<surname>Towns</surname>
</author>
<copyright>
- <year>2014</year>
+ <year>2015</year>
<holder>Bdale Garbee and Keith Packard</holder>
</copyright>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="../themes/background.png" width="6.0in"/>
+ </imageobject>
+ </mediaobject>
<legalnotice>
<para>
This document is released under the terms of the
</para>
</legalnotice>
<revhistory>
+ <revision>
+ <revnumber>1.6</revnumber>
+ <date>8 January 2015</date>
+ <revremark>
+ Major release adding TeleDongle v3.0 support.
+ </revremark>
+ </revision>
+ <revision>
+ <revnumber>1.5</revnumber>
+ <date>6 September 2014</date>
+ <revremark>
+ Major release adding EasyMega support.
+ </revremark>
+ </revision>
+ <revision>
+ <revnumber>1.4.1</revnumber>
+ <date>20 June 2014</date>
+ <revremark>
+ Minor release fixing some installation bugs.
+ </revremark>
+ </revision>
+ <revision>
+ <revnumber>1.4</revnumber>
+ <date>15 June 2014</date>
+ <revremark>
+ Major release adding TeleGPS support.
+ </revremark>
+ </revision>
<revision>
<revnumber>1.3.2</revnumber>
<date>24 January 2014</date>
USB data download.
</para>
<para>
- TeleDongle was our first ground station, providing a USB to RF
+ EasyMega is essentially a TeleMega board with the GPS receiver
+ and telemetry transmitter removed. It offers the same 6 pyro
+ channels and integrated gyroscopes for staging/air-start inhibit.
+ </para>
+ <para>
+ 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.
</para>
<para>
For a slightly more portable ground station experience that also
“starter kit” is to charge the battery.
</para>
<para>
- For TeleMetrum and TeleMega, the battery can be charged by plugging it into the
+ For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the
corresponding socket of the device and then using the USB
cable to plug the flight computer into your computer's USB socket. The
on-board circuitry will charge the battery whenever it is plugged
deeply discharged battery.
</para>
<para>
- TeleMetrum v2.0 and TeleMega use a higher power battery charger,
+ TeleMetrum v2.0, TeleMega and EasyMega use a higher power battery charger,
allowing them to charge the battery while running the board at
maximum power. When the battery is charging, or when the board
is consuming a lot of power, the red LED will be lit. When the
EasyMini and TeleMini v2 are designed to use either a
lithium polymer battery or any other battery producing
between 4 and 12 volts, such as a rectangular 9V
- battery. TeleMega and TeleMetrum are not designed for this,
+ battery. TeleMega, EasyMega and TeleMetrum are not designed for this,
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.
<entry>40mW</entry>
<entry>3.7V</entry>
</row>
+ <row>
+ <entry>EasyMega <?linebreak?>v1.0</entry>
+ <entry><para>MS5607 30km (100k')</para></entry>
+ <entry><para>MMA6555 102g</para></entry>
+ <entry>-</entry>
+ <entry><para>MPU6000 HMC5883</para></entry>
+ <entry>8MB</entry>
+ <entry>-</entry>
+ <entry>3.7V</entry>
+ </row>
</tbody>
</tgroup>
</table>
<entry>3¼ inch (8.26cm)</entry>
<entry>38mm coupler</entry>
</row>
+ <row>
+ <entry>EasyMega</entry>
+ <entry><para>
+ Debug<?linebreak?>
+ Companion<?linebreak?>
+ USB<?linebreak?>
+ Battery
+ </para></entry>
+ <entry><para>
+ Apogee pyro <?linebreak?>
+ Main pyro<?linebreak?>
+ Pyro A-D<?linebreak?>
+ Switch<?linebreak?>
+ Pyro battery
+ </para></entry>
+ <entry>1¼ inch (3.18cm)</entry>
+ <entry>2¼ inch (5.62cm)</entry>
+ <entry>38mm coupler</entry>
+ </row>
</tbody>
</tgroup>
</table>
</para>
</section>
</section>
+ <section>
+ <title>EasyMega</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="easymega-v1.0-top.jpg" width="4.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ 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.
+ </para>
+ <section>
+ <title>EasyMega Screw Terminals</title>
+ <para>
+ EasyMega has two sets of nine screw terminals on the end of
+ the board opposite the telemetry antenna. They are as follows:
+ </para>
+ <table frame='all'>
+ <title>EasyMega Screw Terminals</title>
+ <?dbfo keep-together="always"?>
+ <tgroup cols='3' align='center' colsep='1' rowsep='1'>
+ <colspec align='center' colwidth='*' colname='Pin #'/>
+ <colspec align='center' colwidth='2*' colname='Pin Name'/>
+ <colspec align='left' colwidth='5*' colname='Description'/>
+ <thead>
+ <row>
+ <entry align='center'>Terminal #</entry>
+ <entry align='center'>Terminal Name</entry>
+ <entry align='center'>Description</entry>
+ </row>
+ </thead>
+ <tbody>
+ <row>
+ <entry>Top 1</entry>
+ <entry>Switch Input</entry>
+ <entry>Switch connection to positive battery terminal</entry>
+ </row>
+ <row>
+ <entry>Top 2</entry>
+ <entry>Switch Output</entry>
+ <entry>Switch connection to flight computer</entry>
+ </row>
+ <row>
+ <entry>Top 3</entry>
+ <entry>GND</entry>
+ <entry>Ground connection for use with external active switch</entry>
+ </row>
+ <row>
+ <entry>Top 4</entry>
+ <entry>Main -</entry>
+ <entry>Main pyro channel connection to pyro circuit</entry>
+ </row>
+ <row>
+ <entry>Top 5</entry>
+ <entry>Main +</entry>
+ <entry>Main pyro channel common connection to battery +</entry>
+ </row>
+ <row>
+ <entry>Top 6</entry>
+ <entry>Apogee -</entry>
+ <entry>Apogee pyro channel connection to pyro circuit</entry>
+ </row>
+ <row>
+ <entry>Top 7</entry>
+ <entry>Apogee +</entry>
+ <entry>Apogee pyro channel common connection to battery +</entry>
+ </row>
+ <row>
+ <entry>Top 8</entry>
+ <entry>D -</entry>
+ <entry>D pyro channel connection to pyro circuit</entry>
+ </row>
+ <row>
+ <entry>Top 9</entry>
+ <entry>D +</entry>
+ <entry>D pyro channel common connection to battery +</entry>
+ </row>
+ <row>
+ <entry>Bottom 1</entry>
+ <entry>GND</entry>
+ <entry>Ground connection for negative pyro battery terminal</entry>
+ </row>
+ <row>
+ <entry>Bottom 2</entry>
+ <entry>Pyro</entry>
+ <entry>Positive pyro battery terminal</entry>
+ </row>
+ <row>
+ <entry>Bottom 3</entry>
+ <entry>Lipo</entry>
+ <entry>
+ Power switch output. Use to connect main battery to
+ pyro battery input
+ </entry>
+ </row>
+ <row>
+ <entry>Bottom 4</entry>
+ <entry>A -</entry>
+ <entry>A pyro channel connection to pyro circuit</entry>
+ </row>
+ <row>
+ <entry>Bottom 5</entry>
+ <entry>A +</entry>
+ <entry>A pyro channel common connection to battery +</entry>
+ </row>
+ <row>
+ <entry>Bottom 6</entry>
+ <entry>B -</entry>
+ <entry>B pyro channel connection to pyro circuit</entry>
+ </row>
+ <row>
+ <entry>Bottom 7</entry>
+ <entry>B +</entry>
+ <entry>B pyro channel common connection to battery +</entry>
+ </row>
+ <row>
+ <entry>Bottom 8</entry>
+ <entry>C -</entry>
+ <entry>C pyro channel connection to pyro circuit</entry>
+ </row>
+ <row>
+ <entry>Bottom 9</entry>
+ <entry>C +</entry>
+ <entry>C pyro channel common connection to battery +</entry>
+ </row>
+ </tbody>
+ </tgroup>
+ </table>
+ </section>
+ <section>
+ <title>Using a Separate Pyro Battery with EasyMega</title>
+ <para>
+ EasyMega provides explicit support for an external pyro
+ battery. All that is required is to remove the jumper
+ between the lipo terminal (Bottom 3) and the pyro terminal
+ (Bottom 2). Then hook the negative pyro battery terminal to ground
+ (Bottom 1) and the 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.
+ </para>
+ </section>
+ <section>
+ <title>Using Only One Battery With EasyMega</title>
+ <para>
+ Because EasyMega has built-in support for a separate pyro
+ battery, if you want to fly with just one battery running
+ both the computer and firing the charges, you need to
+ connect the flight computer battery to the pyro
+ circuit. EasyMega has two screw terminals for this—hook a
+ wire from the Lipo terminal (Bottom 3) to the Pyro terminal
+ (Bottom 2).
+ </para>
+ </section>
+ <section>
+ <title>Using an Active Switch with EasyMega</title>
+ <para>
+ 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.
+ </para>
+ <para>
+ 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.
+ </para>
+ </section>
+ </section>
<section>
<title>Flight Data Recording</title>
<para>
<entry>8MB</entry>
<entry>40</entry>
</row>
+ <row>
+ <entry>EasyMega</entry>
+ <entry>32</entry>
+ <entry>8MB</entry>
+ <entry>40</entry>
+ </row>
</tbody>
</tgroup>
</table>
Configuration data is also stored in the flash memory on
TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB
of flash space. This configuration space is not available
- for storing flight log data. TeleMetrum v2.0 and TeleMega
+ for storing flight log data. TeleMetrum v2.0, TeleMega and EasyMega
store configuration data in a bit of eeprom available within
the processor chip, leaving that space available in flash for
more flight data.
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
- TeleMetrum and TeleMega, which have accelerometers, the mode is
+ TeleMetrum, TeleMega and EasyMega, which have accelerometers, the mode is
controlled by the orientation of the
rocket (well, actually the board, of course...) at the time
power is switched on. If the rocket is “nose up”, then
first five seconds of operation.
</para>
<para>
- At power on, you will hear three beeps or see three flashes
- (“S” in Morse code for start up) and then a pause while
- the altimeter completes initialization and self test, and decides
- which mode to enter next.
+ At power on, the altimeter will beep out the battery voltage
+ to the nearest tenth of a volt. Each digit is represented by
+ a sequence of short “dit” beeps, with a pause between
+ digits. A zero digit is represented with one long “dah”
+ beep. Then there will be a short pause while the altimeter
+ completes initialization and self test, and decides which mode
+ to enter next.
</para>
<para>
Here's a short summary of all of the modes and the beeping (or
<row>
<entry>Startup</entry>
<entry>S</entry>
- <entry>dit dit dit</entry>
+ <entry>battery voltage in decivolts</entry>
<entry>
<para>
Calibrating sensors, detecting orientation.
and beep out the maximum height until turned off.
</para>
<para>
- One “neat trick” of particular value when TeleMetrum or TeleMega are used with
+ One “neat trick” of particular value when TeleMetrum, TeleMega
+ or EasyMega are used with
very large air-frames, is that you can power the board up while the
rocket is horizontal, such that it comes up in idle mode. Then you can
raise the air-frame to launch position, and issue a 'reset' command
time, and would of course appreciate customer feedback on
performance in higher altitude flights!
</para>
+ </section>
+ <section>
+ <title>APRS</title>
<para>
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
interval of at least 5 seconds to avoid consuming too much
- battery power or radio channel bandwidth.
+ battery power or radio channel bandwidth. You can configure
+ the APRS interval using AltosUI; that process is described in
+ the Configure Altimeter section of the AltosUI chapter.
+ </para>
+ <para>
+ AltOS uses the APRS compressed position report data format,
+ which provides for higher position precision and shorter
+ packets than the original APRS format. It also includes
+ altitude data, which is invaluable when tracking rockets. We
+ haven't found a receiver which doesn't handle compressed
+ positions, but it's just possible that you have one, so if you
+ have an older device that can receive the raw packets but
+ isn't displaying position information, it's possible that this
+ is the cause.
+ </para>
+ <para>
+ APRS packets include an SSID (Secondary Station Identifier)
+ field that allows one operator to have multiple
+ transmitters. AltOS allows you to set this to a single digit
+ from 0 to 9, allowing you to fly multiple transmitters at the
+ same time while keeping the identify of each one separate in
+ the receiver. By default, the SSID is set to the last digit of
+ the device serial number.
+ </para>
+ <para>
+ The APRS packet format includes a comment field that can have
+ 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.
+ </para>
+ <table frame='all'>
+ <title>Altus Metrum APRS Comments</title>
+ <?dbfo keep-together="always"?>
+ <tgroup cols='3' align='center' colsep='1' rowsep='1'>
+ <colspec align='center' colwidth='*' colname='Field'/>
+ <colspec align='center' colwidth='*' colname='Example'/>
+ <colspec align='center' colwidth='4*' colname='Description'/>
+ <thead>
+ <row>
+ <entry align='center'>Field</entry>
+ <entry align='center'>Example</entry>
+ <entry align='center'>Description</entry>
+ </row>
+ </thead>
+ <tbody>
+ <row>
+ <entry>1</entry>
+ <entry>L</entry>
+ <entry>GPS Status U for unlocked, L for locked</entry>
+ </row>
+ <row>
+ <entry>2</entry>
+ <entry>6</entry>
+ <entry>Number of Satellites in View</entry>
+ </row>
+ <row>
+ <entry>3</entry>
+ <entry>B4.0</entry>
+ <entry>Altimeter Battery Voltage</entry>
+ </row>
+ <row>
+ <entry>4</entry>
+ <entry>A3.7</entry>
+ <entry>Apogee Igniter Voltage</entry>
+ </row>
+ <row>
+ <entry>5</entry>
+ <entry>M3.7</entry>
+ <entry>Main Igniter Voltage</entry>
+ </row>
+ <row>
+ <entry>6</entry>
+ <entry>1286</entry>
+ <entry>Device Serial Number</entry>
+ </row>
+ </tbody>
+ </tgroup>
+ </table>
+ <para>
+ 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.
+ <screen>
+ L6 B4.0 A3.7 M3.7 1286
+ </screen>
+ </para>
+ <para>
+ Make sure your primary battery is above 3.8V, any connected
+ igniters are above 3.5V and GPS is locked with at least 5 or 6
+ satellites in view before flying. If GPS is switching between
+ L and U regularly, then it doesn't have a good lock and you
+ should wait until it becomes stable.
+ </para>
+ <para>
+ If the GPS receiver loses lock, the APRS data transmitted will
+ contain the last position for which GPS lock was
+ available. You can tell that this has happened by noticing
+ that the GPS status character switches from 'L' to 'U'. Before
+ GPS has locked, APRS will transmit zero for latitude,
+ longitude and altitude.
</para>
</section>
<section>
<title>Configurable Parameters</title>
<para>
Configuring an Altus Metrum altimeter for flight is very
- simple. Even on our baro-only TeleMini and EasyMini boards, the use of a Kalman
- filter means there is no need to set a “mach delay”. The few
- configurable parameters can all be set using AltosUI over USB or
- or radio link via TeleDongle.
+ simple. Even on our baro-only TeleMini and EasyMini boards,
+ the use of a Kalman filter means there is no need to set a
+ “mach delay”. The few configurable parameters can all be set
+ using AltosUI over USB or or radio link via TeleDongle. Read
+ the Configure Altimeter section in the AltosUI chapter below
+ for more information.
</para>
<section>
<title>Radio Frequency</title>
frequency to successfully communicate with each other.
</para>
</section>
+ <section>
+ <title>Callsign</title>
+ <para>
+ 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.
+ </para>
+ </section>
+ <section>
+ <title>Telemetry/RDF/APRS Enable</title>
+ <para>
+ You can completely disable the radio while in flight, if
+ necessary. This doesn't disable the packet link in idle
+ mode.
+ </para>
+ </section>
+ <section>
+ <title>Telemetry baud rate</title>
+ <para>
+ This sets the modulation bit rate for data transmission for
+ both telemetry and packet link mode. Lower bit
+ rates will increase range while reducing the amount of data
+ that can be sent and increasing battery consumption. All
+ telemetry is done using a rate 1/2 constraint 4 convolution
+ code, so the actual data transmission rate is 1/2 of the
+ modulation bit rate specified here.
+ </para>
+ </section>
+ <section>
+ <title>APRS Interval</title>
+ <para>
+ 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.
+ </para>
+ </section>
+ <section>
+ <title>APRS SSID</title>
+ <para>
+ 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.
+ </para>
+ </section>
<section>
<title>Apogee Delay</title>
<para>
way quite happily, including Keith's successful L3 cert.
</para>
</section>
+ <section>
+ <title>Apogee Lockout</title>
+ <para>
+ 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
+ 'Mach Delay', as it is intended to prevent a flight computer
+ from unintentionally firing apogee charges due to the pressure
+ spike that occurrs across a mach transition. Altus Metrum
+ flight computers include a Kalman filter which is not fooled
+ by this sharp pressure increase, and so this setting should
+ be left at the default value of zero to disable it.
+ </para>
+ </section>
<section>
<title>Main Deployment Altitude</title>
<para>
<section>
<title>Pad Orientation</title>
<para>
- TeleMetrum and TeleMega measure acceleration along the axis
+ 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
which way the board is mounted in the air frame, the
<title>Configurable Pyro Channels</title>
<para>
In addition to the usual Apogee and Main pyro channels,
- TeleMega has four additional channels that can be configured
+ TeleMega and EasyMega have four additional channels that can be configured
to activate when various flight conditions are
satisfied. You can select as many conditions as necessary;
all of them must be met in order to activate the
</listitem>
<listitem>
<para>
- Orientation. TeleMega contains a 3-axis gyroscope and
+ Orientation. TeleMega and EasyMega contain a 3-axis gyroscope and
accelerometer which is used to measure the current
angle. Note that this angle is not the change in angle
from the launch pad, but rather absolute relative to
<listitem>
<para>
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.
</para>
dark blue for main, and black for landed.
</para>
<para>
- The map's scale is approximately 3m (10ft) per pixel. The map
+ 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.
</para>
+ <para>
+ 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.
+ </para>
<para>
Images are fetched automatically via the Google Maps Static API,
and cached on disk for reuse. If map images cannot be downloaded,
before you leave home; check out the 'Preload Maps' section below.
</para>
</section>
+ <section>
+ <title>Ignitor</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="ignitor.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ 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.
+ </para>
+ </section>
</section>
<section>
<title>Save Flight Data</title>
</para>
</section>
<section>
- <title>Radio Frequency</title>
+ <title>Apogee Lockoug</title>
+ <para>
+ 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
+ 'Mach Delay', as it is intended to prevent a flight computer
+ from unintentionally firing apogee charges due to the pressure
+ spike that occurrs across a mach transition. Altus Metrum
+ flight computers include a Kalman filter which is not fooled
+ by this sharp pressure increase, and so this setting should
+ be left at the default value of zero to disable it.
+ </para>
+ </section>
+ <section>
+ <title>Frequency</title>
<para>
This configures which of the frequencies to use for both
telemetry and packet command mode. Note that if you set this
at all.
</para>
</section>
+ <section>
+ <title>Telemetry baud rate</title>
+ <para>
+ This sets the modulation bit rate for data transmission for
+ both telemetry and packet link mode. Lower bit
+ rates will increase range while reducing the amount of data
+ that can be sent and increasing battery consumption. All
+ telemetry is done using a rate 1/2 constraint 4 convolution
+ code, so the actual data transmission rate is 1/2 of the
+ modulation bit rate specified here.
+ </para>
+ </section>
<section>
<title>APRS Interval</title>
<para>
sending any other telemetry during that time.
</para>
</section>
+ <section>
+ <title>APRS SSID</title>
+ <para>
+ 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.
+ </para>
+ </section>
<section>
<title>Callsign</title>
<para>
</para>
</section>
<section>
- <title>Ignite Mode</title>
+ <title>Ignitor Firing Mode</title>
<para>
- TeleMetrum and TeleMini provide two igniter channels as they
- were originally designed as dual-deploy flight
- computers. This configuration parameter allows the two
- channels to be used in different configurations.
+ This configuration parameter allows the two standard ignitor
+ channels (Apogee and Main) to be used in different
+ configurations.
</para>
<variablelist>
<varlistentry>
<section>
<title>Pad Orientation</title>
<para>
- Because they include accelerometers, TeleMetrum and
- TeleMega are sensitive to the orientation of the board. By
+ Because they include accelerometers, TeleMetrum,
+ TeleMega and EasyMega are sensitive to the orientation of the board. By
default, they expect the antenna end to point forward. This
parameter allows that default to be changed, permitting the
board to be mounted with the antenna pointing aft instead.
</varlistentry>
</variablelist>
</section>
+ <section>
+ <title>Beeper Frequency</title>
+ <para>
+ 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.
+ </para>
+ </section>
<section>
<title>Configure Pyro Channels</title>
<informalfigure>
</informalfigure>
<para>
This opens a separate window to configure the additional
- pyro channels available on TeleMega. One column is
+ pyro channels available on TeleMega and EasyMega. One column is
presented for each channel. Each row represents a single
parameter, if enabled the parameter must meet the specified
test for the pyro channel to be fired. See the Pyro Channels
configuration values, so you can use different values for
the same condition with different channels.
</para>
+ <para>
+ At the bottom of the window, the 'Pyro Firing Time'
+ configuration sets the length of time (in seconds) which
+ each of these pyro channels will fire for.
+ </para>
<para>
Once you have selected the appropriate configuration for all
of the necessary pyro channels, you can save the pyro
</mediaobject>
</informalfigure>
<para>
- Select this button and then select a TeleDongle Device from the list provided.
+ Select this button and then select a TeleDongle or TeleBT Device from the list provided.
</para>
<para>
The first few lines of the dialog provide information about the
individual configuration entries.
</para>
<para>
- Note that the TeleDongle itself doesn't save any configuration
+ 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 TeleDongle to
+ 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.
</para>
</para>
</section>
<section>
- <title>Radio Calibration</title>
+ <title>RF Calibration</title>
<para>
The radios in every Altus Metrum device are calibrated at the
factory to ensure that they transmit and receive on the
- specified frequency. To change a TeleDongle's calibration,
+ 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.
</para>
</section>
+ <section>
+ <title>Telemetry Rate</title>
+ <para>
+ 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.
+ </para>
+ </section>
</section>
<section>
<title>Flash Image</title>
<para>
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, 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.
+ 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.
</para>
</section>
<section>
<para>
This listens for telemetry packets on all of the configured
frequencies, displaying information about each device it
- receives a packet from. You can select which of the three
- telemetry formats should be tried; by default, it only listens
- for the standard telemetry packets used in v1.0 and later
+ 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.
</para>
</section>
and name of the site. The contents of this list are actually
downloaded from our server at run-time, so as new sites are sent
in, they'll get automatically added to this list.
+ If the launch site isn't in the list, you can manually enter the lat/lon values
</para>
<para>
- If the launch site isn't in the list, you can manually enter the lat/lon values
+ There are four different kinds of maps you can view; you can
+ select which to download by selecting as many as you like from
+ the available types:
+ <variablelist>
+ <varlistentry>
+ <term>Hybrid</term>
+ <listitem>
+ <para>
+ A combination of satellite imagery and road data. This
+ is the default view.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Satellite</term>
+ <listitem>
+ <para>
+ Just the satellite imagery without any annotation.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Roadmap</term>
+ <listitem>
+ <para>
+ Roads, political boundaries and a few geographic features.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Terrain</term>
+ <listitem>
+ <para>
+ Contour intervals and shading that show hills and
+ valleys.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
+ </para>
+ <para>
+ You can specify the range of zoom levels to download; smaller
+ numbers show more area with less resolution. The default
+ level, 0, shows about 3m/pixel. One zoom level change
+ doubles or halves that number.
+ </para>
+ <para>
+ The Tile Radius value sets how large an area around the center
+ point to download. Each tile is 512x512 pixels, and the
+ 'radius' value specifies how many tiles away from the center
+ will be downloaded. Specify a radius of 0 and you get only the
+ center tile. A radius of 1 loads a 3x3 grid, centered on the
+ specified location.
</para>
<para>
Clicking the 'Load Map' button will fetch images from Google
In the rocket itself, you just need a flight computer and
a single-cell, 3.7 volt nominal Li-Po rechargeable battery. An
850mAh battery weighs less than a 9V alkaline battery, and will
- run a TeleMetrum or TeleMega for hours.
+ run a TeleMetrum, TeleMega or EasyMega for hours.
A 110mAh battery weighs less than a triple A battery and is a good
- choice for use with TeleMini.
+ choice for use with TeleMini or EasyMini.
</para>
<para>
- By default, we ship flight computers with a simple wire antenna.
+ By default, we ship TeleMini, TeleMetrum and TeleMega flight computers with a simple wire antenna.
If your electronics bay or the air-frame it resides within is made
of carbon fiber, which is opaque to RF signals, you may prefer to
install an SMA connector so that you can run a coaxial cable to an
if the rocket is hiding in sage brush or a tree, or if the last GPS position
doesn't get you close enough because the rocket dropped into a canyon, or
the wind is blowing it across a dry lake bed, or something like that... Keith
- currently uses a Yaesu VX-7R, Bdale has a Baofung UV-5R
- which isn't as nice, but was a whole lot cheaper.
+ currently uses a Yaesu FT1D, Bdale has a Yaesu VX-7R, which
+ is a nicer radio in most ways but doesn't support APRS.
</para>
<para>
So, to recap, on the ground the hardware you'll need includes:
</section>
<section>
<title>Future Plans</title>
- <para>
- We've designed a simple GPS based radio tracker called TeleGPS.
- If all goes well, we hope to introduce this in the first
- half of 2014.
- </para>
<para>
We have designed and prototyped several “companion boards” that
- can attach to the companion connector on TeleMetrum and TeleMega
+ can attach to the companion connector on TeleMetrum,
+ TeleMega and EasyMega
flight computers to collect more data, provide more pyro channels,
and so forth. We do not yet know if or when any of these boards
will be produced in enough quantity to sell. If you have specific
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<para>
- Make sure accelerometer-equipped products like TeleMetrum and
- TeleMega are aligned precisely along the axis of
+ Make sure accelerometer-equipped products like TeleMetrum,
+ TeleMega and EasyMega are aligned precisely along the axis of
acceleration so that the accelerometer can accurately
capture data during the flight.
</para>
<chapter>
<title>Updating Device Firmware</title>
<para>
- TeleMega, TeleMetrum v2 and EasyMini are all programmed directly
- over their USB connectors (self programming). TeleMetrum v1, TeleMini and
- TeleDongle are all programmed by using another device as a
- programmer (pair programming). It's important to recognize which
- kind of devices you have before trying to reprogram them.
+ 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.
</para>
<para>
You may wish to begin by ensuring you have current firmware images.
version from <ulink url="http://www.altusmetrum.org/AltOS/"/>.
</para>
<para>
- 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
performance slightly.
</para>
<para>
- Self-programmable devices (TeleMega, TeleMetrum v2 and EasyMini)
+ Self-programmable devices (TeleMega, TeleMetrum v2, EasyMega and EasyMini)
are reprogrammed by connecting them to your computer over USB
</para>
<section>
<title>
- Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
+ Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or
+ TeleDongle v3 Firmware
</title>
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<para>
- 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.
</para>
</listitem>
<listitem>
<para>
Verify that the device is working by using the 'Configure
- Altimeter' item to check over the configuration.
+ Altimeter' or 'Configure Groundstation' item to check over
+ the configuration.
</para>
</listitem>
</orderedlist>
</para>
</listitem>
</varlistentry>
+ <varlistentry>
+ <term>EasyMega</term>
+ <listitem>
+ <para>
+ Connect pin 6 and pin 1 of the companion connector. Pin 1
+ can be identified by the square pad around it, and then
+ the pins could sequentially across the board. Be very
+ careful to <emphasis>not</emphasis> short pin 8 to
+ anything as that is connected directly to the battery. Pin
+ 7 carries 3.3V and the board will crash if that is
+ connected to pin 1, but shouldn't damage the board.
+ </para>
+ </listitem>
+ </varlistentry>
<varlistentry>
<term>TeleMetrum v2</term>
<listitem>
</para>
</listitem>
</varlistentry>
+ <varlistentry>
+ <term>TeleDongle v3</term>
+ <listitem>
+ <para>
+ 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.
+ </para>
+ </listitem>
+ </varlistentry>
</variablelist>
+ <para>
+ Once you've located the right pins:
+ </para>
+ <orderedlist inheritnum='inherit' numeration='arabic'>
+ <listitem>
+ <para>
+ Turn the altimeter power off.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Connect a battery.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Connect the indicated terminals together with a short
+ piece of wire. Take care not to accidentally connect
+ anything else.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Connect USB
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Turn the board power on.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ The board should now be visible over USB as 'AltosFlash'
+ and be ready to receive firmware.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Once the board has been powered up, you can remove the
+ piece of wire.
+ </para>
+ </listitem>
+ </orderedlist>
</section>
</section>
<section>
<title>Pair Programming</title>
<para>
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.
+ 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.
</para>
</section>
<section>
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
<listitem>
<para>
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
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
<listitem>
<para>
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
</listitem>
<listitem>
<para>
- 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
</para>
</listitem>
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
</orderedlist>
</section>
<section>
- <title>Updating TeleDongle Firmware</title>
+ <title>Updating TeleDongle v0.2 Firmware</title>
<para>
- Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini
- firmware, but you use either a TeleMetrum or another TeleDongle as the programmer.
+ 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.
</para>
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<listitem>
<para>
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.
</para>
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
<para>
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.
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
<listitem>
</listitem>
<listitem>
<para>
- 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.
<para>
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.
<listitem>
<para>
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.
</para>
</listitem>
<listitem>
<para>
- 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.
</para>
</listitem>
<listitem>
</listitem>
</itemizedlist>
</section>
+ <section>
+ <title>
+ EasyMega Specifications
+ </title>
+ <itemizedlist>
+ <listitem>
+ <para>
+ Recording altimeter for model rocketry.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Supports dual deployment and four auxiliary pyro channels
+ (a total of 6 events).
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Barometric pressure sensor good to 100k feet MSL.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ 1-axis high-g accelerometer for motor characterization, capable of
+ +/- 102g.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ 9-axis IMU including integrated 3-axis accelerometer,
+ 3-axis gyroscope and 3-axis magnetometer.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ On-board 8 Megabyte non-volatile memory for flight data storage.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ USB interface for battery charging, configuration, and data recovery.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Fully integrated support for Li-Po rechargeable batteries.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Can use either main system Li-Po or optional separate pyro battery
+ to fire e-matches.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ 1.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
+ </para>
+ </listitem>
+ </itemizedlist>
+ </section>
<section>
<title>
TeleMetrum v2 Specifications
<informalfigure>
<mediaobject id="TeleMegaTemplate">
<imageobject>
- <imagedata format="SVG" fileref="telemega-outline.svg"/>
+ <imagedata format="SVG" fileref="telemega.svg"
+ scalefit="0" scale="100" align="center" />
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ </section>
+ <section>
+ <title>EasyMega template</title>
+ <para>
+ 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.
+ </para>
+ <informalfigure>
+ <mediaobject id="EasyMegaTemplate">
+ <imageobject>
+ <imagedata format="SVG" fileref="easymega.svg"
+ scalefit="0" scale="100" align="center" />
</imageobject>
</mediaobject>
</informalfigure>
<informalfigure>
<mediaobject id="TeleMetrumTemplate">
<imageobject>
- <imagedata format="SVG" fileref="telemetrum.svg"/>
+ <imagedata format="SVG" fileref="telemetrum.svg"
+ scalefit="0" scale="100" align="center" />
</imageobject>
</mediaobject>
</informalfigure>
<informalfigure>
<mediaobject id="MiniTemplate">
<imageobject>
- <imagedata format="SVG" fileref="easymini-outline.svg"/>
+ <imagedata format="SVG" fileref="easymini.svg"
+ scalefit="0" scale="100" align="center" />
</imageobject>
</mediaobject>
</informalfigure>
<informalfigure>
<mediaobject id="TeleMiniTemplate">
<imageobject>
- <imagedata format="SVG" fileref="telemini.svg"/>
+ <imagedata format="SVG" fileref="telemini.svg"
+ scalefit="0" scale="100" align="center" />
</imageobject>
</mediaobject>
</informalfigure>
<title>Calibration</title>
<para>
There are only two calibrations required for TeleMetrum and
- TeleMega, and only one for TeleDongle, TeleMini and EasyMini.
+ TeleMega, and only one for EasyMega, TeleDongle, TeleMini and EasyMini.
All boards are shipped from the factory pre-calibrated, but
the procedures are documented here in case they are ever
needed. Re-calibration is not supported by AltosUI, you must
</para>
</section>
<section>
- <title>TeleMetrum and TeleMega Accelerometers</title>
+ <title>TeleMetrum, TeleMega and EasyMega Accelerometers</title>
<para>
While barometric sensors are factory-calibrated,
accelerometers are not, and so each must be calibrated once
</para>
<para>
In the unlikely event an accel cal goes badly, it is possible
- that TeleMetrum or TeleMega may always come up in 'pad mode'
+ that TeleMetrum, TeleMega or EasyMega may always come up in 'pad mode'
and as such not be listening to either the USB or radio link.
If that happens, there is a special hook in the firmware to
force the board back in to 'idle mode' so you can re-do the
</para>
</section>
</appendix>
+ <appendix>
+ <title>Igniter Current</title>
+ <para>
+ 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.
+ </para>
+ <section>
+ <title>Current Products</title>
+ <para>
+ 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.
+ </para>
+ <para>
+ Cutting to the chase, the Si7232DN specs are 25 amps <emphasis>continuous</emphasis> 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!
+ </para>
+ <para>
+ 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!
+ </para>
+ </section>
+ <section>
+ <title>Version 1 Products</title>
+ <para>
+ 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.
+ </para>
+ <para>
+ 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.
+ </para>
+ </section>
+ </appendix>
<appendix>
<title>Release Notes</title>
+ <simplesect>
+ <title>Version 1.6</title>
+ <xi:include
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ href="release-notes-1.6.xsl"
+ xpointer="xpointer(/article/*)"/>
+ </simplesect>
+ <simplesect>
+ <title>Version 1.5</title>
+ <xi:include
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ href="release-notes-1.5.xsl"
+ xpointer="xpointer(/article/*)"/>
+ </simplesect>
+ <simplesect>
+ <title>Version 1.4.1</title>
+ <xi:include
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ href="release-notes-1.4.1.xsl"
+ xpointer="xpointer(/article/*)"/>
+ </simplesect>
+ <simplesect>
+ <title>Version 1.4</title>
+ <xi:include
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ href="release-notes-1.4.xsl"
+ xpointer="xpointer(/article/*)"/>
+ </simplesect>
<simplesect>
<title>Version 1.3.2</title>
<xi:include
projects / fw / altos / blobdiff