doc: First pass for 1.3 finished; docs have most major sections updated.

[fw/altos] / doc / altusmetrum.xsl

diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index 0af2a5e8bec8a7dad80fc005ea6c32a071473834..302b8d6041363cc2abd8d39c4f1a7f950e9a2684 100644 (file)
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -1729,7 +1729,7 @@ NAR #88757, TRA #12200
     <section>
       <title>Configure Altimeter</title>
       <para>
     <section>
       <title>Configure Altimeter</title>
       <para>

-        Select this button and then select either a TeleMetrum or
+        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. 
       </para>
         TeleDongle Device from the list provided. Selecting a TeleDongle
         device will use the radio link to configure a remote altimeter. 
       </para>


@@ -1800,15 +1800,15 @@ NAR #88757, TRA #12200
       <section>
         <title>Radio Frequency</title>
         <para>
       <section>
         <title>Radio Frequency</title>
         <para>

-          This configures which of the configured frequencies to use for both
+          This configures which of the frequencies to use for both

           telemetry and packet command mode. Note that if you set this
           telemetry and packet command mode. Note that if you set this

-          value via packet command mode, you will have to reconfigure
-          the TeleDongle frequency before you will be able to use packet
-          command mode again.
+          value via packet command mode, the TeleDongle frequency will
+          also be automatically reconfigured to match so that
+          communication will continue afterwards.

         </para>
       </section>
       <section>
         </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
         <para>
           The radios in every Altus Metrum device are calibrated at the
           factory to ensure that they transmit and receive on the


@@ -1819,6 +1819,25 @@ NAR #88757, TRA #12200
          you must reprogram the unit completely.
         </para>
       </section>
          you must reprogram the unit completely.
         </para>
       </section>

+      <section>
+       <title>Telemetry/RDF/APRS Enable</title>
+       <para>
+         Enables the radio for transmission during flight. When
+         disabled, the radio will not transmit anything during flight
+         at all.
+       </para>
+      </section>
+      <section>
+       <title>APRS Interval</title>
+       <para>
+         How often to transmit GPS information via APRS. This option
+         is available on TeleMetrum v2 and TeleMega
+         boards. TeleMetrum v1 boards cannot transmit APRS
+         packets. Note that a single APRS packet takes nearly a full
+         second to transmit, so enabling this option will prevent
+         sending any other telemetry during that time.
+       </para>
+      </section>

       <section>
         <title>Callsign</title>
         <para>
       <section>
         <title>Callsign</title>
         <para>


@@ -1896,6 +1915,114 @@ NAR #88757, TRA #12200
          </listitem>
        </itemizedlist>
       </section>
          </listitem>
        </itemizedlist>
       </section>

+      <section>
+       <title>Configure Pyro Channels</title>
+       <para>
+         This opens a separate window to configure the additional
+         pyro channels available on TeleMega.  One column is
+         presented for each channel. Each row represents a single
+         parameter, if enabled the parameter must meet the specified
+         test for the pyro channel to be fired.
+       </para>
+       <itemizedlist>
+         <listitem>
+           <para>
+             Acceleration less than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Acceleration greater than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Speed less than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Speed greater than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Height less than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Height greater than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Angle from vertical less than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Angle from vertical greater than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Time since boost less than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Time since boost greater than.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Ascending. This is exactly the same as setting a
+             condition for speed &gt; 0.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Descending. This is exactly the same as setting a
+             condition for speed &lt; 0.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             After motor number.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Delay after other conditions.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Flight state before.
+           </para>
+         </listitem>
+         <listitem>
+           <para>
+             Flight state after.
+           </para>
+         </listitem>
+       </itemizedlist>
+       <para>
+         Select conditions and set the related value; the pyro
+         channel will be activated when <emphasis>all</emphasis> of the
+         conditions are met. Each pyro channel has a separate set of
+         configuration values, so you can use different values for
+         the same condition with different channels.
+       </para>
+       <para>
+         Once you have selected the appropriate configuration for all
+         of the necessary pyro channels, you can save the pyro
+         configuration along with the rest of the flight computer
+         configuration by pressing the 'Save' button in the main
+         Configure Flight Computer window.
+       </para>
+      </section>

     </section>
     <section>
       <title>Configure AltosUI</title>
     </section>
     <section>
       <title>Configure AltosUI</title>


@@ -1959,9 +2086,10 @@ NAR #88757, TRA #12200
        <para>
          This switches between metric units (meters) and imperial
          units (feet and miles). This affects the display of values
        <para>
          This switches between metric units (meters) and imperial
          units (feet and miles). This affects the display of values

-         use during flight monitoring, 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.
+         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.

        </para>
       </section>
       <section>
        </para>
       </section>
       <section>


@@ -2063,16 +2191,26 @@ NAR #88757, TRA #12200
     <section>
       <title>Flash Image</title>
       <para>
     <section>
       <title>Flash Image</title>
       <para>

-        This reprograms any Altus Metrum device by using a TeleMetrum
-        or TeleDongle as a programming dongle. Please read the
-        directions for flashing devices in the Updating Device
-        Firmware chapter below.
+        This reprograms Altus Metrum device 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.

       </para>
       <para>
       </para>
       <para>

-        Once you have the programmer and target devices connected,
-        push the 'Flash Image' button. That will present a dialog box
-        listing all of the connected devices. Carefully select the
-        programmer device, not the device to be programmed.
+       For “self programming”, connect USB to the device to be
+       programmed and push the 'Flash Image' button. That will
+       present a dialog box listing all of the connected
+       devices. Carefully select the device to be programmed.
+      </para>
+      <para>
+        For “pair programming”, once you have the programmer and
+        target devices connected, push the 'Flash Image' button. That
+        will present a dialog box listing all of the connected
+        devices. Carefully select the programmer device, not the
+        device to be programmed.

       </para>
       <para>
         Next, select the image to flash to the device. These are named
       </para>
       <para>
         Next, select the image to flash to the device. These are named


@@ -2093,10 +2231,10 @@ NAR #88757, TRA #12200
       </para>
       <para>
         When programming is complete, the target device will
       </para>
       <para>
         When programming is complete, the target device will

-        reboot. Note that if the target device is connected via USB, you
-        will have to unplug it and then plug it back in for the USB
-        connection to reset so that you can communicate with the device
-        again.
+        reboot. Note that if a pair programmed target device is
+        connected via USB, you will have to unplug it and then plug it
+        back in for the USB connection to reset so that you can
+        communicate with the device again.

       </para>
     </section>
     <section>
       </para>
     </section>
     <section>


@@ -2169,7 +2307,11 @@ NAR #88757, TRA #12200
        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
        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.
+       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.

       </para>
     </section>
   </chapter>
       </para>
     </section>
   </chapter>


@@ -2719,11 +2861,11 @@ NAR #88757, TRA #12200
   <chapter>
     <title>Updating Device Firmware</title>
     <para>
   <chapter>
     <title>Updating Device Firmware</title>
     <para>

-      The big concept to understand is that you have to use a
-      TeleDongle as a programmer to update a TeleMetrum or TeleMini,
-      and a TeleMetrum or other TeleDongle to program the TeleDongle
-      Due to limited memory resources in the cc1111, we don't support
-      programming directly over USB. 
+      TeleMega, TeleMetrum v2 and EasMini 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.

     </para>
     <para>
       You may wish to begin by ensuring you have current firmware images.
     </para>
     <para>
       You may wish to begin by ensuring you have current firmware images.


@@ -2737,8 +2879,70 @@ NAR #88757, TRA #12200
     <para>
       We recommend updating the altimeter first, before updating TeleDongle.
     </para>
     <para>
       We recommend updating the altimeter first, before updating TeleDongle.
     </para>

+    <para>
+      Self-programmable devices (TeleMega, TeleMetrum v2 and EasyMini)
+      are reprogrammed by connecting them to your computer over USB
+    </para>
+    <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.
+    </para>

     <section>
     <section>

-      <title>Updating TeleMetrum Firmware</title>
+      <title>
+       Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
+      </title>
+      <orderedlist inheritnum='inherit' numeration='arabic'>
+       <listitem>
+         <para>
+           Attach a battery and power switch to the target
+           device. Power up the device.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Using a Micro USB cable, connect the target device to your
+           computer's USB socket.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Run AltosUI, and select 'Flash Image' from the File menu.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Select the image you want to flash to the device, which
+           should have a name in the form
+           &lt;product&gt;-v&lt;product-version&gt;-&lt;software-version&gt;.ihx, such
+           as TeleMega-v1.0-1.3.0.ihx.
+         </para>
+       </listitem>
+        <listitem>
+         <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.
+         </para>
+        </listitem>
+        <listitem>
+         <para>
+           Hit the 'OK' button and the software should proceed to flash
+           the device with new firmware, showing a progress bar.
+         </para>
+        </listitem>
+       <listitem>
+         <para>
+           Verify that the device is working by using the 'Configure
+           Altimeter' item to check over the configuration.
+         </para>
+       </listitem>
+      </orderedlist>
+    </section>
+    <section>
+      <title>Updating TeleMetrum v1.x Firmware</title>

       <orderedlist inheritnum='inherit' numeration='arabic'>
         <listitem>
          <para>
       <orderedlist inheritnum='inherit' numeration='arabic'>
         <listitem>
          <para>


@@ -3016,7 +3220,79 @@ NAR #88757, TRA #12200
   <chapter>
     <title>Hardware Specifications</title>
     <section>
   <chapter>
     <title>Hardware Specifications</title>
     <section>

-      <title>TeleMetrum Specifications</title>
+      <title>
+       TeleMega Specifications
+      </title>
+      <itemizedlist>
+       <listitem>
+         <para>
+           Recording altimeter for model rocketry.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Supports dual deployment and four auxilary pyro channels (can initiate 6 events).
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           70cm 40mW ham-band transceiver for telemetry down-link.
+         </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, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
+         </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>
+           Uses Li-Po to fire e-matches, can be modified to support 
+           optional separate pyro battery if needed.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
+         </para>
+       </listitem>
+      </itemizedlist>
+    </section>
+    <section>
+      <title>
+       TeleMetrum v2 Specifications
+      </title>

       <itemizedlist>
        <listitem>
          <para>
       <itemizedlist>
        <listitem>
          <para>


@@ -3030,7 +3306,69 @@ NAR #88757, TRA #12200
        </listitem>
        <listitem>
          <para>
        </listitem>
        <listitem>
          <para>

-           70cm ham-band transceiver for telemetry down-link.
+           70cm, 40mW ham-band transceiver for telemetry down-link.
+         </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>
+           On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
+         </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>
+           Uses Li-Po to fire e-matches, can be modified to support 
+           optional separate pyro battery if needed.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
+         </para>
+       </listitem>
+      </itemizedlist>
+    </section>
+    <section>
+      <title>TeleMetrum v1 Specifications</title>
+      <itemizedlist>
+       <listitem>
+         <para>
+           Recording altimeter for model rocketry.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Supports dual deployment (can fire 2 ejection charges).
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           70cm, 10mW ham-band transceiver for telemetry down-link.

          </para>
        </listitem>
        <listitem>
          </para>
        </listitem>
        <listitem>


@@ -3078,7 +3416,63 @@ NAR #88757, TRA #12200
       </itemizedlist>
     </section>
     <section>
       </itemizedlist>
     </section>
     <section>

-      <title>TeleMini Specifications</title>
+      <title>
+       TeleMini v2.0 Specifications
+      </title>
+      <itemizedlist>
+       <listitem>
+         <para>
+           Recording altimeter for model rocketry.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Supports dual deployment (can fire 2 ejection charges).
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           70cm, 10mW ham-band transceiver for telemetry down-link.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Barometric pressure sensor good to 100k feet MSL.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           On-board 1 megabyte non-volatile memory for flight data storage.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           USB interface for configuration, and data recovery.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Support for Li-Po rechargeable batteries (using an
+           external charger), or any 3.7-15V external battery.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Uses Li-Po to fire e-matches, can be modified to support 
+           optional separate pyro battery if needed.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
+         </para>
+       </listitem>
+      </itemizedlist>
+    </section>
+    <section>
+      <title>
+       TeleMini v1.0 Specifications
+      </title>

       <itemizedlist>
        <listitem>
          <para>
       <itemizedlist>
        <listitem>
          <para>


@@ -3092,7 +3486,7 @@ NAR #88757, TRA #12200
        </listitem>
        <listitem>
          <para>
        </listitem>
        <listitem>
          <para>

-           70cm ham-band transceiver for telemetry down-link.
+           70cm, 10mW ham-band transceiver for telemetry down-link.

          </para>
        </listitem>
        <listitem>
          </para>
        </listitem>
        <listitem>


@@ -3128,6 +3522,55 @@ NAR #88757, TRA #12200
        </listitem>
       </itemizedlist>
     </section>
        </listitem>
       </itemizedlist>
     </section>

+    <section>
+      <title>
+       EasyMini Specifications
+      </title>
+      <itemizedlist>
+       <listitem>
+         <para>
+           Recording altimeter for model rocketry.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Supports dual deployment (can fire 2 ejection charges).
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Barometric pressure sensor good to 100k feet MSL.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           On-board 1 megabyte non-volatile memory for flight data storage.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           USB interface for configuration, and data recovery.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Support for Li-Po rechargeable batteries (using an
+           external charger), or any 3.7-15V external battery.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           Uses Li-Po to fire e-matches, can be modified to support 
+           optional separate pyro battery if needed.
+         </para>
+       </listitem>
+       <listitem>
+         <para>
+           1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
+         </para>
+       </listitem>
+      </itemizedlist>
+    </section>

   </chapter>
   <chapter>
     <title>FAQ</title>
   </chapter>
   <chapter>
     <title>FAQ</title>


@@ -3383,6 +3826,18 @@ NAR #88757, TRA #12200
       These images, when printed, provide precise templates for the
       mounting holes in Altus Metrum flight computers
     </para>
       These images, when printed, provide precise templates for the
       mounting holes in Altus Metrum flight computers
     </para>

+    <section>
+      <title>TeleMega template</title>
+      <para>
+       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.
+      </para>
+      <mediaobject id="TeleMegaTemplate">
+       <imageobject>
+         <imagedata format="SVG" fileref="telemega-outline.svg"/>
+       </imageobject>
+      </mediaobject>
+    </section>

     <section>
       <title>TeleMetrum template</title>
       <para>
     <section>
       <title>TeleMetrum template</title>
       <para>


@@ -3396,7 +3851,19 @@ NAR #88757, TRA #12200
       </mediaobject>
     </section>
     <section>
       </mediaobject>
     </section>
     <section>

-      <title>TeleMini template</title>
+      <title>TeleMini v2/EasyMini template</title>
+      <para>
+       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.
+      </para>
+      <mediaobject id="MiniTemplate">
+       <imageobject>
+         <imagedata format="SVG" fileref="easymini-outline.svg"/>
+       </imageobject>
+      </mediaobject>
+    </section>
+    <section>
+      <title>TeleMini v1 template</title>

       <para>
        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.
       <para>
        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.


@@ -3411,18 +3878,19 @@ NAR #88757, TRA #12200
   <appendix>
       <title>Calibration</title>
       <para>
   <appendix>
       <title>Calibration</title>
       <para>

-        There are only two calibrations required for a TeleMetrum board, and
-        only one for TeleDongle and TeleMini.  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 connect to the board with a serial terminal program
-       and interact directly with the on-board command interpreter to effect
-       calibration.
+        There are only two calibrations required for TeleMetrum and
+        TeleMega, and only one for TeleDongle, TeleMini and EasyMini.
+        All boards are shipped from the factory pre-calibrated, but
+        the procedures are documented here in case they are ever
+        needed.  Re-calibration is not supported by AltosUI, you must
+        connect to the board with a serial terminal program and
+        interact directly with the on-board command interpreter to
+        effect calibration.

       </para>
       <section>
         <title>Radio Frequency</title>
         <para>
       </para>
       <section>
         <title>Radio Frequency</title>
         <para>

-          The radio frequency is synthesized from a clock based on the 48 MHz
+          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 
           GFSK modulation
           crystal on the board.  The actual frequency of this oscillator 
           must be measured to generate a calibration constant.  While our 
           GFSK modulation


@@ -3435,13 +3903,14 @@ NAR #88757, TRA #12200
           should generally not be required.
         </para>
         <para>
           should generally not be required.
         </para>
         <para>

-          To calibrate the radio frequency, connect the UHF antenna port to a
-          frequency counter, set the board to 434.550MHz, and use the 'C'
-          command in the on-board command interpreter to generate a CW 
-          carrier.  For TeleMetrum, this is best done over USB.  For TeleMini,
-         note that the only way to escape the 'C' command is via power cycle
-         since the board will no longer be listening for commands once it
-         starts generating a CW carrier.
+          To calibrate the radio frequency, connect the UHF antenna
+          port to a frequency counter, set the board to 434.550MHz,
+          and use the 'C' command in the on-board command interpreter
+          to generate a CW carrier.  For USB-enabled boards, this is
+          best done over USB.  For TeleMini v1, note that the only way
+          to escape the 'C' command is via power cycle since the board
+          will no longer be listening for commands once it starts
+          generating a CW carrier.

        </para>
        <para>
          Wait for the transmitter temperature to stabilize and the frequency 
        </para>
        <para>
          Wait for the transmitter temperature to stabilize and the frequency 


@@ -3452,7 +3921,7 @@ NAR #88757, TRA #12200
           command.  Testing with the 'C' command again should show a carrier
           within a few tens of Hertz of the intended frequency.
           As with all 'c' sub-commands, follow this with a 'c w' to write the
           command.  Testing with the 'C' command again should show a carrier
           within a few tens of Hertz of the intended frequency.
           As with all 'c' sub-commands, follow this with a 'c w' to write the

-          change to the parameter block in the on-board DataFlash chip.
+          change to the parameter block in the on-board storage chip.

         </para>
        <para>
          Note that any time you re-do the radio frequency calibration, the
         </para>
        <para>
          Note that any time you re-do the radio frequency calibration, the


@@ -3462,21 +3931,13 @@ NAR #88757, TRA #12200
        </para>
       </section>
       <section>
        </para>
       </section>
       <section>

-        <title>TeleMetrum Accelerometer</title>
+        <title>TeleMetrum and TeleMega Accelerometers</title>

         <para>
         <para>

-          The TeleMetrum accelerometer we use has its own 5 volt power 
-         supply and
-          the output must be passed through a resistive voltage divider to match
-          the input of our 3.3 volt ADC.  This means that unlike the barometric
-          sensor, the output of the acceleration sensor is not ratio-metric to
-          the ADC converter, and calibration is required.  Explicitly 
-         calibrating the accelerometers also allows us to load any device
-         from a Freescale family that includes at least +/- 40g, 50g, 100g, 
-         and 200g parts.  Using gravity,
-          a simple 2-point calibration yields acceptable results capturing both
-          the different sensitivities and ranges of the different accelerometer
-          parts and any variation in power supply voltages or resistor values
-          in the divider network.
+          While barometric sensors are factory-calibrated,
+          accelerometers are not, and so each must be calibrated once
+          installed in a flight computer.  Explicitly calibrating the
+          accelerometers also allows us to load any compatible device.
+          We perform a two-point calibration using gravity.

         </para>
         <para>
           To calibrate the acceleration sensor, use the 'c a 0' command.  You
         </para>
         <para>
           To calibrate the acceleration sensor, use the 'c a 0' command.  You


@@ -3497,19 +3958,20 @@ NAR #88757, TRA #12200
         </para>
         <para>
          In the unlikely event an accel cal goes badly, it is possible
         </para>
         <para>
          In the unlikely event an accel cal goes badly, it is possible

-         that TeleMetrum 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 cal.  To use this hook, you
-         just need to ground the SPI clock pin at power-on.  This pin is
-         available as pin 2 on the 8-pin companion connector, and pin 1 is
-         ground.  So either carefully install a fine-gauge wire jumper
-         between the two pins closest to the index hole end of the 8-pin
-         connector, or plug in the programming cable to the 8-pin connector
-         and use a small screwdriver or similar to short the two pins closest
-         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.
+         that TeleMetrum or TeleMega 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
+         cal.  To use this hook, you just need to ground the SPI clock
+         pin at power-on.  This pin is available as pin 2 on the 8-pin
+         companion connector, and pin 1 is ground.  So either
+         carefully install a fine-gauge wire jumper between the two
+         pins closest to the index hole end of the 8-pin connector, or
+         plug in the programming cable to the 8-pin connector and use
+         a small screwdriver or similar to short the two pins closest
+         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.

         </para>
       </section>
   </appendix>
         </para>
       </section>
   </appendix>