</section>
<section>
<title>TeleMetrum</title>
- <mediaobject>
- <imageobject>
- <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
TeleMetrum is a 1 inch by 2¾ inch circuit board. It was designed to
fit inside coupler for 29mm air-frame tubing, but using it in a tube that
</section>
<section>
<title>TeleMini</title>
- <mediaobject>
- <imageobject>
- <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
TeleMini v1.0 is ½ inches by 1½ inches. It was
designed to fit inside an 18mm air-frame tube, but using it in
the board, meaning an ideal “simple” avionics bay for TeleMini
should have at least 9 inches of interior length.
</para>
- <mediaobject>
- <imageobject>
- <imagedata fileref="telemini-v2-top.jpg" width="5.5in" scalefit="1"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemini-v2-top.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
on-board data logging memory, a built-in USB connector and
</section>
<section>
<title>EasyMini</title>
- <mediaobject>
- <imageobject>
- <imagedata fileref="easymini-top.jpg" width="5.5in" scalefit="1"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="easymini-top.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
designed to fit in a 24mm coupler tube. The connectors and
</section>
<section>
<title>TeleMega</title>
- <mediaobject>
- <imageobject>
- <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
designed to easily fit in a 38mm coupler. Like TeleMetrum,
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
+ flashing, in the case of TeleMini v1) that accompanies each
+ mode. In the description of the beeping pattern, “dit” means a
+ short beep while "dah" means a long beep (three times as
+ long). “Brap” means a long dissonant tone.
+ <table frame='all'>
+ <title>AltOS Modes</title>
+ <?dbfo keep-together="always"?>
+ <tgroup cols='4' align='center' colsep='1' rowsep='1'>
+ <colspec align='center' colwidth='*' colname='Mode Name'/>
+ <colspec align='center' colwidth='*' colname='Letter'/>
+ <colspec align='center' colwidth='*' colname='Beeps'/>
+ <colspec align='center' colwidth='*' colname='Description'/>
+ <thead>
+ <row>
+ <entry>Mode Name</entry>
+ <entry>Abbreviation</entry>
+ <entry>Beeps</entry>
+ <entry>Description</entry>
+ </row>
+ </thead>
+ <tbody>
+ <row>
+ <entry>Startup</entry>
+ <entry>S</entry>
+ <entry>dit dit dit</entry>
+ <entry>
+ <para>
+ Calibrating sensors, detecting orientation.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Idle</entry>
+ <entry>I</entry>
+ <entry>dit dit</entry>
+ <entry>
+ <para>
+ Ready to accept commands over USB or radio link.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Pad</entry>
+ <entry>P</entry>
+ <entry>dit dah dah dit</entry>
+ <entry>
+ <para>
+ Waiting for launch. Not listening for commands.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Boost</entry>
+ <entry>B</entry>
+ <entry>dah dit dit dit</entry>
+ <entry>
+ <para>
+ Accelerating upwards.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Fast</entry>
+ <entry>F</entry>
+ <entry>dit dit dah dit</entry>
+ <entry>
+ <para>
+ Decellerating, but moving faster than 200m/s.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Coast</entry>
+ <entry>C</entry>
+ <entry>dah dit dah dit</entry>
+ <entry>
+ <para>
+ Decellerating, moving slower than 200m/s
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Drogue</entry>
+ <entry>D</entry>
+ <entry>dah dit dit</entry>
+ <entry>
+ <para>
+ Descending after apogee. Above main height.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Main</entry>
+ <entry>M</entry>
+ <entry>dah dah</entry>
+ <entry>
+ <para>
+ Descending. Below main height.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Landed</entry>
+ <entry>L</entry>
+ <entry>dit dah dit dit</entry>
+ <entry>
+ <para>
+ Stable altitude for at least ten seconds.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Sensor error</entry>
+ <entry>X</entry>
+ <entry>dah dit dit dah</entry>
+ <entry>
+ <para>
+ Error detected during sensor calibration.
+ </para>
+ </entry>
+ </row>
+ </tbody>
+ </tgroup>
+ </table>
+ </para>
<para>
In flight or “pad” mode, the altimeter engages the flight
- state machine, goes into transmit-only mode to
- send telemetry, and waits for launch to be detected.
- Flight mode is indicated by an “di-dah-dah-dit” (“P” for pad)
- on the beeper or lights, followed by beeps or flashes
- indicating the state of the pyrotechnic igniter continuity.
- One beep/flash indicates apogee continuity, two beeps/flashes
- indicate main continuity, three beeps/flashes indicate both
- apogee and main continuity, and one longer “brap” sound or
- rapidly alternating lights indicates no continuity. For a
+ state machine, goes into transmit-only mode to send telemetry,
+ and waits for launch to be detected. Flight mode is indicated
+ by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights,
+ followed by beeps or flashes indicating the state of the
+ pyrotechnic igniter continuity. One beep/flash indicates
+ apogee continuity, two beeps/flashes indicate main continuity,
+ three beeps/flashes indicate both apogee and main continuity,
+ and one longer “brap” sound which is made by rapidly
+ alternating between two tones indicates no continuity. For a
dual deploy flight, make sure you're getting three beeps or
flashes before launching! For apogee-only or motor eject
flights, do what makes sense.
data from the on-board storage chip after flight, and for
ground testing pyro charges.
</para>
+ <para>
+ In “Idle” and “Pad” modes, once the mode indication
+ beeps/flashes and continuity indication has been sent, if
+ there is no space available to log the flight in on-board
+ memory, the flight computer will emit a warbling tone (much
+ slower than the “no continuity tone”)
+ </para>
+ <para>
+ Here's a summary of all of the “pad” and “idle” mode indications.
+ <table frame='all'>
+ <title>Pad/Idle Indications</title>
+ <?dbfo keep-together="always"?>
+ <tgroup cols='3' align='center' colsep='1' rowsep='1'>
+ <colspec align='center' colwidth='*' colname='Name'/>
+ <colspec align='center' colwidth='*' colname='Beeps'/>
+ <colspec align='center' colwidth='*' colname='Description'/>
+ <thead>
+ <row>
+ <entry>Name</entry>
+ <entry>Beeps</entry>
+ <entry>Description</entry>
+ </row>
+ </thead>
+ <tbody>
+ <row>
+ <entry>Neither</entry>
+ <entry>brap</entry>
+ <entry>
+ <para>
+ No continuity detected on either apogee or main
+ igniters.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Apogee</entry>
+ <entry>dit</entry>
+ <entry>
+ <para>
+ Continuity detected only on apogee igniter.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Main</entry>
+ <entry>dit dit</entry>
+ <entry>
+ <para>
+ Continuity detected only on main igniter.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Both</entry>
+ <entry>dit dit dit</entry>
+ <entry>
+ <para>
+ Continuity detected on both igniters.
+ </para>
+ </entry>
+ </row>
+ <row>
+ <entry>Storage Full</entry>
+ <entry>warble</entry>
+ <entry>
+ <para>
+ On-board data logging storage is full. This will
+ not prevent the flight computer from safely
+ controlling the flight or transmitting telemetry
+ signals, but no record of the flight will be
+ stored in on-board flash.
+ </para>
+ </entry>
+ </row>
+ </tbody>
+ </tgroup>
+ </table>
+ </para>
+ <para>
+ Once landed, the flight computer will signal that by emitting
+ the “Landed” sound described above, after which it will beep
+ out the apogee height (in meters). 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. The flight computer will continue to report landed mode
+ and beep out the maximum height until turned off.
+ </para>
<para>
One “neat trick” of particular value when TeleMetrum or TeleMega are used with
very large air-frames, is that you can power the board up while the
</chapter>
<chapter>
-
<title>AltosUI</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="altosui.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
The AltosUI program provides a graphical user interface for
interacting with the Altus Metrum product family. AltosUI can
AltosUI will create a window to display telemetry data as
received by the selected TeleDongle device.
</para>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="device-selection.png" width="3.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
All telemetry data received are automatically recorded in
suitable log files. The name of the files includes the current
</para>
<section>
<title>Launch Pad</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="launch-pad.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
The 'Launch Pad' tab shows information used to decide when the
rocket is ready for flight. The first elements include red/green
</section>
<section>
<title>Ascent</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="ascent.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
This tab is shown during Boost, Fast and Coast
phases. The information displayed here helps monitor the
</section>
<section>
<title>Descent</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="descent.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
Once the rocket has reached apogee and (we hope) activated the
apogee charge, attention switches to tracking the rocket on
</section>
<section>
<title>Landed</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="landed.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
Once the rocket is on the ground, attention switches to
recovery. While the radio signal is often lost once the
graph window for the current flight.
</para>
</section>
+ <section>
+ <title>Table</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="table.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ 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.
+ </para>
+ </section>
<section>
<title>Site Map</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="site-map.png" width="5.5in"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
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
.eeprom file containing flight data saved from
flash memory.
</para>
+ <para>
+ 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.
+ </para>
<para>
Once a flight record is selected, a window with multiple tabs is
opened.
- <variablelist>
- <varlistentry>
- <term>Flight Graph</term>
- <listitem>
- <para>
- By default, the graph contains acceleration (blue),
- velocity (green) and altitude (red).
- </para>
- </listitem>
- </varlistentry>
- <varlistentry>
- <term>Configure Graph</term>
- <listitem>
- <para>
- This selects which graph elements to show, and, at the
- very bottom, lets you switch between metric and
- imperial units
- </para>
- </listitem>
- </varlistentry>
- <varlistentry>
- <term>Flight Statistics</term>
- <listitem>
- <para>
- Shows overall data computed from the flight.
- </para>
- </listitem>
- </varlistentry>
- <varlistentry>
- <term>Map</term>
- <listitem>
- <para>
- 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.
- </para>
- </listitem>
- </varlistentry>
- </variablelist>
</para>
+ <section>
+ <title>Flight Graph</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="graph.png" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ By default, the graph contains acceleration (blue),
+ velocity (green) and altitude (red).
+ </para>
<para>
The graph can be zoomed into a particular area by clicking and
dragging down and to the right. Once zoomed, the graph can be
The right mouse button causes a pop-up menu to be displayed, giving
you the option save or print the plot.
</para>
- <para>
- 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.
- </para>
+ </section>
+ <section>
+ <title>Configure Graph</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="graph-configure.png" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ This selects which graph elements to show, and, at the
+ very bottom, lets you switch between metric and
+ imperial units
+ </para>
+ </section>
+ <section>
+ <title>Flight Statistics</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="graph-stats.png" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ Shows overall data computed from the flight.
+ </para>
+ </section>
+ <section>
+ <title>Map</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="graph-map.png" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
+ <para>
+ 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.
+ </para>
+ </section>
</section>
<section>
<title>Export Data</title>
</section>
<section>
<title>Configure Altimeter</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="configure-altimeter.png" width="3in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
Select this button and then select either an altimeter or
TeleDongle Device from the list provided. Selecting a TeleDongle
</section>
<section>
<title>Configure Pyro Channels</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="configure-pyro.png" width="6in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
This opens a separate window to configure the additional
pyro channels available on TeleMega. One column is
</section>
<section>
<title>Configure AltosUI</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="configure-altosui.png" width="2.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
This button presents a dialog so that you can configure the AltosUI global settings.
</para>
the current flight status. However, sometimes you don't want
to hear them.
</para>
- <itemizedlist>
- <listitem>
- <para>Enable—turns all voice announcements on and off</para>
- </listitem>
- <listitem>
- <para>
- Test Voice—Plays a short message allowing you to verify
- that the audio system is working and the volume settings
- are reasonable
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Enable</term>
+ <listitem>
+ <para>Turns all voice announcements on and off</para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Test Voice</term>
+ <listitem>
+ <para>
+ Plays a short message allowing you to verify
+ that the audio system is working and the volume settings
+ are reasonable
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
</section>
<section>
<title>Log Directory</title>
</section>
<section>
<title>Configure Groundstation</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="configure-groundstation.png" width="3in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
Select this button and then select a TeleDongle Device from the list provided.
</para>
(self programming). Please read the directions for flashing
devices in the Updating Device Firmware chapter below.
</para>
- <para>
- 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
- with the product name and firmware version. The file selector
- will start in the directory containing the firmware included
- with the AltosUI package. Navigate to the directory containing
- the desired firmware if it isn't there.
- </para>
- <para>
- Next, a small dialog containing the device serial number and
- RF calibration values should appear. If these values are
- incorrect (possibly due to a corrupted image in the device),
- enter the correct values here.
- </para>
- <para>
- Finally, a dialog containing a progress bar will follow the
- programming process.
- </para>
- <para>
- When programming is complete, the target device will
- 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>
<title>Fire Igniter</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="fire-igniter.png" width="1in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
This activates the igniter circuits in the flight computer to help
test recovery systems deployment. Because this command can operate
</section>
<section>
<title>Scan Channels</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="scan-channels.png" width="2.75in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
This listens for telemetry packets on all of the configured
frequencies, displaying information about each device it
</section>
<section>
<title>Load Maps</title>
+ <informalfigure>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="load-maps.png" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
<para>
Before heading out to a new launch site, you can use this to
load satellite images in case you don't have internet
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>
+ <informalfigure>
+ <mediaobject id="TeleMegaTemplate">
+ <imageobject>
+ <imagedata format="SVG" fileref="telemega-outline.svg"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
</section>
<section>
<title>TeleMetrum template</title>
TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
mounting holes are sized for use with 4-40 or M3 screws.
</para>
- <mediaobject id="TeleMetrumTemplate">
- <imageobject>
- <imagedata format="SVG" fileref="telemetrum.svg"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject id="TeleMetrumTemplate">
+ <imageobject>
+ <imagedata format="SVG" fileref="telemetrum.svg"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
</section>
<section>
<title>TeleMini v2/EasyMini template</title>
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>
+ <informalfigure>
+ <mediaobject id="MiniTemplate">
+ <imageobject>
+ <imagedata format="SVG" fileref="easymini-outline.svg"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
</section>
<section>
<title>TeleMini v1 template</title>
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>
- <mediaobject id="TeleMiniTemplate">
- <imageobject>
- <imagedata format="SVG" fileref="telemini.svg"/>
- </imageobject>
- </mediaobject>
+ <informalfigure>
+ <mediaobject id="TeleMiniTemplate">
+ <imageobject>
+ <imagedata format="SVG" fileref="telemini.svg"/>
+ </imageobject>
+ </mediaobject>
+ </informalfigure>
</section>
</appendix>
<appendix>
projects / fw / altos / blobdiff