From 8cf466d7a767a20387a8d9d6ec81ee00af3fe4a7 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 29 Oct 2015 12:12:15 +0900 Subject: [PATCH] doc: Start doc transition to asciidoc Signed-off-by: Keith Packard --- doc/.gitignore | 2 + doc/Makefile | 27 +- doc/altusmetrum-docinfo.xml | 153 + doc/altusmetrum.txt | 46 + doc/altusmetrum.xsl | 6413 ---------------------- doc/am-fo.xsl | 191 + doc/am.css | 356 ++ doc/common.xsl | 106 + doc/fonts/DejaVuSansMono-Bold.ttf | Bin 0 -> 331536 bytes doc/fonts/DejaVuSansMono-BoldOblique.ttf | Bin 0 -> 253116 bytes doc/fonts/DejaVuSansMono-Oblique.ttf | Bin 0 -> 251472 bytes doc/fonts/DejaVuSansMono.ttf | Bin 0 -> 340240 bytes doc/fonts/FrutigerLTStd-Italic.otf | Bin 0 -> 27736 bytes doc/fonts/FrutigerLTStd-Light.otf | Bin 0 -> 27440 bytes doc/fonts/FrutigerLTStd-LightItalic.otf | Bin 0 -> 27888 bytes doc/fonts/FrutigerLTStd-Roman.otf | Bin 0 -> 27328 bytes doc/footer.templates.xsl | 52 + doc/fop.xconf | 88 + doc/getting-started.inc | 85 + doc/handling.inc | 42 + doc/intro.inc | 54 + doc/specs.inc | 139 + doc/telemetrum.inc | 68 + doc/usage.inc | 90 + 24 files changed, 1497 insertions(+), 6415 deletions(-) create mode 100644 doc/altusmetrum-docinfo.xml create mode 100644 doc/altusmetrum.txt delete mode 100644 doc/altusmetrum.xsl create mode 100644 doc/am-fo.xsl create mode 100644 doc/am.css create mode 100644 doc/common.xsl create mode 100644 doc/fonts/DejaVuSansMono-Bold.ttf create mode 100644 doc/fonts/DejaVuSansMono-BoldOblique.ttf create mode 100644 doc/fonts/DejaVuSansMono-Oblique.ttf create mode 100644 doc/fonts/DejaVuSansMono.ttf create mode 100644 doc/fonts/FrutigerLTStd-Italic.otf create mode 100644 doc/fonts/FrutigerLTStd-Light.otf create mode 100644 doc/fonts/FrutigerLTStd-LightItalic.otf create mode 100644 doc/fonts/FrutigerLTStd-Roman.otf create mode 100644 doc/footer.templates.xsl create mode 100644 doc/fop.xconf create mode 100644 doc/getting-started.inc create mode 100644 doc/handling.inc create mode 100644 doc/intro.inc create mode 100644 doc/specs.inc create mode 100644 doc/telemetrum.inc create mode 100644 doc/usage.inc diff --git a/doc/.gitignore b/doc/.gitignore index 73fe56e6..786123a3 100644 --- a/doc/.gitignore +++ b/doc/.gitignore @@ -1,4 +1,6 @@ *.html *.pdf *.fo +*.raw titlepage.templates.xsl +fop-cfg.xml diff --git a/doc/Makefile b/doc/Makefile index 9d4d68c6..6ebe829c 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -61,6 +61,15 @@ PICTURES=\ telemini-v1-top.jpg \ telemini-v2-top.jpg +TXT_FILES=altusmetrum.txt +INC_FILES=intro.inc getting-started.inc usage.inc telemetrum.inc handling.inc specs.inc + +RAW_FILES=$(TXT_FILES:.txt=.raw) + +RAW_INC=$(INC_FILES:.inc=.raw) + +AD_PDF=$(TXT_FILES:.txt=.pdf) + SVG=\ easymini.svg \ telemega.svg \ @@ -71,7 +80,7 @@ SVG=\ RELNOTES_XSL=$(RELNOTES:.html=.xsl) HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html telegps.html $(RELNOTES) PDF=altusmetrum.pdf altos.pdf telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \ - telemetrum-outline.pdf telemega-outline.pdf easymini-outline.pdf easymega-outline.pdf + telemetrum-outline.pdf telemega-outline.pdf easymini-outline.pdf easymega-outline.pdf $(AD_PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl FOSTYLE=xorg-fo.xsl FOPCFG=fop-cfg.xml @@ -80,10 +89,22 @@ PDFSTYLE= IMAGES=$(PICTURES) $(SVG) DOC=$(HTML) $(PDF) $(IMAGES) -.SUFFIXES: .xml .xsl .html .pdf +.SUFFIXES: .inc .txt .raw .pdf .html XSLTFLAGS=--stringparam section.autolabel 1 --xinclude +.txt.raw: + sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ ]*//' -e 's/^\\//' $*.txt > $@ + +.inc.raw: + sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ ]*//' -e 's/^\\//' $*.inc > $@ + +.raw.pdf: + a2x --verbose -k -d book -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file am-fo.xsl --fop --fop-opts="-c fop.xconf" $*.raw + +.raw.html: + a2x --verbose -k -d book -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=am.css $*.raw + .xsl.html: xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl @@ -95,6 +116,8 @@ XSLTFLAGS=--stringparam section.autolabel 1 --xinclude all: $(HTML) $(PDF) +altusmetrum.pdf: altusmetrum-docinfo.xml $(RAW_FILES) $(RAW_INC) + install: all publish: $(DOC) diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml new file mode 100644 index 00000000..05815f5a --- /dev/null +++ b/doc/altusmetrum-docinfo.xml @@ -0,0 +1,153 @@ +An Owner's Manual for Altus Metrum Rocketry Electronics + + Bdale + Garbee + + + Keith + Packard + + + Bob + Finch + + + Anthony + Towns + + + 2015 + Bdale Garbee and Keith Packard + + + + + + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 1.6.1 + 15 July 2015 + + Minor release adding TeleBT v3.0 support. + + + + 1.6 + 8 January 2015 + + Major release adding TeleDongle v3.0 support. + + + + 1.5 + 6 September 2014 + + Major release adding EasyMega support. + + + + 1.4.1 + 20 June 2014 + + Minor release fixing some installation bugs. + + + + 1.4 + 15 June 2014 + + Major release adding TeleGPS support. + + + + 1.3.2 + 24 January 2014 + + Bug fixes for TeleMega and AltosUI. + + + + 1.3.1 + 21 January 2014 + + Bug fixes for TeleMega and TeleMetrum v2.0 along with a few + small UI improvements. + + + + 1.3 + 12 November 2013 + + Updated for software version 1.3. Version 1.3 adds support + for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini + and fixes bugs in AltosUI and the AltOS firmware. + + + + 1.2.1 + 21 May 2013 + + Updated for software version 1.2. Version 1.2 adds support + for TeleBT and AltosDroid. It also adds a few minor features + and fixes bugs in AltosUI and the AltOS firmware. + + + + 1.2 + 18 April 2013 + + Updated for software version 1.2. Version 1.2 adds support + for MicroPeak and the MicroPeak USB interface. + + + + 1.1.1 + 16 September 2012 + + Updated for software version 1.1.1 Version 1.1.1 fixes a few + bugs found in version 1.1. + + + + 1.1 + 13 September 2012 + + Updated for software version 1.1. Version 1.1 has new + features but is otherwise compatible with version 1.0. + + + + 1.0 + 24 August 2011 + + Updated for software version 1.0. Note that 1.0 represents a + telemetry format change, meaning both ends of a link + (TeleMetrum/TeleMini and TeleDongle) must be updated or + communications will fail. + + + + 0.9 + 18 January 2011 + + Updated for software version 0.9. Note that 0.9 represents a + telemetry format change, meaning both ends of a link (TeleMetrum and + TeleDongle) must be updated or communications will fail. + + + + 0.8 + 24 November 2010 + Updated for software version 0.8 + + diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt new file mode 100644 index 00000000..5b6dfe81 --- /dev/null +++ b/doc/altusmetrum.txt @@ -0,0 +1,46 @@ += The Altus Metrum System + +:doctype: book +:numbered: + + [dedication] + == Acknowledgments + + 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 + 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! + + And thanks to Anthony (AJ) Towns for major contributions including + the AltosUI graphing and site map code and associated documentation. + Free software means that our customers and friends can become our + collaborators, and we certainly appreciate this level of + contribution! + + Have fun using these products, and we hope to meet all of you + out on the rocket flight line somewhere. + + [verse] + Bdale Garbee, KB0G + NAR #87103, TRA #12201 + + [verse] + Keith Packard, KD7SQG + NAR #88757, TRA #12200 + + include::intro.raw[] + + include::getting-started.raw[] + + include::usage.raw[] + + include::telemetrum.raw[] + + include::handling.raw[] + + include::specs.raw[] + + [index] + == Index diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl deleted file mode 100644 index d1328abf..00000000 --- a/doc/altusmetrum.xsl +++ /dev/null @@ -1,6413 +0,0 @@ - - - - The Altus Metrum System - An Owner's Manual for Altus Metrum Rocketry Electronics - - - Bdale - Garbee - - - Keith - Packard - - - Bob - Finch - - - Anthony - Towns - - - 2015 - Bdale Garbee and Keith Packard - - - - - - - - - This document is released under the terms of the - - Creative Commons ShareAlike 3.0 - - license. - - - - - 1.6.1 - 15 July 2015 - - Minor release adding TeleBT v3.0 support. - - - - 1.6 - 8 January 2015 - - Major release adding TeleDongle v3.0 support. - - - - 1.5 - 6 September 2014 - - Major release adding EasyMega support. - - - - 1.4.1 - 20 June 2014 - - Minor release fixing some installation bugs. - - - - 1.4 - 15 June 2014 - - Major release adding TeleGPS support. - - - - 1.3.2 - 24 January 2014 - - Bug fixes for TeleMega and AltosUI. - - - - 1.3.1 - 21 January 2014 - - Bug fixes for TeleMega and TeleMetrum v2.0 along with a few - small UI improvements. - - - - 1.3 - 12 November 2013 - - Updated for software version 1.3. Version 1.3 adds support - for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini - and fixes bugs in AltosUI and the AltOS firmware. - - - - 1.2.1 - 21 May 2013 - - Updated for software version 1.2. Version 1.2 adds support - for TeleBT and AltosDroid. It also adds a few minor features - and fixes bugs in AltosUI and the AltOS firmware. - - - - 1.2 - 18 April 2013 - - Updated for software version 1.2. Version 1.2 adds support - for MicroPeak and the MicroPeak USB interface. - - - - 1.1.1 - 16 September 2012 - - Updated for software version 1.1.1 Version 1.1.1 fixes a few - bugs found in version 1.1. - - - - 1.1 - 13 September 2012 - - Updated for software version 1.1. Version 1.1 has new - features but is otherwise compatible with version 1.0. - - - - 1.0 - 24 August 2011 - - Updated for software version 1.0. Note that 1.0 represents a - telemetry format change, meaning both ends of a link - (TeleMetrum/TeleMini and TeleDongle) must be updated or - communications will fail. - - - - 0.9 - 18 January 2011 - - Updated for software version 0.9. Note that 0.9 represents a - telemetry format change, meaning both ends of a link (TeleMetrum and - TeleDongle) must be updated or communications will fail. - - - - 0.8 - 24 November 2010 - Updated for software version 0.8 - - - - - Acknowledgments - - 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 - 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! - - - And thanks to Anthony (AJ) Towns for major contributions including - the AltosUI graphing and site map code and associated documentation. - Free software means that our customers and friends can become our - collaborators, and we certainly appreciate this level of - contribution! - - - Have fun using these products, and we hope to meet all of you - out on the rocket flight line somewhere. - -Bdale Garbee, KB0G -NAR #87103, TRA #12201 - -Keith Packard, KD7SQG -NAR #88757, TRA #12200 - - - - - Introduction and Overview - - Welcome to the Altus Metrum community! Our circuits and software reflect - our passion for both hobby rocketry and Free Software. We hope their - capabilities and performance will delight you in every way, but by - releasing all of our hardware and software designs under open licenses, - we also hope to empower you to take as active a role in our collective - future as you wish! - - - 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 - 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. - - - Our second device was TeleMini, a dual deploy altimeter with - radio telemetry and radio direction finding. The first version - of this device was only 13mm by 38mm (½ inch by 1½ inches) and - could fit easily in an 18mm air-frame. The latest version, v2.0, - includes a beeper, USB data download and extended on-board - flight logging, along with an improved barometric sensor. - - - TeleMega is our most sophisticated device, including six pyro - channels (four of which are fully programmable), integrated GPS, - integrated gyroscopes for staging/air-start inhibit and high - performance telemetry. - - - EasyMini is a dual-deploy altimeter with logging and built-in - USB data download. - - - EasyMega is essentially a TeleMega board with the GPS receiver - and telemetry transmitter removed. It offers the same 6 pyro - channels and integrated gyroscopes for staging/air-start inhibit. - - - TeleDongle v0.2 was our first ground station, providing a USB to RF - interfaces for communicating with the altimeters. Combined with - your choice of antenna and notebook computer, TeleDongle and our - associated user interface software form a complete ground - station capable of logging and displaying in-flight telemetry, - aiding rocket recovery, then processing and archiving flight - data for analysis and review. The latest version, TeleDongle - v3, has all new electronics with a higher performance radio - for improved range. - - - 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 AltosDroid - application installed from the Google Play store. - - - More products will be added to the Altus Metrum family over time, and - we currently envision that this will be a single, comprehensive manual - for the entire product family. - - - - Getting Started - - The first thing to do after you check the inventory of parts in your - “starter kit” is to charge the battery. - - - For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the - corresponding socket of the device and then using the USB - cable to plug the flight computer into your computer's USB socket. The - on-board circuitry will charge the battery whenever it is plugged - in, because the on-off switch does NOT control the - charging circuitry. - - - On TeleMetrum v1 boards, when the GPS chip is initially - searching for satellites, TeleMetrum will consume more current - 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 - as your first item of business so there is no issue getting and - maintaining satellite lock. The yellow charge indicator led - will go out when the battery is nearly full and the charger goes - to trickle charge. It can take several hours to fully recharge a - deeply discharged battery. - - - TeleMetrum v2.0, TeleMega and EasyMega use a higher power battery charger, - allowing them to charge the battery while running the board at - maximum power. When the battery is charging, or when the board - is consuming a lot of power, the red LED will be lit. When the - battery is fully charged, the green LED will be lit. When the - battery is damaged or missing, both LEDs will be lit, which - appears yellow. - - - The Lithium Polymer TeleMini and EasyMini battery can be charged by - disconnecting it from the board and plugging it into a - standalone battery charger such as the LipoCharger product - included in TeleMini Starter Kits, and connecting that via a USB - cable to a laptop or other USB power source. - - - You can also choose to use another battery with TeleMini v2.0 - 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 to fire your chosen e-matches. - - - 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 - 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 an older version of Linux and are having - problems, try moving to a fresher kernel (2.6.33 or newer). - - - 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 - versions. Full source code and build instructions are also - available. The latest version may always be downloaded from - . - - - 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 - TeleDongle. Anywhere this manual talks about TeleDongle, you can - also read that as 'and TeleBT when connected via USB'. - - - - Handling Precautions - - All Altus Metrum products are sophisticated electronic devices. - When handled gently and properly installed in an air-frame, they - will deliver impressive results. However, as with all electronic - devices, there are some precautions you must take. - - - The Lithium Polymer rechargeable batteries have an - extraordinary power density. This is great because we can fly with - much less battery mass than if we used alkaline batteries or previous - generation rechargeable batteries... but if they are punctured - or their leads are allowed to short, they can and will release their - energy very rapidly! - Thus we recommend that you take some care when handling our batteries - and consider giving them some extra protection in your air-frame. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. - - - 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 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 - 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. - - - 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. - - - As with all other rocketry electronics, Altus Metrum altimeters must - be protected from exposure to corrosive motor exhaust and ejection - charge gasses. - - - - Altus Metrum Hardware -
- General Usage Instructions - - Here are general instructions for hooking up an Altus Metrum - flight computer. Instructions specific to each model will be - found in the section devoted to that model below. - - - To prevent electrical interference from affecting the - operation of the flight computer, it's important to always - twist pairs of wires connected to the board. Twist the switch - leads, the pyro leads and the battery leads. This reduces - interference through a mechanism called common mode rejection. - -
- Hooking Up Lithium Polymer Batteries - - All Altus Metrum flight computers have a two pin JST PH - series connector to connect up a single-cell Lithium Polymer - cell (3.7V nominal). You can purchase matching batteries - from the Altus Metrum store, or other vendors, or you can - make your own. Pin 1 of the connector is positive, pin 2 is - negative. Spark Fun sells a cable with the connector - attached, which they call a JST Jumper 2 - Wire Assembly. - - - Many RC vendors also sell lithium polymer batteries with - this same connector. All that we have found use the opposite - polarity, and if you use them that way, you will damage or - destroy the flight computer. - -
-
- Hooking Up Pyro Charges - - Altus Metrum flight computers always have two screws for - each pyro charge. This means you shouldn't need to put two - wires into a screw terminal or connect leads from pyro - charges together externally. - - - On the flight computer, one lead from each charge is hooked - to the positive battery terminal through the power switch. - The other lead is connected through the pyro circuit, which - is connected to the negative battery terminal when the pyro - circuit is fired. - -
-
- Hooking Up a Power Switch - - Altus Metrum flight computers need an external power switch - to turn them on. This disconnects both the computer and the - pyro charges from the battery, preventing the charges from - firing when in the Off position. The switch is in-line with - the positive battery terminal. - -
- Using an External Active Switch Circuit - - You can use an active switch circuit, such as the - Featherweight Magnetic Switch, with any Altus Metrum - flight computer. These require three connections, one to - the battery, one to the positive power input on the flight - computer and one to ground. Find instructions on how to - hook these up for each flight computer below. The follow - the instructions that come with your active switch to - connect it up. - -
-
-
- Using a Separate Pyro Battery - - As mentioned above in the section on hooking up pyro - charges, one lead for each of the pyro charges is connected - through the power switch directly to the positive battery - terminal. The other lead is connected to the pyro circuit, - which connects it to the negative battery terminal when the - pyro circuit is fired. The pyro circuit on all of the flight - computers is designed to handle up to 16V. - - - To use a separate pyro battery, connect the negative pyro - battery terminal to the flight computer ground terminal, - the positive battery terminal to the igniter and the other - igniter lead to the negative pyro terminal on the flight - computer. When the pyro channel fires, it will complete the - circuit between the negative pyro terminal and the ground - terminal, firing the igniter. Specific instructions on how - to hook this up will be found in each section below. - -
-
- Using a Different Kind of Battery - - EasyMini and TeleMini v2 are designed to use either a - lithium polymer battery or any other battery producing - between 4 and 12 volts, such as a rectangular 9V - battery. TeleMega, EasyMega and TeleMetrum are not designed for this, - and must only be powered by a lithium polymer battery. Find - instructions on how to use other batteries in the EasyMini - and TeleMini sections below. - -
-
-
- Specifications - - Here's the full set of Altus Metrum products, both in - production and retired. - - - Altus Metrum Electronics - - - - - - - - - - - - - Device - Barometer - Z-axis accelerometer - GPS - 3D sensors - Storage - RF Output - Battery - - - - - TeleMetrum v1.0 - MP3H6115 10km (33k') - MMA2202 50g - SkyTraq - - - 1MB - 10mW - 3.7V - - - TeleMetrum v1.1 - MP3H6115 10km (33k') - MMA2202 50g - SkyTraq - - - 2MB - 10mW - 3.7V - - - TeleMetrum v1.2 - MP3H6115 10km (33k') - ADXL78 70g - SkyTraq - - - 2MB - 10mW - 3.7V - - - TeleMetrum v2.0 - MS5607 30km (100k') - MMA6555 102g - uBlox Max-7Q - - - 8MB - 40mW - 3.7V - - - TeleMini v1.0 - MP3H6115 10km (33k') - - - - - - - 5kB - 10mW - 3.7V - - - TeleMini v2.0 - MS5607 30km (100k') - - - - - - - 1MB - 10mW - 3.7-12V - - - EasyMini v1.0 - MS5607 30km (100k') - - - - - - - 1MB - - - 3.7-12V - - - TeleMega v1.0 - MS5607 30km (100k') - MMA6555 102g - uBlox Max-7Q - MPU6000 HMC5883 - 8MB - 40mW - 3.7V - - - EasyMega v1.0 - MS5607 30km (100k') - MMA6555 102g - - - MPU6000 HMC5883 - 8MB - - - 3.7V - - - -
- - Altus Metrum Boards - - - - - - - - - - - Device - Connectors - Screw Terminals - Width - Length - Tube Size - - - - - TeleMetrum - - Antenna - Debug - Companion - USB - Battery - - Apogee pyro Main pyro Switch - 1 inch (2.54cm) - 2 ¾ inch (6.99cm) - 29mm coupler - - - TeleMini v1.0 - - Antenna - Debug - Battery - - - Apogee pyro - Main pyro - - ½ inch (1.27cm) - 1½ inch (3.81cm) - 18mm coupler - - - TeleMini v2.0 - - Antenna - Debug - USB - Battery - - - Apogee pyro - Main pyro - Battery - Switch - - 0.8 inch (2.03cm) - 1½ inch (3.81cm) - 24mm coupler - - - EasyMini - - Debug - USB - Battery - - - Apogee pyro - Main pyro - Battery - Switch - - 0.8 inch (2.03cm) - 1½ inch (3.81cm) - 24mm coupler - - - TeleMega - - Antenna - Debug - Companion - USB - Battery - - - Apogee pyro - Main pyro - Pyro A-D - Switch - Pyro battery - - 1¼ inch (3.18cm) - 3¼ inch (8.26cm) - 38mm coupler - - - EasyMega - - Debug - Companion - USB - Battery - - - Apogee pyro - Main pyro - Pyro A-D - Switch - Pyro battery - - 1¼ inch (3.18cm) - 2¼ inch (5.62cm) - 38mm coupler - - - -
-
-
- TeleMetrum - - - - - - - - - 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 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 - bay for TeleMetrum should have at least 10 inches of interior length. - -
- TeleMetrum Screw Terminals - - TeleMetrum has six screw terminals on the end of the board - opposite the telemetry antenna. Two are for the power - switch, and two each for the apogee and main igniter - circuits. Using the picture above and starting from the top, - the terminals are as follows: - - - TeleMetrum Screw Terminals - - - - - - - - Terminal # - Terminal Name - Description - - - - - 1 - Switch Output - Switch connection to flight computer - - - 2 - Switch Input - Switch connection to positive battery terminal - - - 3 - Main + - Main pyro channel common connection to battery + - - - 4 - Main - - Main pyro channel connection to pyro circuit - - - 5 - Apogee + - Apogee pyro channel common connection to battery + - - - 6 - Apogee - - Apogee pyro channel connection to pyro circuit - - - -
-
-
- Using a Separate Pyro Battery with TeleMetrum - - As described above, using an external pyro battery involves - connecting the negative battery terminal to the flight - computer ground, connecting the positive battery terminal to - one of the igniter leads and connecting the other igniter - lead to the per-channel pyro circuit connection. - - - To connect the negative battery terminal to the TeleMetrum - ground, insert a small piece of wire, 24 to 28 gauge - stranded, into the GND hole just above the screw terminal - strip and solder it in place. - - - Connecting the positive battery terminal to the pyro - charges must be done separate from TeleMetrum, by soldering - them together or using some other connector. - - - The other lead from each pyro charge is then inserted into - the appropriate per-pyro channel screw terminal (terminal 4 for the - Main charge, terminal 6 for the Apogee charge). - -
-
- Using an Active Switch with TeleMetrum - - As explained above, an external active switch requires three - connections, one to the positive battery terminal, one to - the flight computer positive input and one to ground. - - - The positive battery terminal is available on screw terminal - 2, the positive flight computer input is on terminal 1. To - hook a lead to ground, solder a piece of wire, 24 to 28 - gauge stranded, to the GND hole just above terminal 1. - -
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- TeleMini v1.0 - - - - - - - - - TeleMini v1.0 is ½ inches by 1½ inches. It was - designed to fit inside an 18mm air-frame tube, but using it in - a tube that small in diameter may require some creativity in - mounting and wiring to succeed! Since there is no - accelerometer, TeleMini can be mounted in any convenient - orientation. The default ¼ wave UHF wire antenna attached to - the center of one end of the board is about 7 inches long. Two - 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 - should have at least 9 inches of interior length. - -
- TeleMini v1.0 Screw Terminals - - TeleMini v1.0 has four screw terminals on the end of the - board opposite the telemetry antenna. Two are for the apogee - and two are for main igniter circuits. There are also wires - soldered to the board for the power switch. Using the - picture above and starting from the top for the terminals - and from the left for the power switch wires, the - connections are as follows: - - - TeleMini v1.0 Connections - - - - - - - - Terminal # - Terminal Name - Description - - - - - 1 - Apogee - - Apogee pyro channel connection to pyro circuit - - - 2 - Apogee + - Apogee pyro channel common connection to battery + - - - 3 - Main - - Main pyro channel connection to pyro circuit - - - 4 - Main + - Main pyro channel common connection to battery + - - - Left - Switch Output - Switch connection to flight computer - - - Right - Switch Input - Switch connection to positive battery terminal - - - -
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- Using a Separate Pyro Battery with TeleMini v1.0 - - As described above, using an external pyro battery involves - connecting the negative battery terminal to the flight - computer ground, connecting the positive battery terminal to - one of the igniter leads and connecting the other igniter - lead to the per-channel pyro circuit connection. Because - there is no solid ground connection to use on TeleMini, this - is not recommended. - - - The only available ground connection on TeleMini v1.0 are - the two mounting holes next to the telemetry - antenna. Somehow connect a small piece of wire to one of - those holes and hook it to the negative pyro battery terminal. - - - Connecting the positive battery terminal to the pyro - charges must be done separate from TeleMini v1.0, by soldering - them together or using some other connector. - - - The other lead from each pyro charge is then inserted into - the appropriate per-pyro channel screw terminal (terminal 3 for the - Main charge, terminal 1 for the Apogee charge). - -
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- Using an Active Switch with TeleMini v1.0 - - As explained above, an external active switch requires three - connections, one to the positive battery terminal, one to - the flight computer positive input and one to ground. Again, - because TeleMini doesn't have any good ground connection, - this is not recommended. - - - The positive battery terminal is available on the Right - power switch wire, the positive flight computer input is on - the left power switch wire. Hook a lead to either of the - mounting holes for a ground connection. - -
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- TeleMini v2.0 - - - - - - - - - TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more - on-board data logging memory, a built-in USB connector and - screw terminals for the battery and power switch. The larger - board fits in a 24mm coupler. There's also a battery connector - for a LiPo battery if you want to use one of those. - -
- TeleMini v2.0 Screw Terminals - - TeleMini v2.0 has two sets of four screw terminals on the end of the - board opposite the telemetry antenna. Using the picture - above, the top four have connections for the main pyro - circuit and an external battery and the bottom four have - connections for the apogee pyro circuit and the power - switch. Counting from the left, the connections are as follows: - - - TeleMini v2.0 Connections - - - - - - - - Terminal # - Terminal Name - Description - - - - - Top 1 - Main - - Main pyro channel connection to pyro circuit - - - Top 2 - Main + - Main pyro channel common connection to battery + - - - Top 3 - Battery + - Positive external battery terminal - - - Top 4 - Battery - - Negative external battery terminal - - - Bottom 1 - Apogee - - Apogee pyro channel connection to pyro circuit - - - Bottom 2 - Apogee + - Apogee pyro channel common connection to - battery + - - - Bottom 3 - Switch Output - Switch connection to flight computer - - - Bottom 4 - Switch Input - Switch connection to positive battery terminal - - - -
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- Using a Separate Pyro Battery with TeleMini v2.0 - - As described above, using an external pyro battery involves - connecting the negative battery terminal to the flight - computer ground, connecting the positive battery terminal to - one of the igniter leads and connecting the other igniter - lead to the per-channel pyro circuit connection. - - - To connect the negative pyro battery terminal to TeleMini - ground, connect it to the negative external battery - connection, top terminal 4. - - - Connecting the positive battery terminal to the pyro - charges must be done separate from TeleMini v2.0, by soldering - them together or using some other connector. - - - The other lead from each pyro charge is then inserted into - the appropriate per-pyro channel screw terminal (top - terminal 1 for the Main charge, bottom terminal 1 for the - Apogee charge). - -
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- Using an Active Switch with TeleMini v2.0 - - As explained above, an external active switch requires three - connections, one to the positive battery terminal, one to - the flight computer positive input and one to ground. Use - the negative external battery connection, top terminal 4 for - ground. - - - The positive battery terminal is available on bottom - terminal 4, the positive flight computer input is on the - bottom terminal 3. - -
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- EasyMini - - - - - - - - - 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 v2.0, so you can easily swap between - EasyMini and TeleMini. - -
- EasyMini Screw Terminals - - EasyMini has two sets of four screw terminals on the end of the - board opposite the telemetry antenna. Using the picture - above, the top four have connections for the main pyro - circuit and an external battery and the bottom four have - connections for the apogee pyro circuit and the power - switch. Counting from the left, the connections are as follows: - - - EasyMini Connections - - - - - - - - Terminal # - Terminal Name - Description - - - - - Top 1 - Main - - Main pyro channel connection to pyro circuit - - - Top 2 - Main + - Main pyro channel common connection to battery + - - - Top 3 - Battery + - Positive external battery terminal - - - Top 4 - Battery - - Negative external battery terminal - - - Bottom 1 - Apogee - - Apogee pyro channel connection to pyro circuit - - - Bottom 2 - Apogee + - Apogee pyro channel common connection to - battery + - - - Bottom 3 - Switch Output - Switch connection to flight computer - - - Bottom 4 - Switch Input - Switch connection to positive battery terminal - - - -
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- Using a Separate Pyro Battery with EasyMini - - As described above, using an external pyro battery involves - connecting the negative battery terminal to the flight - computer ground, connecting the positive battery terminal to - one of the igniter leads and connecting the other igniter - lead to the per-channel pyro circuit connection. - - - To connect the negative pyro battery terminal to TeleMini - ground, connect it to the negative external battery - connection, top terminal 4. - - - Connecting the positive battery terminal to the pyro - charges must be done separate from EasyMini, by soldering - them together or using some other connector. - - - The other lead from each pyro charge is then inserted into - the appropriate per-pyro channel screw terminal (top - terminal 1 for the Main charge, bottom terminal 1 for the - Apogee charge). - -
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- Using an Active Switch with EasyMini - - As explained above, an external active switch requires three - connections, one to the positive battery terminal, one to - the flight computer positive input and one to ground. Use - the negative external battery connection, top terminal 4 for - ground. - - - The positive battery terminal is available on bottom - terminal 4, the positive flight computer input is on the - bottom terminal 3. - -
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- TeleMega - - - - - - - - - TeleMega is a 1¼ inch by 3¼ inch circuit board. It was - designed to easily fit in a 38mm coupler. Like TeleMetrum, - TeleMega has an accelerometer and so it must be mounted so that - the board is aligned with the flight axis. It can be mounted - either antenna up or down. - -
- TeleMega Screw Terminals - - TeleMega has two sets of nine screw terminals on the end of - the board opposite the telemetry antenna. They are as follows: - - - TeleMega Screw Terminals - - - - - - - - Terminal # - Terminal Name - Description - - - - - Top 1 - Switch Input - Switch connection to positive battery terminal - - - Top 2 - Switch Output - Switch connection to flight computer - - - Top 3 - GND - Ground connection for use with external active switch - - - Top 4 - Main - - Main pyro channel connection to pyro circuit - - - Top 5 - Main + - Main pyro channel common connection to battery + - - - Top 6 - Apogee - - Apogee pyro channel connection to pyro circuit - - - Top 7 - Apogee + - Apogee pyro channel common connection to battery + - - - Top 8 - D - - D pyro channel connection to pyro circuit - - - Top 9 - D + - D pyro channel common connection to battery + - - - Bottom 1 - GND - Ground connection for negative pyro battery terminal - - - Bottom 2 - Pyro - Positive pyro battery terminal - - - Bottom 3 - Lipo - - Power switch output. Use to connect main battery to - pyro battery input - - - - Bottom 4 - A - - A pyro channel connection to pyro circuit - - - Bottom 5 - A + - A pyro channel common connection to battery + - - - Bottom 6 - B - - B pyro channel connection to pyro circuit - - - Bottom 7 - B + - B pyro channel common connection to battery + - - - Bottom 8 - C - - C pyro channel connection to pyro circuit - - - Bottom 9 - C + - C pyro channel common connection to battery + - - - -
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- Using a Separate Pyro Battery with TeleMega - - TeleMega provides explicit support for an external pyro - battery. All that is required is to remove the jumper - between the lipo terminal (Bottom 3) and the pyro terminal - (Bottom 2). Then hook the negative pyro battery terminal to ground - (Bottom 1) and the positive pyro battery to the pyro battery - input (Bottom 2). You can then use the existing pyro screw - terminals to hook up all of the pyro charges. - -
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- Using Only One Battery With TeleMega - - Because TeleMega has built-in support for a separate pyro - battery, if you want to fly with just one battery running - both the computer and firing the charges, you need to - connect the flight computer battery to the pyro - circuit. TeleMega has two screw terminals for this—hook a - wire from the Lipo terminal (Bottom 3) to the Pyro terminal - (Bottom 2). - -
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- Using an Active Switch with TeleMega - - As explained above, an external active switch requires three - connections, one to the positive battery terminal, one to - the flight computer positive input and one to ground. - - - The positive battery terminal is available on Top terminal - 1, the positive flight computer input is on Top terminal - 2. Ground is on Top terminal 3. - -
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- EasyMega - - - - - - - - - EasyMega is a 1¼ inch by 2¼ inch circuit board. It was - designed to easily fit in a 38mm coupler. Like TeleMetrum, - EasyMega has an accelerometer and so it must be mounted so that - the board is aligned with the flight axis. It can be mounted - either antenna up or down. - -
- EasyMega Screw Terminals - - EasyMega has two sets of nine screw terminals on the end of - the board opposite the telemetry antenna. They are as follows: - - - EasyMega Screw Terminals - - - - - - - - Terminal # - Terminal Name - Description - - - - - Top 1 - Switch Input - Switch connection to positive battery terminal - - - Top 2 - Switch Output - Switch connection to flight computer - - - Top 3 - GND - Ground connection for use with external active switch - - - Top 4 - Main - - Main pyro channel connection to pyro circuit - - - Top 5 - Main + - Main pyro channel common connection to battery + - - - Top 6 - Apogee - - Apogee pyro channel connection to pyro circuit - - - Top 7 - Apogee + - Apogee pyro channel common connection to battery + - - - Top 8 - D - - D pyro channel connection to pyro circuit - - - Top 9 - D + - D pyro channel common connection to battery + - - - Bottom 1 - GND - Ground connection for negative pyro battery terminal - - - Bottom 2 - Pyro - Positive pyro battery terminal - - - Bottom 3 - Lipo - - Power switch output. Use to connect main battery to - pyro battery input - - - - Bottom 4 - A - - A pyro channel connection to pyro circuit - - - Bottom 5 - A + - A pyro channel common connection to battery + - - - Bottom 6 - B - - B pyro channel connection to pyro circuit - - - Bottom 7 - B + - B pyro channel common connection to battery + - - - Bottom 8 - C - - C pyro channel connection to pyro circuit - - - Bottom 9 - C + - C pyro channel common connection to battery + - - - -
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- Using a Separate Pyro Battery with EasyMega - - EasyMega provides explicit support for an external pyro - battery. All that is required is to remove the jumper - between the lipo terminal (Bottom 3) and the pyro terminal - (Bottom 2). Then hook the negative pyro battery terminal to ground - (Bottom 1) and the positive pyro battery to the pyro battery - input (Bottom 2). You can then use the existing pyro screw - terminals to hook up all of the pyro charges. - -
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- Using Only One Battery With EasyMega - - Because EasyMega has built-in support for a separate pyro - battery, if you want to fly with just one battery running - both the computer and firing the charges, you need to - connect the flight computer battery to the pyro - circuit. EasyMega has two screw terminals for this—hook a - wire from the Lipo terminal (Bottom 3) to the Pyro terminal - (Bottom 2). - -
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- Using an Active Switch with EasyMega - - As explained above, an external active switch requires three - connections, one to the positive battery terminal, one to - the flight computer positive input and one to ground. - - - The positive battery terminal is available on Top terminal - 1, the positive flight computer input is on Top terminal - 2. Ground is on Top terminal 3. - -
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- Flight Data Recording - - Each flight computer logs data at 100 samples per second - during ascent and 10 samples per second during descent, except - for TeleMini v1.0, which records ascent at 10 samples per - second and descent at 1 sample per second. Data are logged to - an on-board flash memory part, which can be partitioned into - several equal-sized blocks, one for each flight. - - - Data Storage on Altus Metrum altimeters - - - - - - - - - Device - Bytes per Sample - Total Storage - Minutes at Full Rate - - - - - TeleMetrum v1.0 - 8 - 1MB - 20 - - - TeleMetrum v1.1 v1.2 - 8 - 2MB - 40 - - - TeleMetrum v2.0 - 16 - 8MB - 80 - - - TeleMini v1.0 - 2 - 5kB - 4 - - - TeleMini v2.0 - 16 - 1MB - 10 - - - EasyMini - 16 - 1MB - 10 - - - TeleMega - 32 - 8MB - 40 - - - EasyMega - 32 - 8MB - 40 - - - -
- - The on-board flash is partitioned into separate flight logs, - each of a fixed maximum size. Increase the maximum size of - each log and you reduce the number of flights that can be - stored. Decrease the size and you can store more flights. - - - Configuration data is also stored in the flash memory on - TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB - of flash space. This configuration space is not available - for storing flight log data. TeleMetrum v2.0, TeleMega and EasyMega - store configuration data in a bit of eeprom available within - the processor chip, leaving that space available in flash for - more flight data. - - - To compute the amount of space needed for a single flight, you - can multiply the expected ascent time (in seconds) by 100 - times bytes-per-sample, multiply the expected descent time (in - seconds) by 10 times the bytes per sample and add the two - together. That will slightly under-estimate the storage (in - bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending - 20 seconds in ascent and 150 seconds in descent will take - about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You - could store dozens of these flights in the on-board flash. - - - The default size allows for several flights on each flight - computer, except for TeleMini v1.0, which only holds data for a - single flight. You can adjust the size. - - - Altus Metrum flight computers will not overwrite existing - flight data, so be sure to download flight data and erase it - from the flight computer before it fills up. The flight - computer will still successfully control the flight even if it - cannot log data, so the only thing you will lose is the data. - -
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- Installation - - A typical installation involves attaching - only a suitable battery, a single pole switch for - power on/off, and two pairs of wires connecting e-matches for the - 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. - - - The battery connectors are a standard 2-pin JST connector and - match batteries sold by Spark Fun. These batteries are - single-cell Lithium Polymer batteries that nominally provide 3.7 - volts. Other vendors sell similar batteries for RC aircraft - using mating connectors, however the polarity for those is - generally reversed from the batteries used by Altus Metrum - products. In particular, the Tenergy batteries supplied for use - in Featherweight flight computers are not compatible with Altus - Metrum flight computers or battery chargers. Check - polarity and voltage before connecting any battery not purchased - from Altus Metrum or Spark Fun. - - - By default, we use the unregulated output of the battery directly - 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 - 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. - - - Ejection charges are wired directly to the screw terminal block - at the aft end of the altimeter. You'll need a very small straight - blade screwdriver for these screws, such as you might find in a - jeweler's screwdriver set. - - - Except for TeleMini v1.0, the flight computers also use the - screw terminal block for the power switch leads. On TeleMini v1.0, - the power switch leads are soldered directly to the board and - can be connected directly to a switch. - - - For most air-frames, the integrated antennas are more than - 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 - 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. - -
- - - System Operation -
- Firmware Modes - - The AltOS firmware build for the altimeters has two - fundamental modes, “idle” and “flight”. Which of these modes - the firmware operates in is determined at start up time. For - TeleMetrum, TeleMega and EasyMega, which have accelerometers, the mode is - controlled by the orientation of the - rocket (well, actually the board, of course...) at the time - power is switched on. If the rocket is “nose up”, then - 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 - 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 - first five seconds of operation. - - - At power on, the altimeter will beep out the battery voltage - to the nearest tenth of a volt. Each digit is represented by - a sequence of short “dit” beeps, with a pause between - digits. A zero digit is represented with one long “dah” - beep. Then there will be a short pause while the altimeter - completes initialization and self test, and decides which mode - to enter next. - - - Here's a short summary of all of the modes and the beeping (or - flashing, in the case of TeleMini v1) that accompanies each - mode. In the description of the beeping pattern, “dit” means a - short beep while "dah" means a long beep (three times as - long). “Brap” means a long dissonant tone. - - AltOS Modes - - - - - - - - - Mode Name - Abbreviation - Beeps - Description - - - - - Startup - S - battery voltage in decivolts - - - Calibrating sensors, detecting orientation. - - - - - Idle - I - dit dit - - - Ready to accept commands over USB or radio link. - - - - - Pad - P - dit dah dah dit - - - Waiting for launch. Not listening for commands. - - - - - Boost - B - dah dit dit dit - - - Accelerating upwards. - - - - - Fast - F - dit dit dah dit - - - Decelerating, but moving faster than 200m/s. - - - - - Coast - C - dah dit dah dit - - - Decelerating, moving slower than 200m/s - - - - - Drogue - D - dah dit dit - - - Descending after apogee. Above main height. - - - - - Main - M - dah dah - - - Descending. Below main height. - - - - - Landed - L - dit dah dit dit - - - Stable altitude for at least ten seconds. - - - - - Sensor error - X - dah dit dit dah - - - Error detected during sensor calibration. - - - - - -
- - - In flight or “pad” mode, the altimeter engages the flight - state machine, goes into transmit-only mode to send telemetry, - and waits for launch to be detected. Flight mode is indicated - by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights, - followed by beeps or flashes indicating the state of the - pyrotechnic igniter continuity. One beep/flash indicates - apogee continuity, two beeps/flashes indicate main continuity, - three beeps/flashes indicate both apogee and main continuity, - and one longer “brap” sound which is made by rapidly - alternating between two tones indicates no continuity. For a - dual deploy flight, make sure you're getting three beeps or - flashes before launching! For apogee-only or motor eject - flights, do what makes sense. - - - 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 - in idle mode over either USB or the radio link - equivalently. TeleMini v1.0 only has the radio link. Idle - mode is useful for configuring the altimeter, for extracting - data from the on-board storage chip after flight, and for - ground testing pyro charges. - - - In “Idle” and “Pad” modes, once the mode indication - beeps/flashes and continuity indication has been sent, if - there is no space available to log the flight in on-board - memory, the flight computer will emit a warbling tone (much - slower than the “no continuity tone”) - - - Here's a summary of all of the “pad” and “idle” mode indications. - - Pad/Idle Indications - - - - - - - - Name - Beeps - Description - - - - - Neither - brap - - - No continuity detected on either apogee or main - igniters. - - - - - Apogee - dit - - - Continuity detected only on apogee igniter. - - - - - Main - dit dit - - - Continuity detected only on main igniter. - - - - - Both - dit dit dit - - - Continuity detected on both igniters. - - - - - Storage Full - warble - - - On-board data logging storage is full. This will - not prevent the flight computer from safely - controlling the flight or transmitting telemetry - signals, but no record of the flight will be - stored in on-board flash. - - - - - -
- - - Once landed, the flight computer will signal that by emitting - the “Landed” sound described above, after which it will beep - out the apogee height (in meters). Each digit is represented - by a sequence of short “dit” beeps, with a pause between - digits. A zero digit is represented with one long “dah” - beep. The flight computer will continue to report landed mode - and beep out the maximum height until turned off. - - - One “neat trick” of particular value when TeleMetrum, TeleMega - or EasyMega are used with - very large air-frames, is that you can power the board up while the - rocket is horizontal, such that it comes up in idle mode. Then you can - raise the air-frame to launch position, and issue a 'reset' command - via TeleDongle over the radio link to cause the altimeter to reboot and - come up in flight mode. This is much safer than standing on the top - step of a rickety step-ladder or hanging off the side of a launch - tower with a screw-driver trying to turn on your avionics before - installing igniters! - - - TeleMini v1.0 is configured solely via the radio link. Of course, that - means you need to know the TeleMini radio configuration values - or you won't be able to communicate with it. For situations - when you don't have the radio configuration values, TeleMini v1.0 - offers an 'emergency recovery' mode. In this mode, TeleMini is - configured as follows: - - - - Sets the radio frequency to 434.550MHz - - - - - Sets the radio calibration back to the factory value. - - - - - Sets the callsign to N0CALL - - - - - Does not go to 'pad' mode after five seconds. - - - - - - To get into 'emergency recovery' mode, first find the row of - four small holes opposite the switch wiring. Using a short - piece of small gauge wire, connect the outer two holes - together, then power TeleMini up. Once the red LED is lit, - disconnect the wire and the board should signal that it's in - 'idle' mode after the initial five second startup period. - -
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- GPS - - TeleMetrum and TeleMega include a complete GPS receiver. A - complete explanation of how GPS works is beyond the scope of - this manual, but the bottom line is that the GPS receiver - needs to lock onto at least four satellites to obtain a solid - 3 dimensional position fix and know what time it is. - - - The flight computers provide backup power to the GPS chip any time a - 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 - 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 - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. - -
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- Controlling An Altimeter Over The Radio Link - - One of the unique features of the Altus Metrum system is the - ability to create a two way command link between TeleDongle - and an altimeter using the digital radio transceivers - built into each device. This allows you to interact with the - altimeter from afar, as if it were directly connected to the - computer. - - - Any operation which can be performed with a flight computer can - either be done with the device directly connected to the - computer via the USB cable, or through the radio - link. TeleMini v1.0 doesn't provide a USB connector and so it is - always communicated with over radio. Select the appropriate - TeleDongle device when the list of devices is presented and - AltosUI will interact with an altimeter over the radio link. - - - One oddity in the current interface is how AltosUI selects the - frequency for radio communications. Instead of providing - an interface to specifically configure the frequency, it uses - whatever frequency was most recently selected for the target - TeleDongle device in Monitor Flight mode. If you haven't ever - used that mode with the TeleDongle in question, select the - Monitor Flight button from the top level UI, and pick the - appropriate TeleDongle device. Once the flight monitoring - window is open, select the desired frequency and then close it - down again. All radio communications will now use that frequency. - - - - - Save Flight Data—Recover flight data from the rocket without - opening it up. - - - - - Configure altimeter apogee delays, main deploy heights - 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, - 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. - - - - - Fire Igniters—Test your deployment charges without snaking - wires out through holes in the air-frame. Simply assemble the - rocket as if for flight with the apogee and main charges - loaded, then remotely command the altimeter to fire the - igniters. - - - - - Operation over the radio link for configuring an altimeter, ground - testing igniters, and so forth uses the same RF frequencies as flight - telemetry. To configure the desired TeleDongle frequency, select - the monitor flight tab, then use the frequency selector and - close the window before performing other desired radio operations. - - - The flight computers only enable radio commanding in 'idle' mode. - TeleMetrum and TeleMega use the accelerometer to detect which orientation they - start up in, so make sure you have the flight computer lying horizontally when you turn - it on. Otherwise, it will start in 'pad' mode ready for - flight, and will not be listening for command packets from TeleDongle. - - - TeleMini listens for a command packet for five seconds after - first being turned on, if it doesn't hear anything, it enters - 'pad' mode, ready for flight and will no longer listen for - command packets. The easiest way to connect to TeleMini is to - initiate the command and select the TeleDongle device. At this - point, the TeleDongle will be attempting to communicate with - the TeleMini. Now turn TeleMini on, and it should immediately - start communicating with the TeleDongle and the desired - operation can be performed. - - - You can monitor the operation of the radio link by watching the - lights on the devices. The red LED will flash each time a packet - is transmitted, while the green LED will light up on TeleDongle when - it is waiting to receive a packet from the altimeter. - -
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- Ground Testing - - An important aspect of preparing a rocket using electronic deployment - for flight is ground testing the recovery system. Thanks - to the bi-directional radio link central to the Altus Metrum system, - this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket - with less work than you may be accustomed to with other systems. It - can even be fun! - - - Just prep the rocket for flight, then power up the altimeter - 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 - 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 - TeleDongle and the Fire Igniter tab to complete ejection testing. - -
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- Radio Link - - 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. - - - By design, the altimeter firmware listens for the radio link when - 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 - 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 - the radio in case the rocket crashes and we aren't able to extract - data later... - - - We don't generally use a 'normal packet radio' mode like APRS - because they're just too inefficient. The GFSK modulation we - use is FSK with the base-band pulses passed through a Gaussian - filter before they go into the modulator to limit the - transmitted bandwidth. When combined with forward error - correction and interleaving, this allows us to have a very - robust 19.2 kilobit data link with only 10-40 milliwatts of - transmit power, a whip antenna in the rocket, and a hand-held - Yagi on the ground. We've had flights to above 21k feet AGL - with great reception, and calculations suggest we should be - good to well over 40k feet AGL with a 5-element yagi on the - ground with our 10mW units and over 100k feet AGL with the - 40mW devices. We hope to fly boards to higher altitudes over - time, and would of course appreciate customer feedback on - performance in higher altitude flights! - -
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- APRS - - TeleMetrum v2.0 and TeleMega can send APRS if desired, and the - interval between APRS packets can be configured. As each APRS - packet takes a full second to transmit, we recommend an - interval of at least 5 seconds to avoid consuming too much - battery power or radio channel bandwidth. You can configure - the APRS interval using AltosUI; that process is described in - the Configure Altimeter section of the AltosUI chapter. - - - AltOS uses the APRS compressed position report data format, - which provides for higher position precision and shorter - packets than the original APRS format. It also includes - altitude data, which is invaluable when tracking rockets. We - haven't found a receiver which doesn't handle compressed - positions, but it's just possible that you have one, so if you - have an older device that can receive the raw packets but - isn't displaying position information, it's possible that this - is the cause. - - - APRS packets include an SSID (Secondary Station Identifier) - field that allows one operator to have multiple - transmitters. AltOS allows you to set this to a single digit - from 0 to 9, allowing you to fly multiple transmitters at the - same time while keeping the identify of each one separate in - the receiver. By default, the SSID is set to the last digit of - the device serial number. - - - The APRS packet format includes a comment field that can have - arbitrary text in it. AltOS uses this to send status - information about the flight computer. It sends four fields as - shown in the following table. - - - Altus Metrum APRS Comments - - - - - - - - Field - Example - Description - - - - - 1 - L - GPS Status U for unlocked, L for locked - - - 2 - 6 - Number of Satellites in View - - - 3 - B4.0 - Altimeter Battery Voltage - - - 4 - A3.7 - Apogee Igniter Voltage - - - 5 - M3.7 - Main Igniter Voltage - - - 6 - 1286 - Device Serial Number - - - -
- - Here's an example of an APRS comment showing GPS lock with 6 - satellites in view, a primary battery at 4.0V, and - apogee and main igniters both at 3.7V from device 1286. - - L6 B4.0 A3.7 M3.7 1286 - - - - Make sure your primary battery is above 3.8V, any connected - igniters are above 3.5V and GPS is locked with at least 5 or 6 - satellites in view before flying. If GPS is switching between - L and U regularly, then it doesn't have a good lock and you - should wait until it becomes stable. - - - If the GPS receiver loses lock, the APRS data transmitted will - contain the last position for which GPS lock was - available. You can tell that this has happened by noticing - that the GPS status character switches from 'L' to 'U'. Before - GPS has locked, APRS will transmit zero for latitude, - longitude and altitude. - -
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- Configurable Parameters - - Configuring an Altus Metrum altimeter for flight is very - simple. Even on our baro-only TeleMini and EasyMini boards, - the use of a Kalman filter means there is no need to set a - “mach delay”. The few configurable parameters can all be set - using AltosUI over USB or or radio link via TeleDongle. Read - the Configure Altimeter section in the AltosUI chapter below - for more information. - -
- Radio Frequency - - 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 - 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 - frequency will be used to avoid interference. And of course, both - altimeter and TeleDongle must be configured to the same - frequency to successfully communicate with each other. - -
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- Callsign - - This sets the callsign used for telemetry, APRS and the - packet link. For telemetry and APRS, this is used to - identify the device. For the packet link, the callsign must - match that configured in AltosUI or the link will not - work. This is to prevent accidental configuration of another - Altus Metrum flight computer operating on the same frequency nearby. - -
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- Telemetry/RDF/APRS Enable - - You can completely disable the radio while in flight, if - necessary. This doesn't disable the packet link in idle - mode. - -
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- Telemetry baud rate - - This sets the modulation bit rate for data transmission for - both telemetry and packet link mode. Lower bit - rates will increase range while reducing the amount of data - that can be sent and increasing battery consumption. All - telemetry is done using a rate 1/2 constraint 4 convolution - code, so the actual data transmission rate is 1/2 of the - modulation bit rate specified here. - -
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- APRS Interval - - This selects how often APRS packets are transmitted. Set - this to zero to disable APRS without also disabling the - regular telemetry and RDF transmissions. As APRS takes a - full second to transmit a single position report, we - recommend sending packets no more than once every 5 seconds. - -
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- APRS SSID - - This selects the SSID reported in APRS packets. By default, - it is set to the last digit of the serial number, but you - can change this to any value from 0 to 9. - -
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- Apogee Delay - - Apogee delay is the number of seconds after the altimeter detects flight - apogee that the drogue charge should be fired. In most cases, this - should be left at the default of 0. However, if you are flying - redundant electronics such as for an L3 certification, you may wish - to set one of your altimeters to a positive delay so that both - primary and backup pyrotechnic charges do not fire simultaneously. - - - The Altus Metrum apogee detection algorithm fires exactly at - apogee. If you are also flying an altimeter like the - PerfectFlite MAWD, which only supports selecting 0 or 1 - seconds of apogee delay, you may wish to set the MAWD to 0 - seconds delay and set the TeleMetrum to fire your backup 2 - or 3 seconds later to avoid any chance of both charges - firing simultaneously. We've flown several air-frames this - way quite happily, including Keith's successful L3 cert. - -
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- Apogee Lockout - - Apogee lockout is the number of seconds after boost where - the flight computer will not fire the apogee charge, even if - the rocket appears to be at apogee. This is often called - 'Mach Delay', as it is intended to prevent a flight computer - from unintentionally firing apogee charges due to the pressure - spike that occurrs across a mach transition. Altus Metrum - flight computers include a Kalman filter which is not fooled - by this sharp pressure increase, and so this setting should - be left at the default value of zero to disable it. - -
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- Main Deployment Altitude - - By default, the altimeter will fire the main deployment charge at an - elevation of 250 meters (about 820 feet) above ground. We think this - is a good elevation for most air-frames, but feel free to change this - to suit. In particular, if you are flying two altimeters, you may - wish to set the - deployment elevation for the backup altimeter to be something lower - than the primary so that both pyrotechnic charges don't fire - simultaneously. - -
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- Maximum Flight Log - - Changing this value will set the maximum amount of flight - log storage that an individual flight will use. The - available storage is divided into as many flights of the - specified size as can fit in the available space. You can - download and erase individual flight logs. If you fill up - the available storage, future flights will not get logged - until you erase some of the stored ones. - - - Even though our flight computers (except TeleMini v1.0) can store - multiple flights, we strongly recommend downloading and saving - flight data after each flight. - -
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- Ignite Mode - - 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 Bdale designed that - had two altimeters, one in the fin can and one in the nose. - - - Providing the ability to use both igniters for apogee or - main allows some level of redundancy without needing two - flight computers. In Redundant Apogee or Redundant Main - mode, the two charges will be fired two seconds apart. - -
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- Pad Orientation - - TeleMetrum, TeleMega and EasyMega measure acceleration along the axis - of the board. Which way the board is oriented affects the - sign of the acceleration value. Instead of trying to guess - which way the board is mounted in the air frame, the - altimeter must be explicitly configured for either Antenna - Up or Antenna Down. The default, Antenna Up, expects the end - of the board connected to the 70cm antenna to be nearest the - nose of the rocket, with the end containing the screw - terminals nearest the tail. - -
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- Configurable Pyro Channels - - In addition to the usual Apogee and Main pyro channels, - TeleMega and EasyMega have four additional channels that can be configured - to activate when various flight conditions are - satisfied. You can select as many conditions as necessary; - all of them must be met in order to activate the - channel. The conditions available are: - - - - - Acceleration away from the ground. Select a value, and - then choose whether acceleration should be above or - below that value. Acceleration is positive upwards, so - accelerating towards the ground would produce negative - numbers. Acceleration during descent is noisy and - inaccurate, so be careful when using it during these - phases of the flight. - - - - - Vertical speed. Select a value, and then choose whether - vertical speed should be above or below that - value. Speed is positive upwards, so moving towards the - ground would produce negative numbers. Speed during - descent is a bit noisy and so be careful when using it - during these phases of the flight. - - - - - Height. Select a value, and then choose whether the - height above the launch pad should be above or below - that value. - - - - - Orientation. TeleMega and EasyMega contain a 3-axis gyroscope and - accelerometer which is used to measure the current - angle. Note that this angle is not the change in angle - from the launch pad, but rather absolute relative to - gravity; the 3-axis accelerometer is used to compute the - angle of the rocket on the launch pad and initialize the - 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 0.2°/second (after 10 seconds of flight, the - error should be less than 2°). - - - The usual use of the orientation configuration is to - ensure that the rocket is traveling mostly upwards when - deciding whether to ignite air starts or additional - stages. For that, choose a reasonable maximum angle - (like 20°) and set the motor igniter to require an angle - of less than that value. - - - - - Flight Time. Time since boost was detected. Select a - value and choose whether to activate the pyro channel - before or after that amount of time. - - - - - Ascending. A simple test saying whether the rocket is - going up or not. This is exactly equivalent to testing - whether the speed is > 0. - - - - - Descending. A simple test saying whether the rocket is - going down or not. This is exactly equivalent to testing - whether the speed is < 0. - - - - - After Motor. The flight software counts each time the - rocket starts accelerating and then decelerating - (presumably due to a motor or motors burning). Use this - value for multi-staged or multi-airstart launches. - - - - - Delay. This value doesn't perform any checks, instead it - inserts a delay between the time when the other - parameters become true and when the pyro channel is - activated. - - - - - Flight State. The flight software tracks the flight - through a sequence of states: - - - - Boost. The motor has lit and the rocket is - accelerating upwards. - - - - - Fast. The motor has burned out and the rocket is - decelerating, but it is going faster than 200m/s. - - - - - Coast. The rocket is still moving upwards and - decelerating, but the speed is less than 200m/s. - - - - - Drogue. The rocket has reached apogee and is heading - back down, but is above the configured Main - altitude. - - - - - Main. The rocket is still descending, and is below - the Main altitude - - - - - Landed. The rocket is no longer moving. - - - - - - 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 or some later state. - - - When a motor burns out, the rocket enters either Fast or - Coast state (depending on how fast it is moving). If the - computer detects upwards acceleration again, it will - move back to Boost state. - - - -
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- - - - AltosUI - - - - - - - - - The AltosUI program provides a graphical user interface for - 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 chapter - is split into sections, each of which documents one of the tasks - provided from the top-level toolbar. - -
- Monitor Flight - Receive, Record and Display Telemetry Data - - Selecting this item brings up a dialog box listing all of the - connected TeleDongle devices. When you choose one of these, - AltosUI will create a window to display telemetry data as - received by the selected TeleDongle device. - - - - - - - - - - All telemetry data received are automatically recorded in - suitable log files. The name of the files includes the current - date and rocket serial and flight numbers. - - - The radio frequency being monitored by the TeleDongle device is - displayed at the top of the window. You can configure the - frequency by clicking on the frequency box and selecting the desired - frequency. AltosUI remembers the last frequency selected for each - TeleDongle and selects that automatically the next time you use - that device. - - - Below the TeleDongle frequency selector, the window contains a few - significant pieces of information about the altimeter providing - the telemetry data stream: - - - - The configured call-sign - - - The device serial number - - - The flight number. Each altimeter remembers how many - times it has flown. - - - - - The rocket flight state. Each flight passes through several - states including Pad, Boost, Fast, Coast, Drogue, Main and - Landed. - - - - - The Received Signal Strength Indicator value. This lets - you know how strong a signal TeleDongle is receiving. At - the default data rate, 38400 bps, in bench testing, the - radio inside TeleDongle v0.2 operates down to about - -106dBm, while the v3 radio works down to about -111dBm. - Weaker signals, or an environment with radio noise may - cause the data to not be received. The packet link uses - error detection and correction techniques which prevent - incorrect data from being reported. - - - - - The age of the displayed data, in seconds since the last - successfully received telemetry packet. In normal operation - this will stay in the low single digits. If the number starts - counting up, then you are no longer receiving data over the radio - link from the flight computer. - - - - - Finally, the largest portion of the window contains a set of - tabs, each of which contain some information about the rocket. - They're arranged in 'flight order' so that as the flight - progresses, the selected tab automatically switches to display - data relevant to the current state of the flight. You can select - other tabs at any time. The final 'table' tab displays all of - the raw telemetry values in one place in a spreadsheet-like format. - -
- Launch Pad - - - - - - - - - The 'Launch Pad' tab shows information used to decide when the - 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: - - - Battery Voltage - - - 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. - - - - - 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. - - - - - 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. - - - - - 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. 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. - - - - - GPS Locked - - - 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. - - - - - GPS Ready - - - 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. - - - - - - - The Launchpad tab also shows the computed launch pad position - and altitude, averaging many reported positions to improve the - accuracy of the fix. - -
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- Ascent - - - - - - - - - This tab is shown during Boost, Fast and Coast - phases. The information displayed here helps monitor the - rocket as it heads towards apogee. - - - The height, speed, acceleration and tilt are shown along - with the maximum values for each of them. This allows you to - quickly answer the most commonly asked questions you'll hear - during flight. - - - 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 - start reporting position again. - - - Finally, the current igniter voltages are reported as in the - Launch Pad tab. This can help diagnose deployment failures - caused by wiring which comes loose under high acceleration. - -
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- Descent - - - - - - - - - Once the rocket has reached apogee and (we hope) activated the - apogee charge, attention switches to tracking the rocket on - the way back to the ground, and for dual-deploy flights, - waiting for the main charge to fire. - - - To monitor whether the apogee charge operated correctly, the - current descent rate is reported along with the current - height. Good descent rates vary based on the choice of recovery - components, but generally range from 15-30m/s on drogue and should - be below 10m/s when under the main parachute in a dual-deploy flight. - - - 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 - north. Range can help figure out how big the rocket will - appear. Ground Distance shows how far it is to a point - directly under the rocket and can help figure out where the - rocket is likely to land. Note that all of these values are - relative to the pad location. If the elevation is near 90°, - the rocket is over the pad, not over you. - - - Finally, the igniter voltages are reported in this tab as - well, both to monitor the main charge as well as to see what - the status of the apogee charge is. Note that some commercial - e-matches are designed to retain continuity even after being - fired, and will continue to show as green or return from red to - green after firing. - -
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- Landed - - - - - - - - - Once the rocket is on the ground, attention switches to - recovery. While the radio signal is often lost once the - rocket is on the ground, the last reported GPS position is - generally within a short distance of the actual landing location. - - - The last reported GPS position is reported both by - latitude and longitude as well as a bearing and distance from - the launch pad. The distance should give you a good idea of - whether to walk or hitch a ride. Take the reported - latitude and longitude and enter them into your hand-held GPS - unit and have that compute a track to the landing location. - - - 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 - a hill (or your neighbor's RV roof) to receive the RDF signal. - - - The maximum height, speed and acceleration reported - 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 may yield - more precise results. - - - To get more detailed information about the flight, you can - click on the 'Graph Flight' button which will bring up a - graph window for the current flight. - -
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- Table - - - - - - - - - The table view shows all of the data available from the - flight computer. Probably the most useful data on - this tab is the detailed GPS information, which includes - horizontal dilution of precision information, and - information about the signal being received from the satellites. - -
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- Site Map - - - - - - - - - When the TeleMetrum has a GPS fix, the Site Map tab will map - the rocket's position to make it easier for you to locate the - rocket, both while it is in the air, and when it has landed. The - rocket's state is indicated by color: white for pad, red for - boost, pink for fast, yellow for coast, light blue for drogue, - dark blue for main, and black for landed. - - - The map's default scale is approximately 3m (10ft) per pixel. The map - can be dragged using the left mouse button. The map will attempt - to keep the rocket roughly centered while data is being received. - - - You can adjust the style of map and the zoom level with - buttons on the right side of the map window. You can draw a - line on the map by moving the mouse over the map with a - button other than the left one pressed, or by pressing the - left button while also holding down the shift key. The - length of the line in real-world units will be shown at the - start of the line. - - - Images are fetched automatically via the Google Maps Static API, - and cached on disk for reuse. If map images cannot be downloaded, - the rocket's path will be traced on a dark gray background - instead. - - - You can pre-load images for your favorite launch sites - before you leave home; check out the 'Preload Maps' section below. - -
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- Ignitor - - - - - - - - - TeleMega includes four additional programmable pyro - channels. The Ignitor tab shows whether each of them has - continuity. If an ignitor has a low resistance, then the - voltage measured here will be close to the pyro battery - voltage. A value greater than 3.2V is required for a 'GO' - status. - -
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- Save Flight Data - - The altimeter records flight data to its internal flash memory. - TeleMetrum data is recorded at a much higher rate than the telemetry - 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. - - - Clicking on the 'Save Flight Data' button brings up a list of - 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 a flight computer over radio link via the - specified TeleDongle. See the chapter on Controlling An Altimeter - Over The Radio Link for more information. - - - After the device has been selected, a dialog showing the - flight data saved in the device will be shown allowing you to - select which flights to download and which to delete. With - version 0.9 or newer firmware, you must erase flights in order - for the space they consume to be reused by another - flight. This prevents accidentally losing flight data - if you neglect to download data before flying again. Note that - if there is no more space available in the device, then no - data will be recorded during the next flight. - - - The file name for each flight log is computed automatically - from the recorded flight date, altimeter serial number and - flight number information. - -
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- Replay Flight - - Select this button and you are prompted to select a flight - record file, either a .telem file recording telemetry data or a - .eeprom file containing flight data saved from the altimeter - flash memory. - - - Once a flight record is selected, the flight monitor interface - is displayed and the flight is re-enacted in real time. Check - the Monitor Flight chapter above to learn how this window operates. - -
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- Graph Data - - Select this button and you are prompted to select a flight - record file, either a .telem file recording telemetry data or a - .eeprom file containing flight data saved from - flash memory. - - - Note that telemetry files will generally produce poor graphs - due to the lower sampling rate and missed telemetry packets. - Use saved flight data in .eeprom files for graphing where possible. - - - Once a flight record is selected, a window with multiple tabs is - opened. - -
- Flight Graph - - - - - - - - - By default, the graph contains acceleration (blue), - velocity (green) and altitude (red). - - - The graph can be zoomed into a particular area by clicking and - dragging down and to the right. Once zoomed, the graph can be - reset by clicking and dragging up and to the left. Holding down - control and clicking and dragging allows the graph to be panned. - The right mouse button causes a pop-up menu to be displayed, giving - you the option save or print the plot. - -
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- Configure Graph - - - - - - - - - This selects which graph elements to show, and, at the - very bottom, lets you switch between metric and - imperial units - -
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- Flight Statistics - - - - - - - - - Shows overall data computed from the flight. - -
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- Map - - - - - - - - - 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. - -
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- Export Data - - 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, 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. - -
- Comma Separated Value Format - - This is a text file containing the data in a form suitable for - import into a spreadsheet or other external data analysis - tool. The first few lines of the file contain the version and - configuration information from the altimeter, then - there is a single header line which labels all of the - fields. All of these lines start with a '#' character which - many tools can be configured to skip over. - - - The remaining lines of the file contain the data, with each - field separated by a comma and at least one space. All of - the sensor values are converted to standard units, with the - barometric data reported in both pressure, altitude and - height above pad units. - -
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- Keyhole Markup Language (for Google Earth) - - This is the format used by Google Earth to provide an overlay - within that application. With this, you can use Google Earth to - see the whole flight path in 3D. - -
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- Configure Altimeter - - - - - - - - - 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. - - - The first few lines of the dialog provide information about the - connected device, including the product name, - software version and hardware serial number. Below that are the - individual configuration entries. - - - At the bottom of the dialog, there are four buttons: - - - - 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. - - - - - Reset - - - This resets the dialog to the most recently saved values, - erasing any changes you have made. - - - - - 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. - - - - - Close - - - This closes the dialog. Any unsaved changes will be - lost. - - - - - - The rest of the dialog contains the parameters to be configured. - -
- Main Deploy Altitude - - This sets the altitude (above the recorded pad altitude) at - which the 'main' igniter will fire. The drop-down menu shows - some common values, but you can edit the text directly and - choose whatever you like. If the apogee charge fires below - this altitude, then the main charge will fire two seconds - after the apogee charge fires. - -
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- Apogee Delay - - When flying redundant electronics, it's often important to - ensure that multiple apogee charges don't fire at precisely - the same time, as that can over pressurize the apogee deployment - bay and cause a structural failure of the air-frame. The Apogee - Delay parameter tells the flight computer to fire the apogee - charge a certain number of seconds after apogee has been - detected. - -
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- Apogee Lockoug - - Apogee lockout is the number of seconds after boost where - the flight computer will not fire the apogee charge, even if - the rocket appears to be at apogee. This is often called - 'Mach Delay', as it is intended to prevent a flight computer - from unintentionally firing apogee charges due to the pressure - spike that occurrs across a mach transition. Altus Metrum - flight computers include a Kalman filter which is not fooled - by this sharp pressure increase, and so this setting should - be left at the default value of zero to disable it. - -
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- Frequency - - 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, the TeleDongle frequency will - also be automatically reconfigured to match so that - communication will continue afterwards. - -
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- RF Calibration - - The radios in every Altus Metrum device are calibrated at the - factory to ensure that they transmit and receive on the - specified frequency. If you need to you can adjust the calibration - by changing this value. Do not do this without understanding what - the value means, read the appendix on calibration and/or the source - code for more information. To change a TeleDongle's calibration, - you must reprogram the unit completely. - -
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- Telemetry/RDF/APRS Enable - - Enables the radio for transmission during flight. When - disabled, the radio will not transmit anything during flight - at all. - -
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- Telemetry baud rate - - This sets the modulation bit rate for data transmission for - both telemetry and packet link mode. Lower bit - rates will increase range while reducing the amount of data - that can be sent and increasing battery consumption. All - telemetry is done using a rate 1/2 constraint 4 convolution - code, so the actual data transmission rate is 1/2 of the - modulation bit rate specified here. - -
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- APRS Interval - - How often to transmit GPS information via APRS (in - seconds). When set to zero, APRS transmission is - disabled. 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. - -
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- APRS SSID - - Which SSID to report in APRS packets. By default, this is - set to the last digit of the serial number, but can be - configured to any value from 0 to 9. - -
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- Callsign - - This sets the call sign included in each telemetry packet. Set this - as needed to conform to your local radio regulations. - -
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- Maximum Flight Log Size - - This sets the space (in kilobytes) allocated for each flight - log. The available space will be divided into chunks of this - size. A smaller value will allow more flights to be stored, - a larger value will record data from longer flights. - -
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- Ignitor Firing Mode - - This configuration parameter allows the two standard ignitor - channels (Apogee and Main) to be used in different - configurations. - - - - 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. - - - - - Redundant Apogee - - - This fires both channels at - apogee, the 'apogee' channel first followed after a two second - delay by the 'main' channel. - - - - - 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. - - - - -
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- Pad Orientation - - Because they include accelerometers, TeleMetrum, - TeleMega and EasyMega are sensitive to the orientation of the board. By - default, they expect the antenna end to point forward. This - parameter allows that default to be changed, permitting the - board to be mounted with the antenna pointing aft instead. - - - - Antenna Up - - - In this mode, the antenna end of the - flight computer must point forward, in line with the - expected flight path. - - - - - Antenna Down - - - In this mode, the antenna end of the - flight computer must point aft, in line with the - expected flight path. - - - - -
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- Beeper Frequency - - The beeper on all Altus Metrum flight computers works best - at 4000Hz, however if you have more than one flight computer - in a single airframe, having all of them sound at the same - frequency can be confusing. This parameter lets you adjust - the base beeper frequency value. - -
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- Configure Pyro Channels - - - - - - - - - This opens a separate window to configure the additional - pyro channels available on TeleMega and EasyMega. One column is - presented for each channel. Each row represents a single - parameter, if enabled the parameter must meet the specified - test for the pyro channel to be fired. See the Pyro Channels - section in the System Operation chapter above for a - description of these parameters. - - - Select conditions and set the related value; the pyro - channel will be activated when all 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. - - - At the bottom of the window, the 'Pyro Firing Time' - configuration sets the length of time (in seconds) which - each of these pyro channels will fire for. - - - 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. - -
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- Configure AltosUI - - - - - - - - - This button presents a dialog so that you can configure the AltosUI global settings. - -
- Voice Settings - - AltosUI provides voice announcements during flight so that you - can keep your eyes on the sky and still get information about - the current flight status. However, sometimes you don't want - to hear them. - - - - Enable - - Turns all voice announcements on and off - - - - Test Voice - - - Plays a short message allowing you to verify - that the audio system is working and the volume settings - are reasonable - - - - -
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- Log Directory - - AltosUI logs all telemetry data and saves all TeleMetrum flash - data to this directory. This directory is also used as the - staring point when selecting data files for display or export. - - - Click on the directory name to bring up a directory choosing - dialog, select a new directory and click 'Select Directory' to - change where AltosUI reads and writes data files. - -
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- Callsign - - This value is transmitted in each command packet sent from - TeleDongle and received from an altimeter. It is not used in - telemetry mode, as the callsign configured in the altimeter board - is included in all telemetry packets. Configure this - with the AltosUI operators call sign as needed to comply with - your local radio regulations. - - - Note that to successfully command a flight computer over the radio - (to configure the altimeter, monitor idle, or fire pyro charges), - the callsign configured here must exactly match the callsign - configured in the flight computer. This matching is case - sensitive. - -
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- Imperial Units - - This switches between metric units (meters) and imperial - units (feet and miles). This affects the display of values - 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. - -
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- Font Size - - Selects the set of fonts used in the flight monitor - window. Choose between the small, medium and large sets. - -
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- Serial Debug - - This causes all communication with a connected device to be - dumped to the console from which AltosUI was started. If - you've started it from an icon or menu entry, the output - will simply be discarded. This mode can be useful to debug - various serial communication issues. - -
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- Manage Frequencies - - This brings up a dialog where you can configure the set of - frequencies shown in the various frequency menus. You can - add as many as you like, or even reconfigure the default - set. Changing this list does not affect the frequency - settings of any devices, it only changes the set of - frequencies shown in the menus. - -
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- Configure Groundstation - - - - - - - - - Select this button and then select a TeleDongle or TeleBT Device from the list provided. - - - The first few lines of the dialog provide information about the - connected device, including the product name, - software version and hardware serial number. Below that are the - individual configuration entries. - - - Note that TeleDongle and TeleBT don't save any configuration - data, the settings here are recorded on the local machine in - the Java preferences database. Moving the device to - another machine, or using a different user account on the same - machine will cause settings made here to have no effect. - - - At the bottom of the dialog, there are three buttons: - - - - 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. - - - - - Reset - - - This resets the dialog to the most recently saved values, - erasing any changes you have made. - - - - - Close - - - This closes the dialog. Any unsaved changes will be - lost. - - - - - - The rest of the dialog contains the parameters to be configured. - -
- Frequency - - This configures the frequency to use for both telemetry and - packet command mode. Set this before starting any operation - involving packet command mode so that it will use the right - frequency. Telemetry monitoring mode also provides a menu to - change the frequency, and that menu also sets the same Java - preference value used here. - -
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- RF Calibration - - The radios in every Altus Metrum device are calibrated at the - factory to ensure that they transmit and receive on the - specified frequency. To change a TeleDongle or TeleBT's calibration, - you must reprogram the unit completely, so this entry simply - shows the current value and doesn't allow any changes. - -
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- Telemetry Rate - - This lets you match the telemetry and packet link rate from - the transmitter. If they don't match, the device won't - receive any data. - -
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- Flash Image - - This reprograms Altus Metrum devices with new - firmware. TeleMetrum v1.x, TeleDongle v0.2, TeleMini and - TeleBT are all reprogrammed by using another similar unit as a - programming dongle (pair programming). TeleMega, EasyMega, - TeleMetrum v2, EasyMini and TeleDongle v3 are all programmed - directly over their USB ports (self programming). Please read - the directions for flashing devices in the Updating Device - Firmware chapter below. - -
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- Fire Igniter - - - - - - - - - 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. - - - Selecting the 'Fire Igniter' button brings up the usual device - selection dialog. Pick the desired device. This brings up another - window which shows the current continuity test status for all - of the pyro channels. - - - Next, select the desired igniter to fire. This will enable the - 'Arm' button. - - - Select the 'Arm' button. This enables the 'Fire' button. The - word 'Arm' is replaced by a countdown timer indicating that - you have 10 seconds to press the 'Fire' button or the system - will deactivate, at which point you start over again at - selecting the desired igniter. - -
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- Scan Channels - - - - - - - - - This listens for telemetry packets on all of the configured - frequencies, displaying information about each device it - receives a packet from. You can select which of the baud rates - and telemetry formats should be tried; by default, it only listens - at 38400 baud with the standard telemetry format used in v1.0 and later - firmware. - -
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- Load Maps - - - - - - - - - Before heading out to a new launch site, you can use this to - load satellite images in case you don't have internet - connectivity at the site. - - - 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 from our server at run-time, so as new sites are sent - in, they'll get automatically added to this list. - If the launch site isn't in the list, you can manually enter the lat/lon values - - - There are four different kinds of maps you can view; you can - select which to download by selecting as many as you like from - the available types: - - - Hybrid - - - A combination of satellite imagery and road data. This - is the default view. - - - - - Satellite - - - Just the satellite imagery without any annotation. - - - - - Roadmap - - - Roads, political boundaries and a few geographic features. - - - - - Terrain - - - Contour intervals and shading that show hills and - valleys. - - - - - - - You can specify the range of zoom levels to download; smaller - numbers show more area with less resolution. The default - level, 0, shows about 3m/pixel. One zoom level change - doubles or halves that number. Larger zoom levels show more - detail, smaller zoom levels less. - - - The Map Radius value sets how large an area around the center - point to download. Select a value large enough to cover any - plausible flight from that site. Be aware that loading a large - area with a high maximum zoom level can attempt to download a - lot of data. Loading hybrid maps with a 10km radius at a - minimum zoom of -2 and a maximum zoom of 2 consumes about - 120MB of space. Terrain and road maps consume about 1/10 as - much space as satellite or hybrid maps. - - - Clicking the 'Load Map' button will fetch images from Google - Maps; note that Google limits how many images you can fetch at - once, so if you load more than one launch site, you may get - some gray areas in the map which indicate that Google is tired - of sending data to you. Try again later. - -
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- Monitor Idle - - - - - - - - - This brings up a dialog similar to the Monitor Flight UI, - except it works with the altimeter in “idle” mode by sending - query commands to discover the current state rather than - listening for telemetry packets. 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. - - - You can change the frequency and callsign used to communicate - with the flight computer; they must both match the - configuration in the flight computer exactly. - -
- - - AltosDroid - - AltosDroid provides the same flight monitoring capabilities as - AltosUI, but runs on Android devices. AltosDroid is designed to connect - to a TeleBT receiver over Bluetooth™ and (on Android devices supporting - USB On-the-go) TeleDongle and TeleBT devices over USB. AltosDroid monitors - telemetry data, logging it to internal storage in the Android - device, and presents that data in a UI similar to the 'Monitor - Flight' window in AltosUI. - - - This manual will explain how to configure AltosDroid, connect to - TeleBT or TeleDongle, operate the flight monitoring interface - and describe what the displayed data means. - -
- Installing AltosDroid - - 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. - -
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- Charging TeleBT Battery - - Before using TeleBT with AltosDroid, make sure the internal - TeleBT battery is charged. To do this, attach a micro USB - cable from a computer or other USB power source to TeleBT. - A dual LED on the circuit board should illuminate, showing - red while the battery is charging, green when charging is - completed, and both red and green on at the same time if - there is a battery fault. - -
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- Connecting to TeleBT over Bluetooth™ - - Press the Android 'Menu' button or soft-key to see the - configuration options available. Select the 'Connect a device' - option and then the 'Scan for devices' entry at the bottom to - look for your TeleBT device. Select your device, and when it - asks for the code, enter '1234'. - - - Subsequent connections will not require you to enter that - code, and your 'paired' device will appear in the list without - scanning. - -
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- Connecting to TeleDongle or TeleBT over USB - - Get a special USB On-the-go adapter cable. These cables have a USB - micro-B male connector on one end and a standard A female - connector on the other end. Plug in your TeleDongle or TeleBT - device to the adapter cable and the adapter cable into your - phone and AltosDroid should automatically start up. If it - doesn't, the most likely reason is that your Android device - doesn't support USB On-the-go. - -
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- Configuring AltosDroid - - There are several configuration and operation parameters - available in the AltosDroid menu. - -
- Select radio frequency - - This selects which frequency to listen on by bringing up a - menu of pre-set radio frequencies. Pick the one which matches - your altimeter. - -
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- Select data rate - - Altus Metrum transmitters can be configured to operate at - lower data rates to improve transmission range. If you have - configured your device to do this, this menu item allows you - to change the receiver to match. - -
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- Change units - - This toggles between metric and imperial units. - -
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- Load maps - - Brings up a dialog allowing you to download offline map - tiles so that you can have maps available even if you have - no network connectivity at the launch site. - -
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- Map type - - Displays a menu of map types and lets you select one. Hybrid - maps include satellite images with a roadmap - overlaid. Satellite maps dispense with the roadmap - overlay. Roadmap shows just the roads. Terrain includes - roads along with shadows indicating changes in elevation, - and other geographical features. - -
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- Toggle Online/Offline maps - - Switches between online and offline maps. Online maps will - show a 'move to current position' icon in the upper right - corner, while offline maps will have copyright information - all over the map. Otherwise, they're pretty similar. - -
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- Select Tracker - - Switches the information displays to show data for a - different transmitting device. The map will always show all - of the devices in view. Trackers are shown and selected by - serial number, so make sure you note the serial number of - devices in each airframe. - -
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- Delete Track - - Deletes all information about a transmitting device. - -
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- AltosDroid 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 - the Android device. - -
- Pad - - The 'Pad' tab shows information used to decide when the - 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. - - - When the pad tab is selected, the voice responses will - include status changes to the igniters and GPS reception, - letting you know if the rocket is still ready for launch. - - - - Battery - - - This indicates whether the Li-Po battery - powering the transmitter has sufficient charge to last for - the duration of the flight. A value of more than - 3.8V is required for a 'GO' status. - - - - - Receiver Battery - - - This indicates whether the Li-Po battery - powering the TeleBT has sufficient charge to last for - the duration of the flight. A value of more than - 3.8V is required for a 'GO' status. - - - - - 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 and TeleMega can store multiple - flights, depending on the configured maximum flight - log size. TeleGPS logs data continuously. 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. - - - - - GPS Locked - - - 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. - - - - - GPS Ready - - - 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. - - - - - Apogee Igniter - - - 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. - - - - - Main Igniter - - - 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. - - - - - Igniter A-D - - - This indicates whether the indicated additional pyro - channel 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. - - - - - - The Pad tab also shows the location of the Android device. - -
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- Flight - - The 'Flight' tab shows information used to evaluate and spot - a rocket while in flight. It displays speed and height data - to monitor the health of the rocket, along with elevation, - range and bearing to help locate the rocket in the sky. - - - While the Flight tab is displayed, the voice announcements - will include current speed, height, elevation and bearing - information. - - - - Speed - - - Shows current vertical speed. During descent, the - speed values are averaged over a fairly long time to - try and make them steadier. - - - - - Height - - - Shows the current height above the launch pad. - - - - - Max Speed - - - Shows the maximum vertical speed seen during the flight. - - - - - Max Height - - - Shows the maximum height above launch pad. - - - - - Elevation - - - This is the angle above the horizon from the android - devices current position. - - - - - Range - - - The total distance from the android device to the - rocket, including both ground distance and - difference in altitude. Use this to gauge how large - the rocket is likely to appear in the sky. - - - - - Bearing - - - This is the aziumuth from true north for the rocket - from the android device. Use this in combination - with the Elevation value to help locate the rocket - in the sky, or at least to help point the antenna in - the general direction. This is provided in both - degrees and a compass point (like West South - West). You'll want to know which direction is true - north before launching your rocket. - - - - - Ground Distance - - - This shows the distance across the ground to the - lat/lon where the rocket is located. Use this to - estimate what is currently under the rocket. - - - - - Latitude/Longitude - - - Displays the last known location of the rocket. - - - - - Apogee Igniter - - - 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. - - - - - Main Igniter - - - 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. - - - - -
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- Recover - - The 'Recover' tab shows information used while recovering the - rocket on the ground after flight. - - - While the Recover tab is displayed, the voice announcements - will include distance along with either bearing or - direction, depending on whether you are moving. - - - - Bearing - - - This is the aziumuth from true north for the rocket - from the android device. Use this in combination - with the Elevation value to help locate the rocket - in the sky, or at least to help point the antenna in - the general direction. This is provided in both - degrees and a compass point (like West South - West). You'll want to know which direction is true - north before launching your rocket. - - - - - Direction - - - When you are in motion, this provides the angle from - your current direction of motion towards the rocket. - - - - - Distance - - - Distance over the ground to the rocket. - - - - - Tar Lat/Tar Lon - - - Displays the last known location of the rocket. - - - - - My Lat/My Lon - - - Displays the location of the Android device. - - - - - Max Height - - - Shows the maximum height above launch pad. - - - - - Max Speed - - - Shows the maximum vertical speed seen during the flight. - - - - - Max Accel - - - Shows the maximum vertical acceleration seen during the flight. - - - - -
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- Map - - The 'Map' tab shows a map of the area around the rocket - being tracked along with information needed to recover it. - - - On the map itself, icons showing the location of the android - device along with the last known location of each tracker. A - blue line is drawn from the android device location to the - currently selected tracker. - - - Below the map, the distance and either bearing or direction - along with the lat/lon of the target and the android device - are shown - - - The Map tab provides the same voice announcements as the - Recover tab. - -
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- Downloading Flight Logs - - AltosDroid always saves every bit of telemetry data it - receives. To download that to a computer for use with AltosUI, - remove the SD card from your Android device, or connect your - device to your computer's USB port and browse the files on - that device. You will find '.telem' files in the TeleMetrum - directory that will work with AltosUI directly. - -
- - - Using Altus Metrum Products -
- Being Legal - - First off, in the US, you need an amateur radio license or - other authorization to legally operate the radio transmitters that are part - of our products. - -
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- In the Rocket - - 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, TeleMega or EasyMega for hours. - A 110mAh battery weighs less than a triple A battery and is a good - choice for use with TeleMini or EasyMini. - - - By default, we ship TeleMini, TeleMetrum and TeleMega flight computers with a simple wire antenna. - If your electronics bay or the air-frame it resides within is made - of carbon fiber, which is opaque to RF signals, you may prefer to - install an SMA connector so that you can run a coaxial cable to an - 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. - -
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- On the Ground - - To receive the data stream from the rocket, you need an antenna and short - feed-line connected to one of our TeleDongle units. If possible, use an SMA to BNC - adapter instead of feedline between the antenna feedpoint and - TeleDongle, as this will give you the best performance. The - TeleDongle in turn plugs directly into the USB port on a notebook - computer. Because TeleDongle looks like a simple serial port, your computer - does not require special device drivers... just plug it in. - - - The GUI tool, AltosUI, is written in Java and runs across - Linux, Mac OS and Windows. There's also a suite of C tools - for Linux which can perform most of the same tasks. - - - 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. - - - 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 - TeleMetrum board directly. Pulling out the data without having to open up - the rocket is pretty cool! A USB cable is also how you charge the Li-Po - battery, so you'll want one of those anyway... the same cable used by lots - of digital cameras and other modern electronic stuff will work fine. - - - 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! - - - 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 - currently uses a Yaesu FT1D, Bdale has a Yaesu VX-7R, which - is a nicer radio in most ways but doesn't support APRS. - - - So, to recap, on the ground the hardware you'll need includes: - - - - an antenna and feed-line or adapter - - - - - a TeleDongle - - - - - a notebook computer - - - - - optionally, a hand-held GPS receiver - - - - - optionally, an HT or receiver covering 435 MHz - - - - - - The best hand-held commercial directional antennas we've found for radio - direction finding rockets are from - - Arrow Antennas. - - The 440-3 and 440-5 are both good choices for finding a - TeleMetrum- or TeleMini- equipped rocket when used with a suitable - 70cm HT. TeleDongle and an SMA to BNC adapter fit perfectly - between the driven element and reflector of Arrow antennas. - -
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- Data Analysis - - Our software makes it easy to log the data from each flight, both the - telemetry received during the flight itself, and the more - complete data log recorded in the flash memory on the altimeter - board. Once this data is on your computer, our post-flight tools make it - easy to quickly get to the numbers everyone wants, like apogee altitude, - max acceleration, and max velocity. You can also generate and view a - standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a TeleMetrum data file - usable with Google Maps and Google Earth for visualizing the flight path - in two or three dimensions! - - - Our ultimate goal is to emit a set of files for each flight that can be - published as a web page per flight, or just viewed on your local disk with - a web browser. - -
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- Future Plans - - We have designed and prototyped several “companion boards” that - can attach to the companion connector on TeleMetrum, - TeleMega and EasyMega - flight computers to collect more data, provide more pyro channels, - and so forth. We do not yet know if or when any of these boards - will be produced in enough quantity to sell. If you have specific - interests for data collection or control of events in your rockets - beyond the capabilities of our existing productions, please let - us know! - - - Because all of our work is open, both the hardware designs and the - software, if you have some great idea for an addition to the current - Altus Metrum family, feel free to dive in and help! Or let us know - what you'd like to see that we aren't already working on, and maybe - we'll get excited about it too... - - - Watch our - web site for more news - and information as our family of products evolves! - -
- - - Altimeter Installation Recommendations - - Building high-power rockets that fly safely is hard enough. Mix - in some sophisticated electronics and a bunch of radio energy - and some creativity and/or compromise may be required. This chapter - contains some suggestions about how to install Altus Metrum - products into a rocket air-frame, including how to safely and - reliably mix a variety of electronics into the same air-frame. - -
- Mounting the Altimeter - - The first consideration is to ensure that the altimeter is - 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. - - - - - Make sure accelerometer-equipped products like TeleMetrum, - TeleMega and EasyMega are aligned precisely along the axis of - acceleration so that the accelerometer can accurately - capture data during the flight. - - - - - Watch for any metal touching components on the - board. Shorting out connections on the bottom of the board - can cause the altimeter to fail during flight. - - - -
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- Dealing with the Antenna - - The antenna supplied is just a piece of solid, insulated, - wire. If it gets damaged or broken, it can be easily - replaced. It should be kept straight and not cut; bending or - cutting it will change the resonant frequency and/or - impedance, making it a less efficient radiator and thus - reducing the range of the telemetry signal. - - - Keeping metal away from the antenna will provide better range - and a more even radiation pattern. In most rockets, it's not - entirely possible to isolate the antenna from metal - components; there are often bolts, all-thread and wires from other - electronics to contend with. Just be aware that the more stuff - like this around the antenna, the lower the range. - - - Make sure the antenna is not inside a tube made or covered - with conducting material. Carbon fiber is the most common - 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 should be avoided around any antennas. - - - If the ebay is large enough, it can be convenient to simply - mount the altimeter at one end and stretch the antenna out - inside. Taping the antenna to the sled can keep it straight - under acceleration. If there are metal rods, keep the - antenna as far away as possible. - - - For a shorter ebay, it's quite practical to have the antenna - run through a bulkhead and into an adjacent bay. Drill a small - hole in the bulkhead, pass the antenna wire through it and - then seal it up with glue or clay. We've also used acrylic - tubing to create a cavity for the antenna wire. This works a - bit better in that the antenna is known to stay straight and - not get folded by recovery components in the bay. Angle the - tubing towards the side wall of the rocket and it ends up - consuming very little space. - - - 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 - manual. - -
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- Preserving GPS Reception - - 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 the GPS signal - can end up attenuated, negatively affecting GPS performance. - - - - Conductive tubing or coatings. Carbon fiber and metal - tubing, or metallic paint will all dramatically attenuate the - GPS signal. We've never heard of anyone successfully - receiving GPS from inside these materials. - - - - - Metal components near the GPS patch antenna. These will - de-tune the patch antenna, changing the resonant frequency - away from the L1 carrier and reduce the effectiveness of the - antenna. You can place as much stuff as you like beneath the - antenna as that's covered with a ground plane. But, keep - wires and metal out from above the patch antenna. - - - - -
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- Radio Frequency Interference - - Any altimeter will generate RFI; the digital circuits use - high-frequency clocks that spray radio interference across a - wide band. Altus Metrum altimeters generate intentional radio - signals as well, increasing the amount of RF energy around the board. - - - Rocketry altimeters also use precise sensors measuring air - pressure and acceleration. Tiny changes in voltage can cause - these sensor readings to vary by a huge amount. When the - sensors start mis-reporting data, the altimeter can either - fire the igniters at the wrong time, or not fire them at all. - - - Voltages are induced when radio frequency energy is - transmitted from one circuit to another. Here are things that - influence the induced voltage and current: - - - - - Keep wires from different circuits apart. Moving circuits - further apart will reduce RFI. - - - - - Avoid parallel wires from different circuits. The longer two - wires run parallel to one another, the larger the amount of - transferred energy. Cross wires at right angles to reduce - RFI. - - - - - Twist wires from the same circuits. Two wires the same - distance from the transmitter will get the same amount of - induced energy which will then cancel out. Any time you have - a wire pair running together, twist the pair together to - even out distances and reduce RFI. For altimeters, this - includes battery leads, switch hookups and igniter - circuits. - - - - - Avoid resonant lengths. Know what frequencies are present - in the environment and avoid having wire lengths near a - 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 ¼ - of the wavelength (17.5cm). - - - -
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- The Barometric Sensor - - Altusmetrum altimeters measure altitude with a barometric - sensor, essentially measuring the amount of air above the - rocket to figure out how high it is. A large number of - measurements are taken as the altimeter initializes itself to - figure out the pad altitude. Subsequent measurements are then - used to compute the height above the pad. - - - To accurately measure atmospheric pressure, the ebay - containing the altimeter must be vented outside the - air-frame. The vent must be placed in a region of linear - airflow, have smooth edges, and away from areas of increasing or - decreasing pressure. - - - 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. - -
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- Ground Testing - - The most important aspect of any installation is careful - ground testing. Bringing an air-frame up to the LCO table which - hasn't been ground tested can lead to delays or ejection - charges firing on the pad, or, even worse, a recovery system - failure. - - - Do a 'full systems' test that includes wiring up all igniters - without any BP and turning on all of the electronics in flight - mode. This will catch any mistakes in wiring and any residual - RFI issues that might accidentally fire igniters at the wrong - time. Let the air-frame sit for several minutes, checking for - adequate telemetry signal strength and GPS lock. If any igniters - fire unexpectedly, find and resolve the issue before loading any - BP charges! - - - Ground test the ejection charges. Prepare the rocket for - flight, loading ejection charges and igniters. Completely - assemble the air-frame and then use the 'Fire Igniters' - interface through a TeleDongle to command each charge to - fire. Make sure the charge is sufficient to robustly separate - the air-frame and deploy the recovery system. - -
- - - Updating Device Firmware - - TeleMega, TeleMetrum v2, EasyMega, EasyMini and TeleDongle v3 - are all programmed directly over their USB connectors (self - programming). TeleMetrum v1, TeleMini and TeleDongle v0.2 are - all programmed by using another device as a programmer (pair - programming). It's important to recognize which kind of devices - you have before trying to reprogram them. - - - You may wish to begin by ensuring you have current firmware images. - These are distributed as part of the AltOS software bundle that - also includes the AltosUI ground station program. Newer ground - station versions typically work fine with older firmware versions, - so you don't need to update your devices just to try out new - software features. You can always download the most recent - version from . - - - If you need to update the firmware on a TeleDongle v0.2, we recommend - updating the altimeter first, before updating TeleDongle. However, - note that TeleDongle rarely need to be updated. Any firmware version - 1.0.1 or later will work, version 1.2.1 may have improved receiver - performance slightly. - - - Self-programmable devices (TeleMega, TeleMetrum v2, EasyMega and EasyMini) - are reprogrammed by connecting them to your computer over USB - -
- - Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or - TeleDongle v3 Firmware - - - - - Attach a battery if necessary and power switch to the target - device. Power up the device. - - - - - Using a Micro USB cable, connect the target device to your - computer's USB socket. - - - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - - - Select the target device in the Device Selection dialog. - - - - - 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. - - - - - 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. - - - - - Hit the 'OK' button and the software should proceed to flash - the device with new firmware, showing a progress bar. - - - - - Verify that the device is working by using the 'Configure - Altimeter' or 'Configure Groundstation' item to check over - the configuration. - - - -
- Recovering From Self-Flashing Failure - - 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. - - - 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. - - - - TeleMega - - - 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 not 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. - - - - - EasyMega - - - 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 not 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. - - - - - TeleMetrum v2 - - - 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 not 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. - - - - - EasyMini - - - 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. - - - - - TeleDongle v3 - - - Connect pin 32 on the CPU to ground. Pin 32 is closest - to the USB wires on the row of pins towards the center - of the board. Ground is available on the capacitor - next to it, on the end towards the USB wires. - - - - - - Once you've located the right pins: - - - - - Turn the altimeter power off. - - - - - Connect a battery. - - - - - Connect the indicated terminals together with a short - piece of wire. Take care not to accidentally connect - anything else. - - - - - Connect USB - - - - - Turn the board power on. - - - - - The board should now be visible over USB as 'AltosFlash' - and be ready to receive firmware. - - - - - Once the board has been powered up, you can remove the - piece of wire. - - - -
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- Pair Programming - - The big concept to understand is that you have to use a - TeleMetrum v1.0, TeleBT v1.0 or TeleDongle v0.2 as a - programmer to update a pair programmed device. Due to limited - memory resources in the cc1111, we don't support programming - directly over USB for these devices. - -
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- Updating TeleMetrum v1.x Firmware - - - - Find the 'programming cable' that you got as part of the starter - kit, that has a red 8-pin MicroMaTch connector on one end and a - red 4-pin MicroMaTch connector on the other end. - - - - - Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 - case to get access to the circuit board. - - - - - Plug the 8-pin end of the programming cable to the - matching connector on the TeleDongle v0.2 or TeleBT v1.0, and the 4-pin end to the - matching connector on the TeleMetrum. - Note that each MicroMaTch connector has an alignment pin that - goes through a hole in the PC board when you have the cable - oriented correctly. - - - - - Attach a battery to the TeleMetrum board. - - - - - Plug the TeleDongle v0.2 or TeleBT v1.0 into your computer's USB port, and power - up the TeleMetrum. - - - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - - - Pick the TeleDongle v0.2 or TeleBT v1.0 device from the list, identifying it as the - programming device. - - - - - Select the image you want put on the TeleMetrum, which should have a - name in the form telemetrum-v1.2-1.0.0.ihx. It should be visible - in the default directory, if not you may have to poke around - your system to find it. - - - - - 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. - - - - - Hit the 'OK' button and the software should proceed to flash - the TeleMetrum with new firmware, showing a progress bar. - - - - - Confirm that the TeleMetrum board seems to have updated OK, which you - can do by plugging in to it over USB and using a terminal program - to connect to the board and issue the 'v' command to check - the version, etc. - - - - - If something goes wrong, give it another try. - - - -
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- Updating TeleMini Firmware - - - - You'll need a special 'programming cable' to reprogram the - TeleMini. You can make your own using an 8-pin MicroMaTch - connector on one end and a set of four pins on the other. - - - - - Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 case to get access - to the circuit board. - - - - - Plug the 8-pin end of the programming cable to the matching - connector on the TeleDongle v0.2 or TeleBT v1.0, and the 4-pins into the holes - in the TeleMini circuit board. Note that the MicroMaTch - connector has an alignment pin that goes through a hole in - the PC board when you have the cable oriented correctly, and - that pin 1 on the TeleMini board is marked with a square pad - while the other pins have round pads. - - - - - Attach a battery to the TeleMini board. - - - - - Plug the TeleDongle v0.2 or TeleBT v1.0 into your computer's USB port, and power - up the TeleMini - - - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - - - Pick the TeleDongle v0.2 or TeleBT v1.0 device from the list, identifying it as the - programming device. - - - - - Select the image you want put on the TeleMini, which should have a - name in the form telemini-v1.0-1.0.0.ihx. It should be visible - in the default directory, if not you may have to poke around - your system to find it. - - - - - 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. - - - - - Hit the 'OK' button and the software should proceed to flash - the TeleMini with new firmware, showing a progress bar. - - - - - 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. - - - - - If something goes wrong, give it another try. - - - -
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- Updating TeleDongle v0.2 Firmware - - Updating TeleDongle v0.2 firmware is just like updating - TeleMetrum v1.x or TeleMini - firmware, but you use either a TeleMetrum v1.x, TeleDongle - v0.2 or TeleBT v1.0 as the programmer. - - - - - Find the 'programming cable' that you got as part of the starter - kit, that has a red 8-pin MicroMaTch connector on one end and a - red 4-pin MicroMaTch connector on the other end. - - - - - 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 - v1.x, TeleDongle v0.2 or TeleBT v1.0. - - - - - Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 case to get access - to the circuit board. - - - - - Plug the 8-pin end of the programming cable to the - matching connector on the programmer, and the 4-pin end to the - matching connector on the TeleDongle v0.2. - Note that each MicroMaTch connector has an alignment pin that - goes through a hole in the PC board when you have the cable - oriented correctly. - - - - - Attach a battery to the TeleMetrum v1.x board if you're using one. - - - - - Plug both the programmer and the TeleDongle into your computer's USB - ports, and power up the programmer. - - - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - - - Pick the programmer device from the list, identifying it as the - programming device. - - - - - Select the image you want put on the TeleDongle v0.2, which should have a - name in the form teledongle-v0.2-1.0.0.ihx. It should be visible - in the default directory, if not you may have to poke around - your system to find it. - - - - - 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 v0.2 - serial number is on the “bottom” of the circuit board, and can - usually be read through the translucent blue plastic case without - needing to remove the board from the case. - - - - - Hit the 'OK' button and the software should proceed to flash - the TeleDongle v0.2 with new firmware, showing a progress bar. - - - - - Confirm that the TeleDongle v0.2 board seems to have updated OK, which you - can do by plugging in to it over USB and using a terminal program - to connect to the board and issue the 'v' command to check - the version, etc. Once you're happy, remove the programming cable - and put the cover back on the TeleDongle v0.2. - - - - - If something goes wrong, give it another try. - - - - - Be careful removing the programming cable from the locking 8-pin - connector on TeleMetrum. You'll need a fingernail or perhaps a thin - screwdriver or knife blade to gently pry the locking ears out - slightly to extract the connector. We used a locking connector on - TeleMetrum to help ensure that the cabling to companion boards - used in a rocket don't ever come loose accidentally in flight. - -
- - - Hardware Specifications -
- - TeleMega Specifications - - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment and four auxiliary pyro channels - (a total of 6 events). - - - - - 70cm 40mW ham-band transceiver for telemetry down-link. - - - - - Barometric pressure sensor good to 100k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 102g. - - - - - 9-axis IMU including integrated 3-axis accelerometer, - 3-axis gyroscope and 3-axis magnetometer. - - - - - On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability. - - - - - On-board 8 Megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for Li-Po rechargeable batteries. - - - - - Can use either main system Li-Po or optional separate pyro battery - to fire e-matches. - - - - - 3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube. - - - -
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- - EasyMega Specifications - - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment and four auxiliary pyro channels - (a total of 6 events). - - - - - Barometric pressure sensor good to 100k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 102g. - - - - - 9-axis IMU including integrated 3-axis accelerometer, - 3-axis gyroscope and 3-axis magnetometer. - - - - - On-board 8 Megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for Li-Po rechargeable batteries. - - - - - Can use either main system Li-Po or optional separate pyro battery - to fire e-matches. - - - - - 1.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube. - - - -
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- - TeleMetrum v2 Specifications - - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm, 40mW ham-band transceiver for telemetry down-link. - - - - - Barometric pressure sensor good to 100k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 102g. - - - - - On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability. - - - - - On-board 8 Megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for Li-Po rechargeable batteries. - - - - - Uses Li-Po to fire e-matches, can be modified to support - optional separate pyro battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube. - - - -
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- TeleMetrum v1 Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm, 10mW ham-band transceiver for telemetry down-link. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - - - - - On-board, integrated GPS receiver with 5Hz update rate capability. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for Li-Po rechargeable batteries. - - - - - Uses Li-Po to fire e-matches, can be modified to support - optional separate pyro battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube. - - - -
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- - TeleMini v2.0 Specifications - - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm, 10mW ham-band transceiver for telemetry down-link. - - - - - Barometric pressure sensor good to 100k feet MSL. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for configuration, and data recovery. - - - - - Support for Li-Po rechargeable batteries (using an - external charger), or any 3.7-15V external battery. - - - - - Uses Li-Po to fire e-matches, can be modified to support - optional separate pyro battery if needed. - - - - - 1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube. - - - -
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- - TeleMini v1.0 Specifications - - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm, 10mW ham-band transceiver for telemetry down-link. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - On-board 5 kilobyte non-volatile memory for flight data storage. - - - - - RF interface for configuration, and data recovery. - - - - - Support for Li-Po rechargeable batteries, using an external charger. - - - - - Uses Li-Po to fire e-matches, can be modified to support - optional separate pyro battery if needed. - - - - - 1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube. - - - -
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- - EasyMini Specifications - - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - Barometric pressure sensor good to 100k feet MSL. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for configuration, and data recovery. - - - - - Support for Li-Po rechargeable batteries (using an - external charger), or any 3.7-15V external battery. - - - - - Uses Li-Po to fire e-matches, can be modified to support - optional separate pyro battery if needed. - - - - - 1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube. - - - -
- - - FAQ - - 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 - is turned off. - - - 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. - At this point using either 'ao-view' (or possibly - 'cutemon') instead of 'cu' will 'clear' the issue and allow renewed - communication. - - - The amber LED (on the TeleMetrum) lights up when both - battery and USB are connected. Does this mean it's charging? - - 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. - - - 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 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. - - - How do I save flight data? - 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 - are written end in '.telem'. The after-flight - data-dumped files will end in .eeprom and represent continuous data - unlike the .telem files that are subject to losses - along the RF data path. - See the above instructions on what and how to save the eeprom stored - data after physically retrieving your altimeter. Make sure to save - the on-board data after each flight; while the TeleMetrum can store - multiple flights, you never know when you'll lose the altimeter... - - - - Notes for Older Software - - - Before AltosUI was written, using Altus Metrum devices required - some finesse with the Linux command line. There was a limited - GUI tool, ao-view, which provided functionality similar to the - Monitor Flight window in AltosUI, but everything else was a - fairly 80's experience. This appendix includes documentation for - using that software. - - - - Both TeleMetrum and TeleDongle can be directly communicated - with using USB ports. The first thing you should try after getting - both units plugged into to your computer's USB port(s) is to run - 'ao-list' from a terminal-window to see what port-device-name each - device has been assigned by the operating system. - You will need this information to access the devices via their - respective on-board firmware and data using other command line - programs in the AltOS software suite. - - - TeleMini can be communicated with through a TeleDongle device - over the radio link. When first booted, TeleMini listens for a - TeleDongle device and if it receives a packet, it goes into - 'idle' mode. Otherwise, it goes into 'pad' mode and waits to be - launched. The easiest way to get it talking is to start the - communication link on the TeleDongle and the power up the - TeleMini board. - - - To access the device's firmware for configuration you need a terminal - program such as you would use to talk to a modem. The software - authors prefer using the program 'cu' which comes from the UUCP package - on most Unix-like systems such as Linux. An example command line for - cu might be 'cu -l /dev/ttyACM0', substituting the correct number - indicated from running the - ao-list program. Another reasonable terminal program for Linux is - 'cutecom'. The default 'escape' - character used by CU (i.e. the character you use to - issue commands to cu itself instead of sending the command as input - to the connected device) is a '~'. You will need this for use in - only two different ways during normal operations. First is to exit - the program by sending a '~.' which is called a 'escape-disconnect' - and allows you to close-out from 'cu'. The - second use will be outlined later. - - - All of the Altus Metrum devices share the concept of a two level - command set in their firmware. - The first layer has several single letter commands. Once - you are using 'cu' (or 'cutecom') sending (typing) a '?' - returns a full list of these - commands. The second level are configuration sub-commands accessed - using the 'c' command, for - instance typing 'c?' will give you this second level of commands - (all of which require the - letter 'c' to access). Please note that most configuration options - are stored only in Flash memory; TeleDongle doesn't provide any storage - for these options and so they'll all be lost when you unplug it. - - - Try setting these configuration ('c' or second level menu) values. A good - place to start is by setting your call sign. By default, the boards - use 'N0CALL' which is cute, but not exactly legal! - Spend a few minutes getting comfortable with the units, their - firmware, and 'cu' (or possibly 'cutecom'). - For instance, try to send - (type) a 'c r 2' and verify the channel change by sending a 'c s'. - Verify you can connect and disconnect from the units while in your - terminal program by sending the escape-disconnect mentioned above. - - - To set the radio frequency, use the 'c R' command to specify the - radio transceiver configuration parameter. This parameter is computed - using the desired frequency, 'F', the radio calibration parameter, 'C' (showed by the 'c s' command) and - the standard calibration reference frequency, 'S', (normally 434.550MHz): - - R = F / S * C - - Round the result to the nearest integer value. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board flash on - your altimeter board if you want the change to stay in place across reboots. - - - To set the apogee delay, use the 'c d' command. - 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. - - - To set the main deployment altitude, use the 'c m' command. - 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. - - - 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 to generate a CW carrier. Wait for the transmitter temperature - to stabilize and the frequency to settle down. - Then, divide 434.550 MHz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611 for cc1111 based products and 7119667 for cc1120 - based products. Take the resulting integer and program it using the 'c f' - 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 configuration memory. - - - Note that the 'reboot' command, which is very useful on the altimeters, - will likely just cause problems with the dongle. The *correct* way - to reset the dongle is just to unplug and re-plug it. - - - A fun thing to do at the launch site and something you can do while - learning how to use these units is to play with the radio link access - between an altimeter and the TeleDongle. Be aware that you *must* create - some physical separation between the devices, otherwise the link will - not function due to signal overload in the receivers in each device. - - - 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 - 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. - - - 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 - CU) then it is likely that your kernel has issues. Try a newer version. - - - Using this radio link allows you to configure the altimeter, test - fire e-matches and igniters from the flight line, check pyro-match - continuity and so forth. You can leave the unit turned on while it - 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 - 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 - TeleDongle, unplug it, and try again after plugging it back in. - - - In order to reduce the chance of accidental firing of pyrotechnic - charges, the command to fire a charge is intentionally somewhat - difficult to type, and the built-in help is slightly cryptic to - prevent accidental echoing of characters from the help text back at - the board from firing a charge. The command to fire the apogee - drogue charge is 'i DoIt drogue' and the command to fire the main - charge is 'i DoIt main'. - - - On TeleMetrum, the GPS will eventually find enough satellites, lock in on them, - and 'ao-view' will both auditorily announce and visually indicate - that GPS is ready. - Now you can launch knowing that you have a good data path and - good satellite lock for flight data and recovery. Remember - you MUST tell ao-view to connect to the TeleDongle explicitly in - order for ao-view to be able to receive data. - - - The altimeters provide RDF (radio direction finding) tones on - the pad, during descent and after landing. These can be used to - locate the rocket using a directional antenna; the signal - strength providing an indication of the direction from receiver to rocket. - - - TeleMetrum also provides GPS tracking data, which can further simplify - locating the rocket once it has landed. (The last good GPS data - received before touch-down will be on the data screen of 'ao-view'.) - - - Once you have recovered the rocket you can download the eeprom - contents using either 'ao-dumplog' (or possibly 'ao-eeprom'), over - either a USB cable or over the radio link using TeleDongle. - And by following the man page for 'ao-postflight' you can create - various data output reports, graphs, and even KML data to see the - flight trajectory in Google-earth. (Moving the viewing angle making - sure to connect the yellow lines while in Google-earth is the proper - technique.) - - - As for ao-view.... some things are in the menu but don't do anything - very useful. The developers have stopped working on ao-view to focus - on a new, cross-platform ground station program. So ao-view may or - may not be updated in the future. Mostly you just use - the Log and Device menus. It has a wonderful display of the incoming - flight data and I am sure you will enjoy what it has to say to you - once you enable the voice output! - - - - Drill Templates - - These images, when printed, provide precise templates for the - mounting holes in Altus Metrum flight computers - -
- TeleMega template - - 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. - - - - - - - - -
-
- EasyMega template - - EasyMega has overall dimensions of 1.250 x 2.250 inches, and - the mounting holes are sized for use with 4-40 or M3 screws. - - - - - - - - -
-
- TeleMetrum template - - TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the - mounting holes are sized for use with 4-40 or M3 screws. - - - - - - - - -
-
- TeleMini v2/EasyMini template - - 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. - - - - - - - - -
-
- TeleMini v1 template - - 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. - - - - - - - - -
- - - Calibration - - There are only two calibrations required for TeleMetrum and - TeleMega, and only one for EasyMega, TeleDongle, TeleMini and EasyMini. - All boards are shipped from the factory pre-calibrated, but - the procedures are documented here in case they are ever - needed. Re-calibration is not supported by AltosUI, you must - connect to the board with a serial terminal program and - interact directly with the on-board command interpreter to - effect calibration. - -
- Radio Frequency - - 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 - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - - - 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. - - - Wait for the transmitter temperature to stabilize and the frequency - to settle down. Then, divide 434.550 MHz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611. Take the resulting integer and program it using the 'c f' - 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 storage chip. - - - Note that any time you re-do the radio frequency calibration, the - radio frequency is reset to the default 434.550 Mhz. If you want - to use another frequency, you will have to set that again after - calibration is completed. - -
-
- TeleMetrum, TeleMega and EasyMega Accelerometers - - 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. - - - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. Note that the accuracy of this - calibration depends primarily on how perfectly vertical and still - the board is held during the cal process. 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. - - - 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. - - - In the unlikely event an accel cal goes badly, it is possible - that TeleMetrum, TeleMega or EasyMega may always come up in 'pad mode' - and as such not be listening to either the USB or radio link. - If that happens, there is a special hook in the firmware to - force the board back in to 'idle mode' so you can re-do the - 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. - -
- - - Igniter Current - - The question "how much igniter current can Altus Metrum products - handle?" comes up fairly frequently. The short answer is "more than - you're likely to need", the remainder of this appendix provides a - longer answer. - -
- Current Products - - The FET switches we're using on all of our current products that - have pyro channels are the Vishay Siliconix Si7232DN. These parts - have exceptionally low Rds(on) values, better than 0.02 ohms! That - means they aren't making a lot of heat... and the limit on current - is "package limited", meaning it's all about how much you can heat - the die before something breaks. - - - Cutting to the chase, the Si7232DN specs are 25 amps continuous at - 20V at a temperature of 25C. In pulsed mode, they're rated for 40A. - However, those specs are a little mis-leading because it really is - all about the heat generated... you can get something like 85A - through one briefly. Note that a typical commercial e-match only - needed about 13 microseconds to fire in tests on my bench a couple - years ago! - - - So a great plan is to use something like an e-match as the initiator - and build up pyrogen(s) as required to actually light what you're - trying to light... But if you want to use a high-current igniter, - we can probably handle it! - -
-
- Version 1 Products - - The FET switches used on TeleMetrum v1 and TeleMini v1 products - were Fairchild FDS9926A. The Rds(on) values under our operating - conditions are on the order of 0.04 ohms. These parts were rated - for a continuous current-carrying capacity of 6.5A, and a pulsed - current capacity of 20A. - - - As with the more modern parts, the real limit is based on the heat - generated in the part during the firing interval. So, while the - specs on these parts aren't as good as the ones we use on current - products, they were still great, and we never had a complaint about - current carrying capacity with any of our v1 boards. - -
- - - Release Notes - - Version 1.6.1 - - - - Version 1.6 - - - - Version 1.5 - - - - Version 1.4.1 - - - - Version 1.4 - - - - Version 1.3.2 - - - - Version 1.3.1 - - - - Version 1.3 - - - - Version 1.2.1 - - - - Version 1.2 - - - - Version 1.1.1 - - - - Version 1.1 - - - - Version 1.0.1 - - - - Version 0.9.2 - - - - Version 0.9 - - - - Version 0.8 - - - - Version 0.7.1 - - - - - - diff --git a/doc/am-fo.xsl b/doc/am-fo.xsl new file mode 100644 index 00000000..2c36bec8 --- /dev/null +++ b/doc/am-fo.xsl @@ -0,0 +1,191 @@ + + + + + + + + + + + + +false + +left + + + + +12 + + pt + + + + + +10 1 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0pt + 0pt + 1pc + + + + + -1pc + 0pt + 0pt + + + + + + 0.75in + 0.75in + + + + + 0.5in + 0.5in + + + + + + + + + + + + + + + + + + + 12pt + bold + center + + + + 12pt + bold + center + + + + 0.5pt solid black + #EEEEEE + 50% + + + + 0.5pt solid black + 12pt + 4pt + + + + 9pt + + + + normal + #0080ff + + + + normal + #0080ff + + + + normal + #ff4040 + + + + normal + #0080ff + + + + solid + 1pt + silver + #ffffee + 12pt + 12pt + 6pt + 6pt + 0pt + 12pt + 6pt + 6pt + + + + + + + + #ffffff + inherit + + + + + + + auto + + + diff --git a/doc/am.css b/doc/am.css new file mode 100644 index 00000000..2461e111 --- /dev/null +++ b/doc/am.css @@ -0,0 +1,356 @@ +/* + CSS stylesheet for XHTML produced by DocBook XSL stylesheets. +*/ + +body { + font-family: "Frutiger LT Std 45 Light",sans-serif; 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z`ycL=KXGh{nDBkCP?xCBdID_^Z(fzE+;jTCYv;(KW$UYbPrEOSYqHI;Tj3+w?%8ox z*Za^CYmtbT2N{E(DO+g1QOyy)u_o`+l4slowbKn)G!>7%zrZ<-|AzbCD={uy`wvGv ak$7GlDxD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/doc/fop.xconf b/doc/fop.xconf new file mode 100644 index 00000000..0f470ffd --- /dev/null +++ b/doc/fop.xconf @@ -0,0 +1,88 @@ + + + + + + + + + + . + + + 72 + + 72 + + + + + + + + + + + flate + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/doc/getting-started.inc b/doc/getting-started.inc new file mode 100644 index 00000000..8401f4d0 --- /dev/null +++ b/doc/getting-started.inc @@ -0,0 +1,85 @@ +== Getting Started + + The first thing to do after you open the box is to hook up a + battery and charge it if necessary. + + === Batteries + + For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the + corresponding socket of the device and then using the USB + cable to plug the flight computer into your computer's USB socket. The + on-board circuitry will charge the battery whenever it is plugged + in, because the on-off switch does NOT control the + charging circuitry. + The Lithium Polymer TeleMini and EasyMini battery can be charged by + disconnecting it from the board and plugging it into a + standalone battery charger such as the LipoCharger product + included in TeleMini Starter Kits, and connecting that via a USB + cable to a laptop or other USB power source. + + You can also choose to use another battery with TeleMini v2.0 + 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 to fire your chosen e-matches. + + [NOTE] + ==== + On TeleMetrum v1 boards, when the GPS chip is initially + searching for satellites, TeleMetrum will consume more current + 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 + as your first item of business so there is no issue getting and + maintaining satellite lock. The yellow charge indicator led + will go out when the battery is nearly full and the charger goes + to trickle charge. It can take several hours to fully recharge a + deeply discharged battery. + + TeleMetrum v2.0, TeleMega and EasyMega use a higher power battery charger, + allowing them to charge the battery while running the board at + maximum power. When the battery is charging, or when the board + is consuming a lot of power, the red LED will be lit. When the + battery is fully charged, the green LED will be lit. When the + battery is damaged or missing, both LEDs will be lit, which + appears yellow. + ==== + + === Ground Station Hardware + + There are two ground stations available, the TeleDongle USB to + RF interface and the TeleBT Bluetooth/USB to RF interface. If + you plug either of these in to your Mac or Linux computer it should + “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 an older version of Linux and are having + problems, try moving to a fresher kernel (2.6.33 or + newer). + + === Linux/Mac/Windows Ground Station Software + + 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, Mac OSX. Full + source code and build instructions are also + available. The latest version may always be downloaded + from http://altusmetrum.org/AltOS + + === Android Ground Station Software + + TeleBT can also connect to an Android device over + BlueTooth or USB. The + link:https://play.google.com/store/apps/details?id=org.altusmetrum.AltosDroid[AltosDroid + Android application] is available from the + link:https://play.google.com[Google Play system]. + + You don't need a data plan to use AltosDroid, but + without network access, you'll want to download + offline map data before wandering away from the + network. diff --git a/doc/handling.inc b/doc/handling.inc new file mode 100644 index 00000000..78d9133a --- /dev/null +++ b/doc/handling.inc @@ -0,0 +1,42 @@ +[appendix] +== Handling Precautions + + All Altus Metrum products are sophisticated electronic devices. + When handled gently and properly installed in an air-frame, they + will deliver impressive results. However, as with all electronic + devices, there are some precautions you must take. + + The Lithium Polymer rechargeable batteries have an + extraordinary power density. This is great because we can fly with + much less battery mass than if we used alkaline batteries or previous + generation rechargeable batteries... but if they are punctured + or their leads are allowed to short, they can and will release their + energy very rapidly! + Thus we recommend that you take some care when handling our batteries + and consider giving them some extra protection in your air-frame. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + + 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 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 + 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. + + 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. + + As with all other rocketry electronics, Altus Metrum altimeters must + be protected from exposure to corrosive motor exhaust and ejection + charge gasses. + diff --git a/doc/intro.inc b/doc/intro.inc new file mode 100644 index 00000000..28daa41a --- /dev/null +++ b/doc/intro.inc @@ -0,0 +1,54 @@ +== Introduction and Overview + + Welcome to the Altus Metrum community! Our circuits and software reflect + our passion for both hobby rocketry and Free Software. We hope their + capabilities and performance will delight you in every way, but by + releasing all of our hardware and software designs under open licenses, + we also hope to empower you to take as active a role in our collective + future as you wish! + + 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 + 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. + + Our second device was TeleMini, a dual deploy altimeter with + radio telemetry and radio direction finding. The first version + of this device was only 13mm by 38mm (½ inch by 1½ inches) and + could fit easily in an 18mm air-frame. The latest version, v2.0, + includes a beeper, USB data download and extended on-board + flight logging, along with an improved barometric sensor. + + TeleMega is our most sophisticated device, including six pyro + channels (four of which are fully programmable), integrated GPS, + integrated gyroscopes for staging/air-start inhibit and high + performance telemetry. + + EasyMini is a dual-deploy altimeter with logging and built-in + USB data download. + + EasyMega is essentially a TeleMega board with the GPS receiver + and telemetry transmitter removed. It offers the same 6 pyro + channels and integrated gyroscopes for staging/air-start inhibit. + + TeleDongle v0.2 was our first ground station, providing a USB to RF + interfaces for communicating with the altimeters. Combined with + your choice of antenna and notebook computer, TeleDongle and our + associated user interface software form a complete ground + station capable of logging and displaying in-flight telemetry, + aiding rocket recovery, then processing and archiving flight + data for analysis and review. The latest version, TeleDongle + v3, has all new electronics with a higher performance radio + for improved range. + + 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 AltosDroid + application installed from the Google Play store. + + More products will be added to the Altus Metrum family over time, and + we currently envision that this will be a single, comprehensive manual + for the entire product family. diff --git a/doc/specs.inc b/doc/specs.inc new file mode 100644 index 00000000..0991bd2d --- /dev/null +++ b/doc/specs.inc @@ -0,0 +1,139 @@ +[appendix] +== Altus Metrum Hardware Specifications + + Here's the full set of Altus Metrum products, both in + production and retired. + + [options="header"] + |================================ + |Device | Barometer | Z-axis accel | GPS | 3D sensors | Storage | RF Output | Battery + + |TeleMetrum v1.0 + |MP3H6115 10km (33k') + |MMA2202 50g + |SkyTraq + |- + |1MB + |10mW + |3.7V + + |TeleMetrum v1.1 + |MP3H6115 10km (33k') + |MMA2202 50g + |SkyTraq + |- + |2MB + |10mW + |3.7V + + |TeleMetrum v1.2 + |MP3H6115 10km (33k') + |ADXL78 70g + |SkyTraq + |- + |2MB + |10mW + |3.7V + + |TeleMetrum v2.0 + |MS5607 30km (100k') + |MMA6555 102g + |uBlox Max-7Q + |- + |8MB + |40mW + |3.7V + + |TeleMini v1.0 + |MP3H6115 10km (33k') + |- + |- + |- + |5kB + |10mW + |3.7V + + |TeleMini v2.0 + |MS5607 30km (100k') + |- + |- + |- + |1MB + |10mW + |3.7-12V + + |EasyMini v1.0 + |MS5607 30km (100k') + |- + |- + |- + |1MB + |- + |3.7-12V + + |TeleMega v1.0 + |MS5607 30km (100k') + |MMA6555 102g + |uBlox Max-7Q + |MPU6000 HMC5883 + |8MB + |40mW + |3.7V + + |EasyMega v1.0 + |MS5607 30km (100k') + |MMA6555 102g + |- + |MPU6000 HMC5883 + |8MB + |- + |3.7V + |============================== + + <<<< + [options="header",grid="all"] + |============================== + |Device|Connectors|Screw Terminals|Width|Length|Tube Size + + |TeleMetrum + |Antenna Debug Companion USB Battery + |Apogee pyro Main pyro Switch + |1 inch (2.54cm) + |2 ¾ inch (6.99cm) + |29mm coupler + + |TeleMini v1.0 + |Antenna Debug Battery + |Apogee pyro Main pyro + |½ inch (1.27cm) + |1½ inch (3.81cm) + |18mm coupler + + |TeleMini v2.0 + |Antenna Debug USB Battery + |Apogee pyro Main pyro Battery Switch + |0.8 inch (2.03cm) + |1½ inch (3.81cm) + |24mm coupler + + |EasyMini + |Debug USB Battery + |Apogee pyro Main pyro Battery + |0.8 inch (2.03cm) + |1½ inch (3.81cm) + |24mm coupler + + |TeleMega + |Antenna Debug Companion USB Battery + |Apogee pyro Main pyro Pyro A-D Switch Pyro battery + |1¼ inch (3.18cm) + |3¼ inch (8.26cm) + |38mm coupler + + |EasyMega + |Debug Companion USB Battery + |Apogee pyro Main pyro Pyro A-D Switch Pyro battery + |1¼ inch (3.18cm) + |2¼ inch (5.62cm) + |38mm coupler + |==================================== diff --git a/doc/telemetrum.inc b/doc/telemetrum.inc new file mode 100644 index 00000000..9562d994 --- /dev/null +++ b/doc/telemetrum.inc @@ -0,0 +1,68 @@ +== TeleMetrum + + image::telemetrum-v1.1-thside.jpg[width="5.5in"] + + 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 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 + bay for TeleMetrum should have at least 10 inches of interior length. + + === TeleMetrum Screw Terminals + + TeleMetrum has six screw terminals on the end of the board + opposite the telemetry antenna. Two are for the power + switch, and two each for the apogee and main igniter + circuits. Using the picture above and starting from the top, + the terminals are as follows: + + [options="header",grid="all",cols="2,3,10"] + |========================= + |Terminal #|Terminal Name|Description + |1 |Switch Output |Switch connection to flight computer + |2 |Switch Input |Switch connection to positive battery terminal + |3 |Main + |Main pyro channel common connection to battery + + |4 |Main - |Main pyro channel connection to pyro circuit + |5 |Apogee + |Apogee pyro channel common connection to battery + + |6 |Apogee - |Apogee pyro channel connection to pyro circuit + |======================== + + === Using a Separate Pyro Battery with TeleMetrum + + As described above, using an external pyro battery involves + connecting the negative battery terminal to the flight + computer ground, connecting the positive battery terminal to + one of the igniter leads and connecting the other igniter + lead to the per-channel pyro circuit connection. + + To connect the negative battery terminal to the TeleMetrum + ground, insert a small piece of wire, 24 to 28 gauge + stranded, into the GND hole just above the screw terminal + strip and solder it in place. + + Connecting the positive battery terminal to the pyro + charges must be done separate from TeleMetrum, by soldering + them together or using some other connector. + + + The other lead from each pyro charge is then inserted into + the appropriate per-pyro channel screw terminal (terminal 4 for the + Main charge, terminal 6 for the Apogee charge). + + === Using an Active Switch with TeleMetrum + + As explained above, an external active switch requires three + connections, one to the positive battery terminal, one to + the flight computer positive input and one to ground. + + + The positive battery terminal is available on screw terminal + 2, the positive flight computer input is on terminal 1. To + hook a lead to ground, solder a piece of wire, 24 to 28 + gauge stranded, to the GND hole just above terminal 1. + diff --git a/doc/usage.inc b/doc/usage.inc new file mode 100644 index 00000000..b4a93271 --- /dev/null +++ b/doc/usage.inc @@ -0,0 +1,90 @@ +== Using Altus Metrum Hardware + + Here are general instructions for hooking up an Altus Metrum + flight computer. Instructions specific to each model will be + found in the section devoted to that model below. + + === Wiring and Electrical Interference + + To prevent electrical interference from affecting the + operation of the flight computer, it's important to always + twist pairs of wires connected to the board. Twist the switch + leads, the pyro leads and the battery leads. This reduces + interference through a mechanism called common mode rejection. + + === Hooking Up Lithium Polymer Batteries + + All Altus Metrum flight computers have a two pin JST PH + series connector to connect up a single-cell Lithium Polymer + cell (3.7V nominal). You can purchase matching batteries + from the Altus Metrum store, or other vendors, or you can + make your own. Pin 1 of the connector is positive, pin 2 is + negative. Spark Fun sells a cable with the connector + attached, which they call a + link:https://www.sparkfun.com/products/9914[JST Jumper 2 Wire Assembly] + + Many RC vendors also sell lithium polymer batteries with + this same connector. All that we have found use the opposite + polarity, and if you use them that way, you will damage or + destroy the flight computer. + + === Hooking Up Pyro Charges + + Altus Metrum flight computers always have two screws for + each pyro charge. This means you shouldn't need to put two + wires into a screw terminal or connect leads from pyro + charges together externally. + + On the flight computer, one lead from each charge is hooked + to the positive battery terminal through the power switch. + The other lead is connected through the pyro circuit, which + is connected to the negative battery terminal when the pyro + circuit is fired. + + === Hooking Up a Power Switch + + Altus Metrum flight computers need an external power switch + to turn them on. This disconnects both the computer and the + pyro charges from the battery, preventing the charges from + firing when in the Off position. The switch is in-line with + the positive battery terminal. + + === Using an External Active Switch Circuit + + You can use an active switch circuit, such as the + Featherweight Magnetic Switch, with any Altus Metrum + flight computer. These require three connections, one to + the battery, one to the positive power input on the flight + computer and one to ground. Find instructions on how to + hook these up for each flight computer below. The follow + the instructions that come with your active switch to + connect it up. + + === Using a Separate Pyro Battery + + As mentioned above in the section on hooking up pyro + charges, one lead for each of the pyro charges is connected + through the power switch directly to the positive battery + terminal. The other lead is connected to the pyro circuit, + which connects it to the negative battery terminal when the + pyro circuit is fired. The pyro circuit on all of the flight + computers is designed to handle up to 16V. + + To use a separate pyro battery, connect the negative pyro + battery terminal to the flight computer ground terminal, + the positive battery terminal to the igniter and the other + igniter lead to the negative pyro terminal on the flight + computer. When the pyro channel fires, it will complete the + circuit between the negative pyro terminal and the ground + terminal, firing the igniter. Specific instructions on how + to hook this up will be found in each section below. + + === Using a Different Kind of Battery + + EasyMini and TeleMini v2 are designed to use either a + lithium polymer battery or any other battery producing + between 4 and 12 volts, such as a rectangular 9V + battery. TeleMega, EasyMega and TeleMetrum are not designed for this, + and must only be powered by a lithium polymer battery. Find + instructions on how to use other batteries in the EasyMini + and TeleMini sections below. -- 2.30.2