altos: Perform time comparisons using 16-bit arithmetic to handle wrap

[fw/altos] / doc / altosui.inc

== AltosUI

        .AltosUI Main Window
        image::altosui.png[width="4.6in"]

        The AltosUI program provides a graphical user interface for
        interacting with the Altus Metrum product family. AltosUI can
        monitor telemetry data, configure devices and many other
        tasks. The primary interface window provides a selection of
        buttons, one for each major activity in the system.  This
        chapter is split into sections, each of which documents one of
        the tasks provided from the top-level toolbar.

        ifdef::radio[]
        === Monitor Flight
        ////
              <subtitle>Receive, Record and Display Telemetry Data</subtitle>
        ////

                Selecting this item brings up a dialog box listing all
                of the connected TeleDongle devices. When you choose
                one of these, AltosUI will create a window to display
                telemetry data as received by the selected TeleDongle
                device.

                .Device Selection Dialog
                image::device-selection.png[width="3.1in"]

                All telemetry data received are automatically recorded
                in suitable log files. The name of the files includes
                the current date and rocket serial and flight numbers.

                The radio frequency being monitored by the TeleDongle
                device is displayed at the top of the window. You can
                configure the frequency by clicking on the frequency
                box and selecting the desired frequency. AltosUI
                remembers the last frequency selected for each
                TeleDongle and selects that automatically the next
                time you use that device.

                Below the TeleDongle frequency selector, the window
                contains a few significant pieces of information about
                the altimeter providing the telemetry data stream:

                 * The configured call-sign

                 * The device serial number

                 * The flight number. Each altimeter remembers how
                   many times it has flown.

                 * The rocket flight state. Each flight passes through
                   several states including Pad, Boost, Fast, Coast,
                   Drogue, Main and Landed.

                 * The Received Signal Strength Indicator value. This
                   lets you know how strong a signal TeleDongle is
                   receiving. At the default data rate, 38400 bps, in
                   bench testing, the radio inside TeleDongle v0.2
                   operates down to about -106dBm, while the v3 radio
                   works down to about -111dBm.  Weaker signals, or an
                   environment with radio noise may cause the data to
                   not be received. The packet link uses error
                   detection and correction techniques which prevent
                   incorrect data from being reported.

                 * The age of the displayed data, in seconds since the
                   last successfully received telemetry packet.  In
                   normal operation this will stay in the low single
                   digits.  If the number starts counting up, then you
                   are no longer receiving data over the radio link
                   from the flight computer.

                Finally, the largest portion of the window contains a
                set of tabs, each of which contain some information
                about the rocket.  They're arranged in 'flight order'
                so that as the flight progresses, the selected tab
                automatically switches to display data relevant to the
                current state of the flight. You can select other tabs
                at any time. The final 'table' tab displays all of the
                raw telemetry values in one place in a
                spreadsheet-like format.

                ==== Launch Pad

                        .Monitor Flight Launch Pad View
                        image::launch-pad.png[width="5.5in"]

                        The 'Launch Pad' tab shows information used to decide when the
                        rocket is ready for flight. The first elements include red/green
                        indicators, if any of these is red, you'll want to evaluate
                        whether the rocket is ready to launch:

                        Battery Voltage::
                        This indicates whether the Li-Po battery powering the
                        flight computer has sufficient charge to last for
                        the duration of the flight. A value of more than
                        3.8V is required for a 'GO' status.

                        Apogee Igniter Voltage::
                        This indicates whether the apogee
                        igniter has continuity. If the igniter has a low
                        resistance, then the voltage measured here will be close
                        to the Li-Po battery voltage. A value greater than 3.2V is
                        required for a 'GO' status.

                        Main Igniter Voltage::
                        This indicates whether the main
                        igniter has continuity. If the igniter has a low
                        resistance, then the voltage measured here will be close
                        to the Li-Po battery voltage. A value greater than 3.2V is
                        required for a 'GO' status.

                        On-board Data Logging::
                        This indicates whether there is space remaining
                        on-board to store flight data for the upcoming
                        flight. If you've downloaded data, but failed to erase
                        flights, there may not be any space left. Most of our
                        flight computers can store multiple flights, depending
                        on the configured maximum flight log size. TeleMini
                        v1.0 stores only a single flight, so it will need to
                        be downloaded and erased after each flight to capture
                        data. This only affects on-board flight logging; the
                        altimeter will still transmit telemetry and fire
                        ejection charges at the proper times even if the
                        flight data storage is full.

                        GPS Locked::
                        For a TeleMetrum or TeleMega device, this indicates
                        whether the GPS receiver is currently able to compute
                        position information. GPS requires at least 4
                        satellites to compute an accurate position.

                        GPS Ready::

                        For a TeleMetrum or TeleMega device, this indicates
                        whether GPS has reported at least 10 consecutive
                        positions without losing lock. This ensures that the
                        GPS receiver has reliable reception from the
                        satellites.

                        The Launchpad tab also shows the computed launch pad
                        position and altitude, averaging many reported
                        positions to improve the accuracy of the fix.

                ==== Ascent

                        .Monitor Flight Ascent View
                        image::ascent.png[width="5.5in"]

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

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

                        The current latitude and longitude reported by the GPS are
                        also shown. Note that under high acceleration, these values
                        may not get updated as the GPS receiver loses position
                        fix. Once the rocket starts coasting, the receiver should
                        start reporting position again.

                        Finally, the current igniter voltages are reported as in the
                        Launch Pad tab. This can help diagnose deployment failures
                        caused by wiring which comes loose under high acceleration.

                ==== Descent

                        .Monitor Flight Descent View
                        image::descent.png[width="5.5in"]

                        Once the rocket has reached apogee and (we hope)
                        activated the apogee charge, attention switches to
                        tracking the rocket on the way back to the ground, and
                        for dual-deploy flights, waiting for the main charge
                        to fire.

                        To monitor whether the apogee charge operated
                        correctly, the current descent rate is reported along
                        with the current height. Good descent rates vary based
                        on the choice of recovery components, but generally
                        range from 15-30m/s on drogue and should be below
                        10m/s when under the main parachute in a dual-deploy
                        flight.

                        With GPS-equipped flight computers, you can locate the
                        rocket in the sky using the elevation and bearing
                        information to figure out where to look. Elevation is
                        in degrees above the horizon. Bearing is reported in
                        degrees relative to true north. Range can help figure
                        out how big the rocket will appear. Ground Distance
                        shows how far it is to a point directly under the
                        rocket and can help figure out where the rocket is
                        likely to land. Note that all of these values are
                        relative to the pad location. If the elevation is near
                        90°, the rocket is over the pad, not over you.

                        Finally, the igniter voltages are reported in this tab
                        as well, both to monitor the main charge as well as to
                        see what the status of the apogee charge is.  Note
                        that some commercial e-matches are designed to retain
                        continuity even after being fired, and will continue
                        to show as green or return from red to green after
                        firing.

                ==== Landed

                        .Monitor Flight Landed View
                        image::landed.png[width="5.5in"]

                        Once the rocket is on the ground, attention switches
                        to recovery. While the radio signal is often lost once
                        the rocket is on the ground, the last reported GPS
                        position is generally within a short distance of the
                        actual landing location.

                        The last reported GPS position is reported both by
                        latitude and longitude as well as a bearing and
                        distance from the launch pad. The distance should give
                        you a good idea of whether to walk or hitch a ride.
                        Take the reported latitude and longitude and enter
                        them into your hand-held GPS unit and have that
                        compute a track to the landing location.

                        Our flight computers will continue to transmit RDF
                        tones after landing, allowing you to locate the rocket
                        by following the radio signal if necessary. You may
                        need to get away from the clutter of the flight line,
                        or even get up on a hill (or your neighbor's RV roof)
                        to receive the RDF signal.

                        The maximum height, speed and acceleration reported
                        during the flight are displayed for your admiring
                        observers.  The accuracy of these immediate values
                        depends on the quality of your radio link and how many
                        packets were received.  Recovering the on-board data
                        after flight may yield more precise results.

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

                ==== Table

                        .Monitor Flight Table View
                        image::table.png[width="5.5in"]

                        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.

                ==== Site Map

                        .Monitor Flight Site Map View
                        image::site-map.png[width="5.5in"]

                        When the TeleMetrum has a GPS fix, the Site Map tab
                        will map the rocket's position to make it easier for
                        you to locate the rocket, both while it is in the air,
                        and when it has landed. The rocket's state is
                        indicated by color: white for pad, red for boost, pink
                        for fast, yellow for coast, light blue for drogue,
                        dark blue for main, and black for landed.

                        The map's default scale is approximately 3m (10ft) per
                        pixel. The map can be dragged using the left mouse
                        button. The map will attempt to keep the rocket
                        roughly centered while data is being received.

                        You can adjust the style of map and the zoom level
                        with buttons on the right side of the map window. You
                        can draw a line on the map by moving the mouse over
                        the map with a button other than the left one pressed,
                        or by pressing the left button while also holding down
                        the shift key. The length of the line in real-world
                        units will be shown at the start of the line.

                        Images are fetched automatically via the Google Maps
                        Static API, and cached on disk for reuse. If map
                        images cannot be downloaded, the rocket's path will be
                        traced on a dark gray background instead.

                        You can pre-load images for your favorite launch sites
                        before you leave home; check out <<_load_maps>>.

                ==== Igniter

                        .Monitor Flight Additional Igniter View
                        image::ignitor.png[width="5.5in"]

                        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.
        endif::radio[]


        === Save Flight Data

                The altimeter records flight data to its internal
                flash memory.
                ifdef::radio[]
                Data logged on board is recorded at a much
                higher rate than the telemetry system can handle, and
                is not subject to radio drop-outs. As such, it
                provides a more complete and precise record of the
                flight.
                endif::radio[]
                The 'Save Flight Data' button allows you to
                read the flash memory and write it to disk.

                Clicking on the 'Save Flight Data' button brings up a
                list of connected flight computers and TeleDongle
                devices. If you select a flight computer, the flight
                data will be downloaded from that device directly.
                ifdef::radio[]
                If you select a TeleDongle device, flight data will be
                downloaded from a flight computer over radio link via
                the specified TeleDongle. See
                <<_controlling_an_altimeter_over_the_radio_link>> for
                more information.
                endif::radio[]

                After the device has been selected, a dialog showing
                the flight data saved in the device will be shown
                allowing you to select which flights to download and
                which to delete. With version 0.9 or newer firmware,
                you must erase flights in order for the space they
                consume to be reused by another flight. This prevents
                accidentally losing flight data if you neglect to
                download data before flying again. Note that if there
                is no more space available in the device, then no data
                will be recorded during the next flight.

                The file name for each flight log is computed
                automatically from the recorded flight date, altimeter
                serial number and flight number information.

        === Replay Flight

                Select this button and you are prompted to select a flight
                record file, either a .telem file recording telemetry data or a
                .eeprom file containing flight data saved from the altimeter
                flash memory.

                Once a flight record is selected, the flight monitor interface
                is displayed and the flight is re-enacted in real
                time.
                ifdef::radio[]
                Check
                <<_monitor_flight>> to learn how this window operates.
                endif::radio[]

        === Graph Data

                Select this button and you are prompted to select a flight
                record file, either a .telem file recording telemetry data or a
                .eeprom file containing flight data saved from
                flash memory.

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

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

                ==== Flight Graph

                        .Flight Data Graph
                        image::graph.png[width="5.5in"]

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

                        The graph can be zoomed into a particular area by
                        clicking and dragging down and to the right. Once
                        zoomed, the graph can be reset by clicking and
                        dragging up and to the left. Holding down control and
                        clicking and dragging allows the graph to be panned.
                        The right mouse button causes a pop-up menu to be
                        displayed, giving you the option save or print the
                        plot.

                ==== Configure Graph

                        .Flight Graph Configuration
                        image::graph-configure.png[width="5.5in"]

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

                ==== Flight Statistics

                        .Flight Statistics
                        image::graph-stats.png[width="5.5in"]

                        Shows overall data computed from the flight.

                ifdef::gps[]
                ==== Map

                        .Flight Map
                        image::graph-map.png[width="5.5in"]

                        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.
                endif::gps[]

        === Export Data

                This tool takes the raw data files and makes them
                available for external analysis. When you select this
                button, you are prompted to select a flight data file,
                which can be either a .eeprom or .telem.  The .eeprom
                files contain higher resolution and more continuous
                data, while .telem files contain receiver signal
                strength information.  Next, a second dialog appears
                which is used to select where to write the resulting
                file.
                ifdef::gps[]
                        It has a selector to choose between CSV and KML
                        file formats.
                endif::gps[]

                ==== Comma Separated Value Format

                        This is a text file containing the data in a form
                        suitable for import into a spreadsheet or other
                        external data analysis tool. The first few lines of
                        the file contain the version and configuration
                        information from the altimeter, then there is a single
                        header line which labels all of the fields. All of
                        these lines start with a '#' character which many
                        tools can be configured to skip over.

                        The remaining lines of the file contain the data, with
                        each field separated by a comma and at least one
                        space. All of the sensor values are converted to
                        standard units, with the barometric data reported in
                        both pressure, altitude and height above pad units.

                ifdef::gps[]
                        ==== 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.
                endif::gps[]

        === Configure Altimeter

                .Altimeter Configuration
                image::configure-altimeter.png[width="3.6in"]

                ifdef::radio[]
                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.
                endif::radio[]
                ifndef::radio[]
                Select this button and then select an altimeter.
                endif::radio[]

                The first few lines of the dialog provide information about the
                connected device, including the product name,
                software version and hardware serial number. Below that are the
                individual configuration entries.

                At the bottom of the dialog, there are four buttons:

                Save::
                This writes any changes to the configuration parameter
                block in flash memory. If you don't press this button,
                any changes you make will be lost.

                Reset::
                This resets the dialog to the most recently saved
                values, erasing any changes you have made.

                Reboot::

                This reboots the device. Use this to switch from idle
                to pad mode by rebooting once the rocket is oriented
                for flight, or to confirm changes you think you saved
                are really saved.

                Close::

                This closes the dialog. Any unsaved changes will be
                lost.

                The rest of the dialog contains the parameters to be configured.

                include::config-device.raw[]


        === Configure AltosUI

                .Configure AltosUI Dialog
                image::configure-altosui.png[width="2.4in"]

                This button presents a dialog so that you can
                configure the AltosUI global settings.

                include::config-ui.raw[]

        ifdef::radio[]
        === Configure Groundstation

                .Configure Groundstation Dialog
                image::configure-groundstation.png[width="3.1in"]

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

                The first few lines of the dialog provide information
                about the connected device, including the product
                name, software version and hardware serial
                number. Below that are the individual configuration
                entries.

                Note that TeleDongle and TeleBT don't save any
                configuration data, the settings here are recorded on
                the local machine in the Java preferences
                database. Moving the device to another machine, or
                using a different user account on the same machine
                will cause settings made here to have no effect.

                At the bottom of the dialog, there are three
                buttons:

                Save::
                This writes any changes to the local Java
                preferences file. If you don't press this
                button, any changes you make will be lost.

                Reset::
                This resets the dialog to the most recently
                saved values, erasing any changes you have
                made.

                Close::
                This closes the dialog. Any unsaved changes
                will be lost.

                The rest of the dialog contains the parameters
                to be configured.

                ==== 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.

                ==== 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.

                ==== 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.
        endif::radio[]

        === Flash Image

                This reprograms Altus Metrum devices with new
                firmware.
                ifdef::telemetrum,telemini[]
                        TeleMetrum v1.x, TeleDongle v0.2, TeleMini v1.0
                        and TeleBT v1.0 are all reprogrammed by using another
                        similar unit as a programming dongle (pair
                        programming).
                endif::telemetrum,telemini[]
                ifdef::telemega,easymega,telemetrum[]
                        TeleMega, EasyMega, TeleMetrum v2,
                        EasyMini and TeleDongle v3 are all
                endif::telemega,easymega,telemetrum[]
                ifndef::telemega,easymega,telemetrum[]
                        EasyMini is
                endif::telemega,easymega,telemetrum[]
                programmed directly
                over USB (self programming). Please read
                the directions for flashing devices in
                <<_updating_device_firmware>>.

        === Fire Igniter

                .Fire Igniter Window
                image::fire-igniter.png[width="1.2in"]

                This activates the igniter circuits in the flight
                computer to help test recovery systems
                deployment.
                ifdef::radio[]
                Because this command can operate over the
                Packet Command Link, you can prepare the rocket as for
                flight and then test the recovery system without
                needing to snake wires inside the air-frame.
                endif::radio[]

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

                Next, select the desired igniter to fire. This will
                enable the 'Arm' button.

                Select the 'Arm' button. This enables the 'Fire'
                button. The word 'Arm' is replaced by a countdown
                timer indicating that you have 10 seconds to press the
                'Fire' button or the system will deactivate, at which
                point you start over again at selecting the desired
                igniter.

        ifdef::radio[]
        === Scan Channels

                .Scan Channels Window
                image::scan-channels.png[width="3.2in"]

                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.
        endif::radio[]

        ifdef::gps[]
        include::load-maps.raw[]
        endif::gps[]

        ifdef::radio[]
        === Monitor Idle

                .Monitor Idle Window
                image::monitor-idle.png[width="5.2in"]

                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 listening for telemetry
                packets. Because this uses command mode, it needs to
                have the TeleDongle and flight computer callsigns
                match exactly. If you can receive telemetry, but
                cannot manage to run Monitor Idle, then it's very
                likely that your callsigns are different in some way.

                You can change the frequency and callsign used to
                communicate with the flight computer; they must both
                match the configuration in the flight computer
                exactly.
        endif::radio[]