</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.
<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>
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
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
+ 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
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></entry>
<entry>½ inch (1.27cm)</entry>
<entry>1½ inch (3.81cm)</entry>
- <entry>18mm aiframe</entry>
+ <entry>18mm airframe</entry>
</row>
<row>
<entry>TeleMini <?linebreak?>v2.0</entry>
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>
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>
<para>
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.
<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
rocket (well, actually the board, of course...) at the time
- power is switched on. If the rocket is "nose up", then
+ power is switched on. If the rocket is “nose up”, then
TeleMetrum 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
</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
<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
</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
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
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
<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>
<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>
</listitem>
</itemizedlist>
</section>
+ <section>
+ <title>Configure Pyro Channels</title>
+ <para>
+ This opens a separate window to configure the additional
+ pyro channels available on TeleMega. One column is
+ presented for each channel. Each row represents a single
+ parameter, if enabled the parameter must meet the specified
+ test for the pyro channel to be fired. 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>
<title>Configure AltosUI</title>
<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>
<section>
<title>Flash Image</title>
<para>
- This reprograms any Altus Metrum device by using a TeleMetrum
- or TeleDongle as a programming dongle. Please read the
- directions for flashing devices in the Updating Device
- Firmware chapter below.
+ This reprograms Altus Metrum device with new
+ firmware. TeleMetrum v1.x, TeleDongle, TeleMini and TeleBT are
+ all reprogrammed by using another similar unit as a
+ programming dongle (pair programming). TeleMega, TeleMetrum v2
+ and EasyMini are all programmed directly over their USB ports
+ (self programming). Please read the directions for flashing
+ devices in the Updating Device Firmware chapter below.
</para>
<para>
- 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>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 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
+ 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>
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
Geo-Caching... just go to the way-point and look around starting from there.
</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>
<title>Future Plans</title>
<para>
- In the future, we intend to offer "companion boards" for the rocket
+ 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>
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
+ TeleMini, 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.
<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.
<para>
We recommend updating the altimeter first, before updating TeleDongle.
</para>
+ <para>
+ Self-programmable devices (TeleMega, TeleMetrum v2 and EasyMini)
+ are reprogrammed by connecting them to your computer over USB
+ </para>
+ <para>
+ The big concept to understand is that you have to use a
+ TeleMega, TeleMetrum or TeleDongle as a programmer to update a
+ pair programmed device. Due to limited memory resources in the
+ cc1111, we don't support programming directly over USB for these
+ devices.
+ </para>
<section>
- <title>Updating TeleMetrum Firmware</title>
+ <title>
+ Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
+ </title>
+ <orderedlist inheritnum='inherit' numeration='arabic'>
+ <listitem>
+ <para>
+ Attach a battery and power switch to the target
+ device. Power up the device.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Using a Micro USB cable, connect the target device to your
+ computer's USB socket.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Run AltosUI, and select 'Flash Image' from the File menu.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Select the 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>
+ <section>
+ <title>Updating TeleMetrum v1.x Firmware</title>
<orderedlist inheritnum='inherit' numeration='arabic'>
<listitem>
<para>
<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>
+ Uses Li-Po to fire e-matches, can be modified to support
+ optional separate pyro battery if needed.
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ 3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
+ </para>
+ </listitem>
+ </itemizedlist>
+ </section>
+ <section>
+ <title>
+ TeleMetrum v2 Specifications
+ </title>
<itemizedlist>
<listitem>
<para>
</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>
TeleMetrum seems to shut off when disconnected from the
computer. 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
+ 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
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.
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.
+ 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.
+ 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?
</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>
projects / fw / altos / blobdiff