Vertical Acceleration:: Select a value, and then choose whether acceleration away from the ground should be above or below that value. Acceleration is positive upwards, so accelerating towards the ground would produce negative numbers. Acceleration during descent is noisy and inaccurate, so be careful when using it during these phases of the flight. Ascent rate:: Select a value, and then choose whether ascent rate should be above or below that value. Ascent rate is positive upwards, so moving towards the ground would produce negative numbers. Ascent rate during descent is a bit noisy and so be careful when using it during these phases of the flight. Height above pad:: Select a value, and then choose whether the height above the launch pad should be above or below that value. Orientation:: TeleMega and EasyMega contain a 3-axis gyroscope and accelerometer which is used to compute the orientation of the rocket. A record of orientations over the last 0.64 seconds is kept and the largest value within this period is compared with the specified value. Note that the tilt angle is not the change in angle from the launch pad, but rather absolute relative to gravity—the 3-axis accelerometer is used to compute the angle of the rocket on the launch pad and initialize the system. [NOTE] ==== Because this value is computed by integrating rate gyros, it gets progressively less accurate as the flight goes on. It should have an accumulated error of less than 0.2°/second (after 10 seconds of flight, the error should be less than 2°). The usual use of the orientation configuration is to ensure that the rocket is traveling mostly upwards when deciding whether to ignite air starts or additional stages. For that, choose a reasonable maximum angle (like 20°) and set the motor igniter to require an angle of less than that value. ==== Flight Time:: Time since launch. Select a value and choose whether to activate the pyro channel before or after that amount of time. [WARNING] Firmware versions older than 1.8.6 have a bug which resets the time since launch to zero each time a motor starts burning. Update firmware to get the correct behavior. Ascending:: A deprecated configuration value which was the same as setting Ascent rate > 0. Existing configurations using this will be cleared and must be reconfigured by the user. Descending:: A deprecated configuration value which was the same as setting Ascent rate < 0. Existing configurations using this will be cleared and must be reconfigured by the user. After Motor:: The flight software counts each time the rocket starts accelerating and then decelerating (presumably due to a motor or motors burning). Use this value for multi-staged or multi-airstart launches. As of version 1.8.6 firmware, this checks to make sure at least this many motors have burned. Before version 1.8.6, this checked to make sure that exactly this many motors had burned. Delay:: Once the other parameters all become true, a timer is started for the specified amount of time. While the timer is running, the other parameters are checked repeatedly and if any of them become false, then the pyro channel is disabled and will not fire. If the timer expires and all of the other parameters have remained true for the entire time, then the pyro channel is fired. Flight State:: The flight software tracks the flight through a sequence of states: * Boost. The motor has lit and the rocket is accelerating upwards. Ascent rate will be greater than zero. Vertical acceleration will be greater than zero. * Fast. The motor has burned out and the rocket is decelerating, but it is going faster than 200m/s. Ascent rate will be greater than zero. Vertical acceleration will be less than zero. * Coast. The rocket is still moving upwards and decelerating, but the Ascent rate is less than 200m/s. Ascent rate will greater than zero. Vertical acceleration will be less than zero. * Drogue. The rocket has reached apogee and is heading back down, but is above the configured Main altitude. Ascent rate will be less than zero during this state. Vertical acceleration will be negative until the rocket reaches a terminal descent rate, at which point Vertical acceleration will be zero. Both Ascent rate and Vertical acceleration are very noisy in this state, so be careful when trying to use them to control pyro channels. * Main. The rocket is still descending, and is below the Main altitude. Ascent rate will be less than zero during this state. Vertical acceleration may be briefly less than zero as the rocket slows from drogue descent to main descent, but it will settle down to a zero value once the rocket has reached the terminal velocity under the main chute. Ascent rate and Vertical acceleration should be much less noisy once the main chute has deployed. * Landed. The rocket is no longer moving. You can select a state to limit when the pyro channel may activate; note that the check is based on when the rocket transitions *into* the state, and so checking for “greater than Boost” means that the rocket is currently in boost or some later state. When a motor burns out, the rocket enters either Fast or Coast state (depending on how fast it is moving). If the computer detects upwards acceleration again, it will move back to Boost state.