"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
<book>
<title>The Altus Metrum System</title>
- <subtitle>An Owner's Manual for TeleMetrum, TeleMini, TeleDongle and TeleBT Devices</subtitle>
+ <subtitle>An Owner's Manual for Altus Metrum Rocketry Electronics</subtitle>
<bookinfo>
<author>
<firstname>Bdale</firstname>
</revhistory>
</bookinfo>
<dedication>
- <title>Acknowledgements</title>
+ <title>Acknowledgments</title>
<para>
- Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing "The
+ Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
- Kit" which formed the basis of the original Getting Started chapter
+ Kit” which formed the basis of the original Getting Started chapter
in this manual. Bob was one of our first customers for a production
TeleMetrum, and his continued enthusiasm and contributions
are immensely gratifying and highly appreciated!
<para>
The first device created for our community was TeleMetrum, a dual
deploy altimeter with fully integrated GPS and radio telemetry
- as standard features, and a "companion interface" that will
+ as standard features, and a “companion interface” that will
support optional capabilities in the future. The latest version
of TeleMetrum, v2.0, has all of the same features but with
improved sensors and radio to offer increased performance.
<para>
For a slightly more portable ground station experience that also
provides direct rocket recovery support, TeleBT offers flight
- monitoring and data logging using a Bluetooth connection between
- the receiver and an Android device that has the Altos Droid
+ monitoring and data logging using a Bluetooth™ connection between
+ the receiver and an Android device that has the AltosDroid
application installed from the Google Play store.
</para>
<para>
<title>Getting Started</title>
<para>
The first thing to do after you check the inventory of parts in your
- "starter kit" is to charge the battery.
+ “starter kit” is to charge the battery.
</para>
<para>
For TeleMetrum and TeleMega, the battery can be charged by plugging it into the
<para>
On TeleMetrum v1 boards, when the GPS chip is initially
searching for satellites, TeleMetrum will consume more current
- than it can pull from the USB port, so the battery must be
+ than it pulls from the USB port, so the battery must be
attached in order to get satellite lock. Once GPS is locked,
the current consumption goes back down enough to enable charging
while running. So it's a good idea to fully charge the battery
and EasyMini, anything supplying between 4 and 12 volts should
work fine (like a standard 9V battery), but if you are planning
to fire pyro charges, ground testing is required to verify that
- the battery supplies enough current.
+ the battery supplies enough current to fire your chosen e-matches.
</para>
<para>
The other active device in the starter kit is the TeleDongle USB to
RF interface. If you plug it in to your Mac or Linux computer it should
- "just work", showing up as a serial port device. Windows systems need
+ “just work”, showing up as a serial port device. Windows systems need
driver information that is part of the AltOS download to know that the
existing USB modem driver will work. We therefore recommend installing
our software before plugging in TeleDongle if you are using a Windows
- computer. If you are using Linux and are having problems, try moving
- to a fresher kernel (2.6.33 or newer), as the USB serial driver had
- ugly bugs in some earlier versions.
+ computer. If you are using an older version of Linux and are having
+ problems, try moving to a fresher kernel (2.6.33 or newer).
</para>
<para>
- Next you should obtain and install the AltOS software. These
- include the AltosUI ground station program, current firmware
+ Next you should obtain and install the AltOS software. The AltOS
+ distribution includes the AltosUI ground station program, current
+ firmware
images for all of the hardware, and a number of standalone
utilities that are rarely needed. Pre-built binary packages are
available for Linux, Microsoft Windows, and recent MacOSX
<ulink url="http://altusmetrum.org/AltOS"/>.
</para>
<para>
- If you're using a TeleBT instead of the TeleDongle, you'll want
- to go install the Altos Droid application from the Google Play
- store. You don't need a data plan to use Altos Droid, but
+ If you're using a TeleBT instead of the TeleDongle, you'll want to
+ install the AltosDroid application from the Google Play store on an
+ Android device. You don't need a data plan to use AltosDroid, but
without network access, the Map view will be less useful as it
won't contain any map data. You can also use TeleBT connected
over USB with your laptop computer; it acts exactly like a
The barometric sensors used on all of our flight computers are
sensitive to sunlight. In normal mounting situations, the baro sensor
and all of the other surface mount components
- are "down" towards whatever the underlying mounting surface is, so
- this is not normally a problem. Please consider this, though, when
- designing an installation, for example, in an air-frame with a
- see-through plastic payload bay. It is particularly important to
+ are “down” towards whatever the underlying mounting surface is, so
+ this is not normally a problem. Please consider this when designing an
+ installation in an air-frame with a see-through plastic payload bay. It
+ is particularly important to
consider this with TeleMini v1.0, both because the baro sensor is on the
- "top" of the board, and because many model rockets with payload bays
+ “top” of the board, and because many model rockets with payload bays
use clear plastic for the payload bay! Replacing these with an opaque
cardboard tube, painting them, or wrapping them with a layer of masking
tape are all reasonable approaches to keep the sensor out of direct
sunlight.
</para>
<para>
- The barometric sensor sampling port must be able to "breathe",
+ The barometric sensor sampling port must be able to “breathe”,
both by not being covered by foam or tape or other materials that might
directly block the hole on the top of the sensor, and also by having a
suitable static vent to outside air.
</para>
<table frame='all'>
<title>Altus Metrum Electronics</title>
+ <?dbfo keep-together="always"?>
<tgroup cols='8' align='center' colsep='1' rowsep='1'>
<colspec align='center' colwidth='*' colname='Device'/>
<colspec align='center' colwidth='*' colname='Barometer'/>
</table>
<table frame='all'>
<title>Altus Metrum Boards</title>
+ <?dbfo keep-together="always"?>
<tgroup cols='6' align='center' colsep='1' rowsep='1'>
<colspec align='center' colwidth='*' colname='Device'/>
<colspec align='center' colwidth='*' colname='Connectors'/>
</para></entry>
<entry>½ inch (1.27cm)</entry>
<entry>1½ inch (3.81cm)</entry>
- <entry>18mm aiframe</entry>
+ <entry>18mm coupler</entry>
</row>
<row>
<entry>TeleMini <?linebreak?>v2.0</entry>
</section>
<section>
<title>TeleMetrum</title>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
<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
small in diameter may require some creativity in mounting and wiring
to succeed! The presence of an accelerometer means TeleMetrum should
- be aligned along the flight axis of the airframe, and by default the 1/4
+ be aligned along the flight axis of the airframe, and by default the ¼
wave UHF wire antenna should be on the nose-cone end of the board. The
antenna wire is about 7 inches long, and wiring for a power switch and
the e-matches for apogee and main ejection charges depart from the
- fin can end of the board, meaning an ideal "simple" avionics
+ fin can end of the board, meaning an ideal “simple” avionics
bay for TeleMetrum should have at least 10 inches of interior length.
</para>
</section>
<section>
<title>TeleMini</title>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
<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
wires for the power switch are connected to holes in the
middle of the board. Screw terminals for the e-matches for
apogee and main ejection charges depart from the other end of
- the board, meaning an ideal "simple" avionics bay for TeleMini
+ 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>
<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>
<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
- screw terminals match TeleMini, so you can swap an EasyMini
- with a TeleMini.
+ screw terminals match TeleMini v2.0, so you can easily swap between
+ EasyMini and TeleMini.
</para>
</section>
<section>
<title>TeleMega</title>
+ <mediaobject>
+ <imageobject>
+ <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
+ </imageobject>
+ </mediaobject>
<para>
TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
designed to easily fit in a 38mm coupler. Like TeleMetrum,
</para>
<table frame='all'>
<title>Data Storage on Altus Metrum altimeters</title>
+ <?dbfo keep-together="always"?>
<tgroup cols='4' align='center' colsep='1' rowsep='1'>
<colspec align='center' colwidth='*' colname='Device'/>
<colspec align='center' colwidth='*' colname='Bytes per sample'/>
apogee and main ejection charges. All Altus Metrum products are
designed for use with single-cell batteries with 3.7 volts
nominal. TeleMini v2.0 and EasyMini may also be used with other
- batteries as long as they supply between 4 and 12 volts.
+ batteries as long as they supply between 4 and 12 volts.
</para>
<para>
The battery connectors are a standard 2-pin JST connector and
to fire ejection charges. This works marvelously with standard
low-current e-matches like the J-Tek from MJG Technologies, and with
Quest Q2G2 igniters. However, if you want or need to use a separate
- pyro battery, check out the "External Pyro Battery" section in this
+ pyro battery, check out the “External Pyro Battery” section in this
manual for instructions on how to wire that up. The altimeters are
designed to work with an external pyro battery of no more than 15 volts.
adequate. However, if you are installing in a carbon-fiber or
metal electronics bay which is opaque to RF signals, you may need to
use off-board external antennas instead. In this case, you can
- order an altimeter with an SMA connector for the UHF antenna
- connection, and, on TeleMetrum v1, you can unplug the integrated GPS
+ replace the stock UHF antenna wire with an edge-launched SMA connector,
+ and, on TeleMetrum v1, you can unplug the integrated GPS
antenna and select an appropriate off-board GPS antenna with
cable terminating in a U.FL connector.
</para>
<title>Firmware Modes </title>
<para>
The AltOS firmware build for the altimeters has two
- fundamental modes, "idle" and "flight". Which of these modes
+ fundamental modes, “idle” and “flight”. Which of these modes
the firmware operates in is determined at start up time. For
- TeleMetrum, the mode is controlled by the orientation of the
+ TeleMetrum and TeleMega, 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
- TeleMetrum assumes it's on a rail or rod being prepared for
+ power is switched on. If the rocket is “nose up”, then
+ the flight computer assumes it's on a rail or rod being prepared for
launch, so the firmware chooses flight mode. However, if the
rocket is more or less horizontal, the firmware instead enters
idle mode. Since TeleMini v2.0 and EasyMini don't have an
- accelerometer we can use to determine orientation, "idle" mode
+ accelerometer we can use to determine orientation, “idle” mode
is selected if the board is connected via USB to a computer,
- otherwise the board enters "flight" mode. TeleMini v1.0
- selects "idle" mode if it receives a command packet within the
+ otherwise the board enters “flight” mode. TeleMini v1.0
+ selects “idle” mode if it receives a command packet within the
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
+ (“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.
</para>
<para>
- In flight or "pad" mode, the altimeter engages the flight
+ 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)
+ 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
+ apogee and main continuity, and one longer “brap” sound or
rapidly alternating lights 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.
</para>
<para>
- If idle mode is entered, you will hear an audible "di-dit" or
- see two short flashes ("I" for idle), and the flight state
+ If idle mode is entered, you will hear an audible “di-dit” or
+ see two short flashes (“I” for idle), and the flight state
machine is disengaged, thus no ejection charges will fire.
The altimeters also listen for the radio link when in idle
mode for requests sent via TeleDongle. Commands can be issued
ground testing pyro charges.
</para>
<para>
- One "neat trick" of particular value when TeleMetrum or TeleMega are used with
+ 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
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
</para>
<para>
The flight computers provide backup power to the GPS chip any time a
- battery is connected. This allows the receiver to "warm start" on
+ battery is connected. This allows the receiver to “warm start” on
the launch rail much faster than if every power-on were a GPS
- "cold start". In typical operations, powering up
+ “cold start”. In typical operations, powering up
on the flight line in idle mode while performing final air-frame
preparation will be sufficient to allow the GPS receiver to cold
start and acquire lock. Then the board can be powered down during
and additional pyro event conditions
to respond to changing launch conditions. You can also
'reboot' the altimeter. Use this to remotely enable the
- flight computer by turning TeleMetrum or TeleMega on in "idle" mode,
+ flight computer by turning TeleMetrum or TeleMega on in “idle” mode,
then once the air-frame is oriented for launch, you can
reboot the altimeter and have it restart in pad mode
without having to climb the scary ladder.
</para>
<para>
Just prep the rocket for flight, then power up the altimeter
- in "idle" mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
+ in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
selecting the Configure Altimeter tab for TeleMini). This will cause
- the firmware to go into "idle" mode, in which the normal flight
+ the firmware to go into “idle” mode, in which the normal flight
state machine is disabled and charges will not fire without
manual command. You can now command the altimeter to fire the apogee
or main charges from a safe distance using your computer and
<section>
<title>Radio Link </title>
<para>
- The chip our boards are based on incorporates an RF transceiver, but
+ Our flight computers all incorporate an RF transceiver, but
it's not a full duplex system... each end can only be transmitting or
receiving at any given moment. So we had to decide how to manage the
link.
</para>
<para>
By design, the altimeter firmware listens for the radio link when
- it's in "idle mode", which
+ it's in “idle mode”, which
allows us to use the radio link to configure the rocket, do things like
ejection tests, and extract data after a flight without having to
- crack open the air-frame. However, when the board is in "flight
- mode", the altimeter only
+ crack open the air-frame. However, when the board is in “flight
+ mode”, the altimeter only
transmits and doesn't listen at all. That's because we want to put
ultimate priority on event detection and getting telemetry out of
the rocket through
performance in higher altitude flights!
</para>
<para>
- TeleMetrum v2.0 and TeleMega can send APRS if desired, the
+ 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
<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
+ 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.
</para>
<para>
Altus Metrum boards support radio frequencies in the 70cm
band. By default, the configuration interface provides a
- list of 10 "standard" frequencies in 100kHz channels starting at
+ list of 10 “standard” frequencies in 100kHz channels starting at
434.550MHz. However, the firmware supports use of
any 50kHz multiple within the 70cm band. At any given
launch, we highly recommend coordinating when and by whom each
the available storage, future flights will not get logged
until you erase some of the stored ones.
</para>
+ <para>
+ Even though our flight computers (except TeleMini v1.0) can store
+ multiple flights, we strongly recommend downloading and saving
+ flight data after each flight.
+ </para>
</section>
<section>
<title>Ignite Mode</title>
Instead of firing one charge at apogee and another charge at
a fixed height above the ground, you can configure the
altimeter to fire both at apogee or both during
- descent. This was added to support an airframe that has two
- altimeters, one in the fin can and one in the
- nose.
+ descent. This was added to support an airframe Bdale designed that
+ had two altimeters, one in the fin can and one in the nose.
</para>
<para>
Providing the ability to use both igniters for apogee or
</para>
</section>
<section>
- <title>Pyro Channels</title>
+ <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
system. Because this value is computed by integrating
rate gyros, it gets progressively less accurate as the
flight goes on. It should have an accumulated error of
- less than .2°/second (after 10 seconds of flight, the
+ less than 0.2°/second (after 10 seconds of flight, the
error should be less than 2°).
</para>
<para>
</listitem>
<listitem>
<para>
- Main. The rocket is still descending, and is blow
+ Main. The rocket is still descending, and is below
the Main altitude
</para>
</listitem>
<para>
You can select a state to limit when the pyro channel
may activate; note that the check is based on when the
- rocket transitions *into* the state, and so checking for
- 'greater than Boost' means that the rocket is currently
- in boost state.
+ rocket transitions <emphasis>into</emphasis> the state, and so checking for
+ “greater than Boost” means that the rocket is currently
+ in boost or some later state.
</para>
<para>
When a motor burns out, the rocket enters either Fast or
interacting with the Altus Metrum product family. AltosUI can
monitor telemetry data, configure devices and many other
tasks. The primary interface window provides a selection of
- buttons, one for each major activity in the system. This manual
- is split into chapters, each of which documents one of the tasks
+ buttons, one for each major activity in the system. This chapter
+ is split into sections, each of which documents one of the tasks
provided from the top-level toolbar.
</para>
<section>
rocket is ready for flight. The first elements include red/green
indicators, if any of these is red, you'll want to evaluate
whether the rocket is ready to launch:
- <itemizedlist>
- <listitem>
- <para>
- Battery Voltage. This indicates whether the Li-Po battery
- powering the TeleMetrum has sufficient charge to last for
- the duration of the flight. A value of more than
- 3.7V is required for a 'GO' status.
- </para>
- </listitem>
- <listitem>
- <para>
- Apogee Igniter Voltage. This indicates whether the apogee
- igniter has continuity. If the igniter has a low
- resistance, then the voltage measured here will be close
- to the Li-Po battery voltage. A value greater than 3.2V is
- required for a 'GO' status.
- </para>
- </listitem>
- <listitem>
- <para>
- Main Igniter Voltage. This indicates whether the main
- igniter has continuity. If the igniter has a low
- resistance, then the voltage measured here will be close
- to the Li-Po battery voltage. A value greater than 3.2V is
- required for a 'GO' status.
- </para>
- </listitem>
- <listitem>
- <para>
- On-board Data Logging. This indicates whether there is
- space remaining on-board to store flight data for the
- upcoming flight. If you've downloaded data, but failed
- to erase flights, there may not be any space
- left. TeleMetrum can store multiple flights, depending
- on the configured maximum flight log size. TeleMini
- stores only a single flight, so it will need to be
- downloaded and erased after each flight to capture
- data. This only affects on-board flight logging; the
- altimeter will still transmit telemetry and fire
- ejection charges at the proper times.
- </para>
- </listitem>
- <listitem>
- <para>
- GPS Locked. For a TeleMetrum device, this indicates whether the GPS receiver is
- currently able to compute position information. GPS requires
- at least 4 satellites to compute an accurate position.
- </para>
- </listitem>
- <listitem>
- <para>
- GPS Ready. For a TeleMetrum device, this indicates whether GPS has reported at least
- 10 consecutive positions without losing lock. This ensures
- that the GPS receiver has reliable reception from the
- satellites.
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Battery Voltage</term>
+ <listitem>
+ <para>
+ This indicates whether the Li-Po battery powering the
+ flight computer has sufficient charge to last for
+ the duration of the flight. A value of more than
+ 3.8V is required for a 'GO' status.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Apogee Igniter Voltage</term>
+ <listitem>
+ <para>
+ This indicates whether the apogee
+ igniter has continuity. If the igniter has a low
+ resistance, then the voltage measured here will be close
+ to the Li-Po battery voltage. A value greater than 3.2V is
+ required for a 'GO' status.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Main Igniter Voltage</term>
+ <listitem>
+ <para>
+ This indicates whether the main
+ igniter has continuity. If the igniter has a low
+ resistance, then the voltage measured here will be close
+ to the Li-Po battery voltage. A value greater than 3.2V is
+ required for a 'GO' status.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>On-board Data Logging</term>
+ <listitem>
+ <para>
+ This indicates whether there is
+ space remaining on-board to store flight data for the
+ upcoming flight. If you've downloaded data, but failed
+ to erase flights, there may not be any space
+ left. Most of our flight computers can store multiple
+ flights, depending on the configured maximum flight log
+ size. TeleMini v1.0 stores only a single flight, so it
+ will need to be
+ downloaded and erased after each flight to capture
+ data. This only affects on-board flight logging; the
+ altimeter will still transmit telemetry and fire
+ ejection charges at the proper times even if the flight
+ data storage is full.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>GPS Locked</term>
+ <listitem>
+ <para>
+ For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
+ currently able to compute position information. GPS requires
+ at least 4 satellites to compute an accurate position.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>GPS Ready</term>
+ <listitem>
+ <para>
+ For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
+ 10 consecutive positions without losing lock. This ensures
+ that the GPS receiver has reliable reception from the
+ satellites.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
</para>
<para>
The Launchpad tab also shows the computed launch pad position
flight.
</para>
<para>
- The current latitude and longitude reported by the TeleMetrum GPS are
+ The current latitude and longitude reported by the GPS are
also shown. Note that under high acceleration, these values
may not get updated as the GPS receiver loses position
fix. Once the rocket starts coasting, the receiver should
be below 10m/s when under the main parachute in a dual-deploy flight.
</para>
<para>
- For TeleMetrum altimeters, you can locate the rocket in the
+ With GPS-equipped flight computers, you can locate the rocket in the
sky using the elevation and bearing information to figure
out where to look. Elevation is in degrees above the
horizon. Bearing is reported in degrees relative to true
unit and have that compute a track to the landing location.
</para>
<para>
- Both TeleMini and TeleMetrum will continue to transmit RDF
+ Our flight computers will continue to transmit RDF
tones after landing, allowing you to locate the rocket by
following the radio signal if necessary. You may need to get
away from the clutter of the flight line, or even get up on
during the flight are displayed for your admiring observers.
The accuracy of these immediate values depends on the quality
of your radio link and how many packets were received.
- Recovering the on-board data after flight will likely yield
+ Recovering the on-board data after flight may yield
more precise results.
</para>
<para>
system can handle, and is not subject to radio drop-outs. As
such, it provides a more complete and precise record of the
flight. The 'Save Flight Data' button allows you to read the
- flash memory and write it to disk. As TeleMini has only a barometer, it
- records data at the same rate as the telemetry signal, but there will be
- no data lost due to telemetry drop-outs.
+ flash memory and write it to disk.
</para>
<para>
Clicking on the 'Save Flight Data' button brings up a list of
- connected TeleMetrum and TeleDongle devices. If you select a
- TeleMetrum device, the flight data will be downloaded from that
+ connected flight computers and TeleDongle devices. If you select a
+ flight computer, the flight data will be downloaded from that
device directly. If you select a TeleDongle device, flight data
- will be downloaded from an altimeter over radio link via the
+ will be downloaded from a flight computer over radio link via the
specified TeleDongle. See the chapter on Controlling An Altimeter
Over The Radio Link for more information.
</para>
flash memory.
</para>
<para>
- Once a flight record is selected, a window with four tabs is
- opened. The first tab contains a graph with acceleration
- (blue), velocity (green) and altitude (red) of the flight,
- measured in metric units. The apogee(yellow) and main(magenta)
- igniter voltages are also displayed; high voltages indicate
- continuity, low voltages indicate open circuits. The second
- tab lets you configure which data to show in the graph. The
- third contains some basic flight statistics while the fourth
- has a map with the ground track of the flight displayed.
+ 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>
<para>
The graph can be zoomed into a particular area by clicking and
<para>
This tool takes the raw data files and makes them available for
external analysis. When you select this button, you are prompted to
- select a flight
- data file (either .eeprom or .telem will do, remember that
- .eeprom files contain higher resolution and more continuous
- data). Next, a second dialog appears which is used to select
+ select a flight data file, which can be either a .eeprom or .telem.
+ The .eeprom files contain higher resolution and more continuous data,
+ while .telem files contain receiver signal strength information.
+ Next, a second dialog appears which is used to select
where to write the resulting file. It has a selector to choose
between CSV and KML file formats.
</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>
<para>
At the bottom of the dialog, there are four buttons:
</para>
- <itemizedlist>
- <listitem>
- <para>
- Save. This writes any changes to the
- configuration parameter block in flash memory. If you don't
- press this button, any changes you make will be lost.
- </para>
- </listitem>
- <listitem>
- <para>
- Reset. This resets the dialog to the most recently saved values,
- erasing any changes you have made.
- </para>
- </listitem>
- <listitem>
- <para>
- Reboot. This reboots the device. Use this to
- switch from idle to pad mode by rebooting once the rocket is
- oriented for flight, or to confirm changes you think you saved
- are really saved.
- </para>
- </listitem>
- <listitem>
- <para>
- Close. This closes the dialog. Any unsaved changes will be
- lost.
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Save</term>
+ <listitem>
+ <para>
+ This writes any changes to the
+ configuration parameter block in flash memory. If you don't
+ press this button, any changes you make will be lost.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Reset</term>
+ <listitem>
+ <para>
+ This resets the dialog to the most recently saved values,
+ erasing any changes you have made.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Reboot</term>
+ <listitem>
+ <para>
+ This reboots the device. Use this to
+ switch from idle to pad mode by rebooting once the rocket is
+ oriented for flight, or to confirm changes you think you saved
+ are really saved.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Close</term>
+ <listitem>
+ <para>
+ This closes the dialog. Any unsaved changes will be
+ lost.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
<para>
The rest of the dialog contains the parameters to be configured.
</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
- 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>
- <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
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>
computers. This configuration parameter allows the two
channels to be used in different configurations.
</para>
- <itemizedlist>
- <listitem>
- <para>
- Dual Deploy. This is the usual mode of operation; the
- 'apogee' channel is fired at apogee and the 'main'
- channel at the height above ground specified by the
- 'Main Deploy Altitude' during descent.
- </para>
- </listitem>
- <listitem>
- <para>
- Redundant Apogee. This fires both channels at
- apogee, the 'apogee' channel first followed after a two second
- delay by the 'main' channel.
- </para>
- </listitem>
- <listitem>
- <para>
- Redundant Main. This fires both channels at the
- height above ground specified by the Main Deploy
- Altitude setting during descent. The 'apogee'
- channel is fired first, followed after a two second
- delay by the 'main' channel.
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Dual Deploy</term>
+ <listitem>
+ <para>
+ This is the usual mode of operation; the
+ 'apogee' channel is fired at apogee and the 'main'
+ channel at the height above ground specified by the
+ 'Main Deploy Altitude' during descent.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Redundant Apogee</term>
+ <listitem>
+ <para>
+ This fires both channels at
+ apogee, the 'apogee' channel first followed after a two second
+ delay by the 'main' channel.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Redundant Main</term>
+ <listitem>
+ <para>
+ This fires both channels at the
+ height above ground specified by the Main Deploy
+ Altitude setting during descent. The 'apogee'
+ channel is fired first, followed after a two second
+ delay by the 'main' channel.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
</section>
<section>
<title>Pad Orientation</title>
<para>
- Because it includes an accelerometer, TeleMetrum and
+ Because they include accelerometers, TeleMetrum and
TeleMega are sensitive to the orientation of the board. By
- default, it expects the antenna end to point forward. This
+ 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.
</para>
- <itemizedlist>
- <listitem>
- <para>
- Antenna Up. In this mode, the antenna end of the
- TeleMetrum board must point forward, in line with the
- expected flight path.
- </para>
- </listitem>
- <listitem>
- <para>
- Antenna Down. In this mode, the antenna end of the
- TeleMetrum board must point aft, in line with the
- expected flight path.
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Antenna Up</term>
+ <listitem>
+ <para>
+ In this mode, the antenna end of the
+ flight computer must point forward, in line with the
+ expected flight path.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Antenna Down</term>
+ <listitem>
+ <para>
+ In this mode, the antenna end of the
+ flight computer must point aft, in line with the
+ expected flight path.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
+ </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. See the Pyro Channels
+ section in the System Operation chapter above for a
+ description of these parameters.
+ </para>
+ <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>
<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>
At the bottom of the dialog, there are three buttons:
</para>
- <itemizedlist>
- <listitem>
- <para>
- Save. This writes any changes to the
- local Java preferences file. If you don't
- press this button, any changes you make will be lost.
- </para>
- </listitem>
- <listitem>
- <para>
- Reset. This resets the dialog to the most recently saved values,
- erasing any changes you have made.
- </para>
- </listitem>
- <listitem>
- <para>
- Close. This closes the dialog. Any unsaved changes will be
- lost.
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Save</term>
+ <listitem>
+ <para>
+ This writes any changes to the
+ local Java preferences file. If you don't
+ press this button, any changes you make will be lost.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Reset</term>
+ <listitem>
+ <para>
+ This resets the dialog to the most recently saved values,
+ erasing any changes you have made.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Close</term>
+ <listitem>
+ <para>
+ This closes the dialog. Any unsaved changes will be
+ lost.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
<para>
The rest of the dialog contains the parameters to be configured.
</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 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.
</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>
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>
<title>Fire Igniter</title>
<para>
- This activates the igniter circuits in TeleMetrum to help test
- recovery systems deployment. Because this command can operate
+ This activates the igniter circuits in the flight computer to help
+ test recovery systems deployment. Because this command can operate
over the Packet Command Link, you can prepare the rocket as
for flight and then test the recovery system without needing
to snake wires inside the air-frame.
</para>
<para>
Selecting the 'Fire Igniter' button brings up the usual device
- selection dialog. Pick the desired TeleDongle or TeleMetrum
- device. This brings up another window which shows the current
- continuity test status for both apogee and main charges.
+ selection dialog. Pick the desired device. This brings up another
+ window which shows the current continuity test status for both
+ apogee and main charges.
</para>
<para>
Next, select the desired igniter to fire. This will enable the
There's a drop-down menu of launch sites we know about; if
your favorites aren't there, please let us know the lat/lon
and name of the site. The contents of this list are actually
- downloaded at run-time, so as new sites are sent in, they'll
- get automatically added to this list.
+ downloaded from our server at run-time, so as new sites are sent
+ in, they'll get automatically added to this list.
</para>
<para>
If the launch site isn't in the list, you can manually enter the lat/lon values
<title>Monitor Idle</title>
<para>
This brings up a dialog similar to the Monitor Flight UI,
- except it works with the altimeter in "idle" mode by sending
+ 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>
AltosDroid provides the same flight monitoring capabilities as
AltosUI, but runs on Android devices and is designed to connect
- to a TeleBT receiver over Bluetooth™. Altos Droid monitors
+ to a TeleBT receiver over Bluetooth™. AltosDroid monitors
telemetry data, logging it to internal storage in the Android
device, and presents that data in a UI the same way the 'Monitor
Flight' window does in AltosUI.
<section>
<title>Installing AltosDroid</title>
<para>
- AltosDroid is included in the Google Play store. To install
- it on your Android device, open open the Google Play Store
- application and search for "altosdroid". Make sure you don't
- have a space between "altos" and "droid" or you probably won't
+ AltosDroid is available from the Google Play store. To install
+ it on your Android device, open the Google Play Store
+ application and search for “altosdroid”. Make sure you don't
+ have a space between “altos” and “droid” or you probably won't
find what you want. That should bring you to the right page
from which you can download and install the application.
</para>
</para>
</section>
<section>
- <title>Altos Droid Flight Monitoring</title>
+ <title>AltosDroid Flight Monitoring</title>
<para>
- Altos Droid is designed to mimic the AltosUI flight monitoring
+ AltosDroid is designed to mimic the AltosUI flight monitoring
display, providing separate tabs for each stage of your rocket
flight along with a tab containing a map of the local area
with icons marking the current location of the altimeter and
rocket is ready for flight. The first elements include red/green
indicators, if any of these is red, you'll want to evaluate
whether the rocket is ready to launch:
- <itemizedlist>
- <listitem>
- <para>
- Battery Voltage. This indicates whether the Li-Po battery
- powering the TeleMetrum has sufficient charge to last for
- the duration of the flight. A value of more than
- 3.7V is required for a 'GO' status.
- </para>
- </listitem>
- <listitem>
- <para>
- Apogee Igniter Voltage. This indicates whether the apogee
- igniter has continuity. If the igniter has a low
- resistance, then the voltage measured here will be close
- to the Li-Po battery voltage. A value greater than 3.2V is
- required for a 'GO' status.
- </para>
- </listitem>
- <listitem>
- <para>
- Main Igniter Voltage. This indicates whether the main
- igniter has continuity. If the igniter has a low
- resistance, then the voltage measured here will be close
- to the Li-Po battery voltage. A value greater than 3.2V is
- required for a 'GO' status.
- </para>
- </listitem>
- <listitem>
- <para>
- On-board Data Logging. This indicates whether there is
- space remaining on-board to store flight data for the
- upcoming flight. If you've downloaded data, but failed
- to erase flights, there may not be any space
- left. TeleMetrum can store multiple flights, depending
- on the configured maximum flight log size. TeleMini
- stores only a single flight, so it will need to be
- downloaded and erased after each flight to capture
- data. This only affects on-board flight logging; the
- altimeter will still transmit telemetry and fire
- ejection charges at the proper times.
- </para>
- </listitem>
- <listitem>
- <para>
- GPS Locked. For a TeleMetrum device, this indicates whether the GPS receiver is
- currently able to compute position information. GPS requires
- at least 4 satellites to compute an accurate position.
- </para>
- </listitem>
- <listitem>
- <para>
- GPS Ready. For a TeleMetrum device, this indicates whether GPS has reported at least
- 10 consecutive positions without losing lock. This ensures
- that the GPS receiver has reliable reception from the
- satellites.
- </para>
- </listitem>
- </itemizedlist>
+ <variablelist>
+ <varlistentry>
+ <term>Battery Voltage</term>
+ <listitem>
+ <para>
+ This indicates whether the Li-Po battery
+ powering the TeleMetrum has sufficient charge to last for
+ the duration of the flight. A value of more than
+ 3.8V is required for a 'GO' status.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Apogee Igniter Voltage</term>
+ <listitem>
+ <para>
+ This indicates whether the apogee
+ igniter has continuity. If the igniter has a low
+ resistance, then the voltage measured here will be close
+ to the Li-Po battery voltage. A value greater than 3.2V is
+ required for a 'GO' status.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>Main Igniter Voltage</term>
+ <listitem>
+ <para>
+ This indicates whether the main
+ igniter has continuity. If the igniter has a low
+ resistance, then the voltage measured here will be close
+ to the Li-Po battery voltage. A value greater than 3.2V is
+ required for a 'GO' status.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>On-board Data Logging</term>
+ <listitem>
+ <para>
+ This indicates whether there is
+ space remaining on-board to store flight data for the
+ upcoming flight. If you've downloaded data, but failed
+ to erase flights, there may not be any space
+ left. TeleMetrum can store multiple flights, depending
+ on the configured maximum flight log size. TeleMini
+ stores only a single flight, so it will need to be
+ downloaded and erased after each flight to capture
+ data. This only affects on-board flight logging; the
+ altimeter will still transmit telemetry and fire
+ ejection charges at the proper times.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>GPS Locked</term>
+ <listitem>
+ <para>
+ For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
+ currently able to compute position information. GPS requires
+ at least 4 satellites to compute an accurate position.
+ </para>
+ </listitem>
+ </varlistentry>
+ <varlistentry>
+ <term>GPS Ready</term>
+ <listitem>
+ <para>
+ For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
+ 10 consecutive positions without losing lock. This ensures
+ that the GPS receiver has reliable reception from the
+ satellites.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
</para>
<para>
The Launchpad tab also shows the computed launch pad position
<section>
<title>Downloading Flight Logs</title>
<para>
- Altos Droid always saves every bit of telemetry data it
+ AltosDroid always saves every bit of telemetry data it
receives. To download that to a computer for use with AltosUI,
simply remove the SD card from your Android device, or connect
your device to your computer's USB port and browse the files
<section>
<title>In the Rocket</title>
<para>
- In the rocket itself, you just need a <ulink url="http://www.altusmetrum.org/TeleMetrum/">TeleMetrum</ulink> or
- <ulink url="http://www.altusmetrum.org/TeleMini/">TeleMini</ulink> board and
+ 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 for hours.
- A 110mAh battery weighs less than a triple A battery and will run a TeleMetrum for
- a few hours, or a TeleMini for much (much) longer.
+ run a TeleMetrum or TeleMega for hours.
+ A 110mAh battery weighs less than a triple A battery and is a good
+ choice for use with TeleMini.
</para>
<para>
- By default, we ship the altimeters 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 choose to have an SMA connector
- installed so that you can run a coaxial cable to an antenna mounted
- elsewhere in the rocket.
+ By default, we ship 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
+ antenna mounted elsewhere in the rocket. However, note that the
+ GPS antenna is fixed on all current products, so you really want
+ to install the flight computer in a bay made of RF-transparent
+ materials if at all possible.
</para>
</section>
<section>
Linux, Mac OS and Windows. There's also a suite of C tools
for Linux which can perform most of the same tasks.
</para>
+ <para>
+ Alternatively, a TeleBT attached with an SMA to BNC adapter at the
+ feed point of a hand-held yagi used in conjunction with an Android
+ device running AltosDroid makes an outstanding ground station.
+ </para>
<para>
After the flight, you can use the radio link to extract the more detailed data
logged in either TeleMetrum or TeleMini devices, or you can use a mini USB cable to plug into the
of digital cameras and other modern electronic stuff will work fine.
</para>
<para>
- If your TeleMetrum-equipped rocket lands out of sight, you may enjoy having a hand-held GPS
- receiver, so that you can put in a way-point for the last reported rocket
- position before touch-down. This makes looking for your rocket a lot like
- Geo-Caching... just go to the way-point and look around starting from there.
+ If your rocket lands out of sight, you may enjoy having a hand-held
+ GPS receiver, so that you can put in a way-point for the last
+ reported rocket position before touch-down. This makes looking for
+ your rocket a lot like Geo-Caching... just go to the way-point and
+ look around starting from there. AltosDroid on an Android device
+ with GPS receiver works great for this, too!
</para>
<para>
- You may also enjoy having a ham radio "HT" that covers the 70cm band... you
+ You may also enjoy having a ham radio “HT” that covers the 70cm band... you
can use that with your antenna to direction-find the rocket on the ground
the same way you can use a Walston or Beeline tracker. This can be handy
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
- and Bdale both currently own and use the Yaesu VX-7R at launches.
+ currently uses a Yaesu VX-7R, Bdale has a Baofung UV-5R
+ which isn't as nice, but was a whole lot cheaper.
</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>
- In the future, we intend to offer "companion boards" for the rocket
- that will plug in to TeleMetrum to collect additional data, provide
- more pyro channels, and so forth.
- </para>
- <para>
- Also under design is a new flight computer with more sensors, more
- pyro channels, and a more powerful radio system designed for use
- in multi-stage, complex, and extreme altitude projects.
- </para>
- <para>
- We are also working on alternatives to TeleDongle. One is a
- a stand-alone, hand-held ground terminal that will allow monitoring
- the rocket's status, collecting data during flight, and logging data
- after flight without the need for a notebook computer on the
- flight line. Particularly since it is so difficult to read most
- notebook screens in direct sunlight, we think this will be a great
- thing to have. We are also working on a TeleDongle variant with
- Bluetooth that will work with Android phones and tablets.
+ We have designed and prototyped several “companion boards” that
+ can attach to the companion connector on TeleMetrum and TeleMega
+ 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
+ interests for data collection or control of events in your rockets
+ beyond the capabilities of our existing productions, please let
+ us know!
</para>
<para>
Because all of our work is open, both the hardware designs and the
<para>
Building high-power rockets that fly safely is hard enough. Mix
in some sophisticated electronics and a bunch of radio energy
- and oftentimes you find few perfect solutions. This chapter
+ and some creativity and/or compromise may be required. This chapter
contains some suggestions about how to install Altus Metrum
- products into the rocket air-frame, including how to safely and
+ products into a rocket air-frame, including how to safely and
reliably mix a variety of electronics into the same air-frame.
</para>
<section>
<title>Mounting the Altimeter</title>
<para>
The first consideration is to ensure that the altimeter is
- securely fastened to the air-frame. For TeleMetrum, we use
- nylon standoffs and nylon screws; they're good to at least 50G
- and cannot cause any electrical issues on the board. For
- TeleMini, we usually cut small pieces of 1/16" balsa to fit
+ securely fastened to the air-frame. For most of our products, we
+ prefer nylon standoffs and nylon screws; they're good to at least 50G
+ and cannot cause any electrical issues on the board. Metal screws
+ and standoffs are fine, too, just be careful to avoid electrical
+ shorts! For TeleMini v1.0, we usually cut small pieces of 1/16 inch
+ balsa to fit
under the screw holes, and then take 2x56 nylon screws and
screw them through the TeleMini mounting holes, through the
balsa and into the underlying material.
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<para>
- Make sure TeleMetrum is aligned precisely along the axis of
+ Make sure accelerometer-equipped products like TeleMetrum and
+ TeleMega are aligned precisely along the axis of
acceleration so that the accelerometer can accurately
capture data during the flight.
</para>
culprit here -- CF is a good conductor and will effectively
shield the antenna, dramatically reducing signal strength and
range. Metallic flake paint is another effective shielding
- material which is to be avoided around any antennas.
+ material which should be avoided around any antennas.
</para>
<para>
If the ebay is large enough, it can be convenient to simply
consuming very little space.
</para>
<para>
- If you need to place the antenna at a distance from the
+ If you need to place the UHF antenna at a distance from the
altimeter, you can replace the antenna with an edge-mounted
SMA connector, and then run 50Ω coax from the board to the
antenna. Building a remote antenna is beyond the scope of this
<section>
<title>Preserving GPS Reception</title>
<para>
- The GPS antenna and receiver in TeleMetrum are highly
- sensitive and normally have no trouble tracking enough
+ The GPS antenna and receiver used in TeleMetrum and TeleMega is
+ highly sensitive and normally have no trouble tracking enough
satellites to provide accurate position information for
- recovering the rocket. However, there are many ways to
- attenuate the GPS signal.
+ recovering the rocket. However, there are many ways the GPS signal
+ can end up attenuated, negatively affecting GPS performance.
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<para>
<para>
Avoid resonant lengths. Know what frequencies are present
in the environment and avoid having wire lengths near a
- natural resonant length. Altusmetrum products transmit on the
+ natural resonant length. Altus Metrum products transmit on the
70cm amateur band, so you should avoid lengths that are a
- simple ratio of that length; essentially any multiple of 1/4
+ simple ratio of that length; essentially any multiple of ¼
of the wavelength (17.5cm).
</para>
</listitem>
decreasing pressure.
</para>
<para>
- The barometric sensor in the altimeter is quite sensitive to
- chemical damage from the products of APCP or BP combustion, so
- make sure the ebay is carefully sealed from any compartment
- which contains ejection charges or motors.
+ All barometric sensors are quite sensitive to chemical damage from
+ the products of APCP or BP combustion, so make sure the ebay is
+ carefully sealed from any compartment which contains ejection
+ charges or motors.
</para>
</section>
<section>
<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 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.
</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>
- We recommend updating the altimeter first, before updating TeleDongle.
+ If you need to update the firmware on a TeleDongle, 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)
+ are reprogrammed by connecting them to your computer over USB
+ </para>
+ <section>
+ <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 target device in the Device Selection dialog.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Select the image you want to flash to the device, which
+ should have a name in the form
+ <product>-v<product-version>-<software-version>.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>
+ <title>Recovering From Self-Flashing Failure</title>
+ <para>
+ If the firmware loading fails, it can leave the device
+ unable to boot. Not to worry, you can force the device to
+ start the boot loader instead, which will let you try to
+ flash the device again.
+ </para>
+ <para>
+ On each device, connecting two pins from one of the exposed
+ connectors will force the boot loader to start, even if the
+ regular operating system has been corrupted in some way.
+ </para>
+ <variablelist>
+ <varlistentry>
+ <term>TeleMega</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>
+ 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>EasyMini</term>
+ <listitem>
+ <para>
+ Connect pin 6 and pin 1 of the debug connector, which is
+ the six holes next to the beeper. Pin 1 can be identified
+ by the square pad around it, and then the pins could
+ sequentially across the board, making Pin 6 the one on the
+ other end of the row.
+ </para>
+ </listitem>
+ </varlistentry>
+ </variablelist>
+ </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.
+ </para>
+ </section>
<section>
- <title>Updating TeleMetrum Firmware</title>
+ <title>Updating TeleMetrum v1.x Firmware</title>
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<para>
<listitem>
<para>
You'll need a special 'programming cable' to reprogram the
- TeleMini. It's available on the Altus Metrum web store, or
- you can make your own using an 8-pin MicroMaTch connector on
- one end and a set of four pins on the other.
+ TeleMini. You can make your own using an 8-pin MicroMaTch
+ connector on one end and a set of four pins on the other.
</para>
</listitem>
<listitem>
<para>
Confirm that the TeleMini board seems to have updated OK, which you
can do by configuring it over the radio link through the TeleDongle, or
- letting it come up in "flight" mode and listening for telemetry.
+ letting it come up in “flight” mode and listening for telemetry.
</para>
</listitem>
<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 or TeleDongle.
</para>
</listitem>
<listitem>
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
- serial number is on the "bottom" of the circuit board, and can
+ 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.
</para>
<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 auxiliary pyro channels
+ (a total of 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>
+ Can use either main system Li-Po or optional separate pyro battery
+ to fire e-matches.
+ </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>
</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>
</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>
</listitem>
<listitem>
<para>
- 70cm ham-band transceiver for telemetry down-link.
+ 70cm, 10mW ham-band transceiver for telemetry down-link.
</para>
</listitem>
<listitem>
</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>
<para>
- TeleMetrum seems to shut off when disconnected from the
- computer. Make sure the battery is adequately charged. Remember the
+ <emphasis>TeleMetrum seems to shut off when disconnected from the
+ computer.</emphasis> <?linebreak?>
+ Make sure the battery is adequately charged. Remember the
unit will pull more power than the USB port can deliver before the
- GPS enters "locked" mode. The battery charges best when TeleMetrum
+ GPS enters “locked” mode. The battery charges best when TeleMetrum
is turned off.
</para>
<para>
- It's impossible to stop the TeleDongle when it's in "p" mode, I have
- to unplug the USB cable? Make sure you have tried to "escape out" of
+ <emphasis>It's impossible to stop the TeleDongle when it's in “p” mode, I have
+ to unplug the USB cable? </emphasis><?linebreak?>
+ Make sure you have tried to “escape out” of
this mode. If this doesn't work the reboot procedure for the
TeleDongle *is* to simply unplug it. 'cu' however will retain it's
- outgoing buffer IF your "escape out" ('~~') does not work.
+ outgoing buffer IF your “escape out” ('~~') does not work.
At this point using either 'ao-view' (or possibly
'cutemon') instead of 'cu' will 'clear' the issue and allow renewed
communication.
</para>
<para>
- The amber LED (on the TeleMetrum) lights up when both
- battery and USB are connected. Does this mean it's charging?
+ <emphasis>The amber LED (on the TeleMetrum) lights up when both
+ battery and USB are connected. Does this mean it's charging?
+ </emphasis><?linebreak?>
Yes, the yellow LED indicates the charging at the 'regular' rate.
If the led is out but the unit is still plugged into a USB port,
then the battery is being charged at a 'trickle' rate.
</para>
<para>
- There are no "dit-dah-dah-dit" sound or lights like the manual mentions?
- That's the "pad" mode. Weak batteries might be the problem.
- It is also possible that the TeleMetrum is horizontal and the output
- is instead a "dit-dit" meaning 'idle'. For TeleMini, it's possible that
- it received a command packet which would have left it in "pad" mode.
+ <emphasis>There are no “dit-dah-dah-dit” sound or lights like the manual
+ mentions?</emphasis><?linebreak?>
+ That's the “pad” mode. Weak batteries might be the problem.
+ It is also possible that the flight computer is horizontal and the
+ output
+ is instead a “dit-dit” meaning 'idle'. For TeleMini, it's possible that
+ it received a command packet which would have left it in “pad” mode.
</para>
<para>
- How do I save flight data?
+ <emphasis>How do I save flight data?</emphasis><?linebreak?>
Live telemetry is written to file(s) whenever AltosUI is connected
to the TeleDongle. The file area defaults to ~/TeleMetrum
but is easily changed using the menus in AltosUI. The files that
</para>
<para>
Now might be a good time to take a break and read the rest of this
- manual, particularly about the two "modes" that the altimeters
+ manual, particularly about the two “modes” that the altimeters
can be placed in. TeleMetrum uses the position of the device when booting
- up will determine whether the unit is in "pad" or "idle" mode. TeleMini
- enters "idle" mode when it receives a command packet within the first 5 seconds
- of being powered up, otherwise it enters "pad" mode.
+ up will determine whether the unit is in “pad” or “idle” mode. TeleMini
+ enters “idle” mode when it receives a command packet within the first 5 seconds
+ of being powered up, otherwise it enters “pad” mode.
</para>
<para>
You can access an altimeter in idle mode from the TeleDongle's USB
connection using the radio link
by issuing a 'p' command to the TeleDongle. Practice connecting and
disconnecting ('~~' while using 'cu') from the altimeter. If
- you cannot escape out of the "p" command, (by using a '~~' when in
+ you cannot escape out of the “p” command, (by using a '~~' when in
CU) then it is likely that your kernel has issues. Try a newer version.
</para>
<para>
is in 'idle mode' and then place the
rocket vertically on the launch pad, walk away and then issue a
reboot command. The altimeter will reboot and start sending data
- having changed to the "pad" mode. If the TeleDongle is not receiving
+ having changed to the “pad” mode. If the TeleDongle is not receiving
this data, you can disconnect 'cu' from the TeleDongle using the
procedures mentioned above and THEN connect to the TeleDongle from
inside 'ao-view'. If this doesn't work, disconnect from the
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>
</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.
<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>
- 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
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
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>
</section>
<section>
- <title>TeleMetrum Accelerometer</title>
+ <title>TeleMetrum and TeleMega Accelerometers</title>
<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
The +1g and -1g calibration points are included in each telemetry
frame and are part of the header stored in onboard flash to be
downloaded after flight. We always store and return raw ADC
- samples for each sensor... so nothing is permanently "lost" or
- "damaged" if the calibration is poor.
+ samples for each sensor... so nothing is permanently “lost” or
+ “damaged” if the calibration is poor.
</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>
</book>
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