1 <html><head><meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1"><title>The Altus Metrum System</title><meta name="generator" content="DocBook XSL Stylesheets V1.78.1"></head><body bgcolor="white" text="black" link="#0000FF" vlink="#840084" alink="#0000FF"><div class="book"><div class="titlepage"><div><div><h1 class="title"><a name="idm6231840"></a>The Altus Metrum System</h1></div><div><h2 class="subtitle">An Owner's Manual for Altus Metrum Rocketry Electronics</h2></div><div><div class="author"><h3 class="author"><span class="firstname">Bdale</span> <span class="surname">Garbee</span></h3></div></div><div><div class="author"><h3 class="author"><span class="firstname">Keith</span> <span class="surname">Packard</span></h3></div></div><div><div class="author"><h3 class="author"><span class="firstname">Bob</span> <span class="surname">Finch</span></h3></div></div><div><div class="author"><h3 class="author"><span class="firstname">Anthony</span> <span class="surname">Towns</span></h3></div></div><div><p class="copyright">Copyright © 2014 Bdale Garbee and Keith Packard</p></div><div><div class="legalnotice"><a name="idp47885632"></a><p>
2 This document is released under the terms of the
3 <a class="ulink" href="http://creativecommons.org/licenses/by-sa/3.0/" target="_top">
4 Creative Commons ShareAlike 3.0
7 </p></div></div><div><div class="revhistory"><table style="border-style:solid; width:100%;" summary="Revision History"><tr><th align="left" valign="top" colspan="2"><b>Revision History</b></th></tr><tr><td align="left">Revision 1.3.2</td><td align="left">24 January 2014</td></tr><tr><td align="left" colspan="2">
8 Bug fixes for TeleMega and AltosUI.
9 </td></tr><tr><td align="left">Revision 1.3.1</td><td align="left">21 January 2014</td></tr><tr><td align="left" colspan="2">
10 Bug fixes for TeleMega and TeleMetrum v2.0 along with a few
11 small UI improvements.
12 </td></tr><tr><td align="left">Revision 1.3</td><td align="left">12 November 2013</td></tr><tr><td align="left" colspan="2">
13 Updated for software version 1.3. Version 1.3 adds support
14 for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini
15 and fixes bugs in AltosUI and the AltOS firmware.
16 </td></tr><tr><td align="left">Revision 1.2.1</td><td align="left">21 May 2013</td></tr><tr><td align="left" colspan="2">
17 Updated for software version 1.2. Version 1.2 adds support
18 for TeleBT and AltosDroid. It also adds a few minor features
19 and fixes bugs in AltosUI and the AltOS firmware.
20 </td></tr><tr><td align="left">Revision 1.2</td><td align="left">18 April 2013</td></tr><tr><td align="left" colspan="2">
21 Updated for software version 1.2. Version 1.2 adds support
22 for MicroPeak and the MicroPeak USB interface.
23 </td></tr><tr><td align="left">Revision 1.1.1</td><td align="left">16 September 2012</td></tr><tr><td align="left" colspan="2">
24 Updated for software version 1.1.1 Version 1.1.1 fixes a few
25 bugs found in version 1.1.
26 </td></tr><tr><td align="left">Revision 1.1</td><td align="left">13 September 2012</td></tr><tr><td align="left" colspan="2">
27 Updated for software version 1.1. Version 1.1 has new
28 features but is otherwise compatible with version 1.0.
29 </td></tr><tr><td align="left">Revision 1.0</td><td align="left">24 August 2011</td></tr><tr><td align="left" colspan="2">
30 Updated for software version 1.0. Note that 1.0 represents a
31 telemetry format change, meaning both ends of a link
32 (TeleMetrum/TeleMini and TeleDongle) must be updated or
33 communications will fail.
34 </td></tr><tr><td align="left">Revision 0.9</td><td align="left">18 January 2011</td></tr><tr><td align="left" colspan="2">
35 Updated for software version 0.9. Note that 0.9 represents a
36 telemetry format change, meaning both ends of a link (TeleMetrum and
37 TeleDongle) must be updated or communications will fail.
38 </td></tr><tr><td align="left">Revision 0.8</td><td align="left">24 November 2010</td></tr><tr><td align="left" colspan="2">Updated for software version 0.8 </td></tr></table></div></div></div><hr></div><div class="dedication"><div class="titlepage"><div><div><h1 class="title"><a name="idp48925024"></a>Acknowledgments</h1></div></div></div><p>
39 Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
40 Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
41 Kit” which formed the basis of the original Getting Started chapter
42 in this manual. Bob was one of our first customers for a production
43 TeleMetrum, and his continued enthusiasm and contributions
44 are immensely gratifying and highly appreciated!
46 And thanks to Anthony (AJ) Towns for major contributions including
47 the AltosUI graphing and site map code and associated documentation.
48 Free software means that our customers and friends can become our
49 collaborators, and we certainly appreciate this level of
52 Have fun using these products, and we hope to meet all of you
53 out on the rocket flight line somewhere.
54 </p><div class="literallayout"><p><br>
55 Bdale Garbee, KB0G<br>
56 NAR #87103, TRA #12201<br>
58 Keith Packard, KD7SQG<br>
59 NAR #88757, TRA #12200<br>
61 </p></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="chapter"><a href="#idp52663152">1. Introduction and Overview</a></span></dt><dt><span class="chapter"><a href="#idp52670912">2. Getting Started</a></span></dt><dt><span class="chapter"><a href="#idp51240320">3. Handling Precautions</a></span></dt><dt><span class="chapter"><a href="#idp51366112">4. Altus Metrum Hardware</a></span></dt><dd><dl><dt><span class="section"><a href="#idp50241216">1. General Usage Instructions</a></span></dt><dd><dl><dt><span class="section"><a href="#idp51758656">1.1. Hooking Up Lithium Polymer Batteries</a></span></dt><dt><span class="section"><a href="#idp51144464">1.2. Hooking Up Pyro Charges</a></span></dt><dt><span class="section"><a href="#idp51396592">1.3. Hooking Up a Power Switch</a></span></dt><dt><span class="section"><a href="#idp50937840">1.4. Using a Separate Pyro Battery</a></span></dt><dt><span class="section"><a href="#idp50154448">1.5. Using a Different Kind of Battery</a></span></dt></dl></dd><dt><span class="section"><a href="#idp51600944">2. Specifications</a></span></dt><dt><span class="section"><a href="#idp53865152">3. TeleMetrum</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53870048">3.1. TeleMetrum Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53889264">3.2. Using a Separate Pyro Battery with TeleMetrum</a></span></dt><dt><span class="section"><a href="#idp53892512">3.3. Using an Active Switch with TeleMetrum</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53894640">4. TeleMini v1.0</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53899536">4.1. TeleMini v1.0 Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53918880">4.2. Using a Separate Pyro Battery with TeleMini v1.0</a></span></dt><dt><span class="section"><a href="#idp53922256">4.3. Using an Active Switch with TeleMini v1.0</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53924464">5. TeleMini v2.0</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53928480">5.1. TeleMini v2.0 Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53950864">5.2. Using a Separate Pyro Battery with TeleMini v2.0</a></span></dt><dt><span class="section"><a href="#idp53954064">5.3. Using an Active Switch with TeleMini v2.0</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53956160">6. EasyMini</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53960016">6.1. EasyMini Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53982400">6.2. Using a Separate Pyro Battery with EasyMini</a></span></dt><dt><span class="section"><a href="#idp53985584">6.3. Using an Active Switch with EasyMini</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53987680">7. TeleMega</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53991648">7.1. TeleMega Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp54029152">7.2. Using a Separate Pyro Battery with TeleMega</a></span></dt><dt><span class="section"><a href="#idp54030752">7.3. Using Only One Battery With TeleMega</a></span></dt><dt><span class="section"><a href="#idp54032672">7.4. Using an Active Switch with TeleMega</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54034720">8. Flight Data Recording</a></span></dt><dt><span class="section"><a href="#idp54063856">9. Installation</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54070592">5. System Operation</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54071232">1. Firmware Modes </a></span></dt><dt><span class="section"><a href="#idp54139136">2. GPS </a></span></dt><dt><span class="section"><a href="#idp54141920">3. Controlling An Altimeter Over The Radio Link</a></span></dt><dt><span class="section"><a href="#idp47902240">4. Ground Testing </a></span></dt><dt><span class="section"><a href="#idp47904992">5. Radio Link </a></span></dt><dt><span class="section"><a href="#idp47909024">6. APRS</a></span></dt><dt><span class="section"><a href="#idp54198384">7. Configurable Parameters</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54200304">7.1. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp54202352">7.2. Callsign</a></span></dt><dt><span class="section"><a href="#idp54203888">7.3. Telemetry/RDF/APRS Enable</a></span></dt><dt><span class="section"><a href="#idp54205184">7.4. APRS Interval</a></span></dt><dt><span class="section"><a href="#idp54206656">7.5. Apogee Delay</a></span></dt><dt><span class="section"><a href="#idp54209712">7.6. Main Deployment Altitude</a></span></dt><dt><span class="section"><a href="#idp54211408">7.7. Maximum Flight Log</a></span></dt><dt><span class="section"><a href="#idp54213552">7.8. Ignite Mode</a></span></dt><dt><span class="section"><a href="#idp54215664">7.9. Pad Orientation</a></span></dt><dt><span class="section"><a href="#idp54217360">7.10. Configurable Pyro Channels</a></span></dt></dl></dd></dl></dd><dt><span class="chapter"><a href="#idp54239744">6. AltosUI</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54243360">1. Monitor Flight</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54256400">1.1. Launch Pad</a></span></dt><dt><span class="section"><a href="#idp54272032">1.2. Ascent</a></span></dt><dt><span class="section"><a href="#idp54277488">1.3. Descent</a></span></dt><dt><span class="section"><a href="#idp54284352">1.4. Landed</a></span></dt><dt><span class="section"><a href="#idp54290784">1.5. Table</a></span></dt><dt><span class="section"><a href="#idp54294368">1.6. Site Map</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54300032">2. Save Flight Data</a></span></dt><dt><span class="section"><a href="#idp54303984">3. Replay Flight</a></span></dt><dt><span class="section"><a href="#idp54306016">4. Graph Data</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54308400">4.1. Flight Graph</a></span></dt><dt><span class="section"><a href="#idp54312848">4.2. Configure Graph</a></span></dt><dt><span class="section"><a href="#idp54316512">4.3. Flight Statistics</a></span></dt><dt><span class="section"><a href="#idp54320032">4.4. Map</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54323888">5. Export Data</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54325456">5.1. Comma Separated Value Format</a></span></dt><dt><span class="section"><a href="#idp54327808">5.2. Keyhole Markup Language (for Google Earth)</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54329296">6. Configure Altimeter</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54341680">6.1. Main Deploy Altitude</a></span></dt><dt><span class="section"><a href="#idp54343248">6.2. Apogee Delay</a></span></dt><dt><span class="section"><a href="#idp54344864">6.3. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp54346368">6.4. RF Calibration</a></span></dt><dt><span class="section"><a href="#idp54348016">6.5. Telemetry/RDF/APRS Enable</a></span></dt><dt><span class="section"><a href="#idp54349312">6.6. APRS Interval</a></span></dt><dt><span class="section"><a href="#idp54350880">6.7. Callsign</a></span></dt><dt><span class="section"><a href="#idp54352192">6.8. Maximum Flight Log Size</a></span></dt><dt><span class="section"><a href="#idp54353632">6.9. Ignite Mode</a></span></dt><dt><span class="section"><a href="#idp54360624">6.10. Pad Orientation</a></span></dt><dt><span class="section"><a href="#idp54365840">6.11. Configure Pyro Channels</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54371648">7. Configure AltosUI</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54375152">7.1. Voice Settings</a></span></dt><dt><span class="section"><a href="#idp54380176">7.2. Log Directory</a></span></dt><dt><span class="section"><a href="#idp54382176">7.3. Callsign</a></span></dt><dt><span class="section"><a href="#idp54384416">7.4. Imperial Units</a></span></dt><dt><span class="section"><a href="#idp54385920">7.5. Font Size</a></span></dt><dt><span class="section"><a href="#idp54387200">7.6. Serial Debug</a></span></dt><dt><span class="section"><a href="#idp54388704">7.7. Manage Frequencies</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54390336">8. Configure Groundstation</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54401536">8.1. Frequency</a></span></dt><dt><span class="section"><a href="#idp54403104">8.2. Radio Calibration</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54404736">9. Flash Image</a></span></dt><dt><span class="section"><a href="#idp54406368">10. Fire Igniter</a></span></dt><dt><span class="section"><a href="#idp54412000">11. Scan Channels</a></span></dt><dt><span class="section"><a href="#idp54415856">12. Load Maps</a></span></dt><dt><span class="section"><a href="#idp54421552">13. Monitor Idle</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54423648">7. AltosDroid</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54426032">1. Installing AltosDroid</a></span></dt><dt><span class="section"><a href="#idp54427968">2. Connecting to TeleBT</a></span></dt><dt><span class="section"><a href="#idp54429968">3. Configuring AltosDroid</a></span></dt><dt><span class="section"><a href="#idp54431424">4. AltosDroid Flight Monitoring</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54432736">4.1. Pad</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54446368">5. Downloading Flight Logs</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54448032">8. Using Altus Metrum Products</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54448672">1. Being Legal</a></span></dt><dt><span class="section"><a href="#idp54450576">2. In the Rocket</a></span></dt><dt><span class="section"><a href="#idp54453040">3. On the Ground</a></span></dt><dt><span class="section"><a href="#idp54466432">4. Data Analysis</a></span></dt><dt><span class="section"><a href="#idp54468976">5. Future Plans</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54473360">9. Altimeter Installation Recommendations</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54474816">1. Mounting the Altimeter</a></span></dt><dt><span class="section"><a href="#idp54479648">2. Dealing with the Antenna</a></span></dt><dt><span class="section"><a href="#idp54485216">3. Preserving GPS Reception</a></span></dt><dt><span class="section"><a href="#idp54490000">4. Radio Frequency Interference</a></span></dt><dt><span class="section"><a href="#idp54497568">5. The Barometric Sensor</a></span></dt><dt><span class="section"><a href="#idp54500368">6. Ground Testing</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54503536">10. Updating Device Firmware</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54507552">1.
62 Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
63 </a></span></dt><dd><dl><dt><span class="section"><a href="#idp54516608">1.1. Recovering From Self-Flashing Failure</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54525584">2. Pair Programming</a></span></dt><dt><span class="section"><a href="#idp54527024">3. Updating TeleMetrum v1.x Firmware</a></span></dt><dt><span class="section"><a href="#idp54540224">4. Updating TeleMini Firmware</a></span></dt><dt><span class="section"><a href="#idp54553776">5. Updating TeleDongle Firmware</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54570400">11. Hardware Specifications</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54571040">1.
64 TeleMega Specifications
65 </a></span></dt><dt><span class="section"><a href="#idp54582512">2.
66 TeleMetrum v2 Specifications
67 </a></span></dt><dt><span class="section"><a href="#idp54593072">3. TeleMetrum v1 Specifications</a></span></dt><dt><span class="section"><a href="#idp54603632">4.
68 TeleMini v2.0 Specifications
69 </a></span></dt><dt><span class="section"><a href="#idp54612464">5.
70 TeleMini v1.0 Specifications
71 </a></span></dt><dt><span class="section"><a href="#idp54621264">6.
72 EasyMini Specifications
73 </a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp54629376">12. FAQ</a></span></dt><dt><span class="appendix"><a href="#idp54638224">A. Notes for Older Software</a></span></dt><dt><span class="appendix"><a href="#idp54661088">B. Drill Templates</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54662256">1. TeleMega template</a></span></dt><dt><span class="section"><a href="#idp54678944">2. TeleMetrum template</a></span></dt><dt><span class="section"><a href="#idp54683328">3. TeleMini v2/EasyMini template</a></span></dt><dt><span class="section"><a href="#idp54687728">4. TeleMini v1 template</a></span></dt></dl></dd><dt><span class="appendix"><a href="#idp54692240">C. Calibration</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54693792">1. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp54698336">2. TeleMetrum and TeleMega Accelerometers</a></span></dt></dl></dd><dt><span class="appendix"><a href="#idp54704464">D. Release Notes</a></span></dt></dl></div><div class="list-of-tables"><p><b>List of Tables</b></p><dl><dt>4.1. <a href="#idp51014032">Altus Metrum Electronics</a></dt><dt>4.2. <a href="#idp53829136">Altus Metrum Boards</a></dt><dt>4.3. <a href="#idp53871360">TeleMetrum Screw Terminals</a></dt><dt>4.4. <a href="#idp53900976">TeleMini v1.0 Connections</a></dt><dt>4.5. <a href="#idp53929888">TeleMini v2.0 Connections</a></dt><dt>4.6. <a href="#idp53961424">EasyMini Connections</a></dt><dt>4.7. <a href="#idp53992816">TeleMega Screw Terminals</a></dt><dt>4.8. <a href="#idp54036128">Data Storage on Altus Metrum altimeters</a></dt><dt>5.1. <a href="#idp54076208">AltOS Modes</a></dt><dt>5.2. <a href="#idp54113296">Pad/Idle Indications</a></dt><dt>5.3. <a href="#idp54179424">Altus Metrum APRS Comments</a></dt></dl></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp52663152"></a>Chapter 1. Introduction and Overview</h1></div></div></div><p>
74 Welcome to the Altus Metrum community! Our circuits and software reflect
75 our passion for both hobby rocketry and Free Software. We hope their
76 capabilities and performance will delight you in every way, but by
77 releasing all of our hardware and software designs under open licenses,
78 we also hope to empower you to take as active a role in our collective
81 The first device created for our community was TeleMetrum, a dual
82 deploy altimeter with fully integrated GPS and radio telemetry
83 as standard features, and a “companion interface” that will
84 support optional capabilities in the future. The latest version
85 of TeleMetrum, v2.0, has all of the same features but with
86 improved sensors and radio to offer increased performance.
88 Our second device was TeleMini, a dual deploy altimeter with
89 radio telemetry and radio direction finding. The first version
90 of this device was only 13mm by 38mm (½ inch by 1½ inches) and
91 could fit easily in an 18mm air-frame. The latest version, v2.0,
92 includes a beeper, USB data download and extended on-board
93 flight logging, along with an improved barometric sensor.
95 TeleMega is our most sophisticated device, including six pyro
96 channels (four of which are fully programmable), integrated GPS,
97 integrated gyroscopes for staging/air-start inhibit and high
98 performance telemetry.
100 EasyMini is a dual-deploy altimeter with logging and built-in
103 TeleDongle was our first ground station, providing a USB to RF
104 interfaces for communicating with the altimeters. Combined with
105 your choice of antenna and notebook computer, TeleDongle and our
106 associated user interface software form a complete ground
107 station capable of logging and displaying in-flight telemetry,
108 aiding rocket recovery, then processing and archiving flight
109 data for analysis and review.
111 For a slightly more portable ground station experience that also
112 provides direct rocket recovery support, TeleBT offers flight
113 monitoring and data logging using a Bluetooth™ connection between
114 the receiver and an Android device that has the AltosDroid
115 application installed from the Google Play store.
117 More products will be added to the Altus Metrum family over time, and
118 we currently envision that this will be a single, comprehensive manual
119 for the entire product family.
120 </p></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp52670912"></a>Chapter 2. Getting Started</h1></div></div></div><p>
121 The first thing to do after you check the inventory of parts in your
122 “starter kit” is to charge the battery.
124 For TeleMetrum and TeleMega, the battery can be charged by plugging it into the
125 corresponding socket of the device and then using the USB
126 cable to plug the flight computer into your computer's USB socket. The
127 on-board circuitry will charge the battery whenever it is plugged
128 in, because the on-off switch does NOT control the
131 On TeleMetrum v1 boards, when the GPS chip is initially
132 searching for satellites, TeleMetrum will consume more current
133 than it pulls from the USB port, so the battery must be
134 attached in order to get satellite lock. Once GPS is locked,
135 the current consumption goes back down enough to enable charging
136 while running. So it's a good idea to fully charge the battery
137 as your first item of business so there is no issue getting and
138 maintaining satellite lock. The yellow charge indicator led
139 will go out when the battery is nearly full and the charger goes
140 to trickle charge. It can take several hours to fully recharge a
141 deeply discharged battery.
143 TeleMetrum v2.0 and TeleMega use a higher power battery charger,
144 allowing them to charge the battery while running the board at
145 maximum power. When the battery is charging, or when the board
146 is consuming a lot of power, the red LED will be lit. When the
147 battery is fully charged, the green LED will be lit. When the
148 battery is damaged or missing, both LEDs will be lit, which
151 The Lithium Polymer TeleMini and EasyMini battery can be charged by
152 disconnecting it from the board and plugging it into a
153 standalone battery charger such as the LipoCharger product
154 included in TeleMini Starter Kits, and connecting that via a USB
155 cable to a laptop or other USB power source.
157 You can also choose to use another battery with TeleMini v2.0
158 and EasyMini, anything supplying between 4 and 12 volts should
159 work fine (like a standard 9V battery), but if you are planning
160 to fire pyro charges, ground testing is required to verify that
161 the battery supplies enough current to fire your chosen e-matches.
163 The other active device in the starter kit is the TeleDongle USB to
164 RF interface. If you plug it in to your Mac or Linux computer it should
165 “just work”, showing up as a serial port device. Windows systems need
166 driver information that is part of the AltOS download to know that the
167 existing USB modem driver will work. We therefore recommend installing
168 our software before plugging in TeleDongle if you are using a Windows
169 computer. If you are using an older version of Linux and are having
170 problems, try moving to a fresher kernel (2.6.33 or newer).
172 Next you should obtain and install the AltOS software. The AltOS
173 distribution includes the AltosUI ground station program, current
175 images for all of the hardware, and a number of standalone
176 utilities that are rarely needed. Pre-built binary packages are
177 available for Linux, Microsoft Windows, and recent MacOSX
178 versions. Full source code and build instructions are also
179 available. The latest version may always be downloaded from
180 <a class="ulink" href="http://altusmetrum.org/AltOS" target="_top">http://altusmetrum.org/AltOS</a>.
182 If you're using a TeleBT instead of the TeleDongle, you'll want to
183 install the AltosDroid application from the Google Play store on an
184 Android device. You don't need a data plan to use AltosDroid, but
185 without network access, the Map view will be less useful as it
186 won't contain any map data. You can also use TeleBT connected
187 over USB with your laptop computer; it acts exactly like a
188 TeleDongle. Anywhere this manual talks about TeleDongle, you can
189 also read that as 'and TeleBT when connected via USB'.
190 </p></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp51240320"></a>Chapter 3. Handling Precautions</h1></div></div></div><p>
191 All Altus Metrum products are sophisticated electronic devices.
192 When handled gently and properly installed in an air-frame, they
193 will deliver impressive results. However, as with all electronic
194 devices, there are some precautions you must take.
196 The Lithium Polymer rechargeable batteries have an
197 extraordinary power density. This is great because we can fly with
198 much less battery mass than if we used alkaline batteries or previous
199 generation rechargeable batteries... but if they are punctured
200 or their leads are allowed to short, they can and will release their
202 Thus we recommend that you take some care when handling our batteries
203 and consider giving them some extra protection in your air-frame. We
204 often wrap them in suitable scraps of closed-cell packing foam before
205 strapping them down, for example.
207 The barometric sensors used on all of our flight computers are
208 sensitive to sunlight. In normal mounting situations, the baro sensor
209 and all of the other surface mount components
210 are “down” towards whatever the underlying mounting surface is, so
211 this is not normally a problem. Please consider this when designing an
212 installation in an air-frame with a see-through plastic payload bay. It
213 is particularly important to
214 consider this with TeleMini v1.0, both because the baro sensor is on the
215 “top” of the board, and because many model rockets with payload bays
216 use clear plastic for the payload bay! Replacing these with an opaque
217 cardboard tube, painting them, or wrapping them with a layer of masking
218 tape are all reasonable approaches to keep the sensor out of direct
221 The barometric sensor sampling port must be able to “breathe”,
222 both by not being covered by foam or tape or other materials that might
223 directly block the hole on the top of the sensor, and also by having a
224 suitable static vent to outside air.
226 As with all other rocketry electronics, Altus Metrum altimeters must
227 be protected from exposure to corrosive motor exhaust and ejection
229 </p></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp51366112"></a>Chapter 4. Altus Metrum Hardware</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp50241216">1. General Usage Instructions</a></span></dt><dd><dl><dt><span class="section"><a href="#idp51758656">1.1. Hooking Up Lithium Polymer Batteries</a></span></dt><dt><span class="section"><a href="#idp51144464">1.2. Hooking Up Pyro Charges</a></span></dt><dt><span class="section"><a href="#idp51396592">1.3. Hooking Up a Power Switch</a></span></dt><dt><span class="section"><a href="#idp50937840">1.4. Using a Separate Pyro Battery</a></span></dt><dt><span class="section"><a href="#idp50154448">1.5. Using a Different Kind of Battery</a></span></dt></dl></dd><dt><span class="section"><a href="#idp51600944">2. Specifications</a></span></dt><dt><span class="section"><a href="#idp53865152">3. TeleMetrum</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53870048">3.1. TeleMetrum Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53889264">3.2. Using a Separate Pyro Battery with TeleMetrum</a></span></dt><dt><span class="section"><a href="#idp53892512">3.3. Using an Active Switch with TeleMetrum</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53894640">4. TeleMini v1.0</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53899536">4.1. TeleMini v1.0 Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53918880">4.2. Using a Separate Pyro Battery with TeleMini v1.0</a></span></dt><dt><span class="section"><a href="#idp53922256">4.3. Using an Active Switch with TeleMini v1.0</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53924464">5. TeleMini v2.0</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53928480">5.1. TeleMini v2.0 Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53950864">5.2. Using a Separate Pyro Battery with TeleMini v2.0</a></span></dt><dt><span class="section"><a href="#idp53954064">5.3. Using an Active Switch with TeleMini v2.0</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53956160">6. EasyMini</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53960016">6.1. EasyMini Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp53982400">6.2. Using a Separate Pyro Battery with EasyMini</a></span></dt><dt><span class="section"><a href="#idp53985584">6.3. Using an Active Switch with EasyMini</a></span></dt></dl></dd><dt><span class="section"><a href="#idp53987680">7. TeleMega</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53991648">7.1. TeleMega Screw Terminals</a></span></dt><dt><span class="section"><a href="#idp54029152">7.2. Using a Separate Pyro Battery with TeleMega</a></span></dt><dt><span class="section"><a href="#idp54030752">7.3. Using Only One Battery With TeleMega</a></span></dt><dt><span class="section"><a href="#idp54032672">7.4. Using an Active Switch with TeleMega</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54034720">8. Flight Data Recording</a></span></dt><dt><span class="section"><a href="#idp54063856">9. Installation</a></span></dt></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp50241216"></a>1. General Usage Instructions</h2></div></div></div><p>
230 Here are general instructions for hooking up an Altus Metrum
231 flight computer. Instructions specific to each model will be
232 found in the section devoted to that model below.
234 To prevent electrical interference from affecting the
235 operation of the flight computer, it's important to always
236 twist pairs of wires connected to the board. Twist the switch
237 leads, the pyro leads and the battery leads. This reduces
238 interference through a mechanism called common mode rejection.
239 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp51758656"></a>1.1. Hooking Up Lithium Polymer Batteries</h3></div></div></div><p>
240 All Altus Metrum flight computers have a two pin JST PH
241 series connector to connect up a single-cell Lithium Polymer
242 cell (3.7V nominal). You can purchase matching batteries
243 from the Altus Metrum store, or other vendors, or you can
244 make your own. Pin 1 of the connector is positive, pin 2 is
245 negative. Spark Fun sells a cable with the connector
246 attached, which they call a <a class="ulink" href="https://www.sparkfun.com/products/9914" target="_top">JST Jumper 2
249 Many RC vendors also sell lithium polymer batteries with
250 this same connector. All that we have found use the opposite
251 polarity, and if you use them that way, you will damage or
252 destroy the flight computer.
253 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp51144464"></a>1.2. Hooking Up Pyro Charges</h3></div></div></div><p>
254 Altus Metrum flight computers always have two screws for
255 each pyro charge. This means you shouldn't need to put two
256 wires into a screw terminal or connect leads from pyro
257 charges together externally.
259 On the flight computer, one lead from each charge is hooked
260 to the positive battery terminal through the power switch.
261 The other lead is connected through the pyro circuit, which
262 is connected to the negative battery terminal when the pyro
264 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp51396592"></a>1.3. Hooking Up a Power Switch</h3></div></div></div><p>
265 Altus Metrum flight computers need an external power switch
266 to turn them on. This disconnects both the computer and the
267 pyro charges from the battery, preventing the charges from
268 firing when in the Off position. The switch is in-line with
269 the positive battery terminal.
270 </p><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp51397936"></a>1.3.1. Using an External Active Switch Circuit</h4></div></div></div><p>
271 You can use an active switch circuit, such as the
272 Featherweight Magnetic Switch, with any Altus Metrum
273 flight computer. These require three connections, one to
274 the battery, one to the positive power input on the flight
275 computer and one to ground. Find instructions on how to
276 hook these up for each flight computer below. The follow
277 the instructions that come with your active switch to
279 </p></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp50937840"></a>1.4. Using a Separate Pyro Battery</h3></div></div></div><p>
280 As mentioned above in the section on hooking up pyro
281 charges, one lead for each of the pyro charges is connected
282 through the power switch directly to the positive battery
283 terminal. The other lead is connected to the pyro circuit,
284 which connects it to the negative battery terminal when the
285 pyro circuit is fired. The pyro circuit on all of the flight
286 computers is designed to handle up to 16V.
288 To use a separate pyro battery, connect the negative pyro
289 battery terminal to the flight computer ground terminal,
290 the positive battery terminal to the igniter and the other
291 igniter lead to the negative pyro terminal on the flight
292 computer. When the pyro channel fires, it will complete the
293 circuit between the negative pyro terminal and the ground
294 terminal, firing the igniter. Specific instructions on how
295 to hook this up will be found in each section below.
296 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp50154448"></a>1.5. Using a Different Kind of Battery</h3></div></div></div><p>
297 EasyMini and TeleMini v2 are designed to use either a
298 lithium polymer battery or any other battery producing
299 between 4 and 12 volts, such as a rectangular 9V
300 battery. TeleMega and TeleMetrum are not designed for this,
301 and must only be powered by a lithium polymer battery. Find
302 instructions on how to use other batteries in the EasyMini
303 and TeleMini sections below.
304 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp51600944"></a>2. Specifications</h2></div></div></div><p>
305 Here's the full set of Altus Metrum products, both in
306 production and retired.
307 </p><div class="table"><a name="idp51014032"></a><p class="title"><b>Table 4.1. Altus Metrum Electronics</b></p><div class="table-contents"><table summary="Altus Metrum Electronics" border="1"><colgroup><col align="center" class="Device"><col align="center" class="Barometer"><col align="center" class="Z-axis accelerometer"><col align="center" class="GPS"><col align="center" class="3D sensors"><col align="center" class="Storage"><col align="center" class="RF"><col align="center" class="Battery"></colgroup><thead><tr><th align="center">Device</th><th align="center">Barometer</th><th align="center">Z-axis accelerometer</th><th align="center">GPS</th><th align="center">3D sensors</th><th align="center">Storage</th><th align="center">RF Output</th><th align="center">Battery</th></tr></thead><tbody><tr><td align="center">TeleMetrum v1.0</td><td align="center"><p>MP3H6115 10km (33k')</p></td><td align="center"><p>MMA2202 50g</p></td><td align="center">SkyTraq</td><td align="center">-</td><td align="center">1MB</td><td align="center">10mW</td><td align="center">3.7V</td></tr><tr><td align="center">TeleMetrum v1.1</td><td align="center"><p>MP3H6115 10km (33k')</p></td><td align="center"><p>MMA2202 50g</p></td><td align="center">SkyTraq</td><td align="center">-</td><td align="center">2MB</td><td align="center">10mW</td><td align="center">3.7V</td></tr><tr><td align="center">TeleMetrum v1.2</td><td align="center"><p>MP3H6115 10km (33k')</p></td><td align="center"><p>ADXL78 70g</p></td><td align="center">SkyTraq</td><td align="center">-</td><td align="center">2MB</td><td align="center">10mW</td><td align="center">3.7V</td></tr><tr><td align="center">TeleMetrum v2.0</td><td align="center"><p>MS5607 30km (100k')</p></td><td align="center"><p>MMA6555 102g</p></td><td align="center">uBlox Max-7Q</td><td align="center">-</td><td align="center">8MB</td><td align="center">40mW</td><td align="center">3.7V</td></tr><tr><td align="center"><p>TeleMini v1.0</p></td><td align="center"><p>MP3H6115 10km (33k')</p></td><td align="center">-</td><td align="center">-</td><td align="center">-</td><td align="center">5kB</td><td align="center">10mW</td><td align="center">3.7V</td></tr><tr><td align="center">TeleMini v2.0</td><td align="center"><p>MS5607 30km (100k')</p></td><td align="center">-</td><td align="center">-</td><td align="center">-</td><td align="center">1MB</td><td align="center">10mW</td><td align="center">3.7-12V</td></tr><tr><td align="center">EasyMini v1.0</td><td align="center"><p>MS5607 30km (100k')</p></td><td align="center">-</td><td align="center">-</td><td align="center">-</td><td align="center">1MB</td><td align="center">-</td><td align="center">3.7-12V</td></tr><tr><td align="center">TeleMega v1.0</td><td align="center"><p>MS5607 30km (100k')</p></td><td align="center"><p>MMA6555 102g</p></td><td align="center">uBlox Max-7Q</td><td align="center"><p>MPU6000 HMC5883</p></td><td align="center">8MB</td><td align="center">40mW</td><td align="center">3.7V</td></tr></tbody></table></div></div><br class="table-break"><div class="table"><a name="idp53829136"></a><p class="title"><b>Table 4.2. Altus Metrum Boards</b></p><div class="table-contents"><table summary="Altus Metrum Boards" border="1"><colgroup><col align="center" class="Device"><col align="center" class="Connectors"><col align="center" class="Screw Terminals"><col align="center" class="Width"><col align="center" class="Length"><col align="center" class="Tube Size"></colgroup><thead><tr><th align="center">Device</th><th align="center">Connectors</th><th align="center">Screw Terminals</th><th align="center">Width</th><th align="center">Length</th><th align="center">Tube Size</th></tr></thead><tbody><tr><td align="center">TeleMetrum</td><td align="center"><p>
313 </p></td><td align="center"><p>Apogee pyro Main pyro Switch</p></td><td align="center">1 inch (2.54cm)</td><td align="center">2 ¾ inch (6.99cm)</td><td align="center">29mm coupler</td></tr><tr><td align="center"><p>TeleMini v1.0</p></td><td align="center"><p>
317 </p></td><td align="center"><p>
320 </p></td><td align="center">½ inch (1.27cm)</td><td align="center">1½ inch (3.81cm)</td><td align="center">18mm coupler</td></tr><tr><td align="center">TeleMini v2.0</td><td align="center"><p>
325 </p></td><td align="center"><p>
330 </p></td><td align="center">0.8 inch (2.03cm)</td><td align="center">1½ inch (3.81cm)</td><td align="center">24mm coupler</td></tr><tr><td align="center">EasyMini</td><td align="center"><p>
334 </p></td><td align="center"><p>
339 </p></td><td align="center">0.8 inch (2.03cm)</td><td align="center">1½ inch (3.81cm)</td><td align="center">24mm coupler</td></tr><tr><td align="center">TeleMega</td><td align="center"><p>
345 </p></td><td align="center"><p>
351 </p></td><td align="center">1¼ inch (3.18cm)</td><td align="center">3¼ inch (8.26cm)</td><td align="center">38mm coupler</td></tr></tbody></table></div></div><br class="table-break"></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53865152"></a>3. TeleMetrum</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="telemetrum-v1.1-thside.jpg" width="495"></td></tr></table></div></div><p>
352 TeleMetrum is a 1 inch by 2¾ inch circuit board. It was designed to
353 fit inside coupler for 29mm air-frame tubing, but using it in a tube that
354 small in diameter may require some creativity in mounting and wiring
355 to succeed! The presence of an accelerometer means TeleMetrum should
356 be aligned along the flight axis of the airframe, and by default the ¼
357 wave UHF wire antenna should be on the nose-cone end of the board. The
358 antenna wire is about 7 inches long, and wiring for a power switch and
359 the e-matches for apogee and main ejection charges depart from the
360 fin can end of the board, meaning an ideal “simple” avionics
361 bay for TeleMetrum should have at least 10 inches of interior length.
362 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53870048"></a>3.1. TeleMetrum Screw Terminals</h3></div></div></div><p>
363 TeleMetrum has six screw terminals on the end of the board
364 opposite the telemetry antenna. Two are for the power
365 switch, and two each for the apogee and main igniter
366 circuits. Using the picture above and starting from the top,
367 the terminals are as follows:
368 </p><div class="table"><a name="idp53871360"></a><p class="title"><b>Table 4.3. TeleMetrum Screw Terminals</b></p><div class="table-contents"><table summary="TeleMetrum Screw Terminals" border="1"><colgroup><col align="center" class="Pin #"><col align="center" class="Pin Name"><col align="left" class="Description"></colgroup><thead><tr><th align="center">Terminal #</th><th align="center">Terminal Name</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">1</td><td align="center">Switch Output</td><td align="left">Switch connection to flight computer</td></tr><tr><td align="center">2</td><td align="center">Switch Input</td><td align="left">Switch connection to positive battery terminal</td></tr><tr><td align="center">3</td><td align="center">Main +</td><td align="left">Main pyro channel common connection to battery +</td></tr><tr><td align="center">4</td><td align="center">Main -</td><td align="left">Main pyro channel connection to pyro circuit</td></tr><tr><td align="center">5</td><td align="center">Apogee +</td><td align="left">Apogee pyro channel common connection to battery +</td></tr><tr><td align="center">6</td><td align="center">Apogee -</td><td align="left">Apogee pyro channel connection to pyro circuit</td></tr></tbody></table></div></div><br class="table-break"></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53889264"></a>3.2. Using a Separate Pyro Battery with TeleMetrum</h3></div></div></div><p>
369 As described above, using an external pyro battery involves
370 connecting the negative battery terminal to the flight
371 computer ground, connecting the positive battery terminal to
372 one of the igniter leads and connecting the other igniter
373 lead to the per-channel pyro circuit connection.
375 To connect the negative battery terminal to the TeleMetrum
376 ground, insert a small piece of wire, 24 to 28 gauge
377 stranded, into the GND hole just above the screw terminal
378 strip and solder it in place.
380 Connecting the positive battery terminal to the pyro
381 charges must be done separate from TeleMetrum, by soldering
382 them together or using some other connector.
384 The other lead from each pyro charge is then inserted into
385 the appropriate per-pyro channel screw terminal (terminal 4 for the
386 Main charge, terminal 6 for the Apogee charge).
387 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53892512"></a>3.3. Using an Active Switch with TeleMetrum</h3></div></div></div><p>
388 As explained above, an external active switch requires three
389 connections, one to the positive battery terminal, one to
390 the flight computer positive input and one to ground.
392 The positive battery terminal is available on screw terminal
393 2, the positive flight computer input is on terminal 1. To
394 hook a lead to ground, solder a piece of wire, 24 to 28
395 gauge stranded, to the GND hole just above terminal 1.
396 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53894640"></a>4. TeleMini v1.0</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="telemini-v1-top.jpg" width="495"></td></tr></table></div></div><p>
397 TeleMini v1.0 is ½ inches by 1½ inches. It was
398 designed to fit inside an 18mm air-frame tube, but using it in
399 a tube that small in diameter may require some creativity in
400 mounting and wiring to succeed! Since there is no
401 accelerometer, TeleMini can be mounted in any convenient
402 orientation. The default ¼ wave UHF wire antenna attached to
403 the center of one end of the board is about 7 inches long. Two
404 wires for the power switch are connected to holes in the
405 middle of the board. Screw terminals for the e-matches for
406 apogee and main ejection charges depart from the other end of
407 the board, meaning an ideal “simple” avionics bay for TeleMini
408 should have at least 9 inches of interior length.
409 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53899536"></a>4.1. TeleMini v1.0 Screw Terminals</h3></div></div></div><p>
410 TeleMini v1.0 has four screw terminals on the end of the
411 board opposite the telemetry antenna. Two are for the apogee
412 and two are for main igniter circuits. There are also wires
413 soldered to the board for the power switch. Using the
414 picture above and starting from the top for the terminals
415 and from the left for the power switch wires, the
416 connections are as follows:
417 </p><div class="table"><a name="idp53900976"></a><p class="title"><b>Table 4.4. TeleMini v1.0 Connections</b></p><div class="table-contents"><table summary="TeleMini v1.0 Connections" border="1"><colgroup><col align="center" class="Pin #"><col align="center" class="Pin Name"><col align="left" class="Description"></colgroup><thead><tr><th align="center">Terminal #</th><th align="center">Terminal Name</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">1</td><td align="center">Apogee -</td><td align="left">Apogee pyro channel connection to pyro circuit</td></tr><tr><td align="center">2</td><td align="center">Apogee +</td><td align="left">Apogee pyro channel common connection to battery +</td></tr><tr><td align="center">3</td><td align="center">Main -</td><td align="left">Main pyro channel connection to pyro circuit</td></tr><tr><td align="center">4</td><td align="center">Main +</td><td align="left">Main pyro channel common connection to battery +</td></tr><tr><td align="center">Left</td><td align="center">Switch Output</td><td align="left">Switch connection to flight computer</td></tr><tr><td align="center">Right</td><td align="center">Switch Input</td><td align="left">Switch connection to positive battery terminal</td></tr></tbody></table></div></div><br class="table-break"></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53918880"></a>4.2. Using a Separate Pyro Battery with TeleMini v1.0</h3></div></div></div><p>
418 As described above, using an external pyro battery involves
419 connecting the negative battery terminal to the flight
420 computer ground, connecting the positive battery terminal to
421 one of the igniter leads and connecting the other igniter
422 lead to the per-channel pyro circuit connection. Because
423 there is no solid ground connection to use on TeleMini, this
426 The only available ground connection on TeleMini v1.0 are
427 the two mounting holes next to the telemetry
428 antenna. Somehow connect a small piece of wire to one of
429 those holes and hook it to the negative pyro battery terminal.
431 Connecting the positive battery terminal to the pyro
432 charges must be done separate from TeleMini v1.0, by soldering
433 them together or using some other connector.
435 The other lead from each pyro charge is then inserted into
436 the appropriate per-pyro channel screw terminal (terminal 3 for the
437 Main charge, terminal 1 for the Apogee charge).
438 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53922256"></a>4.3. Using an Active Switch with TeleMini v1.0</h3></div></div></div><p>
439 As explained above, an external active switch requires three
440 connections, one to the positive battery terminal, one to
441 the flight computer positive input and one to ground. Again,
442 because TeleMini doesn't have any good ground connection,
443 this is not recommended.
445 The positive battery terminal is available on the Right
446 power switch wire, the positive flight computer input is on
447 the left power switch wire. Hook a lead to either of the
448 mounting holes for a ground connection.
449 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53924464"></a>5. TeleMini v2.0</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="telemini-v2-top.jpg" width="495"></td></tr></table></div></div><p>
450 TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
451 on-board data logging memory, a built-in USB connector and
452 screw terminals for the battery and power switch. The larger
453 board fits in a 24mm coupler. There's also a battery connector
454 for a LiPo battery if you want to use one of those.
455 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53928480"></a>5.1. TeleMini v2.0 Screw Terminals</h3></div></div></div><p>
456 TeleMini v2.0 has two sets of four screw terminals on the end of the
457 board opposite the telemetry antenna. Using the picture
458 above, the top four have connections for the main pyro
459 circuit and an external battery and the bottom four have
460 connections for the apogee pyro circuit and the power
461 switch. Counting from the left, the connections are as follows:
462 </p><div class="table"><a name="idp53929888"></a><p class="title"><b>Table 4.5. TeleMini v2.0 Connections</b></p><div class="table-contents"><table summary="TeleMini v2.0 Connections" border="1"><colgroup><col align="center" class="Pin #"><col align="center" class="Pin Name"><col align="left" class="Description"></colgroup><thead><tr><th align="center">Terminal #</th><th align="center">Terminal Name</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">Top 1</td><td align="center">Main -</td><td align="left">Main pyro channel connection to pyro circuit</td></tr><tr><td align="center">Top 2</td><td align="center">Main +</td><td align="left">Main pyro channel common connection to battery +</td></tr><tr><td align="center">Top 3</td><td align="center">Battery +</td><td align="left">Positive external battery terminal</td></tr><tr><td align="center">Top 4</td><td align="center">Battery -</td><td align="left">Negative external battery terminal</td></tr><tr><td align="center">Bottom 1</td><td align="center">Apogee -</td><td align="left">Apogee pyro channel connection to pyro circuit</td></tr><tr><td align="center">Bottom 2</td><td align="center">Apogee +</td><td align="left">Apogee pyro channel common connection to
463 battery +</td></tr><tr><td align="center">Bottom 3</td><td align="center">Switch Output</td><td align="left">Switch connection to flight computer</td></tr><tr><td align="center">Bottom 4</td><td align="center">Switch Input</td><td align="left">Switch connection to positive battery terminal</td></tr></tbody></table></div></div><br class="table-break"></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53950864"></a>5.2. Using a Separate Pyro Battery with TeleMini v2.0</h3></div></div></div><p>
464 As described above, using an external pyro battery involves
465 connecting the negative battery terminal to the flight
466 computer ground, connecting the positive battery terminal to
467 one of the igniter leads and connecting the other igniter
468 lead to the per-channel pyro circuit connection.
470 To connect the negative pyro battery terminal to TeleMini
471 ground, connect it to the negative external battery
472 connection, top terminal 4.
474 Connecting the positive battery terminal to the pyro
475 charges must be done separate from TeleMini v2.0, by soldering
476 them together or using some other connector.
478 The other lead from each pyro charge is then inserted into
479 the appropriate per-pyro channel screw terminal (top
480 terminal 1 for the Main charge, bottom terminal 1 for the
482 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53954064"></a>5.3. Using an Active Switch with TeleMini v2.0</h3></div></div></div><p>
483 As explained above, an external active switch requires three
484 connections, one to the positive battery terminal, one to
485 the flight computer positive input and one to ground. Use
486 the negative external battery connection, top terminal 4 for
489 The positive battery terminal is available on bottom
490 terminal 4, the positive flight computer input is on the
492 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53956160"></a>6. EasyMini</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="easymini-top.jpg" width="495"></td></tr></table></div></div><p>
493 EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
494 designed to fit in a 24mm coupler tube. The connectors and
495 screw terminals match TeleMini v2.0, so you can easily swap between
496 EasyMini and TeleMini.
497 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53960016"></a>6.1. EasyMini Screw Terminals</h3></div></div></div><p>
498 EasyMini has two sets of four screw terminals on the end of the
499 board opposite the telemetry antenna. Using the picture
500 above, the top four have connections for the main pyro
501 circuit and an external battery and the bottom four have
502 connections for the apogee pyro circuit and the power
503 switch. Counting from the left, the connections are as follows:
504 </p><div class="table"><a name="idp53961424"></a><p class="title"><b>Table 4.6. EasyMini Connections</b></p><div class="table-contents"><table summary="EasyMini Connections" border="1"><colgroup><col align="center" class="Pin #"><col align="center" class="Pin Name"><col align="left" class="Description"></colgroup><thead><tr><th align="center">Terminal #</th><th align="center">Terminal Name</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">Top 1</td><td align="center">Main -</td><td align="left">Main pyro channel connection to pyro circuit</td></tr><tr><td align="center">Top 2</td><td align="center">Main +</td><td align="left">Main pyro channel common connection to battery +</td></tr><tr><td align="center">Top 3</td><td align="center">Battery +</td><td align="left">Positive external battery terminal</td></tr><tr><td align="center">Top 4</td><td align="center">Battery -</td><td align="left">Negative external battery terminal</td></tr><tr><td align="center">Bottom 1</td><td align="center">Apogee -</td><td align="left">Apogee pyro channel connection to pyro circuit</td></tr><tr><td align="center">Bottom 2</td><td align="center">Apogee +</td><td align="left">Apogee pyro channel common connection to
505 battery +</td></tr><tr><td align="center">Bottom 3</td><td align="center">Switch Output</td><td align="left">Switch connection to flight computer</td></tr><tr><td align="center">Bottom 4</td><td align="center">Switch Input</td><td align="left">Switch connection to positive battery terminal</td></tr></tbody></table></div></div><br class="table-break"></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53982400"></a>6.2. Using a Separate Pyro Battery with EasyMini</h3></div></div></div><p>
506 As described above, using an external pyro battery involves
507 connecting the negative battery terminal to the flight
508 computer ground, connecting the positive battery terminal to
509 one of the igniter leads and connecting the other igniter
510 lead to the per-channel pyro circuit connection.
512 To connect the negative pyro battery terminal to TeleMini
513 ground, connect it to the negative external battery
514 connection, top terminal 4.
516 Connecting the positive battery terminal to the pyro
517 charges must be done separate from EasyMini, by soldering
518 them together or using some other connector.
520 The other lead from each pyro charge is then inserted into
521 the appropriate per-pyro channel screw terminal (top
522 terminal 1 for the Main charge, bottom terminal 1 for the
524 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53985584"></a>6.3. Using an Active Switch with EasyMini</h3></div></div></div><p>
525 As explained above, an external active switch requires three
526 connections, one to the positive battery terminal, one to
527 the flight computer positive input and one to ground. Use
528 the negative external battery connection, top terminal 4 for
531 The positive battery terminal is available on bottom
532 terminal 4, the positive flight computer input is on the
534 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53987680"></a>7. TeleMega</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="telemega-v1.0-top.jpg" width="495"></td></tr></table></div></div><p>
535 TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
536 designed to easily fit in a 38mm coupler. Like TeleMetrum,
537 TeleMega has an accelerometer and so it must be mounted so that
538 the board is aligned with the flight axis. It can be mounted
539 either antenna up or down.
540 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53991648"></a>7.1. TeleMega Screw Terminals</h3></div></div></div><p>
541 TeleMega has two sets of nine screw terminals on the end of
542 the board opposite the telemetry antenna. They are as follows:
543 </p><div class="table"><a name="idp53992816"></a><p class="title"><b>Table 4.7. TeleMega Screw Terminals</b></p><div class="table-contents"><table summary="TeleMega Screw Terminals" border="1"><colgroup><col align="center" class="Pin #"><col align="center" class="Pin Name"><col align="left" class="Description"></colgroup><thead><tr><th align="center">Terminal #</th><th align="center">Terminal Name</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">Top 1</td><td align="center">Switch Input</td><td align="left">Switch connection to positive battery terminal</td></tr><tr><td align="center">Top 2</td><td align="center">Switch Output</td><td align="left">Switch connection to flight computer</td></tr><tr><td align="center">Top 3</td><td align="center">GND</td><td align="left">Ground connection for use with external active switch</td></tr><tr><td align="center">Top 4</td><td align="center">Main -</td><td align="left">Main pyro channel connection to pyro circuit</td></tr><tr><td align="center">Top 5</td><td align="center">Main +</td><td align="left">Main pyro channel common connection to battery +</td></tr><tr><td align="center">Top 6</td><td align="center">Apogee -</td><td align="left">Apogee pyro channel connection to pyro circuit</td></tr><tr><td align="center">Top 7</td><td align="center">Apogee +</td><td align="left">Apogee pyro channel common connection to battery +</td></tr><tr><td align="center">Top 8</td><td align="center">D -</td><td align="left">D pyro channel connection to pyro circuit</td></tr><tr><td align="center">Top 9</td><td align="center">D +</td><td align="left">D pyro channel common connection to battery +</td></tr><tr><td align="center">Bottom 1</td><td align="center">GND</td><td align="left">Ground connection for negative pyro battery terminal</td></tr><tr><td align="center">Bottom 2</td><td align="center">Pyro</td><td align="left">Positive pyro battery terminal</td></tr><tr><td align="center">Bottom 3</td><td align="center">Lipo</td><td align="left">
544 Power switch output. Use to connect main battery to
546 </td></tr><tr><td align="center">Bottom 4</td><td align="center">A -</td><td align="left">A pyro channel connection to pyro circuit</td></tr><tr><td align="center">Bottom 5</td><td align="center">A +</td><td align="left">A pyro channel common connection to battery +</td></tr><tr><td align="center">Bottom 6</td><td align="center">B -</td><td align="left">B pyro channel connection to pyro circuit</td></tr><tr><td align="center">Bottom 7</td><td align="center">B +</td><td align="left">B pyro channel common connection to battery +</td></tr><tr><td align="center">Bottom 8</td><td align="center">C -</td><td align="left">C pyro channel connection to pyro circuit</td></tr><tr><td align="center">Bottom 9</td><td align="center">C +</td><td align="left">C pyro channel common connection to battery +</td></tr></tbody></table></div></div><br class="table-break"></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54029152"></a>7.2. Using a Separate Pyro Battery with TeleMega</h3></div></div></div><p>
547 TeleMega provides explicit support for an external pyro
548 battery. All that is required is to remove the jumper
549 between the lipo terminal (Bottom 3) and the pyro terminal
550 (Bottom 2). Then hook the negative pyro battery terminal to ground
551 (Bottom 1) and the positive pyro battery to the pyro battery
552 input (Bottom 2). You can then use the existing pyro screw
553 terminals to hook up all of the pyro charges.
554 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54030752"></a>7.3. Using Only One Battery With TeleMega</h3></div></div></div><p>
555 Because TeleMega has built-in support for a separate pyro
556 battery, if you want to fly with just one battery running
557 both the computer and firing the charges, you need to
558 connect the flight computer battery to the pyro
559 circuit. TeleMega has two screw terminals for this—hook a
560 wire from the Lipo terminal (Bottom 3) to the Pyro terminal
562 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54032672"></a>7.4. Using an Active Switch with TeleMega</h3></div></div></div><p>
563 As explained above, an external active switch requires three
564 connections, one to the positive battery terminal, one to
565 the flight computer positive input and one to ground.
567 The positive battery terminal is available on Top terminal
568 1, the positive flight computer input is on Top terminal
569 2. Ground is on Top terminal 3.
570 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54034720"></a>8. Flight Data Recording</h2></div></div></div><p>
571 Each flight computer logs data at 100 samples per second
572 during ascent and 10 samples per second during descent, except
573 for TeleMini v1.0, which records ascent at 10 samples per
574 second and descent at 1 sample per second. Data are logged to
575 an on-board flash memory part, which can be partitioned into
576 several equal-sized blocks, one for each flight.
577 </p><div class="table"><a name="idp54036128"></a><p class="title"><b>Table 4.8. Data Storage on Altus Metrum altimeters</b></p><div class="table-contents"><table summary="Data Storage on Altus Metrum altimeters" border="1"><colgroup><col align="center" class="Device"><col align="center" class="Bytes per sample"><col align="center" class="Total storage"><col align="center" class="Minutes of full-rate"></colgroup><thead><tr><th align="center">Device</th><th align="center">Bytes per Sample</th><th align="center">Total Storage</th><th align="center">Minutes at Full Rate</th></tr></thead><tbody><tr><td align="center">TeleMetrum v1.0</td><td align="center">8</td><td align="center">1MB</td><td align="center">20</td></tr><tr><td align="center">TeleMetrum v1.1 v1.2</td><td align="center">8</td><td align="center">2MB</td><td align="center">40</td></tr><tr><td align="center">TeleMetrum v2.0</td><td align="center">16</td><td align="center">8MB</td><td align="center">80</td></tr><tr><td align="center">TeleMini v1.0</td><td align="center">2</td><td align="center">5kB</td><td align="center">4</td></tr><tr><td align="center">TeleMini v2.0</td><td align="center">16</td><td align="center">1MB</td><td align="center">10</td></tr><tr><td align="center">EasyMini</td><td align="center">16</td><td align="center">1MB</td><td align="center">10</td></tr><tr><td align="center">TeleMega</td><td align="center">32</td><td align="center">8MB</td><td align="center">40</td></tr></tbody></table></div></div><br class="table-break"><p>
578 The on-board flash is partitioned into separate flight logs,
579 each of a fixed maximum size. Increase the maximum size of
580 each log and you reduce the number of flights that can be
581 stored. Decrease the size and you can store more flights.
583 Configuration data is also stored in the flash memory on
584 TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB
585 of flash space. This configuration space is not available
586 for storing flight log data. TeleMetrum v2.0 and TeleMega
587 store configuration data in a bit of eeprom available within
588 the processor chip, leaving that space available in flash for
591 To compute the amount of space needed for a single flight, you
592 can multiply the expected ascent time (in seconds) by 100
593 times bytes-per-sample, multiply the expected descent time (in
594 seconds) by 10 times the bytes per sample and add the two
595 together. That will slightly under-estimate the storage (in
596 bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending
597 20 seconds in ascent and 150 seconds in descent will take
598 about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You
599 could store dozens of these flights in the on-board flash.
601 The default size allows for several flights on each flight
602 computer, except for TeleMini v1.0, which only holds data for a
603 single flight. You can adjust the size.
605 Altus Metrum flight computers will not overwrite existing
606 flight data, so be sure to download flight data and erase it
607 from the flight computer before it fills up. The flight
608 computer will still successfully control the flight even if it
609 cannot log data, so the only thing you will lose is the data.
610 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54063856"></a>9. Installation</h2></div></div></div><p>
611 A typical installation involves attaching
612 only a suitable battery, a single pole switch for
613 power on/off, and two pairs of wires connecting e-matches for the
614 apogee and main ejection charges. All Altus Metrum products are
615 designed for use with single-cell batteries with 3.7 volts
616 nominal. TeleMini v2.0 and EasyMini may also be used with other
617 batteries as long as they supply between 4 and 12 volts.
619 The battery connectors are a standard 2-pin JST connector and
620 match batteries sold by Spark Fun. These batteries are
621 single-cell Lithium Polymer batteries that nominally provide 3.7
622 volts. Other vendors sell similar batteries for RC aircraft
623 using mating connectors, however the polarity for those is
624 generally reversed from the batteries used by Altus Metrum
625 products. In particular, the Tenergy batteries supplied for use
626 in Featherweight flight computers are not compatible with Altus
627 Metrum flight computers or battery chargers. <span class="emphasis"><em>Check
628 polarity and voltage before connecting any battery not purchased
629 from Altus Metrum or Spark Fun.</em></span>
631 By default, we use the unregulated output of the battery directly
632 to fire ejection charges. This works marvelously with standard
633 low-current e-matches like the J-Tek from MJG Technologies, and with
634 Quest Q2G2 igniters. However, if you want or need to use a separate
635 pyro battery, check out the “External Pyro Battery” section in this
636 manual for instructions on how to wire that up. The altimeters are
637 designed to work with an external pyro battery of no more than 15 volts.
639 Ejection charges are wired directly to the screw terminal block
640 at the aft end of the altimeter. You'll need a very small straight
641 blade screwdriver for these screws, such as you might find in a
642 jeweler's screwdriver set.
644 Except for TeleMini v1.0, the flight computers also use the
645 screw terminal block for the power switch leads. On TeleMini v1.0,
646 the power switch leads are soldered directly to the board and
647 can be connected directly to a switch.
649 For most air-frames, the integrated antennas are more than
650 adequate. However, if you are installing in a carbon-fiber or
651 metal electronics bay which is opaque to RF signals, you may need to
652 use off-board external antennas instead. In this case, you can
653 replace the stock UHF antenna wire with an edge-launched SMA connector,
654 and, on TeleMetrum v1, you can unplug the integrated GPS
655 antenna and select an appropriate off-board GPS antenna with
656 cable terminating in a U.FL connector.
657 </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54070592"></a>Chapter 5. System Operation</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54071232">1. Firmware Modes </a></span></dt><dt><span class="section"><a href="#idp54139136">2. GPS </a></span></dt><dt><span class="section"><a href="#idp54141920">3. Controlling An Altimeter Over The Radio Link</a></span></dt><dt><span class="section"><a href="#idp47902240">4. Ground Testing </a></span></dt><dt><span class="section"><a href="#idp47904992">5. Radio Link </a></span></dt><dt><span class="section"><a href="#idp47909024">6. APRS</a></span></dt><dt><span class="section"><a href="#idp54198384">7. Configurable Parameters</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54200304">7.1. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp54202352">7.2. Callsign</a></span></dt><dt><span class="section"><a href="#idp54203888">7.3. Telemetry/RDF/APRS Enable</a></span></dt><dt><span class="section"><a href="#idp54205184">7.4. APRS Interval</a></span></dt><dt><span class="section"><a href="#idp54206656">7.5. Apogee Delay</a></span></dt><dt><span class="section"><a href="#idp54209712">7.6. Main Deployment Altitude</a></span></dt><dt><span class="section"><a href="#idp54211408">7.7. Maximum Flight Log</a></span></dt><dt><span class="section"><a href="#idp54213552">7.8. Ignite Mode</a></span></dt><dt><span class="section"><a href="#idp54215664">7.9. Pad Orientation</a></span></dt><dt><span class="section"><a href="#idp54217360">7.10. Configurable Pyro Channels</a></span></dt></dl></dd></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54071232"></a>1. Firmware Modes </h2></div></div></div><p>
658 The AltOS firmware build for the altimeters has two
659 fundamental modes, “idle” and “flight”. Which of these modes
660 the firmware operates in is determined at start up time. For
661 TeleMetrum and TeleMega, which have accelerometers, the mode is
662 controlled by the orientation of the
663 rocket (well, actually the board, of course...) at the time
664 power is switched on. If the rocket is “nose up”, then
665 the flight computer assumes it's on a rail or rod being prepared for
666 launch, so the firmware chooses flight mode. However, if the
667 rocket is more or less horizontal, the firmware instead enters
668 idle mode. Since TeleMini v2.0 and EasyMini don't have an
669 accelerometer we can use to determine orientation, “idle” mode
670 is selected if the board is connected via USB to a computer,
671 otherwise the board enters “flight” mode. TeleMini v1.0
672 selects “idle” mode if it receives a command packet within the
673 first five seconds of operation.
675 At power on, you will hear three beeps or see three flashes
676 (“S” in Morse code for start up) and then a pause while
677 the altimeter completes initialization and self test, and decides
678 which mode to enter next.
680 Here's a short summary of all of the modes and the beeping (or
681 flashing, in the case of TeleMini v1) that accompanies each
682 mode. In the description of the beeping pattern, “dit” means a
683 short beep while "dah" means a long beep (three times as
684 long). “Brap” means a long dissonant tone.
685 </p><div class="table"><a name="idp54076208"></a><p class="title"><b>Table 5.1. AltOS Modes</b></p><div class="table-contents"><table summary="AltOS Modes" border="1"><colgroup><col align="center" class="Mode Name"><col align="center" class="Letter"><col align="center" class="Beeps"><col align="center" class="Description"></colgroup><thead><tr><th align="center">Mode Name</th><th align="center">Abbreviation</th><th align="center">Beeps</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">Startup</td><td align="center">S</td><td align="center">dit dit dit</td><td align="center">
687 Calibrating sensors, detecting orientation.
689 </td></tr><tr><td align="center">Idle</td><td align="center">I</td><td align="center">dit dit</td><td align="center">
691 Ready to accept commands over USB or radio link.
693 </td></tr><tr><td align="center">Pad</td><td align="center">P</td><td align="center">dit dah dah dit</td><td align="center">
695 Waiting for launch. Not listening for commands.
697 </td></tr><tr><td align="center">Boost</td><td align="center">B</td><td align="center">dah dit dit dit</td><td align="center">
699 Accelerating upwards.
701 </td></tr><tr><td align="center">Fast</td><td align="center">F</td><td align="center">dit dit dah dit</td><td align="center">
703 Decelerating, but moving faster than 200m/s.
705 </td></tr><tr><td align="center">Coast</td><td align="center">C</td><td align="center">dah dit dah dit</td><td align="center">
707 Decelerating, moving slower than 200m/s
709 </td></tr><tr><td align="center">Drogue</td><td align="center">D</td><td align="center">dah dit dit</td><td align="center">
711 Descending after apogee. Above main height.
713 </td></tr><tr><td align="center">Main</td><td align="center">M</td><td align="center">dah dah</td><td align="center">
715 Descending. Below main height.
717 </td></tr><tr><td align="center">Landed</td><td align="center">L</td><td align="center">dit dah dit dit</td><td align="center">
719 Stable altitude for at least ten seconds.
721 </td></tr><tr><td align="center">Sensor error</td><td align="center">X</td><td align="center">dah dit dit dah</td><td align="center">
723 Error detected during sensor calibration.
725 </td></tr></tbody></table></div></div><p><br class="table-break">
727 In flight or “pad” mode, the altimeter engages the flight
728 state machine, goes into transmit-only mode to send telemetry,
729 and waits for launch to be detected. Flight mode is indicated
730 by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights,
731 followed by beeps or flashes indicating the state of the
732 pyrotechnic igniter continuity. One beep/flash indicates
733 apogee continuity, two beeps/flashes indicate main continuity,
734 three beeps/flashes indicate both apogee and main continuity,
735 and one longer “brap” sound which is made by rapidly
736 alternating between two tones indicates no continuity. For a
737 dual deploy flight, make sure you're getting three beeps or
738 flashes before launching! For apogee-only or motor eject
739 flights, do what makes sense.
741 If idle mode is entered, you will hear an audible “di-dit” or
742 see two short flashes (“I” for idle), and the flight state
743 machine is disengaged, thus no ejection charges will fire.
744 The altimeters also listen for the radio link when in idle
745 mode for requests sent via TeleDongle. Commands can be issued
746 in idle mode over either USB or the radio link
747 equivalently. TeleMini v1.0 only has the radio link. Idle
748 mode is useful for configuring the altimeter, for extracting
749 data from the on-board storage chip after flight, and for
750 ground testing pyro charges.
752 In “Idle” and “Pad” modes, once the mode indication
753 beeps/flashes and continuity indication has been sent, if
754 there is no space available to log the flight in on-board
755 memory, the flight computer will emit a warbling tone (much
756 slower than the “no continuity tone”)
758 Here's a summary of all of the “pad” and “idle” mode indications.
759 </p><div class="table"><a name="idp54113296"></a><p class="title"><b>Table 5.2. Pad/Idle Indications</b></p><div class="table-contents"><table summary="Pad/Idle Indications" border="1"><colgroup><col align="center" class="Name"><col align="center" class="Beeps"><col align="center" class="Description"></colgroup><thead><tr><th align="center">Name</th><th align="center">Beeps</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">Neither</td><td align="center">brap</td><td align="center">
761 No continuity detected on either apogee or main
764 </td></tr><tr><td align="center">Apogee</td><td align="center">dit</td><td align="center">
766 Continuity detected only on apogee igniter.
768 </td></tr><tr><td align="center">Main</td><td align="center">dit dit</td><td align="center">
770 Continuity detected only on main igniter.
772 </td></tr><tr><td align="center">Both</td><td align="center">dit dit dit</td><td align="center">
774 Continuity detected on both igniters.
776 </td></tr><tr><td align="center">Storage Full</td><td align="center">warble</td><td align="center">
778 On-board data logging storage is full. This will
779 not prevent the flight computer from safely
780 controlling the flight or transmitting telemetry
781 signals, but no record of the flight will be
782 stored in on-board flash.
784 </td></tr></tbody></table></div></div><p><br class="table-break">
786 Once landed, the flight computer will signal that by emitting
787 the “Landed” sound described above, after which it will beep
788 out the apogee height (in meters). Each digit is represented
789 by a sequence of short “dit” beeps, with a pause between
790 digits. A zero digit is represented with one long “dah”
791 beep. The flight computer will continue to report landed mode
792 and beep out the maximum height until turned off.
794 One “neat trick” of particular value when TeleMetrum or TeleMega are used with
795 very large air-frames, is that you can power the board up while the
796 rocket is horizontal, such that it comes up in idle mode. Then you can
797 raise the air-frame to launch position, and issue a 'reset' command
798 via TeleDongle over the radio link to cause the altimeter to reboot and
799 come up in flight mode. This is much safer than standing on the top
800 step of a rickety step-ladder or hanging off the side of a launch
801 tower with a screw-driver trying to turn on your avionics before
804 TeleMini v1.0 is configured solely via the radio link. Of course, that
805 means you need to know the TeleMini radio configuration values
806 or you won't be able to communicate with it. For situations
807 when you don't have the radio configuration values, TeleMini v1.0
808 offers an 'emergency recovery' mode. In this mode, TeleMini is
809 configured as follows:
810 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
811 Sets the radio frequency to 434.550MHz
812 </p></li><li class="listitem"><p>
813 Sets the radio calibration back to the factory value.
814 </p></li><li class="listitem"><p>
815 Sets the callsign to N0CALL
816 </p></li><li class="listitem"><p>
817 Does not go to 'pad' mode after five seconds.
818 </p></li></ul></div><p>
820 To get into 'emergency recovery' mode, first find the row of
821 four small holes opposite the switch wiring. Using a short
822 piece of small gauge wire, connect the outer two holes
823 together, then power TeleMini up. Once the red LED is lit,
824 disconnect the wire and the board should signal that it's in
825 'idle' mode after the initial five second startup period.
826 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54139136"></a>2. GPS </h2></div></div></div><p>
827 TeleMetrum and TeleMega include a complete GPS receiver. A
828 complete explanation of how GPS works is beyond the scope of
829 this manual, but the bottom line is that the GPS receiver
830 needs to lock onto at least four satellites to obtain a solid
831 3 dimensional position fix and know what time it is.
833 The flight computers provide backup power to the GPS chip any time a
834 battery is connected. This allows the receiver to “warm start” on
835 the launch rail much faster than if every power-on were a GPS
836 “cold start”. In typical operations, powering up
837 on the flight line in idle mode while performing final air-frame
838 preparation will be sufficient to allow the GPS receiver to cold
839 start and acquire lock. Then the board can be powered down during
840 RSO review and installation on a launch rod or rail. When the board
841 is turned back on, the GPS system should lock very quickly, typically
842 long before igniter installation and return to the flight line are
844 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54141920"></a>3. Controlling An Altimeter Over The Radio Link</h2></div></div></div><p>
845 One of the unique features of the Altus Metrum system is the
846 ability to create a two way command link between TeleDongle
847 and an altimeter using the digital radio transceivers
848 built into each device. This allows you to interact with the
849 altimeter from afar, as if it were directly connected to the
852 Any operation which can be performed with a flight computer can
853 either be done with the device directly connected to the
854 computer via the USB cable, or through the radio
855 link. TeleMini v1.0 doesn't provide a USB connector and so it is
856 always communicated with over radio. Select the appropriate
857 TeleDongle device when the list of devices is presented and
858 AltosUI will interact with an altimeter over the radio link.
860 One oddity in the current interface is how AltosUI selects the
861 frequency for radio communications. Instead of providing
862 an interface to specifically configure the frequency, it uses
863 whatever frequency was most recently selected for the target
864 TeleDongle device in Monitor Flight mode. If you haven't ever
865 used that mode with the TeleDongle in question, select the
866 Monitor Flight button from the top level UI, and pick the
867 appropriate TeleDongle device. Once the flight monitoring
868 window is open, select the desired frequency and then close it
869 down again. All radio communications will now use that frequency.
870 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
871 Save Flight Data—Recover flight data from the rocket without
873 </p></li><li class="listitem"><p>
874 Configure altimeter apogee delays, main deploy heights
875 and additional pyro event conditions
876 to respond to changing launch conditions. You can also
877 'reboot' the altimeter. Use this to remotely enable the
878 flight computer by turning TeleMetrum or TeleMega on in “idle” mode,
879 then once the air-frame is oriented for launch, you can
880 reboot the altimeter and have it restart in pad mode
881 without having to climb the scary ladder.
882 </p></li><li class="listitem"><p>
883 Fire Igniters—Test your deployment charges without snaking
884 wires out through holes in the air-frame. Simply assemble the
885 rocket as if for flight with the apogee and main charges
886 loaded, then remotely command the altimeter to fire the
888 </p></li></ul></div><p>
889 Operation over the radio link for configuring an altimeter, ground
890 testing igniters, and so forth uses the same RF frequencies as flight
891 telemetry. To configure the desired TeleDongle frequency, select
892 the monitor flight tab, then use the frequency selector and
893 close the window before performing other desired radio operations.
895 The flight computers only enable radio commanding in 'idle' mode.
896 TeleMetrum and TeleMega use the accelerometer to detect which orientation they
897 start up in, so make sure you have the flight computer lying horizontally when you turn
898 it on. Otherwise, it will start in 'pad' mode ready for
899 flight, and will not be listening for command packets from TeleDongle.
901 TeleMini listens for a command packet for five seconds after
902 first being turned on, if it doesn't hear anything, it enters
903 'pad' mode, ready for flight and will no longer listen for
904 command packets. The easiest way to connect to TeleMini is to
905 initiate the command and select the TeleDongle device. At this
906 point, the TeleDongle will be attempting to communicate with
907 the TeleMini. Now turn TeleMini on, and it should immediately
908 start communicating with the TeleDongle and the desired
909 operation can be performed.
911 You can monitor the operation of the radio link by watching the
912 lights on the devices. The red LED will flash each time a packet
913 is transmitted, while the green LED will light up on TeleDongle when
914 it is waiting to receive a packet from the altimeter.
915 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp47902240"></a>4. Ground Testing </h2></div></div></div><p>
916 An important aspect of preparing a rocket using electronic deployment
917 for flight is ground testing the recovery system. Thanks
918 to the bi-directional radio link central to the Altus Metrum system,
919 this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket
920 with less work than you may be accustomed to with other systems. It
923 Just prep the rocket for flight, then power up the altimeter
924 in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
925 selecting the Configure Altimeter tab for TeleMini). This will cause
926 the firmware to go into “idle” mode, in which the normal flight
927 state machine is disabled and charges will not fire without
928 manual command. You can now command the altimeter to fire the apogee
929 or main charges from a safe distance using your computer and
930 TeleDongle and the Fire Igniter tab to complete ejection testing.
931 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp47904992"></a>5. Radio Link </h2></div></div></div><p>
932 Our flight computers all incorporate an RF transceiver, but
933 it's not a full duplex system... each end can only be transmitting or
934 receiving at any given moment. So we had to decide how to manage the
937 By design, the altimeter firmware listens for the radio link when
938 it's in “idle mode”, which
939 allows us to use the radio link to configure the rocket, do things like
940 ejection tests, and extract data after a flight without having to
941 crack open the air-frame. However, when the board is in “flight
942 mode”, the altimeter only
943 transmits and doesn't listen at all. That's because we want to put
944 ultimate priority on event detection and getting telemetry out of
946 the radio in case the rocket crashes and we aren't able to extract
949 We don't generally use a 'normal packet radio' mode like APRS
950 because they're just too inefficient. The GFSK modulation we
951 use is FSK with the base-band pulses passed through a Gaussian
952 filter before they go into the modulator to limit the
953 transmitted bandwidth. When combined with forward error
954 correction and interleaving, this allows us to have a very
955 robust 19.2 kilobit data link with only 10-40 milliwatts of
956 transmit power, a whip antenna in the rocket, and a hand-held
957 Yagi on the ground. We've had flights to above 21k feet AGL
958 with great reception, and calculations suggest we should be
959 good to well over 40k feet AGL with a 5-element yagi on the
960 ground with our 10mW units and over 100k feet AGL with the
961 40mW devices. We hope to fly boards to higher altitudes over
962 time, and would of course appreciate customer feedback on
963 performance in higher altitude flights!
964 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp47909024"></a>6. APRS</h2></div></div></div><p>
965 TeleMetrum v2.0 and TeleMega can send APRS if desired, and the
966 interval between APRS packets can be configured. As each APRS
967 packet takes a full second to transmit, we recommend an
968 interval of at least 5 seconds to avoid consuming too much
969 battery power or radio channel bandwidth. You can configure
970 the APRS interval using AltosUI; that process is described in
971 the Configure Altimeter section of the AltosUI chapter.
973 AltOS uses the APRS compressed position report data format,
974 which provides for higher position precision and shorter
975 packets than the original APRS format. It also includes
976 altitude data, which is invaluable when tracking rockets. We
977 haven't found a receiver which doesn't handle compressed
978 positions, but it's just possible that you have one, so if you
979 have an older device that can receive the raw packets but
980 isn't displaying position information, it's possible that this
983 The APRS packet format includes a comment field that can have
984 arbitrary text in it. AltOS uses this to send status
985 information about the flight computer. It sends four fields as
986 shown in the following table.
987 </p><div class="table"><a name="idp54179424"></a><p class="title"><b>Table 5.3. Altus Metrum APRS Comments</b></p><div class="table-contents"><table summary="Altus Metrum APRS Comments" border="1"><colgroup><col align="center" class="Field"><col align="center" class="Example"><col align="center" class="Description"></colgroup><thead><tr><th align="center">Field</th><th align="center">Example</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center">1</td><td align="center">L</td><td align="center">GPS Status U for unlocked, L for locked</td></tr><tr><td align="center">2</td><td align="center">6</td><td align="center">Number of Satellites in View</td></tr><tr><td align="center">3</td><td align="center">B4.0</td><td align="center">Altimeter Battery Voltage</td></tr><tr><td align="center">4</td><td align="center">A3.7</td><td align="center">Apogee Igniter Voltage</td></tr><tr><td align="center">5</td><td align="center">M3.7</td><td align="center">Main Igniter Voltage</td></tr></tbody></table></div></div><br class="table-break"><p>
988 Here's an example of an APRS comment showing GPS lock with 6
989 satellites in view, a primary battery at 4.0V, and
990 apogee and main igniters both at 3.7V.
991 </p><pre class="screen">
995 Make sure your primary battery is above 3.8V, any connected
996 igniters are above 3.5V and GPS is locked with at least 5 or 6
997 satellites in view before flying. If GPS is switching between
998 L and U regularly, then it doesn't have a good lock and you
999 should wait until it becomes stable.
1001 If the GPS receiver loses lock, the APRS data transmitted will
1002 contain the last position for which GPS lock was
1003 available. You can tell that this has happened by noticing
1004 that the GPS status character switches from 'L' to 'U'. Before
1005 GPS has locked, APRS will transmit zero for latitude,
1006 longitude and altitude.
1007 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54198384"></a>7. Configurable Parameters</h2></div></div></div><p>
1008 Configuring an Altus Metrum altimeter for flight is very
1009 simple. Even on our baro-only TeleMini and EasyMini boards,
1010 the use of a Kalman filter means there is no need to set a
1011 “mach delay”. The few configurable parameters can all be set
1012 using AltosUI over USB or or radio link via TeleDongle. Read
1013 the Configure Altimeter section in the AltosUI chapter below
1014 for more information.
1015 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54200304"></a>7.1. Radio Frequency</h3></div></div></div><p>
1016 Altus Metrum boards support radio frequencies in the 70cm
1017 band. By default, the configuration interface provides a
1018 list of 10 “standard” frequencies in 100kHz channels starting at
1019 434.550MHz. However, the firmware supports use of
1020 any 50kHz multiple within the 70cm band. At any given
1021 launch, we highly recommend coordinating when and by whom each
1022 frequency will be used to avoid interference. And of course, both
1023 altimeter and TeleDongle must be configured to the same
1024 frequency to successfully communicate with each other.
1025 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54202352"></a>7.2. Callsign</h3></div></div></div><p>
1026 This sets the callsign used for telemetry, APRS and the
1027 packet link. For telemetry and APRS, this is used to
1028 identify the device. For the packet link, the callsign must
1029 match that configured in AltosUI or the link will not
1030 work. This is to prevent accidental configuration of another
1031 Altus Metrum flight computer operating on the same frequency nearby.
1032 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54203888"></a>7.3. Telemetry/RDF/APRS Enable</h3></div></div></div><p>
1033 You can completely disable the radio while in flight, if
1034 necessary. This doesn't disable the packet link in idle
1036 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54205184"></a>7.4. APRS Interval</h3></div></div></div><p>
1037 This selects how often APRS packets are transmitted. Set
1038 this to zero to disable APRS without also disabling the
1039 regular telemetry and RDF transmissions. As APRS takes a
1040 full second to transmit a single position report, we
1041 recommend sending packets no more than once every 5 seconds.
1042 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54206656"></a>7.5. Apogee Delay</h3></div></div></div><p>
1043 Apogee delay is the number of seconds after the altimeter detects flight
1044 apogee that the drogue charge should be fired. In most cases, this
1045 should be left at the default of 0. However, if you are flying
1046 redundant electronics such as for an L3 certification, you may wish
1047 to set one of your altimeters to a positive delay so that both
1048 primary and backup pyrotechnic charges do not fire simultaneously.
1050 The Altus Metrum apogee detection algorithm fires exactly at
1051 apogee. If you are also flying an altimeter like the
1052 PerfectFlite MAWD, which only supports selecting 0 or 1
1053 seconds of apogee delay, you may wish to set the MAWD to 0
1054 seconds delay and set the TeleMetrum to fire your backup 2
1055 or 3 seconds later to avoid any chance of both charges
1056 firing simultaneously. We've flown several air-frames this
1057 way quite happily, including Keith's successful L3 cert.
1058 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54209712"></a>7.6. Main Deployment Altitude</h3></div></div></div><p>
1059 By default, the altimeter will fire the main deployment charge at an
1060 elevation of 250 meters (about 820 feet) above ground. We think this
1061 is a good elevation for most air-frames, but feel free to change this
1062 to suit. In particular, if you are flying two altimeters, you may
1064 deployment elevation for the backup altimeter to be something lower
1065 than the primary so that both pyrotechnic charges don't fire
1067 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54211408"></a>7.7. Maximum Flight Log</h3></div></div></div><p>
1068 Changing this value will set the maximum amount of flight
1069 log storage that an individual flight will use. The
1070 available storage is divided into as many flights of the
1071 specified size as can fit in the available space. You can
1072 download and erase individual flight logs. If you fill up
1073 the available storage, future flights will not get logged
1074 until you erase some of the stored ones.
1076 Even though our flight computers (except TeleMini v1.0) can store
1077 multiple flights, we strongly recommend downloading and saving
1078 flight data after each flight.
1079 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54213552"></a>7.8. Ignite Mode</h3></div></div></div><p>
1080 Instead of firing one charge at apogee and another charge at
1081 a fixed height above the ground, you can configure the
1082 altimeter to fire both at apogee or both during
1083 descent. This was added to support an airframe Bdale designed that
1084 had two altimeters, one in the fin can and one in the nose.
1086 Providing the ability to use both igniters for apogee or
1087 main allows some level of redundancy without needing two
1088 flight computers. In Redundant Apogee or Redundant Main
1089 mode, the two charges will be fired two seconds apart.
1090 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54215664"></a>7.9. Pad Orientation</h3></div></div></div><p>
1091 TeleMetrum and TeleMega measure acceleration along the axis
1092 of the board. Which way the board is oriented affects the
1093 sign of the acceleration value. Instead of trying to guess
1094 which way the board is mounted in the air frame, the
1095 altimeter must be explicitly configured for either Antenna
1096 Up or Antenna Down. The default, Antenna Up, expects the end
1097 of the board connected to the 70cm antenna to be nearest the
1098 nose of the rocket, with the end containing the screw
1099 terminals nearest the tail.
1100 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54217360"></a>7.10. Configurable Pyro Channels</h3></div></div></div><p>
1101 In addition to the usual Apogee and Main pyro channels,
1102 TeleMega has four additional channels that can be configured
1103 to activate when various flight conditions are
1104 satisfied. You can select as many conditions as necessary;
1105 all of them must be met in order to activate the
1106 channel. The conditions available are:
1107 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
1108 Acceleration away from the ground. Select a value, and
1109 then choose whether acceleration should be above or
1110 below that value. Acceleration is positive upwards, so
1111 accelerating towards the ground would produce negative
1112 numbers. Acceleration during descent is noisy and
1113 inaccurate, so be careful when using it during these
1114 phases of the flight.
1115 </p></li><li class="listitem"><p>
1116 Vertical speed. Select a value, and then choose whether
1117 vertical speed should be above or below that
1118 value. Speed is positive upwards, so moving towards the
1119 ground would produce negative numbers. Speed during
1120 descent is a bit noisy and so be careful when using it
1121 during these phases of the flight.
1122 </p></li><li class="listitem"><p>
1123 Height. Select a value, and then choose whether the
1124 height above the launch pad should be above or below
1126 </p></li><li class="listitem"><p>
1127 Orientation. TeleMega contains a 3-axis gyroscope and
1128 accelerometer which is used to measure the current
1129 angle. Note that this angle is not the change in angle
1130 from the launch pad, but rather absolute relative to
1131 gravity; the 3-axis accelerometer is used to compute the
1132 angle of the rocket on the launch pad and initialize the
1133 system. Because this value is computed by integrating
1134 rate gyros, it gets progressively less accurate as the
1135 flight goes on. It should have an accumulated error of
1136 less than 0.2°/second (after 10 seconds of flight, the
1137 error should be less than 2°).
1139 The usual use of the orientation configuration is to
1140 ensure that the rocket is traveling mostly upwards when
1141 deciding whether to ignite air starts or additional
1142 stages. For that, choose a reasonable maximum angle
1143 (like 20°) and set the motor igniter to require an angle
1144 of less than that value.
1145 </p></li><li class="listitem"><p>
1146 Flight Time. Time since boost was detected. Select a
1147 value and choose whether to activate the pyro channel
1148 before or after that amount of time.
1149 </p></li><li class="listitem"><p>
1150 Ascending. A simple test saying whether the rocket is
1151 going up or not. This is exactly equivalent to testing
1152 whether the speed is > 0.
1153 </p></li><li class="listitem"><p>
1154 Descending. A simple test saying whether the rocket is
1155 going down or not. This is exactly equivalent to testing
1156 whether the speed is < 0.
1157 </p></li><li class="listitem"><p>
1158 After Motor. The flight software counts each time the
1159 rocket starts accelerating (presumably due to a motor or
1160 motors igniting). Use this value to count ignitions for
1161 multi-staged or multi-airstart launches.
1162 </p></li><li class="listitem"><p>
1163 Delay. This value doesn't perform any checks, instead it
1164 inserts a delay between the time when the other
1165 parameters become true and when the pyro channel is
1167 </p></li><li class="listitem"><p>
1168 Flight State. The flight software tracks the flight
1169 through a sequence of states:
1170 </p><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
1171 Boost. The motor has lit and the rocket is
1172 accelerating upwards.
1173 </p></li><li class="listitem"><p>
1174 Fast. The motor has burned out and the rocket is
1175 decelerating, but it is going faster than 200m/s.
1176 </p></li><li class="listitem"><p>
1177 Coast. The rocket is still moving upwards and
1178 decelerating, but the speed is less than 200m/s.
1179 </p></li><li class="listitem"><p>
1180 Drogue. The rocket has reached apogee and is heading
1181 back down, but is above the configured Main
1183 </p></li><li class="listitem"><p>
1184 Main. The rocket is still descending, and is below
1186 </p></li><li class="listitem"><p>
1187 Landed. The rocket is no longer moving.
1188 </p></li></ol></div><p>
1190 You can select a state to limit when the pyro channel
1191 may activate; note that the check is based on when the
1192 rocket transitions <span class="emphasis"><em>into</em></span> the state, and so checking for
1193 “greater than Boost” means that the rocket is currently
1194 in boost or some later state.
1196 When a motor burns out, the rocket enters either Fast or
1197 Coast state (depending on how fast it is moving). If the
1198 computer detects upwards acceleration again, it will
1199 move back to Boost state.
1200 </p></li></ul></div></div></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54239744"></a>Chapter 6. AltosUI</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54243360">1. Monitor Flight</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54256400">1.1. Launch Pad</a></span></dt><dt><span class="section"><a href="#idp54272032">1.2. Ascent</a></span></dt><dt><span class="section"><a href="#idp54277488">1.3. Descent</a></span></dt><dt><span class="section"><a href="#idp54284352">1.4. Landed</a></span></dt><dt><span class="section"><a href="#idp54290784">1.5. Table</a></span></dt><dt><span class="section"><a href="#idp54294368">1.6. Site Map</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54300032">2. Save Flight Data</a></span></dt><dt><span class="section"><a href="#idp54303984">3. Replay Flight</a></span></dt><dt><span class="section"><a href="#idp54306016">4. Graph Data</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54308400">4.1. Flight Graph</a></span></dt><dt><span class="section"><a href="#idp54312848">4.2. Configure Graph</a></span></dt><dt><span class="section"><a href="#idp54316512">4.3. Flight Statistics</a></span></dt><dt><span class="section"><a href="#idp54320032">4.4. Map</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54323888">5. Export Data</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54325456">5.1. Comma Separated Value Format</a></span></dt><dt><span class="section"><a href="#idp54327808">5.2. Keyhole Markup Language (for Google Earth)</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54329296">6. Configure Altimeter</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54341680">6.1. Main Deploy Altitude</a></span></dt><dt><span class="section"><a href="#idp54343248">6.2. Apogee Delay</a></span></dt><dt><span class="section"><a href="#idp54344864">6.3. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp54346368">6.4. RF Calibration</a></span></dt><dt><span class="section"><a href="#idp54348016">6.5. Telemetry/RDF/APRS Enable</a></span></dt><dt><span class="section"><a href="#idp54349312">6.6. APRS Interval</a></span></dt><dt><span class="section"><a href="#idp54350880">6.7. Callsign</a></span></dt><dt><span class="section"><a href="#idp54352192">6.8. Maximum Flight Log Size</a></span></dt><dt><span class="section"><a href="#idp54353632">6.9. Ignite Mode</a></span></dt><dt><span class="section"><a href="#idp54360624">6.10. Pad Orientation</a></span></dt><dt><span class="section"><a href="#idp54365840">6.11. Configure Pyro Channels</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54371648">7. Configure AltosUI</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54375152">7.1. Voice Settings</a></span></dt><dt><span class="section"><a href="#idp54380176">7.2. Log Directory</a></span></dt><dt><span class="section"><a href="#idp54382176">7.3. Callsign</a></span></dt><dt><span class="section"><a href="#idp54384416">7.4. Imperial Units</a></span></dt><dt><span class="section"><a href="#idp54385920">7.5. Font Size</a></span></dt><dt><span class="section"><a href="#idp54387200">7.6. Serial Debug</a></span></dt><dt><span class="section"><a href="#idp54388704">7.7. Manage Frequencies</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54390336">8. Configure Groundstation</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54401536">8.1. Frequency</a></span></dt><dt><span class="section"><a href="#idp54403104">8.2. Radio Calibration</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54404736">9. Flash Image</a></span></dt><dt><span class="section"><a href="#idp54406368">10. Fire Igniter</a></span></dt><dt><span class="section"><a href="#idp54412000">11. Scan Channels</a></span></dt><dt><span class="section"><a href="#idp54415856">12. Load Maps</a></span></dt><dt><span class="section"><a href="#idp54421552">13. Monitor Idle</a></span></dt></dl></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="414"><tr><td><img src="altosui.png" width="414"></td></tr></table></div></div><p>
1201 The AltosUI program provides a graphical user interface for
1202 interacting with the Altus Metrum product family. AltosUI can
1203 monitor telemetry data, configure devices and many other
1204 tasks. The primary interface window provides a selection of
1205 buttons, one for each major activity in the system. This chapter
1206 is split into sections, each of which documents one of the tasks
1207 provided from the top-level toolbar.
1208 </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54243360"></a>1. Monitor Flight</h2></div><div><h3 class="subtitle">Receive, Record and Display Telemetry Data</h3></div></div></div><p>
1209 Selecting this item brings up a dialog box listing all of the
1210 connected TeleDongle devices. When you choose one of these,
1211 AltosUI will create a window to display telemetry data as
1212 received by the selected TeleDongle device.
1213 </p><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="279"><tr><td><img src="device-selection.png" width="279"></td></tr></table></div></div><p>
1214 All telemetry data received are automatically recorded in
1215 suitable log files. The name of the files includes the current
1216 date and rocket serial and flight numbers.
1218 The radio frequency being monitored by the TeleDongle device is
1219 displayed at the top of the window. You can configure the
1220 frequency by clicking on the frequency box and selecting the desired
1221 frequency. AltosUI remembers the last frequency selected for each
1222 TeleDongle and selects that automatically the next time you use
1225 Below the TeleDongle frequency selector, the window contains a few
1226 significant pieces of information about the altimeter providing
1227 the telemetry data stream:
1228 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>The configured call-sign</p></li><li class="listitem"><p>The device serial number</p></li><li class="listitem"><p>The flight number. Each altimeter remembers how many
1230 </p></li><li class="listitem"><p>
1231 The rocket flight state. Each flight passes through several
1232 states including Pad, Boost, Fast, Coast, Drogue, Main and
1234 </p></li><li class="listitem"><p>
1235 The Received Signal Strength Indicator value. This lets
1236 you know how strong a signal TeleDongle is receiving. The
1237 radio inside TeleDongle operates down to about -99dBm;
1238 weaker signals may not be receivable. The packet link uses
1239 error detection and correction techniques which prevent
1240 incorrect data from being reported.
1241 </p></li><li class="listitem"><p>
1242 The age of the displayed data, in seconds since the last
1243 successfully received telemetry packet. In normal operation
1244 this will stay in the low single digits. If the number starts
1245 counting up, then you are no longer receiving data over the radio
1246 link from the flight computer.
1247 </p></li></ul></div><p>
1248 Finally, the largest portion of the window contains a set of
1249 tabs, each of which contain some information about the rocket.
1250 They're arranged in 'flight order' so that as the flight
1251 progresses, the selected tab automatically switches to display
1252 data relevant to the current state of the flight. You can select
1253 other tabs at any time. The final 'table' tab displays all of
1254 the raw telemetry values in one place in a spreadsheet-like format.
1255 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54256400"></a>1.1. Launch Pad</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="launch-pad.png" width="495"></td></tr></table></div></div><p>
1256 The 'Launch Pad' tab shows information used to decide when the
1257 rocket is ready for flight. The first elements include red/green
1258 indicators, if any of these is red, you'll want to evaluate
1259 whether the rocket is ready to launch:
1260 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Battery Voltage</span></dt><dd><p>
1261 This indicates whether the Li-Po battery powering the
1262 flight computer has sufficient charge to last for
1263 the duration of the flight. A value of more than
1264 3.8V is required for a 'GO' status.
1265 </p></dd><dt><span class="term">Apogee Igniter Voltage</span></dt><dd><p>
1266 This indicates whether the apogee
1267 igniter has continuity. If the igniter has a low
1268 resistance, then the voltage measured here will be close
1269 to the Li-Po battery voltage. A value greater than 3.2V is
1270 required for a 'GO' status.
1271 </p></dd><dt><span class="term">Main Igniter Voltage</span></dt><dd><p>
1272 This indicates whether the main
1273 igniter has continuity. If the igniter has a low
1274 resistance, then the voltage measured here will be close
1275 to the Li-Po battery voltage. A value greater than 3.2V is
1276 required for a 'GO' status.
1277 </p></dd><dt><span class="term">On-board Data Logging</span></dt><dd><p>
1278 This indicates whether there is
1279 space remaining on-board to store flight data for the
1280 upcoming flight. If you've downloaded data, but failed
1281 to erase flights, there may not be any space
1282 left. Most of our flight computers can store multiple
1283 flights, depending on the configured maximum flight log
1284 size. TeleMini v1.0 stores only a single flight, so it
1286 downloaded and erased after each flight to capture
1287 data. This only affects on-board flight logging; the
1288 altimeter will still transmit telemetry and fire
1289 ejection charges at the proper times even if the flight
1290 data storage is full.
1291 </p></dd><dt><span class="term">GPS Locked</span></dt><dd><p>
1292 For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
1293 currently able to compute position information. GPS requires
1294 at least 4 satellites to compute an accurate position.
1295 </p></dd><dt><span class="term">GPS Ready</span></dt><dd><p>
1296 For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
1297 10 consecutive positions without losing lock. This ensures
1298 that the GPS receiver has reliable reception from the
1300 </p></dd></dl></div><p>
1302 The Launchpad tab also shows the computed launch pad position
1303 and altitude, averaging many reported positions to improve the
1304 accuracy of the fix.
1305 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54272032"></a>1.2. Ascent</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="ascent.png" width="495"></td></tr></table></div></div><p>
1306 This tab is shown during Boost, Fast and Coast
1307 phases. The information displayed here helps monitor the
1308 rocket as it heads towards apogee.
1310 The height, speed, acceleration and tilt are shown along
1311 with the maximum values for each of them. This allows you to
1312 quickly answer the most commonly asked questions you'll hear
1315 The current latitude and longitude reported by the GPS are
1316 also shown. Note that under high acceleration, these values
1317 may not get updated as the GPS receiver loses position
1318 fix. Once the rocket starts coasting, the receiver should
1319 start reporting position again.
1321 Finally, the current igniter voltages are reported as in the
1322 Launch Pad tab. This can help diagnose deployment failures
1323 caused by wiring which comes loose under high acceleration.
1324 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54277488"></a>1.3. Descent</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="descent.png" width="495"></td></tr></table></div></div><p>
1325 Once the rocket has reached apogee and (we hope) activated the
1326 apogee charge, attention switches to tracking the rocket on
1327 the way back to the ground, and for dual-deploy flights,
1328 waiting for the main charge to fire.
1330 To monitor whether the apogee charge operated correctly, the
1331 current descent rate is reported along with the current
1332 height. Good descent rates vary based on the choice of recovery
1333 components, but generally range from 15-30m/s on drogue and should
1334 be below 10m/s when under the main parachute in a dual-deploy flight.
1336 With GPS-equipped flight computers, you can locate the rocket in the
1337 sky using the elevation and bearing information to figure
1338 out where to look. Elevation is in degrees above the
1339 horizon. Bearing is reported in degrees relative to true
1340 north. Range can help figure out how big the rocket will
1341 appear. Ground Distance shows how far it is to a point
1342 directly under the rocket and can help figure out where the
1343 rocket is likely to land. Note that all of these values are
1344 relative to the pad location. If the elevation is near 90°,
1345 the rocket is over the pad, not over you.
1347 Finally, the igniter voltages are reported in this tab as
1348 well, both to monitor the main charge as well as to see what
1349 the status of the apogee charge is. Note that some commercial
1350 e-matches are designed to retain continuity even after being
1351 fired, and will continue to show as green or return from red to
1353 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54284352"></a>1.4. Landed</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="landed.png" width="495"></td></tr></table></div></div><p>
1354 Once the rocket is on the ground, attention switches to
1355 recovery. While the radio signal is often lost once the
1356 rocket is on the ground, the last reported GPS position is
1357 generally within a short distance of the actual landing location.
1359 The last reported GPS position is reported both by
1360 latitude and longitude as well as a bearing and distance from
1361 the launch pad. The distance should give you a good idea of
1362 whether to walk or hitch a ride. Take the reported
1363 latitude and longitude and enter them into your hand-held GPS
1364 unit and have that compute a track to the landing location.
1366 Our flight computers will continue to transmit RDF
1367 tones after landing, allowing you to locate the rocket by
1368 following the radio signal if necessary. You may need to get
1369 away from the clutter of the flight line, or even get up on
1370 a hill (or your neighbor's RV roof) to receive the RDF signal.
1372 The maximum height, speed and acceleration reported
1373 during the flight are displayed for your admiring observers.
1374 The accuracy of these immediate values depends on the quality
1375 of your radio link and how many packets were received.
1376 Recovering the on-board data after flight may yield
1377 more precise results.
1379 To get more detailed information about the flight, you can
1380 click on the 'Graph Flight' button which will bring up a
1381 graph window for the current flight.
1382 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54290784"></a>1.5. Table</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="table.png" width="495"></td></tr></table></div></div><p>
1383 The table view shows all of the data available from the
1384 flight computer. Probably the most useful data on
1385 this tab is the detailed GPS information, which includes
1386 horizontal dilution of precision information, and
1387 information about the signal being received from the satellites.
1388 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54294368"></a>1.6. Site Map</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="495"><tr><td><img src="site-map.png" width="495"></td></tr></table></div></div><p>
1389 When the TeleMetrum has a GPS fix, the Site Map tab will map
1390 the rocket's position to make it easier for you to locate the
1391 rocket, both while it is in the air, and when it has landed. The
1392 rocket's state is indicated by color: white for pad, red for
1393 boost, pink for fast, yellow for coast, light blue for drogue,
1394 dark blue for main, and black for landed.
1396 The map's scale is approximately 3m (10ft) per pixel. The map
1397 can be dragged using the left mouse button. The map will attempt
1398 to keep the rocket roughly centered while data is being received.
1400 Images are fetched automatically via the Google Maps Static API,
1401 and cached on disk for reuse. If map images cannot be downloaded,
1402 the rocket's path will be traced on a dark gray background
1405 You can pre-load images for your favorite launch sites
1406 before you leave home; check out the 'Preload Maps' section below.
1407 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54300032"></a>2. Save Flight Data</h2></div></div></div><p>
1408 The altimeter records flight data to its internal flash memory.
1409 TeleMetrum data is recorded at a much higher rate than the telemetry
1410 system can handle, and is not subject to radio drop-outs. As
1411 such, it provides a more complete and precise record of the
1412 flight. The 'Save Flight Data' button allows you to read the
1413 flash memory and write it to disk.
1415 Clicking on the 'Save Flight Data' button brings up a list of
1416 connected flight computers and TeleDongle devices. If you select a
1417 flight computer, the flight data will be downloaded from that
1418 device directly. If you select a TeleDongle device, flight data
1419 will be downloaded from a flight computer over radio link via the
1420 specified TeleDongle. See the chapter on Controlling An Altimeter
1421 Over The Radio Link for more information.
1423 After the device has been selected, a dialog showing the
1424 flight data saved in the device will be shown allowing you to
1425 select which flights to download and which to delete. With
1426 version 0.9 or newer firmware, you must erase flights in order
1427 for the space they consume to be reused by another
1428 flight. This prevents accidentally losing flight data
1429 if you neglect to download data before flying again. Note that
1430 if there is no more space available in the device, then no
1431 data will be recorded during the next flight.
1433 The file name for each flight log is computed automatically
1434 from the recorded flight date, altimeter serial number and
1435 flight number information.
1436 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54303984"></a>3. Replay Flight</h2></div></div></div><p>
1437 Select this button and you are prompted to select a flight
1438 record file, either a .telem file recording telemetry data or a
1439 .eeprom file containing flight data saved from the altimeter
1442 Once a flight record is selected, the flight monitor interface
1443 is displayed and the flight is re-enacted in real time. Check
1444 the Monitor Flight chapter above to learn how this window operates.
1445 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54306016"></a>4. Graph Data</h2></div></div></div><p>
1446 Select this button and you are prompted to select a flight
1447 record file, either a .telem file recording telemetry data or a
1448 .eeprom file containing flight data saved from
1451 Note that telemetry files will generally produce poor graphs
1452 due to the lower sampling rate and missed telemetry packets.
1453 Use saved flight data in .eeprom files for graphing where possible.
1455 Once a flight record is selected, a window with multiple tabs is
1457 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54308400"></a>4.1. Flight Graph</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="540"><tr><td><img src="graph.png" width="540"></td></tr></table></div></div><p>
1458 By default, the graph contains acceleration (blue),
1459 velocity (green) and altitude (red).
1461 The graph can be zoomed into a particular area by clicking and
1462 dragging down and to the right. Once zoomed, the graph can be
1463 reset by clicking and dragging up and to the left. Holding down
1464 control and clicking and dragging allows the graph to be panned.
1465 The right mouse button causes a pop-up menu to be displayed, giving
1466 you the option save or print the plot.
1467 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54312848"></a>4.2. Configure Graph</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="540"><tr><td><img src="graph-configure.png" width="540"></td></tr></table></div></div><p>
1468 This selects which graph elements to show, and, at the
1469 very bottom, lets you switch between metric and
1471 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54316512"></a>4.3. Flight Statistics</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="540"><tr><td><img src="graph-stats.png" width="540"></td></tr></table></div></div><p>
1472 Shows overall data computed from the flight.
1473 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54320032"></a>4.4. Map</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="540"><tr><td><img src="graph-map.png" width="540"></td></tr></table></div></div><p>
1474 Shows a satellite image of the flight area overlaid
1475 with the path of the flight. The red concentric
1476 circles mark the launch pad, the black concentric
1477 circles mark the landing location.
1478 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54323888"></a>5. Export Data</h2></div></div></div><p>
1479 This tool takes the raw data files and makes them available for
1480 external analysis. When you select this button, you are prompted to
1481 select a flight data file, which can be either a .eeprom or .telem.
1482 The .eeprom files contain higher resolution and more continuous data,
1483 while .telem files contain receiver signal strength information.
1484 Next, a second dialog appears which is used to select
1485 where to write the resulting file. It has a selector to choose
1486 between CSV and KML file formats.
1487 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54325456"></a>5.1. Comma Separated Value Format</h3></div></div></div><p>
1488 This is a text file containing the data in a form suitable for
1489 import into a spreadsheet or other external data analysis
1490 tool. The first few lines of the file contain the version and
1491 configuration information from the altimeter, then
1492 there is a single header line which labels all of the
1493 fields. All of these lines start with a '#' character which
1494 many tools can be configured to skip over.
1496 The remaining lines of the file contain the data, with each
1497 field separated by a comma and at least one space. All of
1498 the sensor values are converted to standard units, with the
1499 barometric data reported in both pressure, altitude and
1500 height above pad units.
1501 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54327808"></a>5.2. Keyhole Markup Language (for Google Earth)</h3></div></div></div><p>
1502 This is the format used by Google Earth to provide an overlay
1503 within that application. With this, you can use Google Earth to
1504 see the whole flight path in 3D.
1505 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54329296"></a>6. Configure Altimeter</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="324"><tr><td><img src="configure-altimeter.png" width="324"></td></tr></table></div></div><p>
1506 Select this button and then select either an altimeter or
1507 TeleDongle Device from the list provided. Selecting a TeleDongle
1508 device will use the radio link to configure a remote altimeter.
1510 The first few lines of the dialog provide information about the
1511 connected device, including the product name,
1512 software version and hardware serial number. Below that are the
1513 individual configuration entries.
1515 At the bottom of the dialog, there are four buttons:
1516 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Save</span></dt><dd><p>
1517 This writes any changes to the
1518 configuration parameter block in flash memory. If you don't
1519 press this button, any changes you make will be lost.
1520 </p></dd><dt><span class="term">Reset</span></dt><dd><p>
1521 This resets the dialog to the most recently saved values,
1522 erasing any changes you have made.
1523 </p></dd><dt><span class="term">Reboot</span></dt><dd><p>
1524 This reboots the device. Use this to
1525 switch from idle to pad mode by rebooting once the rocket is
1526 oriented for flight, or to confirm changes you think you saved
1528 </p></dd><dt><span class="term">Close</span></dt><dd><p>
1529 This closes the dialog. Any unsaved changes will be
1531 </p></dd></dl></div><p>
1532 The rest of the dialog contains the parameters to be configured.
1533 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54341680"></a>6.1. Main Deploy Altitude</h3></div></div></div><p>
1534 This sets the altitude (above the recorded pad altitude) at
1535 which the 'main' igniter will fire. The drop-down menu shows
1536 some common values, but you can edit the text directly and
1537 choose whatever you like. If the apogee charge fires below
1538 this altitude, then the main charge will fire two seconds
1539 after the apogee charge fires.
1540 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54343248"></a>6.2. Apogee Delay</h3></div></div></div><p>
1541 When flying redundant electronics, it's often important to
1542 ensure that multiple apogee charges don't fire at precisely
1543 the same time, as that can over pressurize the apogee deployment
1544 bay and cause a structural failure of the air-frame. The Apogee
1545 Delay parameter tells the flight computer to fire the apogee
1546 charge a certain number of seconds after apogee has been
1548 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54344864"></a>6.3. Radio Frequency</h3></div></div></div><p>
1549 This configures which of the frequencies to use for both
1550 telemetry and packet command mode. Note that if you set this
1551 value via packet command mode, the TeleDongle frequency will
1552 also be automatically reconfigured to match so that
1553 communication will continue afterwards.
1554 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54346368"></a>6.4. RF Calibration</h3></div></div></div><p>
1555 The radios in every Altus Metrum device are calibrated at the
1556 factory to ensure that they transmit and receive on the
1557 specified frequency. If you need to you can adjust the calibration
1558 by changing this value. Do not do this without understanding what
1559 the value means, read the appendix on calibration and/or the source
1560 code for more information. To change a TeleDongle's calibration,
1561 you must reprogram the unit completely.
1562 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54348016"></a>6.5. Telemetry/RDF/APRS Enable</h3></div></div></div><p>
1563 Enables the radio for transmission during flight. When
1564 disabled, the radio will not transmit anything during flight
1566 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54349312"></a>6.6. APRS Interval</h3></div></div></div><p>
1567 How often to transmit GPS information via APRS (in
1568 seconds). When set to zero, APRS transmission is
1569 disabled. This option is available on TeleMetrum v2 and
1570 TeleMega boards. TeleMetrum v1 boards cannot transmit APRS
1571 packets. Note that a single APRS packet takes nearly a full
1572 second to transmit, so enabling this option will prevent
1573 sending any other telemetry during that time.
1574 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54350880"></a>6.7. Callsign</h3></div></div></div><p>
1575 This sets the call sign included in each telemetry packet. Set this
1576 as needed to conform to your local radio regulations.
1577 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54352192"></a>6.8. Maximum Flight Log Size</h3></div></div></div><p>
1578 This sets the space (in kilobytes) allocated for each flight
1579 log. The available space will be divided into chunks of this
1580 size. A smaller value will allow more flights to be stored,
1581 a larger value will record data from longer flights.
1582 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54353632"></a>6.9. Ignite Mode</h3></div></div></div><p>
1583 TeleMetrum and TeleMini provide two igniter channels as they
1584 were originally designed as dual-deploy flight
1585 computers. This configuration parameter allows the two
1586 channels to be used in different configurations.
1587 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Dual Deploy</span></dt><dd><p>
1588 This is the usual mode of operation; the
1589 'apogee' channel is fired at apogee and the 'main'
1590 channel at the height above ground specified by the
1591 'Main Deploy Altitude' during descent.
1592 </p></dd><dt><span class="term">Redundant Apogee</span></dt><dd><p>
1593 This fires both channels at
1594 apogee, the 'apogee' channel first followed after a two second
1595 delay by the 'main' channel.
1596 </p></dd><dt><span class="term">Redundant Main</span></dt><dd><p>
1597 This fires both channels at the
1598 height above ground specified by the Main Deploy
1599 Altitude setting during descent. The 'apogee'
1600 channel is fired first, followed after a two second
1601 delay by the 'main' channel.
1602 </p></dd></dl></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54360624"></a>6.10. Pad Orientation</h3></div></div></div><p>
1603 Because they include accelerometers, TeleMetrum and
1604 TeleMega are sensitive to the orientation of the board. By
1605 default, they expect the antenna end to point forward. This
1606 parameter allows that default to be changed, permitting the
1607 board to be mounted with the antenna pointing aft instead.
1608 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Antenna Up</span></dt><dd><p>
1609 In this mode, the antenna end of the
1610 flight computer must point forward, in line with the
1611 expected flight path.
1612 </p></dd><dt><span class="term">Antenna Down</span></dt><dd><p>
1613 In this mode, the antenna end of the
1614 flight computer must point aft, in line with the
1615 expected flight path.
1616 </p></dd></dl></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54365840"></a>6.11. Configure Pyro Channels</h3></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="540"><tr><td><img src="configure-pyro.png" width="540"></td></tr></table></div></div><p>
1617 This opens a separate window to configure the additional
1618 pyro channels available on TeleMega. One column is
1619 presented for each channel. Each row represents a single
1620 parameter, if enabled the parameter must meet the specified
1621 test for the pyro channel to be fired. See the Pyro Channels
1622 section in the System Operation chapter above for a
1623 description of these parameters.
1625 Select conditions and set the related value; the pyro
1626 channel will be activated when <span class="emphasis"><em>all</em></span> of the
1627 conditions are met. Each pyro channel has a separate set of
1628 configuration values, so you can use different values for
1629 the same condition with different channels.
1631 Once you have selected the appropriate configuration for all
1632 of the necessary pyro channels, you can save the pyro
1633 configuration along with the rest of the flight computer
1634 configuration by pressing the 'Save' button in the main
1635 Configure Flight Computer window.
1636 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54371648"></a>7. Configure AltosUI</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="216"><tr><td><img src="configure-altosui.png" width="216"></td></tr></table></div></div><p>
1637 This button presents a dialog so that you can configure the AltosUI global settings.
1638 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54375152"></a>7.1. Voice Settings</h3></div></div></div><p>
1639 AltosUI provides voice announcements during flight so that you
1640 can keep your eyes on the sky and still get information about
1641 the current flight status. However, sometimes you don't want
1643 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Enable</span></dt><dd><p>Turns all voice announcements on and off</p></dd><dt><span class="term">Test Voice</span></dt><dd><p>
1644 Plays a short message allowing you to verify
1645 that the audio system is working and the volume settings
1647 </p></dd></dl></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54380176"></a>7.2. Log Directory</h3></div></div></div><p>
1648 AltosUI logs all telemetry data and saves all TeleMetrum flash
1649 data to this directory. This directory is also used as the
1650 staring point when selecting data files for display or export.
1652 Click on the directory name to bring up a directory choosing
1653 dialog, select a new directory and click 'Select Directory' to
1654 change where AltosUI reads and writes data files.
1655 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54382176"></a>7.3. Callsign</h3></div></div></div><p>
1656 This value is transmitted in each command packet sent from
1657 TeleDongle and received from an altimeter. It is not used in
1658 telemetry mode, as the callsign configured in the altimeter board
1659 is included in all telemetry packets. Configure this
1660 with the AltosUI operators call sign as needed to comply with
1661 your local radio regulations.
1663 Note that to successfully command a flight computer over the radio
1664 (to configure the altimeter, monitor idle, or fire pyro charges),
1665 the callsign configured here must exactly match the callsign
1666 configured in the flight computer. This matching is case
1668 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54384416"></a>7.4. Imperial Units</h3></div></div></div><p>
1669 This switches between metric units (meters) and imperial
1670 units (feet and miles). This affects the display of values
1671 use during flight monitoring, configuration, data graphing
1672 and all of the voice announcements. It does not change the
1673 units used when exporting to CSV files, those are always
1674 produced in metric units.
1675 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54385920"></a>7.5. Font Size</h3></div></div></div><p>
1676 Selects the set of fonts used in the flight monitor
1677 window. Choose between the small, medium and large sets.
1678 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54387200"></a>7.6. Serial Debug</h3></div></div></div><p>
1679 This causes all communication with a connected device to be
1680 dumped to the console from which AltosUI was started. If
1681 you've started it from an icon or menu entry, the output
1682 will simply be discarded. This mode can be useful to debug
1683 various serial communication issues.
1684 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54388704"></a>7.7. Manage Frequencies</h3></div></div></div><p>
1685 This brings up a dialog where you can configure the set of
1686 frequencies shown in the various frequency menus. You can
1687 add as many as you like, or even reconfigure the default
1688 set. Changing this list does not affect the frequency
1689 settings of any devices, it only changes the set of
1690 frequencies shown in the menus.
1691 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54390336"></a>8. Configure Groundstation</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="279"><tr><td><img src="configure-groundstation.png" width="279"></td></tr></table></div></div><p>
1692 Select this button and then select a TeleDongle Device from the list provided.
1694 The first few lines of the dialog provide information about the
1695 connected device, including the product name,
1696 software version and hardware serial number. Below that are the
1697 individual configuration entries.
1699 Note that the TeleDongle itself doesn't save any configuration
1700 data, the settings here are recorded on the local machine in
1701 the Java preferences database. Moving the TeleDongle to
1702 another machine, or using a different user account on the same
1703 machine will cause settings made here to have no effect.
1705 At the bottom of the dialog, there are three buttons:
1706 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Save</span></dt><dd><p>
1707 This writes any changes to the
1708 local Java preferences file. If you don't
1709 press this button, any changes you make will be lost.
1710 </p></dd><dt><span class="term">Reset</span></dt><dd><p>
1711 This resets the dialog to the most recently saved values,
1712 erasing any changes you have made.
1713 </p></dd><dt><span class="term">Close</span></dt><dd><p>
1714 This closes the dialog. Any unsaved changes will be
1716 </p></dd></dl></div><p>
1717 The rest of the dialog contains the parameters to be configured.
1718 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54401536"></a>8.1. Frequency</h3></div></div></div><p>
1719 This configures the frequency to use for both telemetry and
1720 packet command mode. Set this before starting any operation
1721 involving packet command mode so that it will use the right
1722 frequency. Telemetry monitoring mode also provides a menu to
1723 change the frequency, and that menu also sets the same Java
1724 preference value used here.
1725 </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54403104"></a>8.2. Radio Calibration</h3></div></div></div><p>
1726 The radios in every Altus Metrum device are calibrated at the
1727 factory to ensure that they transmit and receive on the
1728 specified frequency. To change a TeleDongle's calibration,
1729 you must reprogram the unit completely, so this entry simply
1730 shows the current value and doesn't allow any changes.
1731 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54404736"></a>9. Flash Image</h2></div></div></div><p>
1732 This reprograms Altus Metrum devices with new
1733 firmware. TeleMetrum v1.x, TeleDongle, TeleMini and TeleBT are
1734 all reprogrammed by using another similar unit as a
1735 programming dongle (pair programming). TeleMega, TeleMetrum v2
1736 and EasyMini are all programmed directly over their USB ports
1737 (self programming). Please read the directions for flashing
1738 devices in the Updating Device Firmware chapter below.
1739 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54406368"></a>10. Fire Igniter</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="108"><tr><td><img src="fire-igniter.png" width="108"></td></tr></table></div></div><p>
1740 This activates the igniter circuits in the flight computer to help
1741 test recovery systems deployment. Because this command can operate
1742 over the Packet Command Link, you can prepare the rocket as
1743 for flight and then test the recovery system without needing
1744 to snake wires inside the air-frame.
1746 Selecting the 'Fire Igniter' button brings up the usual device
1747 selection dialog. Pick the desired device. This brings up another
1748 window which shows the current continuity test status for all
1749 of the pyro channels.
1751 Next, select the desired igniter to fire. This will enable the
1754 Select the 'Arm' button. This enables the 'Fire' button. The
1755 word 'Arm' is replaced by a countdown timer indicating that
1756 you have 10 seconds to press the 'Fire' button or the system
1757 will deactivate, at which point you start over again at
1758 selecting the desired igniter.
1759 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54412000"></a>11. Scan Channels</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="288"><tr><td><img src="scan-channels.png" width="288"></td></tr></table></div></div><p>
1760 This listens for telemetry packets on all of the configured
1761 frequencies, displaying information about each device it
1762 receives a packet from. You can select which of the three
1763 telemetry formats should be tried; by default, it only listens
1764 for the standard telemetry packets used in v1.0 and later
1766 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54415856"></a>12. Load Maps</h2></div></div></div><div class="informalfigure"><div class="mediaobject"><table border="0" summary="manufactured viewport for HTML img" style="cellpadding: 0; cellspacing: 0;" width="468"><tr><td><img src="load-maps.png" width="468"></td></tr></table></div></div><p>
1767 Before heading out to a new launch site, you can use this to
1768 load satellite images in case you don't have internet
1769 connectivity at the site. This loads a fairly large area
1770 around the launch site, which should cover any flight you're likely to make.
1772 There's a drop-down menu of launch sites we know about; if
1773 your favorites aren't there, please let us know the lat/lon
1774 and name of the site. The contents of this list are actually
1775 downloaded from our server at run-time, so as new sites are sent
1776 in, they'll get automatically added to this list.
1778 If the launch site isn't in the list, you can manually enter the lat/lon values
1780 Clicking the 'Load Map' button will fetch images from Google
1781 Maps; note that Google limits how many images you can fetch at
1782 once, so if you load more than one launch site, you may get
1783 some gray areas in the map which indicate that Google is tired
1784 of sending data to you. Try again later.
1785 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54421552"></a>13. Monitor Idle</h2></div></div></div><p>
1786 This brings up a dialog similar to the Monitor Flight UI,
1787 except it works with the altimeter in “idle” mode by sending
1788 query commands to discover the current state rather than
1789 listening for telemetry packets. Because this uses command
1790 mode, it needs to have the TeleDongle and flight computer
1791 callsigns match exactly. If you can receive telemetry, but
1792 cannot manage to run Monitor Idle, then it's very likely that
1793 your callsigns are different in some way.
1794 </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54423648"></a>Chapter 7. AltosDroid</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54426032">1. Installing AltosDroid</a></span></dt><dt><span class="section"><a href="#idp54427968">2. Connecting to TeleBT</a></span></dt><dt><span class="section"><a href="#idp54429968">3. Configuring AltosDroid</a></span></dt><dt><span class="section"><a href="#idp54431424">4. AltosDroid Flight Monitoring</a></span></dt><dd><dl><dt><span class="section"><a href="#idp54432736">4.1. Pad</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54446368">5. Downloading Flight Logs</a></span></dt></dl></div><p>
1795 AltosDroid provides the same flight monitoring capabilities as
1796 AltosUI, but runs on Android devices and is designed to connect
1797 to a TeleBT receiver over Bluetooth™. AltosDroid monitors
1798 telemetry data, logging it to internal storage in the Android
1799 device, and presents that data in a UI the same way the 'Monitor
1800 Flight' window does in AltosUI.
1802 This manual will explain how to configure AltosDroid, connect
1803 to TeleBT, operate the flight monitoring interface and describe
1804 what the displayed data means.
1805 </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54426032"></a>1. Installing AltosDroid</h2></div></div></div><p>
1806 AltosDroid is available from the Google Play store. To install
1807 it on your Android device, open the Google Play Store
1808 application and search for “altosdroid”. Make sure you don't
1809 have a space between “altos” and “droid” or you probably won't
1810 find what you want. That should bring you to the right page
1811 from which you can download and install the application.
1812 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54427968"></a>2. Connecting to TeleBT</h2></div></div></div><p>
1813 Press the Android 'Menu' button or soft-key to see the
1814 configuration options available. Select the 'Connect a device'
1815 option and then the 'Scan for devices' entry at the bottom to
1816 look for your TeleBT device. Select your device, and when it
1817 asks for the code, enter '1234'.
1819 Subsequent connections will not require you to enter that
1820 code, and your 'paired' device will appear in the list without
1822 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54429968"></a>3. Configuring AltosDroid</h2></div></div></div><p>
1823 The only configuration option available for AltosDroid is
1824 which frequency to listen on. Press the Android 'Menu' button
1825 or soft-key and pick the 'Select radio frequency' entry. That
1826 brings up a menu of pre-set radio frequencies; pick the one
1827 which matches your altimeter.
1828 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54431424"></a>4. AltosDroid Flight Monitoring</h2></div></div></div><p>
1829 AltosDroid is designed to mimic the AltosUI flight monitoring
1830 display, providing separate tabs for each stage of your rocket
1831 flight along with a tab containing a map of the local area
1832 with icons marking the current location of the altimeter and
1834 </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54432736"></a>4.1. Pad</h3></div></div></div><p>
1835 The 'Launch Pad' tab shows information used to decide when the
1836 rocket is ready for flight. The first elements include red/green
1837 indicators, if any of these is red, you'll want to evaluate
1838 whether the rocket is ready to launch:
1839 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Battery Voltage</span></dt><dd><p>
1840 This indicates whether the Li-Po battery
1841 powering the TeleMetrum has sufficient charge to last for
1842 the duration of the flight. A value of more than
1843 3.8V is required for a 'GO' status.
1844 </p></dd><dt><span class="term">Apogee Igniter Voltage</span></dt><dd><p>
1845 This indicates whether the apogee
1846 igniter has continuity. If the igniter has a low
1847 resistance, then the voltage measured here will be close
1848 to the Li-Po battery voltage. A value greater than 3.2V is
1849 required for a 'GO' status.
1850 </p></dd><dt><span class="term">Main Igniter Voltage</span></dt><dd><p>
1851 This indicates whether the main
1852 igniter has continuity. If the igniter has a low
1853 resistance, then the voltage measured here will be close
1854 to the Li-Po battery voltage. A value greater than 3.2V is
1855 required for a 'GO' status.
1856 </p></dd><dt><span class="term">On-board Data Logging</span></dt><dd><p>
1857 This indicates whether there is
1858 space remaining on-board to store flight data for the
1859 upcoming flight. If you've downloaded data, but failed
1860 to erase flights, there may not be any space
1861 left. TeleMetrum can store multiple flights, depending
1862 on the configured maximum flight log size. TeleMini
1863 stores only a single flight, so it will need to be
1864 downloaded and erased after each flight to capture
1865 data. This only affects on-board flight logging; the
1866 altimeter will still transmit telemetry and fire
1867 ejection charges at the proper times.
1868 </p></dd><dt><span class="term">GPS Locked</span></dt><dd><p>
1869 For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
1870 currently able to compute position information. GPS requires
1871 at least 4 satellites to compute an accurate position.
1872 </p></dd><dt><span class="term">GPS Ready</span></dt><dd><p>
1873 For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
1874 10 consecutive positions without losing lock. This ensures
1875 that the GPS receiver has reliable reception from the
1877 </p></dd></dl></div><p>
1879 The Launchpad tab also shows the computed launch pad position
1880 and altitude, averaging many reported positions to improve the
1881 accuracy of the fix.
1882 </p></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54446368"></a>5. Downloading Flight Logs</h2></div></div></div><p>
1883 AltosDroid always saves every bit of telemetry data it
1884 receives. To download that to a computer for use with AltosUI,
1885 simply remove the SD card from your Android device, or connect
1886 your device to your computer's USB port and browse the files
1887 on that device. You will find '.telem' files in the TeleMetrum
1888 directory that will work with AltosUI directly.
1889 </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54448032"></a>Chapter 8. Using Altus Metrum Products</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54448672">1. Being Legal</a></span></dt><dt><span class="section"><a href="#idp54450576">2. In the Rocket</a></span></dt><dt><span class="section"><a href="#idp54453040">3. On the Ground</a></span></dt><dt><span class="section"><a href="#idp54466432">4. Data Analysis</a></span></dt><dt><span class="section"><a href="#idp54468976">5. Future Plans</a></span></dt></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54448672"></a>1. Being Legal</h2></div></div></div><p>
1890 First off, in the US, you need an <a class="ulink" href="http://www.altusmetrum.org/Radio/" target="_top">amateur radio license</a> or
1891 other authorization to legally operate the radio transmitters that are part
1893 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54450576"></a>2. In the Rocket</h2></div></div></div><p>
1894 In the rocket itself, you just need a flight computer and
1895 a single-cell, 3.7 volt nominal Li-Po rechargeable battery. An
1896 850mAh battery weighs less than a 9V alkaline battery, and will
1897 run a TeleMetrum or TeleMega for hours.
1898 A 110mAh battery weighs less than a triple A battery and is a good
1899 choice for use with TeleMini.
1901 By default, we ship flight computers with a simple wire antenna.
1902 If your electronics bay or the air-frame it resides within is made
1903 of carbon fiber, which is opaque to RF signals, you may prefer to
1904 install an SMA connector so that you can run a coaxial cable to an
1905 antenna mounted elsewhere in the rocket. However, note that the
1906 GPS antenna is fixed on all current products, so you really want
1907 to install the flight computer in a bay made of RF-transparent
1908 materials if at all possible.
1909 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54453040"></a>3. On the Ground</h2></div></div></div><p>
1910 To receive the data stream from the rocket, you need an antenna and short
1911 feed-line connected to one of our <a class="ulink" href="http://www.altusmetrum.org/TeleDongle/" target="_top">TeleDongle</a> units. If possible, use an SMA to BNC
1912 adapter instead of feedline between the antenna feedpoint and
1913 TeleDongle, as this will give you the best performance. The
1914 TeleDongle in turn plugs directly into the USB port on a notebook
1915 computer. Because TeleDongle looks like a simple serial port, your computer
1916 does not require special device drivers... just plug it in.
1918 The GUI tool, AltosUI, is written in Java and runs across
1919 Linux, Mac OS and Windows. There's also a suite of C tools
1920 for Linux which can perform most of the same tasks.
1922 Alternatively, a TeleBT attached with an SMA to BNC adapter at the
1923 feed point of a hand-held yagi used in conjunction with an Android
1924 device running AltosDroid makes an outstanding ground station.
1926 After the flight, you can use the radio link to extract the more detailed data
1927 logged in either TeleMetrum or TeleMini devices, or you can use a mini USB cable to plug into the
1928 TeleMetrum board directly. Pulling out the data without having to open up
1929 the rocket is pretty cool! A USB cable is also how you charge the Li-Po
1930 battery, so you'll want one of those anyway... the same cable used by lots
1931 of digital cameras and other modern electronic stuff will work fine.
1933 If your rocket lands out of sight, you may enjoy having a hand-held
1934 GPS receiver, so that you can put in a way-point for the last
1935 reported rocket position before touch-down. This makes looking for
1936 your rocket a lot like Geo-Caching... just go to the way-point and
1937 look around starting from there. AltosDroid on an Android device
1938 with GPS receiver works great for this, too!
1940 You may also enjoy having a ham radio “HT” that covers the 70cm band... you
1941 can use that with your antenna to direction-find the rocket on the ground
1942 the same way you can use a Walston or Beeline tracker. This can be handy
1943 if the rocket is hiding in sage brush or a tree, or if the last GPS position
1944 doesn't get you close enough because the rocket dropped into a canyon, or
1945 the wind is blowing it across a dry lake bed, or something like that... Keith
1946 currently uses a Yaesu VX-7R, Bdale has a Baofung UV-5R
1947 which isn't as nice, but was a whole lot cheaper.
1949 So, to recap, on the ground the hardware you'll need includes:
1950 </p><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
1951 an antenna and feed-line or adapter
1952 </p></li><li class="listitem"><p>
1954 </p></li><li class="listitem"><p>
1956 </p></li><li class="listitem"><p>
1957 optionally, a hand-held GPS receiver
1958 </p></li><li class="listitem"><p>
1959 optionally, an HT or receiver covering 435 MHz
1960 </p></li></ol></div><p>
1962 The best hand-held commercial directional antennas we've found for radio
1963 direction finding rockets are from
1964 <a class="ulink" href="http://www.arrowantennas.com/" target="_top">
1967 The 440-3 and 440-5 are both good choices for finding a
1968 TeleMetrum- or TeleMini- equipped rocket when used with a suitable
1969 70cm HT. TeleDongle and an SMA to BNC adapter fit perfectly
1970 between the driven element and reflector of Arrow antennas.
1971 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54466432"></a>4. Data Analysis</h2></div></div></div><p>
1972 Our software makes it easy to log the data from each flight, both the
1973 telemetry received during the flight itself, and the more
1974 complete data log recorded in the flash memory on the altimeter
1975 board. Once this data is on your computer, our post-flight tools make it
1976 easy to quickly get to the numbers everyone wants, like apogee altitude,
1977 max acceleration, and max velocity. You can also generate and view a
1978 standard set of plots showing the altitude, acceleration, and
1979 velocity of the rocket during flight. And you can even export a TeleMetrum data file
1980 usable with Google Maps and Google Earth for visualizing the flight path
1981 in two or three dimensions!
1983 Our ultimate goal is to emit a set of files for each flight that can be
1984 published as a web page per flight, or just viewed on your local disk with
1986 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54468976"></a>5. Future Plans</h2></div></div></div><p>
1987 We've designed a simple GPS based radio tracker called TeleGPS.
1988 If all goes well, we hope to introduce this in the first
1991 We have designed and prototyped several “companion boards” that
1992 can attach to the companion connector on TeleMetrum and TeleMega
1993 flight computers to collect more data, provide more pyro channels,
1994 and so forth. We do not yet know if or when any of these boards
1995 will be produced in enough quantity to sell. If you have specific
1996 interests for data collection or control of events in your rockets
1997 beyond the capabilities of our existing productions, please let
2000 Because all of our work is open, both the hardware designs and the
2001 software, if you have some great idea for an addition to the current
2002 Altus Metrum family, feel free to dive in and help! Or let us know
2003 what you'd like to see that we aren't already working on, and maybe
2004 we'll get excited about it too...
2007 <a class="ulink" href="http://altusmetrum.org/" target="_top">web site</a> for more news
2008 and information as our family of products evolves!
2009 </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54473360"></a>Chapter 9. Altimeter Installation Recommendations</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54474816">1. Mounting the Altimeter</a></span></dt><dt><span class="section"><a href="#idp54479648">2. Dealing with the Antenna</a></span></dt><dt><span class="section"><a href="#idp54485216">3. Preserving GPS Reception</a></span></dt><dt><span class="section"><a href="#idp54490000">4. Radio Frequency Interference</a></span></dt><dt><span class="section"><a href="#idp54497568">5. The Barometric Sensor</a></span></dt><dt><span class="section"><a href="#idp54500368">6. Ground Testing</a></span></dt></dl></div><p>
2010 Building high-power rockets that fly safely is hard enough. Mix
2011 in some sophisticated electronics and a bunch of radio energy
2012 and some creativity and/or compromise may be required. This chapter
2013 contains some suggestions about how to install Altus Metrum
2014 products into a rocket air-frame, including how to safely and
2015 reliably mix a variety of electronics into the same air-frame.
2016 </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54474816"></a>1. Mounting the Altimeter</h2></div></div></div><p>
2017 The first consideration is to ensure that the altimeter is
2018 securely fastened to the air-frame. For most of our products, we
2019 prefer nylon standoffs and nylon screws; they're good to at least 50G
2020 and cannot cause any electrical issues on the board. Metal screws
2021 and standoffs are fine, too, just be careful to avoid electrical
2022 shorts! For TeleMini v1.0, we usually cut small pieces of 1/16 inch
2024 under the screw holes, and then take 2x56 nylon screws and
2025 screw them through the TeleMini mounting holes, through the
2026 balsa and into the underlying material.
2027 </p><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
2028 Make sure accelerometer-equipped products like TeleMetrum and
2029 TeleMega are aligned precisely along the axis of
2030 acceleration so that the accelerometer can accurately
2031 capture data during the flight.
2032 </p></li><li class="listitem"><p>
2033 Watch for any metal touching components on the
2034 board. Shorting out connections on the bottom of the board
2035 can cause the altimeter to fail during flight.
2036 </p></li></ol></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54479648"></a>2. Dealing with the Antenna</h2></div></div></div><p>
2037 The antenna supplied is just a piece of solid, insulated,
2038 wire. If it gets damaged or broken, it can be easily
2039 replaced. It should be kept straight and not cut; bending or
2040 cutting it will change the resonant frequency and/or
2041 impedance, making it a less efficient radiator and thus
2042 reducing the range of the telemetry signal.
2044 Keeping metal away from the antenna will provide better range
2045 and a more even radiation pattern. In most rockets, it's not
2046 entirely possible to isolate the antenna from metal
2047 components; there are often bolts, all-thread and wires from other
2048 electronics to contend with. Just be aware that the more stuff
2049 like this around the antenna, the lower the range.
2051 Make sure the antenna is not inside a tube made or covered
2052 with conducting material. Carbon fiber is the most common
2053 culprit here -- CF is a good conductor and will effectively
2054 shield the antenna, dramatically reducing signal strength and
2055 range. Metallic flake paint is another effective shielding
2056 material which should be avoided around any antennas.
2058 If the ebay is large enough, it can be convenient to simply
2059 mount the altimeter at one end and stretch the antenna out
2060 inside. Taping the antenna to the sled can keep it straight
2061 under acceleration. If there are metal rods, keep the
2062 antenna as far away as possible.
2064 For a shorter ebay, it's quite practical to have the antenna
2065 run through a bulkhead and into an adjacent bay. Drill a small
2066 hole in the bulkhead, pass the antenna wire through it and
2067 then seal it up with glue or clay. We've also used acrylic
2068 tubing to create a cavity for the antenna wire. This works a
2069 bit better in that the antenna is known to stay straight and
2070 not get folded by recovery components in the bay. Angle the
2071 tubing towards the side wall of the rocket and it ends up
2072 consuming very little space.
2074 If you need to place the UHF antenna at a distance from the
2075 altimeter, you can replace the antenna with an edge-mounted
2076 SMA connector, and then run 50Ω coax from the board to the
2077 antenna. Building a remote antenna is beyond the scope of this
2079 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54485216"></a>3. Preserving GPS Reception</h2></div></div></div><p>
2080 The GPS antenna and receiver used in TeleMetrum and TeleMega is
2081 highly sensitive and normally have no trouble tracking enough
2082 satellites to provide accurate position information for
2083 recovering the rocket. However, there are many ways the GPS signal
2084 can end up attenuated, negatively affecting GPS performance.
2085 </p><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
2086 Conductive tubing or coatings. Carbon fiber and metal
2087 tubing, or metallic paint will all dramatically attenuate the
2088 GPS signal. We've never heard of anyone successfully
2089 receiving GPS from inside these materials.
2090 </p></li><li class="listitem"><p>
2091 Metal components near the GPS patch antenna. These will
2092 de-tune the patch antenna, changing the resonant frequency
2093 away from the L1 carrier and reduce the effectiveness of the
2094 antenna. You can place as much stuff as you like beneath the
2095 antenna as that's covered with a ground plane. But, keep
2096 wires and metal out from above the patch antenna.
2097 </p></li></ol></div><p>
2098 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54490000"></a>4. Radio Frequency Interference</h2></div></div></div><p>
2099 Any altimeter will generate RFI; the digital circuits use
2100 high-frequency clocks that spray radio interference across a
2101 wide band. Altus Metrum altimeters generate intentional radio
2102 signals as well, increasing the amount of RF energy around the board.
2104 Rocketry altimeters also use precise sensors measuring air
2105 pressure and acceleration. Tiny changes in voltage can cause
2106 these sensor readings to vary by a huge amount. When the
2107 sensors start mis-reporting data, the altimeter can either
2108 fire the igniters at the wrong time, or not fire them at all.
2110 Voltages are induced when radio frequency energy is
2111 transmitted from one circuit to another. Here are things that
2112 influence the induced voltage and current:
2113 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2114 Keep wires from different circuits apart. Moving circuits
2115 further apart will reduce RFI.
2116 </p></li><li class="listitem"><p>
2117 Avoid parallel wires from different circuits. The longer two
2118 wires run parallel to one another, the larger the amount of
2119 transferred energy. Cross wires at right angles to reduce
2121 </p></li><li class="listitem"><p>
2122 Twist wires from the same circuits. Two wires the same
2123 distance from the transmitter will get the same amount of
2124 induced energy which will then cancel out. Any time you have
2125 a wire pair running together, twist the pair together to
2126 even out distances and reduce RFI. For altimeters, this
2127 includes battery leads, switch hookups and igniter
2129 </p></li><li class="listitem"><p>
2130 Avoid resonant lengths. Know what frequencies are present
2131 in the environment and avoid having wire lengths near a
2132 natural resonant length. Altus Metrum products transmit on the
2133 70cm amateur band, so you should avoid lengths that are a
2134 simple ratio of that length; essentially any multiple of ¼
2135 of the wavelength (17.5cm).
2136 </p></li></ul></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54497568"></a>5. The Barometric Sensor</h2></div></div></div><p>
2137 Altusmetrum altimeters measure altitude with a barometric
2138 sensor, essentially measuring the amount of air above the
2139 rocket to figure out how high it is. A large number of
2140 measurements are taken as the altimeter initializes itself to
2141 figure out the pad altitude. Subsequent measurements are then
2142 used to compute the height above the pad.
2144 To accurately measure atmospheric pressure, the ebay
2145 containing the altimeter must be vented outside the
2146 air-frame. The vent must be placed in a region of linear
2147 airflow, have smooth edges, and away from areas of increasing or
2148 decreasing pressure.
2150 All barometric sensors are quite sensitive to chemical damage from
2151 the products of APCP or BP combustion, so make sure the ebay is
2152 carefully sealed from any compartment which contains ejection
2154 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54500368"></a>6. Ground Testing</h2></div></div></div><p>
2155 The most important aspect of any installation is careful
2156 ground testing. Bringing an air-frame up to the LCO table which
2157 hasn't been ground tested can lead to delays or ejection
2158 charges firing on the pad, or, even worse, a recovery system
2161 Do a 'full systems' test that includes wiring up all igniters
2162 without any BP and turning on all of the electronics in flight
2163 mode. This will catch any mistakes in wiring and any residual
2164 RFI issues that might accidentally fire igniters at the wrong
2165 time. Let the air-frame sit for several minutes, checking for
2166 adequate telemetry signal strength and GPS lock. If any igniters
2167 fire unexpectedly, find and resolve the issue before loading any
2170 Ground test the ejection charges. Prepare the rocket for
2171 flight, loading ejection charges and igniters. Completely
2172 assemble the air-frame and then use the 'Fire Igniters'
2173 interface through a TeleDongle to command each charge to
2174 fire. Make sure the charge is sufficient to robustly separate
2175 the air-frame and deploy the recovery system.
2176 </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54503536"></a>Chapter 10. Updating Device Firmware</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54507552">1.
2177 Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
2178 </a></span></dt><dd><dl><dt><span class="section"><a href="#idp54516608">1.1. Recovering From Self-Flashing Failure</a></span></dt></dl></dd><dt><span class="section"><a href="#idp54525584">2. Pair Programming</a></span></dt><dt><span class="section"><a href="#idp54527024">3. Updating TeleMetrum v1.x Firmware</a></span></dt><dt><span class="section"><a href="#idp54540224">4. Updating TeleMini Firmware</a></span></dt><dt><span class="section"><a href="#idp54553776">5. Updating TeleDongle Firmware</a></span></dt></dl></div><p>
2179 TeleMega, TeleMetrum v2 and EasyMini are all programmed directly
2180 over their USB connectors (self programming). TeleMetrum v1, TeleMini and
2181 TeleDongle are all programmed by using another device as a
2182 programmer (pair programming). It's important to recognize which
2183 kind of devices you have before trying to reprogram them.
2185 You may wish to begin by ensuring you have current firmware images.
2186 These are distributed as part of the AltOS software bundle that
2187 also includes the AltosUI ground station program. Newer ground
2188 station versions typically work fine with older firmware versions,
2189 so you don't need to update your devices just to try out new
2190 software features. You can always download the most recent
2191 version from <a class="ulink" href="http://www.altusmetrum.org/AltOS/" target="_top">http://www.altusmetrum.org/AltOS/</a>.
2193 If you need to update the firmware on a TeleDongle, we recommend
2194 updating the altimeter first, before updating TeleDongle. However,
2195 note that TeleDongle rarely need to be updated. Any firmware version
2196 1.0.1 or later will work, version 1.2.1 may have improved receiver
2197 performance slightly.
2199 Self-programmable devices (TeleMega, TeleMetrum v2 and EasyMini)
2200 are reprogrammed by connecting them to your computer over USB
2201 </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54507552"></a>1.
2202 Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
2203 </h2></div></div></div><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
2204 Attach a battery and power switch to the target
2205 device. Power up the device.
2206 </p></li><li class="listitem"><p>
2207 Using a Micro USB cable, connect the target device to your
2208 computer's USB socket.
2209 </p></li><li class="listitem"><p>
2210 Run AltosUI, and select 'Flash Image' from the File menu.
2211 </p></li><li class="listitem"><p>
2212 Select the target device in the Device Selection dialog.
2213 </p></li><li class="listitem"><p>
2214 Select the image you want to flash to the device, which
2215 should have a name in the form
2216 <product>-v<product-version>-<software-version>.ihx, such
2217 as TeleMega-v1.0-1.3.0.ihx.
2218 </p></li><li class="listitem"><p>
2219 Make sure the configuration parameters are reasonable
2220 looking. If the serial number and/or RF configuration
2221 values aren't right, you'll need to change them.
2222 </p></li><li class="listitem"><p>
2223 Hit the 'OK' button and the software should proceed to flash
2224 the device with new firmware, showing a progress bar.
2225 </p></li><li class="listitem"><p>
2226 Verify that the device is working by using the 'Configure
2227 Altimeter' item to check over the configuration.
2228 </p></li></ol></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp54516608"></a>1.1. Recovering From Self-Flashing Failure</h3></div></div></div><p>
2229 If the firmware loading fails, it can leave the device
2230 unable to boot. Not to worry, you can force the device to
2231 start the boot loader instead, which will let you try to
2232 flash the device again.
2234 On each device, connecting two pins from one of the exposed
2235 connectors will force the boot loader to start, even if the
2236 regular operating system has been corrupted in some way.
2237 </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">TeleMega</span></dt><dd><p>
2238 Connect pin 6 and pin 1 of the companion connector. Pin 1
2239 can be identified by the square pad around it, and then
2240 the pins could sequentially across the board. Be very
2241 careful to <span class="emphasis"><em>not</em></span> short pin 8 to
2242 anything as that is connected directly to the battery. Pin
2243 7 carries 3.3V and the board will crash if that is
2244 connected to pin 1, but shouldn't damage the board.
2245 </p></dd><dt><span class="term">TeleMetrum v2</span></dt><dd><p>
2246 Connect pin 6 and pin 1 of the companion connector. Pin 1
2247 can be identified by the square pad around it, and then
2248 the pins could sequentially across the board. Be very
2249 careful to <span class="emphasis"><em>not</em></span> short pin 8 to
2250 anything as that is connected directly to the battery. Pin
2251 7 carries 3.3V and the board will crash if that is
2252 connected to pin 1, but shouldn't damage the board.
2253 </p></dd><dt><span class="term">EasyMini</span></dt><dd><p>
2254 Connect pin 6 and pin 1 of the debug connector, which is
2255 the six holes next to the beeper. Pin 1 can be identified
2256 by the square pad around it, and then the pins could
2257 sequentially across the board, making Pin 6 the one on the
2258 other end of the row.
2259 </p></dd></dl></div></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54525584"></a>2. Pair Programming</h2></div></div></div><p>
2260 The big concept to understand is that you have to use a
2261 TeleMega, TeleMetrum or TeleDongle as a programmer to update a
2262 pair programmed device. Due to limited memory resources in the
2263 cc1111, we don't support programming directly over USB for these
2265 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54527024"></a>3. Updating TeleMetrum v1.x Firmware</h2></div></div></div><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
2266 Find the 'programming cable' that you got as part of the starter
2267 kit, that has a red 8-pin MicroMaTch connector on one end and a
2268 red 4-pin MicroMaTch connector on the other end.
2269 </p></li><li class="listitem"><p>
2270 Take the 2 screws out of the TeleDongle case to get access
2271 to the circuit board.
2272 </p></li><li class="listitem"><p>
2273 Plug the 8-pin end of the programming cable to the
2274 matching connector on the TeleDongle, and the 4-pin end to the
2275 matching connector on the TeleMetrum.
2276 Note that each MicroMaTch connector has an alignment pin that
2277 goes through a hole in the PC board when you have the cable
2279 </p></li><li class="listitem"><p>
2280 Attach a battery to the TeleMetrum board.
2281 </p></li><li class="listitem"><p>
2282 Plug the TeleDongle into your computer's USB port, and power
2284 </p></li><li class="listitem"><p>
2285 Run AltosUI, and select 'Flash Image' from the File menu.
2286 </p></li><li class="listitem"><p>
2287 Pick the TeleDongle device from the list, identifying it as the
2289 </p></li><li class="listitem"><p>
2290 Select the image you want put on the TeleMetrum, which should have a
2291 name in the form telemetrum-v1.2-1.0.0.ihx. It should be visible
2292 in the default directory, if not you may have to poke around
2293 your system to find it.
2294 </p></li><li class="listitem"><p>
2295 Make sure the configuration parameters are reasonable
2296 looking. If the serial number and/or RF configuration
2297 values aren't right, you'll need to change them.
2298 </p></li><li class="listitem"><p>
2299 Hit the 'OK' button and the software should proceed to flash
2300 the TeleMetrum with new firmware, showing a progress bar.
2301 </p></li><li class="listitem"><p>
2302 Confirm that the TeleMetrum board seems to have updated OK, which you
2303 can do by plugging in to it over USB and using a terminal program
2304 to connect to the board and issue the 'v' command to check
2306 </p></li><li class="listitem"><p>
2307 If something goes wrong, give it another try.
2308 </p></li></ol></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54540224"></a>4. Updating TeleMini Firmware</h2></div></div></div><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
2309 You'll need a special 'programming cable' to reprogram the
2310 TeleMini. You can make your own using an 8-pin MicroMaTch
2311 connector on one end and a set of four pins on the other.
2312 </p></li><li class="listitem"><p>
2313 Take the 2 screws out of the TeleDongle case to get access
2314 to the circuit board.
2315 </p></li><li class="listitem"><p>
2316 Plug the 8-pin end of the programming cable to the matching
2317 connector on the TeleDongle, and the 4-pins into the holes
2318 in the TeleMini circuit board. Note that the MicroMaTch
2319 connector has an alignment pin that goes through a hole in
2320 the PC board when you have the cable oriented correctly, and
2321 that pin 1 on the TeleMini board is marked with a square pad
2322 while the other pins have round pads.
2323 </p></li><li class="listitem"><p>
2324 Attach a battery to the TeleMini board.
2325 </p></li><li class="listitem"><p>
2326 Plug the TeleDongle into your computer's USB port, and power
2328 </p></li><li class="listitem"><p>
2329 Run AltosUI, and select 'Flash Image' from the File menu.
2330 </p></li><li class="listitem"><p>
2331 Pick the TeleDongle device from the list, identifying it as the
2333 </p></li><li class="listitem"><p>
2334 Select the image you want put on the TeleMini, which should have a
2335 name in the form telemini-v1.0-1.0.0.ihx. It should be visible
2336 in the default directory, if not you may have to poke around
2337 your system to find it.
2338 </p></li><li class="listitem"><p>
2339 Make sure the configuration parameters are reasonable
2340 looking. If the serial number and/or RF configuration
2341 values aren't right, you'll need to change them.
2342 </p></li><li class="listitem"><p>
2343 Hit the 'OK' button and the software should proceed to flash
2344 the TeleMini with new firmware, showing a progress bar.
2345 </p></li><li class="listitem"><p>
2346 Confirm that the TeleMini board seems to have updated OK, which you
2347 can do by configuring it over the radio link through the TeleDongle, or
2348 letting it come up in “flight” mode and listening for telemetry.
2349 </p></li><li class="listitem"><p>
2350 If something goes wrong, give it another try.
2351 </p></li></ol></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54553776"></a>5. Updating TeleDongle Firmware</h2></div></div></div><p>
2352 Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini
2353 firmware, but you use either a TeleMetrum or another TeleDongle as the programmer.
2354 </p><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
2355 Find the 'programming cable' that you got as part of the starter
2356 kit, that has a red 8-pin MicroMaTch connector on one end and a
2357 red 4-pin MicroMaTch connector on the other end.
2358 </p></li><li class="listitem"><p>
2359 Find the USB cable that you got as part of the starter kit, and
2360 plug the “mini” end in to the mating connector on TeleMetrum or TeleDongle.
2361 </p></li><li class="listitem"><p>
2362 Take the 2 screws out of the TeleDongle case to get access
2363 to the circuit board.
2364 </p></li><li class="listitem"><p>
2365 Plug the 8-pin end of the programming cable to the
2366 matching connector on the programmer, and the 4-pin end to the
2367 matching connector on the TeleDongle.
2368 Note that each MicroMaTch connector has an alignment pin that
2369 goes through a hole in the PC board when you have the cable
2371 </p></li><li class="listitem"><p>
2372 Attach a battery to the TeleMetrum board if you're using one.
2373 </p></li><li class="listitem"><p>
2374 Plug both the programmer and the TeleDongle into your computer's USB
2375 ports, and power up the programmer.
2376 </p></li><li class="listitem"><p>
2377 Run AltosUI, and select 'Flash Image' from the File menu.
2378 </p></li><li class="listitem"><p>
2379 Pick the programmer device from the list, identifying it as the
2381 </p></li><li class="listitem"><p>
2382 Select the image you want put on the TeleDongle, which should have a
2383 name in the form teledongle-v0.2-1.0.0.ihx. It should be visible
2384 in the default directory, if not you may have to poke around
2385 your system to find it.
2386 </p></li><li class="listitem"><p>
2387 Make sure the configuration parameters are reasonable
2388 looking. If the serial number and/or RF configuration
2389 values aren't right, you'll need to change them. The TeleDongle
2390 serial number is on the “bottom” of the circuit board, and can
2391 usually be read through the translucent blue plastic case without
2392 needing to remove the board from the case.
2393 </p></li><li class="listitem"><p>
2394 Hit the 'OK' button and the software should proceed to flash
2395 the TeleDongle with new firmware, showing a progress bar.
2396 </p></li><li class="listitem"><p>
2397 Confirm that the TeleDongle board seems to have updated OK, which you
2398 can do by plugging in to it over USB and using a terminal program
2399 to connect to the board and issue the 'v' command to check
2400 the version, etc. Once you're happy, remove the programming cable
2401 and put the cover back on the TeleDongle.
2402 </p></li><li class="listitem"><p>
2403 If something goes wrong, give it another try.
2404 </p></li></ol></div><p>
2405 Be careful removing the programming cable from the locking 8-pin
2406 connector on TeleMetrum. You'll need a fingernail or perhaps a thin
2407 screwdriver or knife blade to gently pry the locking ears out
2408 slightly to extract the connector. We used a locking connector on
2409 TeleMetrum to help ensure that the cabling to companion boards
2410 used in a rocket don't ever come loose accidentally in flight.
2411 </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54570400"></a>Chapter 11. Hardware Specifications</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54571040">1.
2412 TeleMega Specifications
2413 </a></span></dt><dt><span class="section"><a href="#idp54582512">2.
2414 TeleMetrum v2 Specifications
2415 </a></span></dt><dt><span class="section"><a href="#idp54593072">3. TeleMetrum v1 Specifications</a></span></dt><dt><span class="section"><a href="#idp54603632">4.
2416 TeleMini v2.0 Specifications
2417 </a></span></dt><dt><span class="section"><a href="#idp54612464">5.
2418 TeleMini v1.0 Specifications
2419 </a></span></dt><dt><span class="section"><a href="#idp54621264">6.
2420 EasyMini Specifications
2421 </a></span></dt></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54571040"></a>1.
2422 TeleMega Specifications
2423 </h2></div></div></div><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2424 Recording altimeter for model rocketry.
2425 </p></li><li class="listitem"><p>
2426 Supports dual deployment and four auxiliary pyro channels
2427 (a total of 6 events).
2428 </p></li><li class="listitem"><p>
2429 70cm 40mW ham-band transceiver for telemetry down-link.
2430 </p></li><li class="listitem"><p>
2431 Barometric pressure sensor good to 100k feet MSL.
2432 </p></li><li class="listitem"><p>
2433 1-axis high-g accelerometer for motor characterization, capable of
2435 </p></li><li class="listitem"><p>
2436 9-axis IMU including integrated 3-axis accelerometer,
2437 3-axis gyroscope and 3-axis magnetometer.
2438 </p></li><li class="listitem"><p>
2439 On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
2440 </p></li><li class="listitem"><p>
2441 On-board 8 Megabyte non-volatile memory for flight data storage.
2442 </p></li><li class="listitem"><p>
2443 USB interface for battery charging, configuration, and data recovery.
2444 </p></li><li class="listitem"><p>
2445 Fully integrated support for Li-Po rechargeable batteries.
2446 </p></li><li class="listitem"><p>
2447 Can use either main system Li-Po or optional separate pyro battery
2449 </p></li><li class="listitem"><p>
2450 3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
2451 </p></li></ul></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54582512"></a>2.
2452 TeleMetrum v2 Specifications
2453 </h2></div></div></div><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2454 Recording altimeter for model rocketry.
2455 </p></li><li class="listitem"><p>
2456 Supports dual deployment (can fire 2 ejection charges).
2457 </p></li><li class="listitem"><p>
2458 70cm, 40mW ham-band transceiver for telemetry down-link.
2459 </p></li><li class="listitem"><p>
2460 Barometric pressure sensor good to 100k feet MSL.
2461 </p></li><li class="listitem"><p>
2462 1-axis high-g accelerometer for motor characterization, capable of
2464 </p></li><li class="listitem"><p>
2465 On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
2466 </p></li><li class="listitem"><p>
2467 On-board 8 Megabyte non-volatile memory for flight data storage.
2468 </p></li><li class="listitem"><p>
2469 USB interface for battery charging, configuration, and data recovery.
2470 </p></li><li class="listitem"><p>
2471 Fully integrated support for Li-Po rechargeable batteries.
2472 </p></li><li class="listitem"><p>
2473 Uses Li-Po to fire e-matches, can be modified to support
2474 optional separate pyro battery if needed.
2475 </p></li><li class="listitem"><p>
2476 2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
2477 </p></li></ul></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54593072"></a>3. TeleMetrum v1 Specifications</h2></div></div></div><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2478 Recording altimeter for model rocketry.
2479 </p></li><li class="listitem"><p>
2480 Supports dual deployment (can fire 2 ejection charges).
2481 </p></li><li class="listitem"><p>
2482 70cm, 10mW ham-band transceiver for telemetry down-link.
2483 </p></li><li class="listitem"><p>
2484 Barometric pressure sensor good to 45k feet MSL.
2485 </p></li><li class="listitem"><p>
2486 1-axis high-g accelerometer for motor characterization, capable of
2487 +/- 50g using default part.
2488 </p></li><li class="listitem"><p>
2489 On-board, integrated GPS receiver with 5Hz update rate capability.
2490 </p></li><li class="listitem"><p>
2491 On-board 1 megabyte non-volatile memory for flight data storage.
2492 </p></li><li class="listitem"><p>
2493 USB interface for battery charging, configuration, and data recovery.
2494 </p></li><li class="listitem"><p>
2495 Fully integrated support for Li-Po rechargeable batteries.
2496 </p></li><li class="listitem"><p>
2497 Uses Li-Po to fire e-matches, can be modified to support
2498 optional separate pyro battery if needed.
2499 </p></li><li class="listitem"><p>
2500 2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
2501 </p></li></ul></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54603632"></a>4.
2502 TeleMini v2.0 Specifications
2503 </h2></div></div></div><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2504 Recording altimeter for model rocketry.
2505 </p></li><li class="listitem"><p>
2506 Supports dual deployment (can fire 2 ejection charges).
2507 </p></li><li class="listitem"><p>
2508 70cm, 10mW ham-band transceiver for telemetry down-link.
2509 </p></li><li class="listitem"><p>
2510 Barometric pressure sensor good to 100k feet MSL.
2511 </p></li><li class="listitem"><p>
2512 On-board 1 megabyte non-volatile memory for flight data storage.
2513 </p></li><li class="listitem"><p>
2514 USB interface for configuration, and data recovery.
2515 </p></li><li class="listitem"><p>
2516 Support for Li-Po rechargeable batteries (using an
2517 external charger), or any 3.7-15V external battery.
2518 </p></li><li class="listitem"><p>
2519 Uses Li-Po to fire e-matches, can be modified to support
2520 optional separate pyro battery if needed.
2521 </p></li><li class="listitem"><p>
2522 1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
2523 </p></li></ul></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54612464"></a>5.
2524 TeleMini v1.0 Specifications
2525 </h2></div></div></div><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2526 Recording altimeter for model rocketry.
2527 </p></li><li class="listitem"><p>
2528 Supports dual deployment (can fire 2 ejection charges).
2529 </p></li><li class="listitem"><p>
2530 70cm, 10mW ham-band transceiver for telemetry down-link.
2531 </p></li><li class="listitem"><p>
2532 Barometric pressure sensor good to 45k feet MSL.
2533 </p></li><li class="listitem"><p>
2534 On-board 5 kilobyte non-volatile memory for flight data storage.
2535 </p></li><li class="listitem"><p>
2536 RF interface for configuration, and data recovery.
2537 </p></li><li class="listitem"><p>
2538 Support for Li-Po rechargeable batteries, using an external charger.
2539 </p></li><li class="listitem"><p>
2540 Uses Li-Po to fire e-matches, can be modified to support
2541 optional separate pyro battery if needed.
2542 </p></li><li class="listitem"><p>
2543 1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube.
2544 </p></li></ul></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54621264"></a>6.
2545 EasyMini Specifications
2546 </h2></div></div></div><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2547 Recording altimeter for model rocketry.
2548 </p></li><li class="listitem"><p>
2549 Supports dual deployment (can fire 2 ejection charges).
2550 </p></li><li class="listitem"><p>
2551 Barometric pressure sensor good to 100k feet MSL.
2552 </p></li><li class="listitem"><p>
2553 On-board 1 megabyte non-volatile memory for flight data storage.
2554 </p></li><li class="listitem"><p>
2555 USB interface for configuration, and data recovery.
2556 </p></li><li class="listitem"><p>
2557 Support for Li-Po rechargeable batteries (using an
2558 external charger), or any 3.7-15V external battery.
2559 </p></li><li class="listitem"><p>
2560 Uses Li-Po to fire e-matches, can be modified to support
2561 optional separate pyro battery if needed.
2562 </p></li><li class="listitem"><p>
2563 1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
2564 </p></li></ul></div></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54629376"></a>Chapter 12. FAQ</h1></div></div></div><p>
2565 <span class="emphasis"><em>TeleMetrum seems to shut off when disconnected from the
2566 computer.</em></span>
2567 Make sure the battery is adequately charged. Remember the
2568 unit will pull more power than the USB port can deliver before the
2569 GPS enters “locked” mode. The battery charges best when TeleMetrum
2572 <span class="emphasis"><em>It's impossible to stop the TeleDongle when it's in “p” mode, I have
2573 to unplug the USB cable? </em></span>
2574 Make sure you have tried to “escape out” of
2575 this mode. If this doesn't work the reboot procedure for the
2576 TeleDongle *is* to simply unplug it. 'cu' however will retain it's
2577 outgoing buffer IF your “escape out” ('~~') does not work.
2578 At this point using either 'ao-view' (or possibly
2579 'cutemon') instead of 'cu' will 'clear' the issue and allow renewed
2582 <span class="emphasis"><em>The amber LED (on the TeleMetrum) lights up when both
2583 battery and USB are connected. Does this mean it's charging?
2585 Yes, the yellow LED indicates the charging at the 'regular' rate.
2586 If the led is out but the unit is still plugged into a USB port,
2587 then the battery is being charged at a 'trickle' rate.
2589 <span class="emphasis"><em>There are no “dit-dah-dah-dit” sound or lights like the manual
2590 mentions?</em></span>
2591 That's the “pad” mode. Weak batteries might be the problem.
2592 It is also possible that the flight computer is horizontal and the
2594 is instead a “dit-dit” meaning 'idle'. For TeleMini, it's possible that
2595 it received a command packet which would have left it in “pad” mode.
2597 <span class="emphasis"><em>How do I save flight data?</em></span>
2598 Live telemetry is written to file(s) whenever AltosUI is connected
2599 to the TeleDongle. The file area defaults to ~/TeleMetrum
2600 but is easily changed using the menus in AltosUI. The files that
2601 are written end in '.telem'. The after-flight
2602 data-dumped files will end in .eeprom and represent continuous data
2603 unlike the .telem files that are subject to losses
2604 along the RF data path.
2605 See the above instructions on what and how to save the eeprom stored
2606 data after physically retrieving your altimeter. Make sure to save
2607 the on-board data after each flight; while the TeleMetrum can store
2608 multiple flights, you never know when you'll lose the altimeter...
2609 </p></div><div class="appendix"><div class="titlepage"><div><div><h1 class="title"><a name="idp54638224"></a>Appendix A. Notes for Older Software</h1></div></div></div><p>
2610 <span class="emphasis"><em>
2611 Before AltosUI was written, using Altus Metrum devices required
2612 some finesse with the Linux command line. There was a limited
2613 GUI tool, ao-view, which provided functionality similar to the
2614 Monitor Flight window in AltosUI, but everything else was a
2615 fairly 80's experience. This appendix includes documentation for
2616 using that software.
2619 Both TeleMetrum and TeleDongle can be directly communicated
2620 with using USB ports. The first thing you should try after getting
2621 both units plugged into to your computer's USB port(s) is to run
2622 'ao-list' from a terminal-window to see what port-device-name each
2623 device has been assigned by the operating system.
2624 You will need this information to access the devices via their
2625 respective on-board firmware and data using other command line
2626 programs in the AltOS software suite.
2628 TeleMini can be communicated with through a TeleDongle device
2629 over the radio link. When first booted, TeleMini listens for a
2630 TeleDongle device and if it receives a packet, it goes into
2631 'idle' mode. Otherwise, it goes into 'pad' mode and waits to be
2632 launched. The easiest way to get it talking is to start the
2633 communication link on the TeleDongle and the power up the
2636 To access the device's firmware for configuration you need a terminal
2637 program such as you would use to talk to a modem. The software
2638 authors prefer using the program 'cu' which comes from the UUCP package
2639 on most Unix-like systems such as Linux. An example command line for
2640 cu might be 'cu -l /dev/ttyACM0', substituting the correct number
2641 indicated from running the
2642 ao-list program. Another reasonable terminal program for Linux is
2643 'cutecom'. The default 'escape'
2644 character used by CU (i.e. the character you use to
2645 issue commands to cu itself instead of sending the command as input
2646 to the connected device) is a '~'. You will need this for use in
2647 only two different ways during normal operations. First is to exit
2648 the program by sending a '~.' which is called a 'escape-disconnect'
2649 and allows you to close-out from 'cu'. The
2650 second use will be outlined later.
2652 All of the Altus Metrum devices share the concept of a two level
2653 command set in their firmware.
2654 The first layer has several single letter commands. Once
2655 you are using 'cu' (or 'cutecom') sending (typing) a '?'
2656 returns a full list of these
2657 commands. The second level are configuration sub-commands accessed
2658 using the 'c' command, for
2659 instance typing 'c?' will give you this second level of commands
2660 (all of which require the
2661 letter 'c' to access). Please note that most configuration options
2662 are stored only in Flash memory; TeleDongle doesn't provide any storage
2663 for these options and so they'll all be lost when you unplug it.
2665 Try setting these configuration ('c' or second level menu) values. A good
2666 place to start is by setting your call sign. By default, the boards
2667 use 'N0CALL' which is cute, but not exactly legal!
2668 Spend a few minutes getting comfortable with the units, their
2669 firmware, and 'cu' (or possibly 'cutecom').
2670 For instance, try to send
2671 (type) a 'c r 2' and verify the channel change by sending a 'c s'.
2672 Verify you can connect and disconnect from the units while in your
2673 terminal program by sending the escape-disconnect mentioned above.
2675 To set the radio frequency, use the 'c R' command to specify the
2676 radio transceiver configuration parameter. This parameter is computed
2677 using the desired frequency, 'F', the radio calibration parameter, 'C' (showed by the 'c s' command) and
2678 the standard calibration reference frequency, 'S', (normally 434.550MHz):
2679 </p><pre class="programlisting">
2682 Round the result to the nearest integer value.
2683 As with all 'c' sub-commands, follow this with a 'c w' to write the
2684 change to the parameter block in the on-board flash on
2685 your altimeter board if you want the change to stay in place across reboots.
2687 To set the apogee delay, use the 'c d' command.
2688 As with all 'c' sub-commands, follow this with a 'c w' to write the
2689 change to the parameter block in the on-board DataFlash chip.
2691 To set the main deployment altitude, use the 'c m' command.
2692 As with all 'c' sub-commands, follow this with a 'c w' to write the
2693 change to the parameter block in the on-board DataFlash chip.
2695 To calibrate the radio frequency, connect the UHF antenna port to a
2696 frequency counter, set the board to 434.550MHz, and use the 'C'
2697 command to generate a CW carrier. Wait for the transmitter temperature
2698 to stabilize and the frequency to settle down.
2699 Then, divide 434.550 MHz by the
2700 measured frequency and multiply by the current radio cal value show
2701 in the 'c s' command. For an unprogrammed board, the default value
2702 is 1186611 for cc1111 based products and 7119667 for cc1120
2703 based products. Take the resulting integer and program it using the 'c f'
2704 command. Testing with the 'C' command again should show a carrier
2705 within a few tens of Hertz of the intended frequency.
2706 As with all 'c' sub-commands, follow this with a 'c w' to write the
2707 change to the configuration memory.
2709 Note that the 'reboot' command, which is very useful on the altimeters,
2710 will likely just cause problems with the dongle. The *correct* way
2711 to reset the dongle is just to unplug and re-plug it.
2713 A fun thing to do at the launch site and something you can do while
2714 learning how to use these units is to play with the radio link access
2715 between an altimeter and the TeleDongle. Be aware that you *must* create
2716 some physical separation between the devices, otherwise the link will
2717 not function due to signal overload in the receivers in each device.
2719 Now might be a good time to take a break and read the rest of this
2720 manual, particularly about the two “modes” that the altimeters
2721 can be placed in. TeleMetrum uses the position of the device when booting
2722 up will determine whether the unit is in “pad” or “idle” mode. TeleMini
2723 enters “idle” mode when it receives a command packet within the first 5 seconds
2724 of being powered up, otherwise it enters “pad” mode.
2726 You can access an altimeter in idle mode from the TeleDongle's USB
2727 connection using the radio link
2728 by issuing a 'p' command to the TeleDongle. Practice connecting and
2729 disconnecting ('~~' while using 'cu') from the altimeter. If
2730 you cannot escape out of the “p” command, (by using a '~~' when in
2731 CU) then it is likely that your kernel has issues. Try a newer version.
2733 Using this radio link allows you to configure the altimeter, test
2734 fire e-matches and igniters from the flight line, check pyro-match
2735 continuity and so forth. You can leave the unit turned on while it
2736 is in 'idle mode' and then place the
2737 rocket vertically on the launch pad, walk away and then issue a
2738 reboot command. The altimeter will reboot and start sending data
2739 having changed to the “pad” mode. If the TeleDongle is not receiving
2740 this data, you can disconnect 'cu' from the TeleDongle using the
2741 procedures mentioned above and THEN connect to the TeleDongle from
2742 inside 'ao-view'. If this doesn't work, disconnect from the
2743 TeleDongle, unplug it, and try again after plugging it back in.
2745 In order to reduce the chance of accidental firing of pyrotechnic
2746 charges, the command to fire a charge is intentionally somewhat
2747 difficult to type, and the built-in help is slightly cryptic to
2748 prevent accidental echoing of characters from the help text back at
2749 the board from firing a charge. The command to fire the apogee
2750 drogue charge is 'i DoIt drogue' and the command to fire the main
2751 charge is 'i DoIt main'.
2753 On TeleMetrum, the GPS will eventually find enough satellites, lock in on them,
2754 and 'ao-view' will both auditorily announce and visually indicate
2756 Now you can launch knowing that you have a good data path and
2757 good satellite lock for flight data and recovery. Remember
2758 you MUST tell ao-view to connect to the TeleDongle explicitly in
2759 order for ao-view to be able to receive data.
2761 The altimeters provide RDF (radio direction finding) tones on
2762 the pad, during descent and after landing. These can be used to
2763 locate the rocket using a directional antenna; the signal
2764 strength providing an indication of the direction from receiver to rocket.
2766 TeleMetrum also provides GPS tracking data, which can further simplify
2767 locating the rocket once it has landed. (The last good GPS data
2768 received before touch-down will be on the data screen of 'ao-view'.)
2770 Once you have recovered the rocket you can download the eeprom
2771 contents using either 'ao-dumplog' (or possibly 'ao-eeprom'), over
2772 either a USB cable or over the radio link using TeleDongle.
2773 And by following the man page for 'ao-postflight' you can create
2774 various data output reports, graphs, and even KML data to see the
2775 flight trajectory in Google-earth. (Moving the viewing angle making
2776 sure to connect the yellow lines while in Google-earth is the proper
2779 As for ao-view.... some things are in the menu but don't do anything
2780 very useful. The developers have stopped working on ao-view to focus
2781 on a new, cross-platform ground station program. So ao-view may or
2782 may not be updated in the future. Mostly you just use
2783 the Log and Device menus. It has a wonderful display of the incoming
2784 flight data and I am sure you will enjoy what it has to say to you
2785 once you enable the voice output!
2786 </p></div><div class="appendix"><div class="titlepage"><div><div><h1 class="title"><a name="idp54661088"></a>Appendix B. Drill Templates</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54662256">1. TeleMega template</a></span></dt><dt><span class="section"><a href="#idp54678944">2. TeleMetrum template</a></span></dt><dt><span class="section"><a href="#idp54683328">3. TeleMini v2/EasyMini template</a></span></dt><dt><span class="section"><a href="#idp54687728">4. TeleMini v1 template</a></span></dt></dl></div><p>
2787 These images, when printed, provide precise templates for the
2788 mounting holes in Altus Metrum flight computers
2789 </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54662256"></a>1. TeleMega template</h2></div></div></div><p>
2790 TeleMega has overall dimensions of 1.250 x 3.250 inches, and
2791 the mounting holes are sized for use with 4-40 or M3 screws.
2792 </p><div class="informalfigure"><div class="mediaobject" align="center"><a name="TeleMegaTemplate"></a><object type="image/svg+xml" data="telemega.svg" align="middle"></object></div></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54678944"></a>2. TeleMetrum template</h2></div></div></div><p>
2793 TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
2794 mounting holes are sized for use with 4-40 or M3 screws.
2795 </p><div class="informalfigure"><div class="mediaobject" align="center"><a name="TeleMetrumTemplate"></a><object type="image/svg+xml" data="telemetrum.svg" align="middle"></object></div></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54683328"></a>3. TeleMini v2/EasyMini template</h2></div></div></div><p>
2796 TeleMini v2 and EasyMini have overall dimensions of 0.800 x 1.500 inches, and the
2797 mounting holes are sized for use with 4-40 or M3 screws.
2798 </p><div class="informalfigure"><div class="mediaobject" align="center"><a name="MiniTemplate"></a><object type="image/svg+xml" data="easymini.svg" align="middle"></object></div></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54687728"></a>4. TeleMini v1 template</h2></div></div></div><p>
2799 TeleMini has overall dimensions of 0.500 x 1.500 inches, and the
2800 mounting holes are sized for use with 2-56 or M2 screws.
2801 </p><div class="informalfigure"><div class="mediaobject" align="center"><a name="TeleMiniTemplate"></a><object type="image/svg+xml" data="telemini.svg" align="middle"></object></div></div></div></div><div class="appendix"><div class="titlepage"><div><div><h1 class="title"><a name="idp54692240"></a>Appendix C. Calibration</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp54693792">1. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp54698336">2. TeleMetrum and TeleMega Accelerometers</a></span></dt></dl></div><p>
2802 There are only two calibrations required for TeleMetrum and
2803 TeleMega, and only one for TeleDongle, TeleMini and EasyMini.
2804 All boards are shipped from the factory pre-calibrated, but
2805 the procedures are documented here in case they are ever
2806 needed. Re-calibration is not supported by AltosUI, you must
2807 connect to the board with a serial terminal program and
2808 interact directly with the on-board command interpreter to
2810 </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54693792"></a>1. Radio Frequency</h2></div></div></div><p>
2811 The radio frequency is synthesized from a clock based on the
2812 crystal on the board. The actual frequency of this oscillator
2813 must be measured to generate a calibration constant. While our
2815 bandwidth is wide enough to allow boards to communicate even when
2816 their oscillators are not on exactly the same frequency, performance
2817 is best when they are closely matched.
2818 Radio frequency calibration requires a calibrated frequency counter.
2819 Fortunately, once set, the variation in frequency due to aging and
2820 temperature changes is small enough that re-calibration by customers
2821 should generally not be required.
2823 To calibrate the radio frequency, connect the UHF antenna
2824 port to a frequency counter, set the board to 434.550MHz,
2825 and use the 'C' command in the on-board command interpreter
2826 to generate a CW carrier. For USB-enabled boards, this is
2827 best done over USB. For TeleMini v1, note that the only way
2828 to escape the 'C' command is via power cycle since the board
2829 will no longer be listening for commands once it starts
2830 generating a CW carrier.
2832 Wait for the transmitter temperature to stabilize and the frequency
2833 to settle down. Then, divide 434.550 MHz by the
2834 measured frequency and multiply by the current radio cal value show
2835 in the 'c s' command. For an unprogrammed board, the default value
2836 is 1186611. Take the resulting integer and program it using the 'c f'
2837 command. Testing with the 'C' command again should show a carrier
2838 within a few tens of Hertz of the intended frequency.
2839 As with all 'c' sub-commands, follow this with a 'c w' to write the
2840 change to the parameter block in the on-board storage chip.
2842 Note that any time you re-do the radio frequency calibration, the
2843 radio frequency is reset to the default 434.550 Mhz. If you want
2844 to use another frequency, you will have to set that again after
2845 calibration is completed.
2846 </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54698336"></a>2. TeleMetrum and TeleMega Accelerometers</h2></div></div></div><p>
2847 While barometric sensors are factory-calibrated,
2848 accelerometers are not, and so each must be calibrated once
2849 installed in a flight computer. Explicitly calibrating the
2850 accelerometers also allows us to load any compatible device.
2851 We perform a two-point calibration using gravity.
2853 To calibrate the acceleration sensor, use the 'c a 0' command. You
2854 will be prompted to orient the board vertically with the UHF antenna
2855 up and press a key, then to orient the board vertically with the
2856 UHF antenna down and press a key. Note that the accuracy of this
2857 calibration depends primarily on how perfectly vertical and still
2858 the board is held during the cal process. As with all 'c'
2859 sub-commands, follow this with a 'c w' to write the
2860 change to the parameter block in the on-board DataFlash chip.
2862 The +1g and -1g calibration points are included in each telemetry
2863 frame and are part of the header stored in onboard flash to be
2864 downloaded after flight. We always store and return raw ADC
2865 samples for each sensor... so nothing is permanently “lost” or
2866 “damaged” if the calibration is poor.
2868 In the unlikely event an accel cal goes badly, it is possible
2869 that TeleMetrum or TeleMega may always come up in 'pad mode'
2870 and as such not be listening to either the USB or radio link.
2871 If that happens, there is a special hook in the firmware to
2872 force the board back in to 'idle mode' so you can re-do the
2873 cal. To use this hook, you just need to ground the SPI clock
2874 pin at power-on. This pin is available as pin 2 on the 8-pin
2875 companion connector, and pin 1 is ground. So either
2876 carefully install a fine-gauge wire jumper between the two
2877 pins closest to the index hole end of the 8-pin connector, or
2878 plug in the programming cable to the 8-pin connector and use
2879 a small screwdriver or similar to short the two pins closest
2880 to the index post on the 4-pin end of the programming cable,
2881 and power up the board. It should come up in 'idle mode'
2882 (two beeps), allowing a re-cal.
2883 </p></div></div><div class="appendix"><div class="titlepage"><div><div><h1 class="title"><a name="idp54704464"></a>Appendix D. Release Notes</h1></div></div></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54705104"></a>Version 1.3.2</h2></div></div></div><p>
2884 Version 1.3.2 is a minor release. It includes small bug fixes for
2885 the TeleMega flight software and AltosUI ground station
2887 AltOS Firmware Changes
2888 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2889 On TeleMega, limit number of logged GPS status information
2890 to 12 satellites. That's all there is room for in the log
2892 </p></li><li class="listitem"><p>
2893 Improve APRS behavior. Remembers last known GPS position and
2894 keeps sending that if we lose GPS lock. Marks
2895 locked/unlocked by sending L/U in the APRS comment field
2896 along with the number of sats in view and voltages.
2897 </p></li></ul></div><p>
2900 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2901 If the TeleMega flight firmware reports that it has logged
2902 information about more than 12 satellites, don't believe it
2903 as the log only holds 12 satellite records.
2904 </p></li><li class="listitem"><p>
2905 Track the maximum height as computed from GPS altitude
2906 data and report that in the flight summary data.
2907 </p></li><li class="listitem"><p>
2908 Use letters (A, B, C, D) for alternate pyro channel names
2909 instead of numbers (0, 1, 2, 3) in the Fire Igniter dialog.
2910 </p></li></ul></div><p>
2911 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54706704"></a>Version 1.3.1</h2></div></div></div><p>
2912 Version 1.3.1 is a minor release. It improves support for TeleMega,
2913 TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
2915 AltOS Firmware Changes
2916 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2917 Improve sensor boot code. If sensors fail to self-test, the
2918 device will still boot up and check for pad/idle modes. If
2919 in idle mode, the device will warn the user with a distinct
2920 beep, if in Pad mode, the unit will operate as best it
2921 can. Also, the Z-axis accelerometer now uses the factory
2922 calibration values instead of re-calibrating on the pad each
2923 time. This avoids accidental boost detect when moving the
2924 device around while in Pad mode.
2925 </p></li><li class="listitem"><p>
2926 Fix antenna-down mode accelerometer configuration. Antenna
2927 down mode wasn't working because the accelerometer
2928 calibration values were getting re-computed incorrectly in
2930 </p></li><li class="listitem"><p>
2931 Improved APRS mode. Now uses compressed position format for
2932 smaller data size, improved precision and to include
2933 altitude data as well as latitude and longitude. Also added
2934 battery and pyro voltage reports in the APRS comment field
2935 so you can confirm that the unit is ready for launch.
2936 </p></li></ul></div><p>
2939 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2940 Display additional TeleMega sensor values in real
2941 units. Make all of these values available for
2942 plotting. Display TeleMega orientation value in the Ascent
2944 </p></li><li class="listitem"><p>
2945 Support additional TeleMega pyro channels in the Fire
2946 Igniter dialog. This lets you do remote testing of all of
2947 the channels, rather than just Apogee and Main.
2948 </p></li><li class="listitem"><p>
2949 Limit data rate when downloading satellite images from
2950 Google to make sure we stay within their limits so that all
2951 of the map tiles download successfully.
2952 </p></li></ul></div><p>
2953 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54708304"></a>Version 1.3</h2></div></div></div><p>
2954 Version 1.3 is a major release. It adds support for TeleMega,
2955 TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
2957 AltOS Firmware Changes
2958 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2959 Add STM32L processor support. This includes enhancements to
2960 the scheduler to support products with many threads.
2961 </p></li><li class="listitem"><p>
2962 Add NXP LPC11U14 processor support.
2963 </p></li><li class="listitem"><p>
2964 Support additional pyro channels. These are configurable
2965 through the UI to handle air starts, staging, additional
2966 recovery events and external devices such as cameras.
2967 </p></li><li class="listitem"><p>
2968 Add 3-axis gyro support for orientation tracking. This
2969 integrates the gyros to compute the angle from vertical during
2970 flight, allowing the additional pyro events to be controlled
2972 </p></li><li class="listitem"><p>
2973 Many more device drivers, including u-Blox Max 7Q GPS,
2974 Freescale MMA6555 digital single-axis accelerometer,
2975 Invensense MPU6000 3-axis accelerometer + 3 axis gyro,
2976 Honeywell HMC5883 3-axis magnetic sensor and the TI CC1120 and
2977 CC115L digital FM transceivers
2978 </p></li></ul></div><p>
2981 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2982 Support TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini telemetry and log formats.
2983 </p></li><li class="listitem"><p>
2984 Use preferred units for main deployment height configuration,
2985 instead of always doing configuration in meters.
2986 </p></li></ul></div><p>
2988 MicroPeak UI changes
2989 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
2990 Add 'Download' button to menu bar.
2991 </p></li><li class="listitem"><p>
2992 Save the last log directory and offer that as the default for new downloads
2993 </p></li></ul></div><p>
2994 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54709808"></a>Version 1.2.1</h2></div></div></div><p>
2995 Version 1.2.1 is a minor release. It adds support for TeleBT and
2996 the AltosDroid application, provides several new features in
2997 AltosUI and fixes some bugs in the AltOS firmware.
2999 AltOS Firmware Changes
3000 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3001 Add support for TeleBT
3002 </p></li><li class="listitem"><p>
3003 In TeleMini recovery mode (when booted with the outer two
3004 debug pins connected together), the radio parameters are also
3005 set back to defaults (434.550MHz, N0CALL, factory radio cal).
3006 </p></li><li class="listitem"><p>
3007 Add support for reflashing the SkyTraq GPS chips. This
3008 requires special host-side code which currently only exists
3010 </p></li><li class="listitem"><p>
3011 Correct Kalman filter model error covariance matrix. The
3012 values used previously assumed continuous measurements instead
3013 of discrete measurements.
3014 </p></li><li class="listitem"><p>
3015 Fix some bugs in the USB driver for TeleMetrum and TeleDongle
3016 that affected Windows users.
3017 </p></li><li class="listitem"><p>
3018 Adjusted the automatic gain control parameters that affect
3019 receive performance for TeleDongle. Field tests indicate that this
3020 may improve receive performance somewhat.
3021 </p></li></ul></div><p>
3024 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3025 Handle missing GPS lock in 'Descent' tab. Previously, if the
3026 GPS position of the pad was unknown, an exception would be
3027 raised, breaking the Descent tab contents.
3028 </p></li><li class="listitem"><p>
3029 Improve the graph, adding tool-tips to show values near the
3030 cursor and making the displayed set of values configurable,
3031 adding all of the flight data as options while leaving the
3032 default settings alone so that the graph starts by showing
3033 height, speed and acceleration.
3034 </p></li><li class="listitem"><p>
3035 Make the initial position of the AltosUI top level window
3036 configurable. Along with this change, the other windows will
3037 pop up at 'sensible' places now, instead of on top of one
3039 </p></li><li class="listitem"><p>
3040 Add callsign to Monitor idle window and connecting
3041 dialogs. This makes it clear which callsign is being used so
3042 that the operator will be aware that it must match the flight
3043 computer value or no communication will work.
3044 </p></li><li class="listitem"><p>
3045 When downloading flight data, display the block number so that
3046 the user has some sense of progress. Unfortunately, we don't
3047 know how many blocks will need to be downloaded, but at least
3048 it isn't just sitting there doing nothing for a long time.
3049 </p></li><li class="listitem"><p>
3050 Add GPS data and a map to the graph window. This lets you see
3051 a complete summary of the flight without needing to 'replay'
3053 </p></li></ul></div><p>
3054 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54711312"></a>Version 1.2</h2></div></div></div><p>
3055 Version 1.2 is a major release. It adds support for MicroPeak and
3056 the MicroPeak USB adapter.
3058 AltOS Firmware Changes
3059 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3060 Add MicroPeak support. This includes support for the ATtiny85
3061 processor and adaptations to the core code to allow for
3062 devices too small to run the multi-tasking scheduler.
3063 </p></li></ul></div><p>
3065 MicroPeak UI changes
3066 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3067 Added this new application
3068 </p></li></ul></div><p>
3070 Distribution Changes
3071 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3072 Distribute Mac OS X packages in disk image ('.dmg') format to
3073 greatly simplify installation.
3074 </p></li><li class="listitem"><p>
3075 Provide version numbers for the shared Java libraries to
3076 ensure that upgrades work properly, and to allow for multiple
3077 Altus Metrum software packages to be installed in the same
3078 directory at the same time.
3079 </p></li></ul></div><p>
3080 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54712816"></a>Version 1.1.1</h2></div></div></div><p>
3081 Version 1.1.1 is a bug-fix release. It fixes a couple of bugs in
3082 AltosUI and one firmware bug that affects TeleMetrum version 1.0
3083 boards. Thanks to Bob Brown for help diagnosing the Google Earth
3084 file export issue, and for suggesting the addition of the Ground
3085 Distance value in the Descent tab.
3087 AltOS Firmware Changes
3088 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3089 TeleMetrum v1.0 boards use the AT45DB081D flash memory part to
3090 store flight data, which is different from later TeleMetrum
3091 boards. The AltOS v1.1 driver for this chip couldn't erase
3092 memory, leaving it impossible to delete flight data or update
3093 configuration values. This bug doesn't affect newer TeleMetrum
3094 boards, and it doesn't affect the safety of rockets flying
3095 version 1.1 firmware.
3096 </p></li></ul></div><p>
3099 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3100 Creating a Google Earth file (KML) from on-board flight data
3101 (EEPROM) would generate an empty file. The code responsible
3102 for reading the EEPROM file wasn't ever setting the GPS valid
3103 bits, and so the KML export code thought there was no GPS data
3105 </p></li><li class="listitem"><p>
3106 The “Landed” tab was displaying all values in metric units,
3107 even when AltosUI was configured to display imperial
3108 units. Somehow I just missed this tab when doing the units stuff.
3109 </p></li><li class="listitem"><p>
3110 The “Descent” tab displays the range to the rocket, which is a
3111 combination of the over-the-ground distance to the rockets
3112 current latitude/longitude and the height of the rocket. As
3113 such, it's useful for knowing how far away the rocket is, but
3114 difficult to use when estimating where the rocket might
3115 eventually land. A new “Ground Distance” field has been added
3116 which displays the distance to a spot right underneath the
3118 </p></li><li class="listitem"><p>
3119 Sensor data wasn't being displayed for TeleMini flight
3120 computers in Monitor Idle mode, including things like battery
3121 voltage. The code that picked which kinds of data to fetch
3122 from the flight computer was missing a check for TeleMini when
3123 deciding whether to fetch the analog sensor data.
3124 </p></li></ul></div><p>
3125 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54714320"></a>Version 1.1</h2></div></div></div><p>
3126 Version 1.1 is a minor release. It provides a few new features in AltosUI
3127 and the AltOS firmware and fixes bugs.
3129 AltOS Firmware Changes
3130 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3131 Add apogee-lockout value. Overrides the apogee detection logic to
3132 prevent incorrect apogee charge firing.
3133 </p></li><li class="listitem"><p>
3134 Fix a bug where the data reported in telemetry packets was
3136 </p></li><li class="listitem"><p>
3137 Force the radio frequency to 434.550MHz when the debug clock
3138 pin is connected to ground at boot time. This provides a way
3139 to talk to a TeleMini which is configured to some unknown frequency.
3140 </p></li><li class="listitem"><p>
3141 Provide RSSI values for Monitor Idle mode. This makes it easy to check radio
3142 range without needing to go to flight mode.
3143 </p></li><li class="listitem"><p>
3144 Fix a bug which caused the old received telemetry packets to
3145 be retransmitted over the USB link when the radio was turned
3147 </p></li></ul></div><p>
3150 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3151 Fix a bug that caused GPS ready to happen too quickly. The
3152 software was using every telemetry packet to signal new GPS
3153 data, which caused GPS ready to be signalled after 10 packets
3154 instead of 10 GPS updates.
3155 </p></li><li class="listitem"><p>
3156 Fix Google Earth data export to work with recent versions. The
3157 google earth file loading code got a lot pickier, requiring
3158 some minor white space changes in the export code.
3159 </p></li><li class="listitem"><p>
3160 Make the look-n-feel configurable, providing a choice from
3161 the available options.
3162 </p></li><li class="listitem"><p>
3163 Add an 'Age' element to mark how long since a telemetry packet
3164 has been received. Useful to quickly gauge whether
3165 communications with the rocket are still active.
3166 </p></li><li class="listitem"><p>
3167 Add 'Configure Ground Station' dialog to set the radio
3168 frequency used by a particular TeleDongle without having to go
3169 through the flight monitor UI.
3170 </p></li><li class="listitem"><p>
3171 Add configuration for the new apogee-lockout value. A menu provides a list of
3172 reasonable values, or the value can be set by hand.
3173 </p></li><li class="listitem"><p>
3174 Changed how flight data are downloaded. Now there's an initial
3175 dialog asking which flights to download, and after that
3176 finishes, a second dialog comes up asking which flights to delete.
3177 </p></li><li class="listitem"><p>
3178 Re-compute time spent in each state for the flight graph; this
3179 figures out the actual boost and landing times instead of
3180 using the conservative values provide by the flight
3181 electronics. This improves the accuracy of the boost
3182 acceleration and main descent rate computations.
3183 </p></li><li class="listitem"><p>
3184 Make AltosUI run on Mac OS Lion. The default Java heap space
3185 was dramatically reduced for this release causing much of the
3186 UI to fail randomly. This most often affected the satellite
3187 mapping download and displays.
3188 </p></li><li class="listitem"><p>
3189 Change how data are displayed in the 'table' tab of the flight
3190 monitoring window. This eliminates entries duplicated from the
3191 header and adds both current altitude and pad altitude, which
3192 are useful in 'Monitor Idle' mode.
3193 </p></li><li class="listitem"><p>
3194 Add Imperial units mode to present data in feet instead of
3196 </p></li></ul></div><p>
3197 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54715824"></a>Version 1.0.1</h2></div></div></div><p>
3198 Version 1.0.1 is a major release, adding support for the TeleMini
3199 device and lots of new AltosUI features
3201 AltOS Firmware Changes
3202 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3203 Add TeleMini v1.0 support. Firmware images for TeleMini are
3204 included in AltOS releases.
3205 </p></li><li class="listitem"><p>
3206 Change telemetry to be encoded in multiple 32-byte packets. This
3207 enables support for TeleMini and other devices without requiring
3208 further updates to the TeleDongle firmware.
3209 </p></li><li class="listitem"><p>
3210 Support operation of TeleMetrum with the antenna pointing
3211 aft. Previous firmware versions required the antenna to be
3212 pointing upwards, now there is a configuration option allowing
3213 the antenna to point aft, to aid installation in some airframes.
3214 </p></li><li class="listitem"><p>
3215 Ability to disable telemetry. For airframes where an antenna
3216 just isn't possible, or where radio transmissions might cause
3217 trouble with other electronics, there's a configuration option
3218 to disable all telemetry. Note that the board will still
3219 enable the radio link in idle mode.
3220 </p></li><li class="listitem"><p>
3221 Arbitrary frequency selection. The radios in Altus Metrum
3222 devices can be programmed to a wide range of frequencies, so
3223 instead of limiting devices to 10 pre-selected 'channels', the
3224 new firmware allows the user to choose any frequency in the
3225 70cm band. Note that the RF matching circuit on the boards is
3226 tuned for around 435MHz, so frequencies far from that may
3227 reduce the available range.
3228 </p></li><li class="listitem"><p>
3229 Kalman-filter based flight-tracking. The model based sensor
3230 fusion approach of a Kalman filter means that AltOS now
3231 computes apogee much more accurately than before, generally
3232 within a fraction of a second. In addition, this approach
3233 allows the baro-only TeleMini device to correctly identify
3234 Mach transitions, avoiding the error-prone selection of a Mach
3236 </p></li></ul></div><p>
3239 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3240 Wait for altimeter when using packet mode. Instead of quicly
3241 timing out when trying to initialize a packet mode
3242 configuration connection, AltosUI now waits indefinitely for
3243 the remote device to appear, providing a cancel button should
3244 the user get bored. This is necessary as the TeleMini can only
3245 be placed in "Idle" mode if AltosUI is polling it.
3246 </p></li><li class="listitem"><p>
3247 Add main/apogee voltage graphs to the data plot. This provides
3248 a visual indication if the igniters fail before being fired.
3249 </p></li><li class="listitem"><p>
3250 Scan for altimeter devices by watching the defined telemetry
3251 frequencies. This avoids the problem of remembering what
3252 frequency a device was configured to use, which is especially
3253 important with TeleMini which does not include a USB connection.
3254 </p></li><li class="listitem"><p>
3255 Monitor altimeter state in "Idle" mode. This provides much of
3256 the information presented in the "Pad" dialog from the Monitor
3257 Flight command, monitoring the igniters, battery and GPS
3258 status withing requiring the flight computer to be armed and
3260 </p></li><li class="listitem"><p>
3261 Pre-load map images from home. For those launch sites which
3262 don't provide free Wi-Fi, this allows you to download the
3263 necessary satellite images given the location of the launch
3264 site. A list of known launch sites is maintained at
3265 altusmetrum.org which AltosUI downloads to populate a menu; if
3266 you've got a launch site not on that list, please send the
3267 name of it, latitude and longitude along with a link to the
3268 web site of the controlling club to the altusmetrum mailing list.
3269 </p></li><li class="listitem"><p>
3270 Flight statistics are now displayed in the Graph data
3271 window. These include max height/speed/accel, average descent
3272 rates and a few other bits of information. The Graph Data
3273 window can now be reached from the 'Landed' tab in the Monitor
3274 Flight window so you can immediately see the results of a
3276 </p></li></ul></div><p>
3277 </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54717328"></a>Version 0.9.2</h2></div></div></div><p>
3278 Version 0.9.2 is an AltosUI bug-fix release, with no firmware changes.
3279 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3280 Fix plotting problems due to missing file in the Mac OS install image.
3281 </p></li><li class="listitem"><p>
3282 Always read whole eeprom blocks, mark empty records invalid, display parsing errors to user.
3283 </p></li><li class="listitem"><p>
3284 Add software version to Configure AltosUI dialog
3285 </p></li></ul></div></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54718832"></a>Version 0.9</h2></div></div></div><p>
3286 Version 0.9 adds a few new firmware features and accompanying
3287 AltosUI changes, along with new hardware support.
3288 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3289 Support for TeleMetrum v1.1 hardware. Sources for the flash
3290 memory part used in v1.0 dried up, so v1.1 uses a different part
3291 which required a new driver and support for explicit flight log
3293 </p></li><li class="listitem"><p>
3294 Multiple flight log support. This stores more than one flight
3295 log in the on-board flash memory. It also requires the user to
3296 explicitly erase flights so that you won't lose flight logs just
3297 because you fly the same board twice in one day.
3298 </p></li><li class="listitem"><p>
3299 Telemetry support for devices with serial number >=
3300 256. Previous versions used a telemetry packet format that
3301 provided only 8 bits for the device serial number. This change
3302 requires that both ends of the telemetry link be running the 0.9
3303 firmware or they will not communicate.
3304 </p></li></ul></div></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54720336"></a>Version 0.8</h2></div></div></div><p>
3305 Version 0.8 offers a major upgrade in the AltosUI
3306 interface. Significant new features include:
3307 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3308 Post-flight graphing tool. This lets you explore the behaviour
3309 of your rocket after flight with a scroll-able and zoom-able
3310 chart showing the altitude, speed and acceleration of the
3311 airframe along with events recorded by the flight computer. You
3312 can export graphs to PNG files, or print them directly.
3313 </p></li><li class="listitem"><p>
3314 Real-time moving map which overlays the in-progress flight on
3315 satellite imagery fetched from Google Maps. This lets you see in
3316 pictures where your rocket has landed, allowing you to plan
3317 recovery activities more accurately.
3318 </p></li><li class="listitem"><p>
3319 Wireless recovery system testing. Prep your rocket for flight
3320 and test fire the deployment charges to make sure things work as
3321 expected. All without threading wires through holes in your
3323 </p></li><li class="listitem"><p>
3324 Optimized flight status displays. Each flight state now has it's
3325 own custom 'tab' in the flight monitoring window so you can
3326 focus on the most important details. Pre-flight, the system
3327 shows a set of red/green status indicators for battery voltage,
3328 apogee/main igniter continutity and GPS reception. Wait until
3329 they're all green and your rocket is ready for flight. There are
3330 also tabs for ascent, descent and landing along with the
3331 original tabular view of the data.
3332 </p></li><li class="listitem"><p>
3333 Monitor multiple flights simultaneously. If you have more than
3334 one TeleDongle, you can monitor a flight with each one on the
3336 </p></li><li class="listitem"><p>
3337 Automatic flight monitoring at startup. Plug TeleDongle into the
3338 machine before starting AltosUI and it will automatically
3339 connect to it and prepare to monitor a flight.
3340 </p></li><li class="listitem"><p>
3341 Exports Google Earth flight tracks. Using the Keyhole Markup
3342 Language (.kml) file format, this provides a 3D view of your
3343 rocket flight through the Google Earth program.
3344 </p></li></ul></div></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp54721840"></a>Version 0.7.1</h2></div></div></div><p>
3345 Version 0.7.1 is the first release containing our new cross-platform Java-based user interface. AltosUI can:
3346 </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
3347 Receive and log telemetry from a connected TeleDongle
3348 device. All data received is saved to log files named with the
3349 current date and the connected rocket serial and flight
3350 numbers. There is no mode in which telemetry data will not be
3352 </p></li><li class="listitem"><p>
3353 Download logged data from TeleMetrum devices, either through a
3354 direct USB connection or over the air through a TeleDongle
3356 </p></li><li class="listitem"><p>
3357 Configure a TeleMetrum device, setting the radio channel,
3358 callsign, apogee delay and main deploy height. This can be done
3359 through either a USB connection or over a radio link via a
3361 </p></li><li class="listitem"><p>
3362 Replay a flight in real-time. This takes a saved telemetry log
3363 or eeprom download and replays it through the user interface so
3364 you can relive your favorite rocket flights.
3365 </p></li><li class="listitem"><p>
3366 Reprogram Altus Metrum devices. Using an Altus Metrum device
3367 connected via USB, another Altus Metrum device can be
3368 reprogrammed using the supplied programming cable between the
3370 </p></li><li class="listitem"><p>
3371 Export Flight data to a comma-separated-values file. This takes
3372 either telemetry or on-board flight data and generates data
3373 suitable for use in external applications. All data is exported
3374 using standard units so that no device-specific knowledge is
3375 needed to handle the data.
3376 </p></li><li class="listitem"><p>
3377 Speak to you during the flight. Instead of spending the flight
3378 hunched over your laptop looking at the screen, enjoy the view
3379 while the computer tells you what’s going on up there. During
3380 ascent, you hear the current flight state and altitude
3381 information. During descent, you get azimuth, elevation and
3382 range information to try and help you find your rocket in the
3383 air. Once on the ground, the direction and distance are
3385 </p></li></ul></div></div></div></div></body></html>
projects / web / altusmetrum / blob