the firmware.
 	
    
   
    
-    Other Fixes
+    AltosUI and TeleGPS New Features
     
    • 
-	  Include 1.4 firmware for TeleMetrum V2.0. None of the
-	  installers shipped this file. Now it's included in the AltOS
-	  packages for Linux, Mac and Windows.
+	  Compute tilt angle from TeleMega and EasyMega log
+	  files. This duplicates the quaternion-based angle tracking
+	  code from the flight firmware inside the ground station
+	  software so that post-flight analysis can include evaluation
+	  of the tilt angle.
 	
    • 
-	  Include Google Application Key for map downloading. The 1.4
-	  release didn't have this key in the released version of the
-	  software, making map downloading fail for most people.
+	  Shows the tool button window when starting with a data file
+	  specified. This means that opening a data file from the file
+	  manager will now bring up the main window to let you operate
+	  the whole application.
 	
    
-  
    Version 1.5
    
+  
    
+    AltosUI Fixes
+    
    • 
+	  Show the 'Connecting' dialog when using Monitor Idle. Lets
+	  you cancel the Monitor Idle startup when connecting over the
+	  radio link.
+	
    • 
+	  Make 'Monitor Idle' work for TeleGPS devices when connected
+	  over USB. It's nice for testing without needing to broadcast
+	  over the radio.
+	
    • 
+	  Use different Windows API to discover USB devices. This
+	  works better on my Windows 7 box, and will be used if the
+	  older API fails to provide the necessary information.
+	
    • 
+	  Look in more places in the registry to try and identify the
+	  installed Java version on Windows. If you install the
+	  default 32-bit version of Windows on a 64-bit OS, the Java
+	  registry information is hiding \SOFTWARE\Wow6432Node for
+	  some reason.
+	
    • 
+	  Fix file association on Windows by searching for the
+	  javaw.exe program instead of assuming it is in
+	  %SYSTEMROOT%. This makes double-clicking on Altus Metrum
+	  data files in the file manager work correctly.
+	
    • 
+	  When replaying a file, put 'done' in the Age field when we
+	  reach the end of the file, instead of continuing to count forever.
+	
    • 
+	  In the Scan Channels code, wait for five seconds if we see
+	  any packet. This is needed because AltOS now sends the
+	  callsign, serial number and flight number only once every
+	  five seconds these days.
+	
    • 
+	  In the Scan Channels code, reset pending flight state
+	  information each time we change channels. This avoids having
+	  flight computers appear on multiple frequencies by accident.
+	
    
+  
    Version 1.5
    
     Version 1.5 is a major release. It includes support for our new
     EasyMega product, new features and bug fixes in in the flight
     software for all our boards and the AltosUI ground station
@@ -3203,7 +3313,38 @@ NAR
 	  provide the user with the option to skip installing Java for
 	  cases where we just can't figure out what version is installed.
 	
    
-  
    Version 1.4
    
+  
    Version 1.4.1
    
+    Version 1.4.1 is a minor release. It fixes install issues on
+    Windows and provides the missing TeleMetrum V2.0 firmware. There
+    aren't any changes to the firmware or host applications at
+    all. All Windows users will want to upgrade to get the signed
+    driver, but Mac and Linux users who do not need the TeleMetrum
+    V2.0 firmware image will not need to upgrade.
+  
    
+    Windows Install Fixes
+    
    • 
+	  Provide signed Windows driver files. This should avoid any need to
+	  disable driver signature checking on Windows 7 or 8.
+	
    • 
+	  Fix Java version detection and download. Previously, the
+	  installer would only look for Java 6 or 7 and insist on
+	  downloading its own Java bits if there was something else
+	  installed. Furthermore, the 64-bit Java link provided didn't
+	  work for anyone other than Keith, making it impossible to
+	  install AltOS on any machine with Java SE 8 installed.
+	
    
+  
    
+    Other Fixes
+    
    • 
+	  Include 1.4 firmware for TeleMetrum V2.0. None of the
+	  installers shipped this file. Now it's included in the AltOS
+	  packages for Linux, Mac and Windows.
+	
    • 
+	  Include Google Application Key for map downloading. The 1.4
+	  release didn't have this key in the released version of the
+	  software, making map downloading fail for most people.
+	
    
+  
    Version 1.4
    
     Version 1.4 is a major release. It includes support for our new
     TeleGPS product, new features and bug fixes in in the flight
     software for all our boards and the AltosUI ground station
@@ -3316,7 +3457,7 @@ NAR
 	  prevents the apogee charge from firing for a configurable
 	  amount of time after boost.
 	
    
-  
    Version 1.3.2
    
+  
    Version 1.3.2
    
     Version 1.3.2 is a minor release. It includes small bug fixes for
     the TeleMega flight software and AltosUI ground station
   
    
@@ -3344,7 +3485,7 @@ NAR
 	  Use letters (A, B, C, D) for alternate pyro channel names
 	  instead of numbers (0, 1, 2, 3) in the Fire Igniter dialog.
 	
    
-  
    Version 1.3.1
    
+  
    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.
   
    
@@ -3386,7 +3527,7 @@ NAR
 	  Google to make sure we stay within their limits so that all
 	  of the map tiles download successfully.
 	
    
-  
    Version 1.3
    
+  
    Version 1.3
    
     Version 1.3 is a major release. It adds support for TeleMega,
     TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
   
    
@@ -3427,7 +3568,7 @@ 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.
@@ -3487,7 +3628,7 @@ 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.
   
    
@@ -3513,7 +3654,7 @@ 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
@@ -3558,7 +3699,7 @@ 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.
   
    
@@ -3630,7 +3771,7 @@ 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
   
    
@@ -3710,7 +3851,7 @@ 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.
@@ -3718,7 +3859,7 @@ 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.
   
    • 
@@ -3737,7 +3878,7 @@ 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:
   
    • 
@@ -3777,7 +3918,7 @@ 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:
   
    • 
       Receive and log telemetry from a connected TeleDongle
diff --git a/AltOS/doc/altusmetrum.pdf b/AltOS/doc/altusmetrum.pdf
index 3dddf23e89abbad8090a0518ff314e9ff1dd1451..6fe70a693aaa1c6bf4b18ec23a68d317c9831b59 100644
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diff --git a/AltOS/doc/companion.html b/AltOS/doc/companion.html
index cdbe2ac..a2d9a77 100644
--- a/AltOS/doc/companion.html
+++ b/AltOS/doc/companion.html
@@ -1,10 +1,10 @@
-AltOS Companion Port
    AltOS Companion Port
    Protocol Definitions
    Keith Packard
    Copyright © 2012 Keith Packard
    
+AltOS Companion Port
    AltOS Companion Port
    Protocol Definitions
    Keith Packard
    Copyright © 2012 Keith Packard
    
 	This document is released under the terms of the
 	
 	  Creative Commons ShareAlike 3.0
 	
 	license.
-      
    Revision History
    Revision 0.113 January 2012
    Initial content
    Table of Contents
    1. Companion Port
    2. Companion SPI Protocol
    3. SPI Message Formats
    3.1. Command Message
    3.2. SETUP reply message
    3.3. FETCH reply message
    4. History and Motivation
    1. Companion Port
    
+      
    Revision History
    Revision 0.113 January 2012
    Initial content
    Table of Contents
    1. Companion Port
    2. Companion SPI Protocol
    3. SPI Message Formats
    3.1. Command Message
    3.2. SETUP reply message
    3.3. FETCH reply message
    4. History and Motivation
    1. Companion Port
    
       Many Altus Metrum products come with an eight pin Micro MaTch
       connector, called the Companion Port. This is often used to
       program devices using a programming cable. However, it can also
@@ -25,7 +25,7 @@
 	  provide a matching SPI slave implementation which supplies
 	  telemetry information for the radio downlink during flight
 	  
    • 
-    
    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
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zfj$C@Ln3hoI2;;oa0;sVeMicroPeak Owner's Manual
    MicroPeak Owner's Manual
    A recording altimeter for hobby rocketry
    Keith Packard
    Copyright © 2014 Bdale Garbee and Keith Packard
    
+MicroPeak Owner's Manual
    MicroPeak Owner's Manual
    A recording altimeter for hobby rocketry
    Keith Packard
    Copyright © 2014 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
@@ -33,7 +33,7 @@ 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
    3.1. MicroPeak Graphs
    3.2. MicroPeak Flight Statistics
    3.3. Raw Data
    3.4. Configuring the Graph
    4. Setting MicroPeak Preferences
    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
    3.1. MicroPeak Graphs
    3.2. MicroPeak Flight Statistics
    3.3. Raw Data
    3.4. Configuring the Graph
    4. Setting MicroPeak Preferences
    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
     
    • 
@@ -84,7 +84,7 @@ 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 
@@ -114,12 +114,12 @@ 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
    3.1. MicroPeak Graphs
    3.2. MicroPeak Flight Statistics
    3.3. Raw Data
    3.4. Configuring the Graph
    4. Setting MicroPeak Preferences
    
+    
    Chapter 3. The MicroPeak USB adapter
    Table of Contents
    1. Installing the MicroPeak software
    2. Downloading Micro Peak data
    3. Analyzing MicroPeak Data
    3.1. MicroPeak Graphs
    3.2. MicroPeak Flight Statistics
    3.3. Raw Data
    3.4. Configuring the Graph
    4. Setting MicroPeak Preferences
    
       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.
@@ -128,7 +128,7 @@ 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
    • 
 	    Plug the MicroPeak USB adapter in to your computer.
 	  
    • 
 	    Start the MicroPeak application.
@@ -161,7 +161,7 @@ NAR
 	    height, speed and acceleration values computed from the
 	    recorded barometric pressure data. See the next section
 	    for more details on that.
-	  
    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.
@@ -187,13 +187,13 @@ NAR
 	Data tab) to a file, change the application Preferences, Close
 	the current window or close all windows and Exit the
 	application.
-      
    3.1. MicroPeak Graphs
    
+      
    3.1. MicroPeak Graphs
    
 	  Under the Graph tab, the height, speed and acceleration values
 	  are displayed together. You can zoom in on the graph by
 	  clicking and dragging to sweep out an area of
 	  interest. Right-click on the plot to bring up a menu that will
 	  let you save, copy or print the graph.
-	
    3.2. MicroPeak Flight Statistics
    
+	
    3.2. MicroPeak Flight Statistics
    
 	  The Statistics tab presents overall data from the flight. Note
 	  that the Maximum height value is taken from the minumum
 	  pressure captured in flight, and may be different from the
@@ -201,13 +201,13 @@ NAR
 	  as fast as the recorded values, or because the true apogee
 	  occurred after the on-board memory was full. Each value is
 	  presented in several units as appropriate.
-	
    3.3. Raw Data
    
+	
    3.3. Raw Data
    
 	  A table consisting of the both the raw barometric pressure
 	  data and values computed from that for each recorded time.
-	
    3.4. Configuring the Graph
    
+	
    3.4. Configuring the Graph
    
 	  This selects which graph elements to show, and lets you
 	  switch between metric and imperial units
-	
    4. Setting MicroPeak Preferences
    
+	
    4. Setting MicroPeak Preferences
    
 	The MicroPeak application has a few user settings which are
 	configured through the Preferences dialog, which can be
 	accessed from the File menu.
@@ -241,7 +241,7 @@ 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.
@@ -257,7 +257,7 @@ NAR
 	designed to smooth out any minor noise in the sensor
 	values. The flight pressure recorded to non-volatile storage
 	is unfiltered, coming directly from the pressure sensor.
-      
    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
@@ -268,7 +268,7 @@ 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
@@ -285,7 +285,7 @@ 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
@@ -305,7 +305,7 @@ NAR
 	Because the raw pressure data is recorded to non-volatile
 	storage, you can use that, along with a more sophisticated
 	atmospheric model, to compute your own altitude values.
-      
    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
@@ -321,7 +321,7 @@ 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
@@ -335,7 +335,7 @@ NAR
 	information captured with the MicroPeak USB adapter. It can
 	also be read 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
@@ -355,7 +355,7 @@ 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 a8cba38ea33284225e14e2057b96248bde7b3f3f..4620052be1032973e9dd4f84faca8e05dab86bdc 100644
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z59nr?2BOZl6a)&1aj62%AutVKBNNOhQKHvn
    
+    Version 1.6 includes support for our updated TeleDongle v3.0
+    product and bug fixes in in the flight software for all our boards
+    and ground station interfaces.
+  
    
+    AltOS New Features
+    
    • 
+	  Add support for TeleDongle v3.0 boards.
+	
    
+  
    
+    AltOS Fixes
+    
    • 
+	  Don't beep out the continuity twice by accident in idle mode.
+	  If the battery voltage report takes longer than the initialiation
+	  sequence, the igniter continuity would get reported twice.
+	
    • 
+	  Record all 32 bits of gyro calibration data in TeleMega and
+	  EasyMega log files. This fixes computation of the gyro rates
+	  in AltosUI.
+	
    • 
+	  Change TeleDongle LED usage. Green LED flashes when valid
+	  packet is received. Red LED flashes when invalid packet is
+	  received.
+	
    • 
+	  Replace LPC11U14 SPI driver with non-interrupt version. The
+	  interrupt code would occasionally wedge on long transfers
+	  if interrupts were blocked for too long. This affects all
+	  released TeleGPS products; if you have a TeleGPS device,
+	  you'll want to reflash the firmware.
+	
    
+  
    
+    AltosUI and TeleGPS New Features
+    
    • 
+	  Compute tilt angle from TeleMega and EasyMega log
+	  files. This duplicates the quaternion-based angle tracking
+	  code from the flight firmware inside the ground station
+	  software so that post-flight analysis can include evaluation
+	  of the tilt angle.
+	
    • 
+	  Shows the tool button window when starting with a data file
+	  specified. This means that opening a data file from the file
+	  manager will now bring up the main window to let you operate
+	  the whole application.
+	
    
+  
    
+    AltosUI Fixes
+    
    • 
+	  Show the 'Connecting' dialog when using Monitor Idle. Lets
+	  you cancel the Monitor Idle startup when connecting over the
+	  radio link.
+	
    • 
+	  Make 'Monitor Idle' work for TeleGPS devices when connected
+	  over USB. It's nice for testing without needing to broadcast
+	  over the radio.
+	
    • 
+	  Use different Windows API to discover USB devices. This
+	  works better on my Windows 7 box, and will be used if the
+	  older API fails to provide the necessary information.
+	
    • 
+	  Look in more places in the registry to try and identify the
+	  installed Java version on Windows. If you install the
+	  default 32-bit version of Windows on a 64-bit OS, the Java
+	  registry information is hiding \SOFTWARE\Wow6432Node for
+	  some reason.
+	
    • 
+	  Fix file association on Windows by searching for the
+	  javaw.exe program instead of assuming it is in
+	  %SYSTEMROOT%. This makes double-clicking on Altus Metrum
+	  data files in the file manager work correctly.
+	
    • 
+	  When replaying a file, put 'done' in the Age field when we
+	  reach the end of the file, instead of continuing to count forever.
+	
    • 
+	  In the Scan Channels code, wait for five seconds if we see
+	  any packet. This is needed because AltOS now sends the
+	  callsign, serial number and flight number only once every
+	  five seconds these days.
+	
    • 
+	  In the Scan Channels code, reset pending flight state
+	  information each time we change channels. This avoids having
+	  flight computers appear on multiple frequencies by accident.
+	
    
+  
    
diff --git a/AltOS/doc/telegps.html b/AltOS/doc/telegps.html
index 6595a57..6b524d6 100644
--- a/AltOS/doc/telegps.html
+++ b/AltOS/doc/telegps.html
@@ -1,14 +1,16 @@
-TeleGPS Owner's Manual
    TeleGPS Owner's Manual
    A recording GPS tracker
    Keith Packard
    Copyright © 2014 Bdale Garbee and Keith Packard
    
+TeleGPS Owner's Manual
    TeleGPS Owner's Manual
    A recording GPS tracker
    Keith Packard
    Copyright © 2015 Bdale Garbee and Keith Packard
    
         This document is released under the terms of the
         
           Creative Commons ShareAlike 3.0
         
         license.
-      
    Revision History
    Revision 1.4.120 June 2014
    
+      
    Revision History
    Revision 1.68 January 2015
    
+	  Major release adding TeleDongle v3.0 support.
+	
    Revision 1.4.120 June 2014
    
 	  Minor release fixing some installation bugs.
 	
    Revision 1.413 June 2014
    
 	  Initial release
-	
    Acknowledgements
    
+	
    Acknowledgements
    
       Have fun using these products, and we hope to meet all of you
       out on the rocket flight line somewhere.
       

    
@@ -18,9 +20,9 @@ NAR
 Keith Packard, KD7SQG
    
 NAR #88757, TRA #12200
    
       
    
-    
    Table of Contents
    1. Quick Start Guide
    2. Handling Precautions
    3. TeleGPS Hardware
    1. Hooking Up Lithium Polymer Batteries
    2. On-board Data Recording
    3. Installation
    4. System Operation
    1. GFSK Telemetry
    2. APRS
    3. Configurable Parameters
    3.1. Radio Frequency
    3.2. Callsign
    3.3. Telemetry/RDF/APRS Enable
    3.4. APRS Interval
    3.5. Maximum Flight Log
    3.6. Logging Trigger Motion
    3.7. Position Reporting Interval
    5. TeleGPS Application
    1. Telemetry Monitoring
    1.1. Map
    1.2. Location
    1.3. Status
    1.4. Table
    2. TeleGPS Menus
    2.1. New Window
    2.2. Graph Data
    2.3. Export Data
    2.4. Load Maps
    2.5. Preferences
    2.6. Close
    2.7. Exit
    2.8. Connect Device
    2.9. Disconnect
    2.10. Scan Channels
    2.11. Download Data
    2.12. Configure Device
    2.13. Flash Device
    6. Updating Device Firmware
    1. 
+    
    Table of Contents
    1. Quick Start Guide
    2. Handling Precautions
    3. TeleGPS Hardware
    1. Hooking Up Lithium Polymer Batteries
    2. On-board Data Recording
    3. Installation
    4. System Operation
    1. GFSK Telemetry
    2. APRS
    3. Configurable Parameters
    3.1. Radio Frequency
    3.2. Callsign
    3.3. Telemetry/RDF/APRS Enable
    3.4. APRS Interval
    3.5. Maximum Flight Log
    3.6. Logging Trigger Motion
    3.7. Position Reporting Interval
    5. TeleGPS Application
    1. Telemetry Monitoring
    1.1. Map
    1.2. Location
    1.3. Status
    1.4. Table
    2. TeleGPS Menus
    2.1. New Window
    2.2. Graph Data
    2.3. Export Data
    2.4. Load Maps
    2.5. Preferences
    2.6. Close
    2.7. Exit
    2.8. Connect Device
    2.9. Disconnect
    2.10. Scan Channels
    2.11. Download Data
    2.12. Configure Device
    2.13. Flash Device
    6. Updating Device Firmware
    1. 
 	Updating TeleGPS Firmware
-      
    7. Technical Information
    1. GPS Receiver
    2. Micro-controller
    3. Lithium Polymer Battery
    4. Mechanical Considerations
    5. On-board data storage
    A. Release Notes
    List of Tables
    4.1. Altus Metrum APRS Comments
    Chapter 1. Quick Start Guide
    
+      
    7. Technical Information
    1. GPS Receiver
    2. Micro-controller
    3. Lithium Polymer Battery
    4. Mechanical Considerations
    5. On-board data storage
    A. Release Notes
    List of Tables
    4.1. Altus Metrum APRS Comments
    Chapter 1. Quick Start Guide
    
       TeleGPS is designed to be easy to use. Requiring no external
       components, flying takes just a few steps.
     
    
@@ -42,7 +44,7 @@ NAR
       Connect TeleDongle to your computer and start TeleGPS or start
       AltosDroid on your android device and connect to TeleBT. Set the
       frequency to match the TeleGPS and you should be receiving telemetry.
-    
    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 
@@ -59,7 +61,7 @@ NAR
       As with all other rocketry electronics, Altus Metrum devices must 
       be protected from exposure to corrosive motor exhaust and ejection 
       charge gasses.
-    
    Chapter 3. TeleGPS Hardware
    Table of Contents
    1. Hooking Up Lithium Polymer Batteries
    2. On-board Data Recording
    3. Installation
    1. Hooking Up Lithium Polymer Batteries
    
+    
    Chapter 3. TeleGPS Hardware
    Table of Contents
    1. Hooking Up Lithium Polymer Batteries
    2. On-board Data Recording
    3. Installation
    1. Hooking Up Lithium Polymer Batteries
    
 	TeleGPS has a two pin JST PH series connector to connect up
 	a single-cell Lithium Polymer cell (3.7V nominal). You can
 	purchase matching batteries from the Altus Metrum store, or
@@ -72,7 +74,7 @@ NAR
 	this same connector. All that we have found use the opposite
 	polarity, and if you use them that way, you will damage or
 	destroy TeleGPS.
-      
    2. On-board Data Recording
    
+      
    2. On-board Data Recording
    
 	TeleGPS logs GPS data at a user-configurable rate. Data are
 	logged to a 2MB on-board flash memory part, which can be
 	partitioned into several equal-sized blocks, one for each
@@ -101,7 +103,7 @@ NAR
 	before it fills up. TeleGPS will still report telemetry even
 	if memory is full, so the only thing you will lose is the
 	on-board data log.
-      
    3. Installation
    
+      
    3. Installation
    
 	The battery connectors are a standard 2-pin JST connector and
 	match batteries sold by Spark Fun. These batteries are
 	single-cell Lithium Polymer batteries that nominally provide 3.7
@@ -120,7 +122,7 @@ NAR
 	transmission with the system installed and all other
 	electronics powered up to verify signal reception and make
 	sure there isn't any interference from other systems.
-      
    Chapter 4. System Operation
    Table of Contents
    1. GFSK Telemetry
    2. APRS
    3. Configurable Parameters
    3.1. Radio Frequency
    3.2. Callsign
    3.3. Telemetry/RDF/APRS Enable
    3.4. APRS Interval
    3.5. Maximum Flight Log
    3.6. Logging Trigger Motion
    3.7. Position Reporting Interval
    1. GFSK Telemetry
    
+      
    Chapter 4. System Operation
    Table of Contents
    1. GFSK Telemetry
    2. APRS
    3. Configurable Parameters
    3.1. Radio Frequency
    3.2. Callsign
    3.3. Telemetry/RDF/APRS Enable
    3.4. APRS Interval
    3.5. Maximum Flight Log
    3.6. Logging Trigger Motion
    3.7. Position Reporting Interval
    1. GFSK Telemetry
    
         TeleGPS's native telemetry system doesn't use a 'normal packet
         radio' mode like APRS because it's not very efficient.  The
         GFSK modulation we use is FSK with the base-band pulses passed
@@ -134,7 +136,7 @@ NAR
         should be good to well over 40k feet AGL with a 5-element yagi
         on the ground with our 10mW units and over 100k feet AGL with
         the 40mW devices.
-      
    2. APRS
    
+      
    2. APRS
    
 	TeleGPS can send APRS if desired, and the
 	interval between APRS packets can be configured. As each APRS
 	packet takes a full second to transmit, we recommend an
@@ -157,7 +159,7 @@ NAR
 	arbitrary text in it. AltOS uses this to send status
 	information about the flight computer. It sends four fields as
 	shown in the following table.
-      
    Table 4.1. Altus Metrum APRS Comments
    FieldExampleDescription
    1LGPS Status U for unlocked, L for locked
    26Number of Satellites in View
    3B4.0Battery Voltage

    
+      
    Table 4.1. Altus Metrum APRS Comments
    FieldExampleDescription
    1LGPS Status U for unlocked, L for locked
    26Number of Satellites in View
    3B4.0Battery Voltage

    
 	Here's an example of an APRS comment showing GPS lock with 6
 	satellites in view and a battery at 4.0V.
 	
    @@ -175,13 +177,13 @@ NAR
 	that the GPS status character switches from 'L' to 'U'. Before
 	GPS has locked, APRS will transmit zero for latitude,
 	longitude and altitude.
-      
    3. Configurable Parameters
    
+      
    3. Configurable Parameters
    
         Configuring TeleGPS is very
         simple; the few configurable parameters can all be set
         using the TeleGPS application over USB. Read
 	the Configure TeleGPS section in the TeleGPS Software chapter below
 	for more information.
-      
    3.1. Radio Frequency
    
+      
    3.1. 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
@@ -191,19 +193,19 @@ NAR
 	  frequency will be used to avoid interference.  And of course, both
 	  TeleGPS and the receiver must be configured to the same
 	  frequency to successfully communicate with each other.
-        
    3.2. Callsign
    
+        
    3.2. Callsign
    
 	  This sets the callsign used for telemetry and APRS to
 	  identify the device.
-	
    3.3. Telemetry/RDF/APRS Enable
    
+	
    3.3. Telemetry/RDF/APRS Enable
    
 	  You can completely disable the radio, if necessary, leaving
 	  TeleGPS only logging data to internal memory.
-	
    3.4. APRS Interval
    
+	
    3.4. APRS Interval
    
 	  This selects how often APRS packets are transmitted. Set
 	  this to zero to disable APRS without also disabling the
 	  regular telemetry and RDF transmissions. As APRS takes a
 	  full second to transmit a single position report, we
 	  recommend sending packets no more than once every 5 seconds.
-	
    3.5. Maximum Flight Log
    
+	
    3.5. 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
@@ -211,14 +213,14 @@ NAR
 	  download and erase individual flight logs. If you fill up
 	  the available storage, future flights will not get logged
 	  until you erase some of the stored ones.
-	
    3.6. Logging Trigger Motion
    
+	
    3.6. Logging Trigger Motion
    
 	  If TeleGPS moves less than this distance over a long period
 	  of time, it will not log that location, saving storage space.
-	
    3.7. Position Reporting Interval
    
+	
    3.7. Position Reporting Interval
    
 	  This sets how often TeleGPS reports position information via
 	  telemetry and to the on-board log. Reducing this value will
 	  save power and logging memory consumption.
-	
    Chapter 5. TeleGPS Application
    Table of Contents
    1. Telemetry Monitoring
    1.1. Map
    1.2. Location
    1.3. Status
    1.4. Table
    2. TeleGPS Menus
    2.1. New Window
    2.2. Graph Data
    2.3. Export Data
    2.4. Load Maps
    2.5. Preferences
    2.6. Close
    2.7. Exit
    2.8. Connect Device
    2.9. Disconnect
    2.10. Scan Channels
    2.11. Download Data
    2.12. Configure Device
    2.13. Flash Device
    
+	
    Chapter 5. TeleGPS Application
    Table of Contents
    1. Telemetry Monitoring
    1.1. Map
    1.2. Location
    1.3. Status
    1.4. Table
    2. TeleGPS Menus
    2.1. New Window
    2.2. Graph Data
    2.3. Export Data
    2.4. Load Maps
    2.5. Preferences
    2.6. Close
    2.7. Exit
    2.8. Connect Device
    2.9. Disconnect
    2.10. Scan Channels
    2.11. Download Data
    2.12. Configure Device
    2.13. Flash Device
    
       The TeleGPS application provides a graphical user interface for
       interacting with the Altus Metrum product family. TeleGPS can
       monitor telemetry data, configure devices and many other
@@ -227,7 +229,7 @@ NAR
       tasks available from the main window menu bar. This chapter
       is split into sections, each of which documents one of the tasks
       provided from the top-level toolbar.
-    
    1. Telemetry Monitoring
    
+    
    1. Telemetry Monitoring
    
 	This is the window brought up when you start the
 	application. If you have a TeleDongle device connected to the
 	computer, it will automatically be selected for telemetry monitoring
@@ -266,7 +268,7 @@ NAR
         tabs, each of which contain some information about the TeleGPS
         board. The final 'table' tab displays many of the raw telemetry
         values in one place in a spreadsheet-like format.
-      
    1.1. Map
    
+      
    1.1. Map
    
           The Map tab shows the TeleGPS track over time on top of map
 	  data making it easy to locate the device.
         
    
@@ -289,16 +291,16 @@ NAR
         
    
 	  You can pre-load images for your favorite launch sites
 	  before you leave home; check out the 'Preload Maps' section below.
-	
    1.2. Location
    
+	
    1.2. Location
    
 	  The Location tab shows the raw GPS data received from TeleGPS.
-	
    1.3. Status
    
+	
    1.3. Status
    
 	  The Status tab shows data relative to the location of
 	  TeleGPS when the application first received telemetry from
 	  it.
-	
    1.4. Table
    
+	
    1.4. Table
    
 	  The Table tab shows detailed information about the GPS
 	  receiver
-	
    2. TeleGPS Menus
    
+	
    2. TeleGPS Menus
    
 	TeleGPS has three or four menus at the top of the window:
 	
    File
    
 		New Window, Graph Data, Export Data, Load Maps, Preferences, Close and Exit
@@ -314,26 +316,26 @@ NAR
 		only shown when the TeleGPS application is connected
 		to a TeleDongle or TeleBT device.
 	      
    
-      
    2.1. New Window
    
+      
    2.1. New Window
    
 	  This creates another telemetry monitoring window, in case
 	  you have multiple TeleDongle devices connected to the
 	  computer.
-	
    2.2. Graph Data
    
+	
    2.2. Graph Data
    
 	  This brings up a file dialog to load a saved log, either
 	  a .telem file of recorded telemetry or .eeprom of saved
 	  data from on-board memory. It looks a bit like the flight
 	  monitoring window, using a selection of tabs to show
 	  different views of the saved data.
-	
    2.2.1. Graph
    
+	
    2.2.1. Graph
    
 	    The Graph tab shows a plot of the the GPS data
 	    collected. The X axis is time in seconds; there are a
 	    variety of Y axes available for different kinds of data.
-	  
    2.2.2. Configure Graph
    
+	  
    2.2.2. Configure Graph
    
 	    This selects which graph elements to show, and, at the
 	    bottom, lets you switch between metric and imperial units
-	  
    2.2.3. Statistics
    
+	  
    2.2.3. Statistics
    
 	    Shows overall data computed from the flight.
-	  
    2.2.4. Map
    
+	  
    2.2.4. Map
    
 	    Shows a map of the area overlaid with the GPS track. As with
 	    the telemetry monitoring window, you can select the style
 	    of map and zoom level using buttons along the side;
@@ -341,7 +343,7 @@ NAR
 	    the left button and you can draw a line to measure
 	    distances using either the left button with the shift key,
 	    or any other button.
-	  
    2.3. Export Data
    
+	  
    2.3. 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 data file, which can be either a .eeprom or .telem.
@@ -350,7 +352,7 @@ 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.
-	
    2.3.1. Comma Separated Value Format
    
+	
    2.3.1. 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
@@ -364,11 +366,11 @@ NAR
             the sensor values are converted to standard units, with the
             barometric data reported in both pressure, altitude and
             height above pad units.
-          
    2.3.2. Keyhole Markup Language (for Google Earth)
    
+          
    2.3.2. 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.
-          
    2.4. Load Maps
    
+          
    2.4. Load Maps
    
 	  Before using TeleGPS, you can use Load Maps to load map data
 	  in case you don't have access to the internet while
 	  receiving telemetry.
@@ -413,7 +415,7 @@ 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.
-	
    2.5. Preferences
    2.5.1. Voice Settings
    
+	
    2.5. Preferences
    2.5.1. 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
@@ -422,7 +424,7 @@ NAR
 		  Plays a short message allowing you to verify
 		  that the audio system is working and the volume settings
 		  are reasonable
-		
    2.5.2. Log Directory
    
+		
    2.5.2. 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.
@@ -430,7 +432,7 @@ 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.
-          
    2.5.3. Callsign
    
+          
    2.5.3. 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
@@ -443,51 +445,51 @@ NAR
 	    the callsign configured here must exactly match the callsign
 	    configured in the flight computer.  This matching is case 
 	    sensitive.
-          
    2.5.4. Imperial Units
    
+          
    2.5.4. 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.
-	  
    2.5.5. Serial Debug
    
+	  
    2.5.5. Serial Debug
    
             This causes all communication with a connected device to be
             dumped to the console from which AltosUI was started. If
             you've started it from an icon or menu entry, the output
             will simply be discarded. This mode can be useful to debug
             various serial communication issues.
-          
    2.5.6. Font Size
    
+          
    2.5.6. Font Size
    
 	    Selects the set of fonts used in the flight monitor
 	    window. Choose between the small, medium and large sets.
-	  
    2.5.7. Look & Feel
    
+	  
    2.5.7. Look & Feel
    
 	    Adjust the style of the windows. By default, the TeleGPS
 	    application attempts to blend in with the native style.
-	  
    2.5.8. Manage Frequencies
    
+	  
    2.5.8. 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.
-	  
    2.6. Close
    
+	  
    2.6. Close
    
 	  This closes the current window, leaving any other windows
 	  open and the application running.
-	
    2.7. Exit
    
+	
    2.7. Exit
    
 	  This closes all TeleGPS windows and terminates the application.
-	
    2.8. Connect Device
    
+	
    2.8. Connect Device
    
           Selecting this item brings up a dialog box listing all of
           the connected TeleDongle devices. When you choose one of
           these, AltosUI will display telemetry data as received by
           the selected TeleDongle device.
-	
    2.9. Disconnect
    
+	
    2.9. Disconnect
    
 	  Disconnects the currently connected TeleDongle or TeleBT
-	
    2.10. Scan Channels
    
+	
    2.10. Scan Channels
    
 	  Scans the configured set of frequencies looking for
 	  telemetry signals. A list of all of the discovered signals
 	  is show; selecting one of those and clicking on 'Monitor'
 	  will select that frequency in the associated TeleGPS
 	  application window.
-	
    2.11. Download Data
    
+	
    2.11. Download Data
    
           TeleGPS records data to its internal flash memory.
           On-board data is recorded at the same rate as telemetry
           but is not subject to radio drop-outs. As
@@ -508,7 +510,7 @@ NAR
           The file name for each data log is computed automatically
           from the recorded date, altimeter serial number and flight
           number information.
-	
    2.12. Configure Device
    
+	
    2.12. Configure Device
    
           Select this button and then select any connected TeleGPS
           device from the list provided.
 	
    
@@ -534,13 +536,13 @@ NAR
 		lost.
 	      
    
           The rest of the dialog contains the parameters to be configured.
-	
    2.12.1. Frequency
    
+	
    2.12.1. 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.
-          
    2.12.2. RF Calibration
    
+          
    2.12.2. RF Calibration
    
             The radios in every Altus Metrum device are calibrated at the
             factory to ensure that they transmit and receive on the
             specified frequency.  If you need to you can adjust the calibration 
@@ -548,11 +550,11 @@ 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.
-          
    2.12.3. Telemetry/RDF/APRS Enable
    
+          
    2.12.3. Telemetry/RDF/APRS Enable
    
 	    Enables the radio for transmission during flight. When
 	    disabled, the radio will not transmit anything during flight
 	    at all.
-	  
    2.12.4. APRS Interval
    
+	  
    2.12.4. APRS Interval
    
 	    How often to transmit GPS information via APRS (in
 	    seconds). When set to zero, APRS transmission is
 	    disabled. This option is available on TeleMetrum v2 and
@@ -560,26 +562,26 @@ NAR
 	    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.
-	  
    2.12.5. Callsign
    
+	  
    2.12.5. Callsign
    
             This sets the call sign included in each telemetry packet. Set this
             as needed to conform to your local radio regulations.
-          
    2.12.6. Maximum Log Size
    
+          
    2.12.6. Maximum Log Size
    
             This sets the space (in kilobytes) allocated for each data
             log. The available space will be divided into chunks of this
             size. A smaller value will allow more logs to be stored,
             a larger value will record data for longer times.
-	  
    2.12.7. Logging Trigger Motion
    
+	  
    2.12.7. Logging Trigger Motion
    
 	    If TeleGPS moves less than this distance over a long period
 	    of time, it will not log that location, saving storage space.
-	  
    2.12.8. Position Reporting Interval
    
+	  
    2.12.8. Position Reporting Interval
    
 	    This sets how often TeleGPS reports position information via
 	    telemetry and to the on-board log. Reducing this value will
 	    save power and logging memory consumption.
-	  
    2.13. Flash Device
    
+	  
    2.13. Flash Device
    
           This reprograms TeleGPS devices with new firmware. Please
           read the directions for flashing devices in the Updating
           Device Firmware chapter below.
-	
    Chapter 6. Updating Device Firmware
    Table of Contents
    1. 
+	
    Chapter 6. Updating Device Firmware
    Table of Contents
    1. 
 	Updating TeleGPS Firmware
       
    
       TeleGPS is programmed directly over its USB connectors.
@@ -591,7 +593,7 @@ NAR
       so you don't need to update your devices just to try out new
       software features.  You can always download the most recent
       version from http://www.altusmetrum.org/AltOS/.
-    
    1. 
+    
    1. 
 	Updating TeleGPS Firmware
       
    1. 
 	    Attach a battery and power switch to the target
@@ -618,24 +620,106 @@ NAR
 	  
    2. 
 	    Verify that the device is working by using the 'Configure
 	    Altimeter' item to check over the configuration.
-	  
    Chapter 7. Technical Information
    Table of Contents
    1. GPS Receiver
    2. Micro-controller
    3. Lithium Polymer Battery
    4. Mechanical Considerations
    5. On-board data storage
    1. GPS Receiver
    
+	  
    Chapter 7. Technical Information
    Table of Contents
    1. GPS Receiver
    2. Micro-controller
    3. Lithium Polymer Battery
    4. Mechanical Considerations
    5. On-board data storage
    1. GPS Receiver
    
 	TeleGPS uses the u-Blox Max-7Q GPS receiver.
-      
    2. Micro-controller
    
+      
    2. Micro-controller
    
 	TeleGPS uses an NXP LPC11U14 micro-controller. This tiny
 	CPU contains 32kB of flash for the application and 4kB of RAM for
 	temporary data storage.
-      
    3. Lithium Polymer Battery
    
+      
    3. Lithium Polymer Battery
    
 	Shipping restrictions may prevent us from including a battery
 	battery with TeleGPS.
-      
    4. Mechanical Considerations
    
+      
    4. Mechanical Considerations
    
 	TeleGPS is designed to be rugged enough for typical rocketry
 	applications.  The 4 mounting holes on the board are sized for 
 	use with 4-40 or M3 screws.
-      
    5. On-board data storage
    
+      
    5. On-board data storage
    
 	TeleGPS has 2MB of non-volatile storage, separate from the
 	code storage memory. The TeleGPS firmware uses this to log
 	information during flight.
-      
    Appendix A. Release Notes
    Version 1.41
    
+      
    Appendix A. Release Notes
    Version 1.6
    
+    Version 1.6 includes support for our updated TeleDongle v3.0
+    product and bug fixes in in the flight software for all our boards
+    and ground station interfaces.
+  
    
+    AltOS New Features
+    
    • 
+	  Add support for TeleDongle v3.0 boards.
+	
    
+  
    
+    AltOS Fixes
+    
    • 
+	  Don't beep out the continuity twice by accident in idle mode.
+	  If the battery voltage report takes longer than the initialiation
+	  sequence, the igniter continuity would get reported twice.
+	
    • 
+	  Record all 32 bits of gyro calibration data in TeleMega and
+	  EasyMega log files. This fixes computation of the gyro rates
+	  in AltosUI.
+	
    • 
+	  Change TeleDongle LED usage. Green LED flashes when valid
+	  packet is received. Red LED flashes when invalid packet is
+	  received.
+	
    • 
+	  Replace LPC11U14 SPI driver with non-interrupt version. The
+	  interrupt code would occasionally wedge on long transfers
+	  if interrupts were blocked for too long. This affects all
+	  released TeleGPS products; if you have a TeleGPS device,
+	  you'll want to reflash the firmware.
+	
    
+  
    
+    AltosUI and TeleGPS New Features
+    
    • 
+	  Compute tilt angle from TeleMega and EasyMega log
+	  files. This duplicates the quaternion-based angle tracking
+	  code from the flight firmware inside the ground station
+	  software so that post-flight analysis can include evaluation
+	  of the tilt angle.
+	
    • 
+	  Shows the tool button window when starting with a data file
+	  specified. This means that opening a data file from the file
+	  manager will now bring up the main window to let you operate
+	  the whole application.
+	
    
+  
    
+    AltosUI Fixes
+    
    • 
+	  Show the 'Connecting' dialog when using Monitor Idle. Lets
+	  you cancel the Monitor Idle startup when connecting over the
+	  radio link.
+	
    • 
+	  Make 'Monitor Idle' work for TeleGPS devices when connected
+	  over USB. It's nice for testing without needing to broadcast
+	  over the radio.
+	
    • 
+	  Use different Windows API to discover USB devices. This
+	  works better on my Windows 7 box, and will be used if the
+	  older API fails to provide the necessary information.
+	
    • 
+	  Look in more places in the registry to try and identify the
+	  installed Java version on Windows. If you install the
+	  default 32-bit version of Windows on a 64-bit OS, the Java
+	  registry information is hiding \SOFTWARE\Wow6432Node for
+	  some reason.
+	
    • 
+	  Fix file association on Windows by searching for the
+	  javaw.exe program instead of assuming it is in
+	  %SYSTEMROOT%. This makes double-clicking on Altus Metrum
+	  data files in the file manager work correctly.
+	
    • 
+	  When replaying a file, put 'done' in the Age field when we
+	  reach the end of the file, instead of continuing to count forever.
+	
    • 
+	  In the Scan Channels code, wait for five seconds if we see
+	  any packet. This is needed because AltOS now sends the
+	  callsign, serial number and flight number only once every
+	  five seconds these days.
+	
    • 
+	  In the Scan Channels code, reset pending flight state
+	  information each time we change channels. This avoids having
+	  flight computers appear on multiple frequencies by accident.
+	
    
+  
    Version 1.4.1
    
     Version 1.4.1 is a minor release. It fixes install issues on
     Windows and provides the missing TeleMetrum V2.0 firmware. There
     aren't any changes to the firmware or host applications at
@@ -666,7 +750,7 @@ NAR
 	  release didn't have this key in the released version of the
 	  software, making map downloading fail for most people.
 	
    
-  
    Version 1.4
    
+  
    Version 1.4
    
     Version 1.4 is a major release. It includes support for our new
     TeleGPS product, new features and bug fixes in in the flight
     software for all our boards and the AltosUI ground station
diff --git a/AltOS/doc/telegps.pdf b/AltOS/doc/telegps.pdf
index 26703dc7412912dc933848e6639074dfd57b6af9..6b976e7d1bc9098908f58e60ab33cb561618b577 100644
GIT binary patch
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diff --git a/AltOS/doc/telemega-outline.pdf b/AltOS/doc/telemega-outline.pdf
index 19d8be4fa2d5e380fd1c1b2f88fcafd143f5366d..5c11453250223f458cf0b19798bb2a8877a4e5b6 100644
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diff --git a/AltOS/doc/telemetrum-outline.pdf b/AltOS/doc/telemetrum-outline.pdf
index 35b22a31ccee71783dda04d6db890dea96eca01b..e9a645135ab9c9eb33d5e4a6ceefe0d15c422983 100644
GIT binary patch
delta 3160
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diff --git a/AltOS/doc/telemetry.html b/AltOS/doc/telemetry.html
index 7dc82f9..d029e0f 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
index b7e0e7de0556d2d8942d5d2207b21690bf0d869d..e9beb0f7eec6d4aeadb24a46ea7acac5204ce572 100644
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-- 
2.30.2