Here are general instructions for hooking up an Altus Metrum flight computer. Instructions specific to each model will be found in the section devoted to that model below.

To prevent electrical interference from affecting the operation of the flight computer, it's important to always twist pairs of wires connected to the board. Twist the switch leads, the pyro leads and the battery leads. This reduces interference through a mechanism called common mode rejection.

Here's the full set of Altus Metrum products, both in production and retired.

TeleMetrum is a 1 inch by 2¾ inch circuit board. It was designed to fit inside coupler for 29mm air-frame tubing, but using it in a tube that small in diameter may require some creativity in mounting and wiring to succeed! The presence of an accelerometer means TeleMetrum should be aligned along the flight axis of the airframe, and by default the ¼ wave UHF wire antenna should be on the nose-cone end of the board. The antenna wire is about 7 inches long, and wiring for a power switch and the e-matches for apogee and main ejection charges depart from the fin can end of the board, meaning an ideal “simple” avionics bay for TeleMetrum should have at least 10 inches of interior length.

TeleMini v1.0 is ½ inches by 1½ inches. It was designed to fit inside an 18mm air-frame tube, but using it in a tube that small in diameter may require some creativity in mounting and wiring to succeed! Since there is no accelerometer, TeleMini can be mounted in any convenient orientation. The default ¼ wave UHF wire antenna attached to the center of one end of the board is about 7 inches long. Two wires for the power switch are connected to holes in the middle of the board. Screw terminals for the e-matches for apogee and main ejection charges depart from the other end of the board, meaning an ideal “simple” avionics bay for TeleMini should have at least 9 inches of interior length.

TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more on-board data logging memory, a built-in USB connector and screw terminals for the battery and power switch. The larger board fits in a 24mm coupler. There's also a battery connector for a LiPo battery if you want to use one of those.

EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's designed to fit in a 24mm coupler tube. The connectors and screw terminals match TeleMini v2.0, so you can easily swap between EasyMini and TeleMini.

TeleMega is a 1¼ inch by 3¼ inch circuit board. It was designed to easily fit in a 38mm coupler. Like TeleMetrum, TeleMega has an accelerometer and so it must be mounted so that the board is aligned with the flight axis. It can be mounted either antenna up or down.

Each flight computer logs data at 100 samples per second during ascent and 10 samples per second during descent, except for TeleMini v1.0, which records ascent at 10 samples per second and descent at 1 sample per second. Data are logged to an on-board flash memory part, which can be partitioned into several equal-sized blocks, one for each flight.

The on-board flash is partitioned into separate flight logs, each of a fixed maximum size. Increase the maximum size of each log and you reduce the number of flights that can be stored. Decrease the size and you can store more flights.

Configuration data is also stored in the flash memory on TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB of flash space. This configuration space is not available for storing flight log data. TeleMetrum v2.0 and TeleMega store configuration data in a bit of eeprom available within the processor chip, leaving that space available in flash for more flight data.

To compute the amount of space needed for a single flight, you can multiply the expected ascent time (in seconds) by 100 times bytes-per-sample, multiply the expected descent time (in seconds) by 10 times the bytes per sample and add the two together. That will slightly under-estimate the storage (in bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending 20 seconds in ascent and 150 seconds in descent will take about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You could store dozens of these flights in the on-board flash.

The default size allows for several flights on each flight computer, except for TeleMini v1.0, which only holds data for a single flight. You can adjust the size.

Altus Metrum flight computers will not overwrite existing flight data, so be sure to download flight data and erase it from the flight computer before it fills up. The flight computer will still successfully control the flight even if it cannot log data, so the only thing you will lose is the data.

A typical installation involves attaching only a suitable battery, a single pole switch for power on/off, and two pairs of wires connecting e-matches for the apogee and main ejection charges. All Altus Metrum products are designed for use with single-cell batteries with 3.7 volts nominal. TeleMini v2.0 and EasyMini may also be used with other batteries as long as they supply between 4 and 12 volts.

The battery connectors are a standard 2-pin JST connector and match batteries sold by Spark Fun. These batteries are single-cell Lithium Polymer batteries that nominally provide 3.7 volts. Other vendors sell similar batteries for RC aircraft using mating connectors, however the polarity for those is generally reversed from the batteries used by Altus Metrum products. In particular, the Tenergy batteries supplied for use in Featherweight flight computers are not compatible with Altus Metrum flight computers or battery chargers. Check polarity and voltage before connecting any battery not purchased from Altus Metrum or Spark Fun.

By default, we use the unregulated output of the battery directly to fire ejection charges. This works marvelously with standard low-current e-matches like the J-Tek from MJG Technologies, and with Quest Q2G2 igniters. However, if you want or need to use a separate pyro battery, check out the “External Pyro Battery” section in this manual for instructions on how to wire that up. The altimeters are designed to work with an external pyro battery of no more than 15 volts.

Ejection charges are wired directly to the screw terminal block at the aft end of the altimeter. You'll need a very small straight blade screwdriver for these screws, such as you might find in a jeweler's screwdriver set.

Except for TeleMini v1.0, the flight computers also use the screw terminal block for the power switch leads. On TeleMini v1.0, the power switch leads are soldered directly to the board and can be connected directly to a switch.

For most air-frames, the integrated antennas are more than adequate. However, if you are installing in a carbon-fiber or metal electronics bay which is opaque to RF signals, you may need to use off-board external antennas instead. In this case, you can replace the stock UHF antenna wire with an edge-launched SMA connector, and, on TeleMetrum v1, you can unplug the integrated GPS antenna and select an appropriate off-board GPS antenna with cable terminating in a U.FL connector.

The AltOS firmware build for the altimeters has two fundamental modes, “idle” and “flight”. Which of these modes the firmware operates in is determined at start up time. For TeleMetrum and TeleMega, which have accelerometers, the mode is controlled by the orientation of the rocket (well, actually the board, of course...) at the time power is switched on. If the rocket is “nose up”, then the flight computer assumes it's on a rail or rod being prepared for launch, so the firmware chooses flight mode. However, if the rocket is more or less horizontal, the firmware instead enters idle mode. Since TeleMini v2.0 and EasyMini don't have an accelerometer we can use to determine orientation, “idle” mode is selected if the board is connected via USB to a computer, otherwise the board enters “flight” mode. TeleMini v1.0 selects “idle” mode if it receives a command packet within the first five seconds of operation.

At power on, you will hear three beeps or see three flashes (“S” in Morse code for start up) and then a pause while the altimeter completes initialization and self test, and decides which mode to enter next.

Here's a short summary of all of the modes and the beeping (or flashing, in the case of TeleMini v1) that accompanies each mode. In the description of the beeping pattern, “dit” means a short beep while "dah" means a long beep (three times as long). “Brap” means a long dissonant tone.

In flight or “pad” mode, the altimeter engages the flight state machine, goes into transmit-only mode to send telemetry, and waits for launch to be detected. Flight mode is indicated by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights, followed by beeps or flashes indicating the state of the pyrotechnic igniter continuity. One beep/flash indicates apogee continuity, two beeps/flashes indicate main continuity, three beeps/flashes indicate both apogee and main continuity, and one longer “brap” sound which is made by rapidly alternating between two tones indicates no continuity. For a dual deploy flight, make sure you're getting three beeps or flashes before launching! For apogee-only or motor eject flights, do what makes sense.

If idle mode is entered, you will hear an audible “di-dit” or see two short flashes (“I” for idle), and the flight state machine is disengaged, thus no ejection charges will fire. The altimeters also listen for the radio link when in idle mode for requests sent via TeleDongle. Commands can be issued in idle mode over either USB or the radio link equivalently. TeleMini v1.0 only has the radio link. Idle mode is useful for configuring the altimeter, for extracting data from the on-board storage chip after flight, and for ground testing pyro charges.

In “Idle” and “Pad” modes, once the mode indication beeps/flashes and continuity indication has been sent, if there is no space available to log the flight in on-board memory, the flight computer will emit a warbling tone (much slower than the “no continuity tone”)

Here's a summary of all of the “pad” and “idle” mode indications.

Once landed, the flight computer will signal that by emitting the “Landed” sound described above, after which it will beep out the apogee height (in meters). Each digit is represented by a sequence of short “dit” beeps, with a pause between digits. A zero digit is represented with one long “dah” beep. The flight computer will continue to report landed mode and beep out the maximum height until turned off.

One “neat trick” of particular value when TeleMetrum or TeleMega are used with very large air-frames, is that you can power the board up while the rocket is horizontal, such that it comes up in idle mode. Then you can raise the air-frame to launch position, and issue a 'reset' command via TeleDongle over the radio link to cause the altimeter to reboot and come up in flight mode. This is much safer than standing on the top step of a rickety step-ladder or hanging off the side of a launch tower with a screw-driver trying to turn on your avionics before installing igniters!

TeleMini v1.0 is configured solely via the radio link. Of course, that means you need to know the TeleMini radio configuration values or you won't be able to communicate with it. For situations when you don't have the radio configuration values, TeleMini v1.0 offers an 'emergency recovery' mode. In this mode, TeleMini is configured as follows:

To get into 'emergency recovery' mode, first find the row of four small holes opposite the switch wiring. Using a short piece of small gauge wire, connect the outer two holes together, then power TeleMini up. Once the red LED is lit, disconnect the wire and the board should signal that it's in 'idle' mode after the initial five second startup period.

TeleMetrum and TeleMega include a complete GPS receiver. A complete explanation of how GPS works is beyond the scope of this manual, but the bottom line is that the GPS receiver needs to lock onto at least four satellites to obtain a solid 3 dimensional position fix and know what time it is.

The flight computers provide backup power to the GPS chip any time a battery is connected. This allows the receiver to “warm start” on the launch rail much faster than if every power-on were a GPS “cold start”. In typical operations, powering up on the flight line in idle mode while performing final air-frame preparation will be sufficient to allow the GPS receiver to cold start and acquire lock. Then the board can be powered down during RSO review and installation on a launch rod or rail. When the board is turned back on, the GPS system should lock very quickly, typically long before igniter installation and return to the flight line are complete.

One of the unique features of the Altus Metrum system is the ability to create a two way command link between TeleDongle and an altimeter using the digital radio transceivers built into each device. This allows you to interact with the altimeter from afar, as if it were directly connected to the computer.

Any operation which can be performed with a flight computer can either be done with the device directly connected to the computer via the USB cable, or through the radio link. TeleMini v1.0 doesn't provide a USB connector and so it is always communicated with over radio. Select the appropriate TeleDongle device when the list of devices is presented and AltosUI will interact with an altimeter over the radio link.

One oddity in the current interface is how AltosUI selects the frequency for radio communications. Instead of providing an interface to specifically configure the frequency, it uses whatever frequency was most recently selected for the target TeleDongle device in Monitor Flight mode. If you haven't ever used that mode with the TeleDongle in question, select the Monitor Flight button from the top level UI, and pick the appropriate TeleDongle device. Once the flight monitoring window is open, select the desired frequency and then close it down again. All radio communications will now use that frequency.

Operation over the radio link for configuring an altimeter, ground testing igniters, and so forth uses the same RF frequencies as flight telemetry. To configure the desired TeleDongle frequency, select the monitor flight tab, then use the frequency selector and close the window before performing other desired radio operations.

The flight computers only enable radio commanding in 'idle' mode. TeleMetrum and TeleMega use the accelerometer to detect which orientation they start up in, so make sure you have the flight computer lying horizontally when you turn it on. Otherwise, it will start in 'pad' mode ready for flight, and will not be listening for command packets from TeleDongle.

TeleMini listens for a command packet for five seconds after first being turned on, if it doesn't hear anything, it enters 'pad' mode, ready for flight and will no longer listen for command packets. The easiest way to connect to TeleMini is to initiate the command and select the TeleDongle device. At this point, the TeleDongle will be attempting to communicate with the TeleMini. Now turn TeleMini on, and it should immediately start communicating with the TeleDongle and the desired operation can be performed.

You can monitor the operation of the radio link by watching the lights on the devices. The red LED will flash each time a packet is transmitted, while the green LED will light up on TeleDongle when it is waiting to receive a packet from the altimeter.

An important aspect of preparing a rocket using electronic deployment for flight is ground testing the recovery system. Thanks to the bi-directional radio link central to the Altus Metrum system, this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket with less work than you may be accustomed to with other systems. It can even be fun!

Just prep the rocket for flight, then power up the altimeter in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or selecting the Configure Altimeter tab for TeleMini). This will cause the firmware to go into “idle” mode, in which the normal flight state machine is disabled and charges will not fire without manual command. You can now command the altimeter to fire the apogee or main charges from a safe distance using your computer and TeleDongle and the Fire Igniter tab to complete ejection testing.

Our flight computers all incorporate an RF transceiver, but it's not a full duplex system... each end can only be transmitting or receiving at any given moment. So we had to decide how to manage the link.

By design, the altimeter firmware listens for the radio link when it's in “idle mode”, which allows us to use the radio link to configure the rocket, do things like ejection tests, and extract data after a flight without having to crack open the air-frame. However, when the board is in “flight mode”, the altimeter only transmits and doesn't listen at all. That's because we want to put ultimate priority on event detection and getting telemetry out of the rocket through the radio in case the rocket crashes and we aren't able to extract data later...

We don't generally use a 'normal packet radio' mode like APRS because they're just too inefficient. The GFSK modulation we use is FSK with the base-band pulses passed through a Gaussian filter before they go into the modulator to limit the transmitted bandwidth. When combined with forward error correction and interleaving, this allows us to have a very robust 19.2 kilobit data link with only 10-40 milliwatts of transmit power, a whip antenna in the rocket, and a hand-held Yagi on the ground. We've had flights to above 21k feet AGL with great reception, and calculations suggest we should be good to well over 40k feet AGL with a 5-element yagi on the ground with our 10mW units and over 100k feet AGL with the 40mW devices. We hope to fly boards to higher altitudes over time, and would of course appreciate customer feedback on performance in higher altitude flights!

TeleMetrum v2.0 and TeleMega can send APRS if desired, and the interval between APRS packets can be configured. As each APRS packet takes a full second to transmit, we recommend an interval of at least 5 seconds to avoid consuming too much battery power or radio channel bandwidth. You can configure the APRS interval using AltosUI; that process is described in the Configure Altimeter section of the AltosUI chapter.

AltOS uses the APRS compressed position report data format, which provides for higher position precision and shorter packets than the original APRS format. It also includes altitude data, which is invaluable when tracking rockets. We haven't found a receiver which doesn't handle compressed positions, but it's just possible that you have one, so if you have an older device that can receive the raw packets but isn't displaying position information, it's possible that this is the cause.

The APRS packet format includes a comment field that can have arbitrary text in it. AltOS uses this to send status information about the flight computer. It sends four fields as shown in the following table.

Here's an example of an APRS comment showing GPS lock with 6 satellites in view, a primary battery at 4.0V, and apogee and main igniters both at 3.7V.

	  L6 B4.0 A3.7 M3.7
	

Make sure your primary battery is above 3.8V, any connected igniters are above 3.5V and GPS is locked with at least 5 or 6 satellites in view before flying. If GPS is switching between L and U regularly, then it doesn't have a good lock and you should wait until it becomes stable.

If the GPS receiver loses lock, the APRS data transmitted will contain the last position for which GPS lock was available. You can tell that this has happened by noticing that the GPS status character switches from 'L' to 'U'. Before GPS has locked, APRS will transmit zero for latitude, longitude and altitude.

Configuring an Altus Metrum altimeter for flight is very simple. Even on our baro-only TeleMini and EasyMini boards, the use of a Kalman filter means there is no need to set a “mach delay”. The few configurable parameters can all be set using AltosUI over USB or or radio link via TeleDongle. Read the Configure Altimeter section in the AltosUI chapter below for more information.

Selecting this item brings up a dialog box listing all of the connected TeleDongle devices. When you choose one of these, AltosUI will create a window to display telemetry data as received by the selected TeleDongle device.

All telemetry data received are automatically recorded in suitable log files. The name of the files includes the current date and rocket serial and flight numbers.

The radio frequency being monitored by the TeleDongle device is displayed at the top of the window. You can configure the frequency by clicking on the frequency box and selecting the desired frequency. AltosUI remembers the last frequency selected for each TeleDongle and selects that automatically the next time you use that device.

Below the TeleDongle frequency selector, the window contains a few significant pieces of information about the altimeter providing the telemetry data stream:

Finally, the largest portion of the window contains a set of tabs, each of which contain some information about the rocket. They're arranged in 'flight order' so that as the flight progresses, the selected tab automatically switches to display data relevant to the current state of the flight. You can select other tabs at any time. The final 'table' tab displays all of the raw telemetry values in one place in a spreadsheet-like format.

1.1. Launch Pad

The 'Launch Pad' tab shows information used to decide when the rocket is ready for flight. The first elements include red/green indicators, if any of these is red, you'll want to evaluate whether the rocket is ready to launch:

Battery Voltage

This indicates whether the Li-Po battery powering the flight computer has sufficient charge to last for the duration of the flight. A value of more than 3.8V is required for a 'GO' status.

Apogee Igniter Voltage

This indicates whether the apogee igniter has continuity. If the igniter has a low resistance, then the voltage measured here will be close to the Li-Po battery voltage. A value greater than 3.2V is required for a 'GO' status.

Main Igniter Voltage

This indicates whether the main igniter has continuity. If the igniter has a low resistance, then the voltage measured here will be close to the Li-Po battery voltage. A value greater than 3.2V is required for a 'GO' status.

On-board Data Logging

This indicates whether there is space remaining on-board to store flight data for the upcoming flight. If you've downloaded data, but failed to erase flights, there may not be any space left. Most of our flight computers can store multiple flights, depending on the configured maximum flight log size. TeleMini v1.0 stores only a single flight, so it will need to be downloaded and erased after each flight to capture data. This only affects on-board flight logging; the altimeter will still transmit telemetry and fire ejection charges at the proper times even if the flight data storage is full.

GPS Locked

For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is currently able to compute position information. GPS requires at least 4 satellites to compute an accurate position.

GPS Ready

For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least 10 consecutive positions without losing lock. This ensures that the GPS receiver has reliable reception from the satellites.

The Launchpad tab also shows the computed launch pad position and altitude, averaging many reported positions to improve the accuracy of the fix.

1.2. Ascent

This tab is shown during Boost, Fast and Coast phases. The information displayed here helps monitor the rocket as it heads towards apogee.

The height, speed, acceleration and tilt are shown along with the maximum values for each of them. This allows you to quickly answer the most commonly asked questions you'll hear during flight.

The current latitude and longitude reported by the GPS are also shown. Note that under high acceleration, these values may not get updated as the GPS receiver loses position fix. Once the rocket starts coasting, the receiver should start reporting position again.

Finally, the current igniter voltages are reported as in the Launch Pad tab. This can help diagnose deployment failures caused by wiring which comes loose under high acceleration.

1.3. Descent

Once the rocket has reached apogee and (we hope) activated the apogee charge, attention switches to tracking the rocket on the way back to the ground, and for dual-deploy flights, waiting for the main charge to fire.

To monitor whether the apogee charge operated correctly, the current descent rate is reported along with the current height. Good descent rates vary based on the choice of recovery components, but generally range from 15-30m/s on drogue and should be below 10m/s when under the main parachute in a dual-deploy flight.

With GPS-equipped flight computers, you can locate the rocket in the sky using the elevation and bearing information to figure out where to look. Elevation is in degrees above the horizon. Bearing is reported in degrees relative to true north. Range can help figure out how big the rocket will appear. Ground Distance shows how far it is to a point directly under the rocket and can help figure out where the rocket is likely to land. Note that all of these values are relative to the pad location. If the elevation is near 90°, the rocket is over the pad, not over you.

Finally, the igniter voltages are reported in this tab as well, both to monitor the main charge as well as to see what the status of the apogee charge is. Note that some commercial e-matches are designed to retain continuity even after being fired, and will continue to show as green or return from red to green after firing.

1.4. Landed

Once the rocket is on the ground, attention switches to recovery. While the radio signal is often lost once the rocket is on the ground, the last reported GPS position is generally within a short distance of the actual landing location.

The last reported GPS position is reported both by latitude and longitude as well as a bearing and distance from the launch pad. The distance should give you a good idea of whether to walk or hitch a ride. Take the reported latitude and longitude and enter them into your hand-held GPS unit and have that compute a track to the landing location.

Our flight computers will continue to transmit RDF tones after landing, allowing you to locate the rocket by following the radio signal if necessary. You may need to get away from the clutter of the flight line, or even get up on a hill (or your neighbor's RV roof) to receive the RDF signal.

The maximum height, speed and acceleration reported during the flight are displayed for your admiring observers. The accuracy of these immediate values depends on the quality of your radio link and how many packets were received. Recovering the on-board data after flight may yield more precise results.

To get more detailed information about the flight, you can click on the 'Graph Flight' button which will bring up a graph window for the current flight.

1.5. Table

The table view shows all of the data available from the flight computer. Probably the most useful data on this tab is the detailed GPS information, which includes horizontal dilution of precision information, and information about the signal being received from the satellites.

1.6. Site Map

When the TeleMetrum has a GPS fix, the Site Map tab will map the rocket's position to make it easier for you to locate the rocket, both while it is in the air, and when it has landed. The rocket's state is indicated by color: white for pad, red for boost, pink for fast, yellow for coast, light blue for drogue, dark blue for main, and black for landed.

The map's scale is approximately 3m (10ft) per pixel. The map can be dragged using the left mouse button. The map will attempt to keep the rocket roughly centered while data is being received.

Images are fetched automatically via the Google Maps Static API, and cached on disk for reuse. If map images cannot be downloaded, the rocket's path will be traced on a dark gray background instead.

You can pre-load images for your favorite launch sites before you leave home; check out the 'Preload Maps' section below.

The altimeter records flight data to its internal flash memory. TeleMetrum data is recorded at a much higher rate than the telemetry system can handle, and is not subject to radio drop-outs. As such, it provides a more complete and precise record of the flight. The 'Save Flight Data' button allows you to read the flash memory and write it to disk.

Clicking on the 'Save Flight Data' button brings up a list of connected flight computers and TeleDongle devices. If you select a flight computer, the flight data will be downloaded from that device directly. If you select a TeleDongle device, flight data will be downloaded from a flight computer over radio link via the specified TeleDongle. See the chapter on Controlling An Altimeter Over The Radio Link for more information.

After the device has been selected, a dialog showing the flight data saved in the device will be shown allowing you to select which flights to download and which to delete. With version 0.9 or newer firmware, you must erase flights in order for the space they consume to be reused by another flight. This prevents accidentally losing flight data if you neglect to download data before flying again. Note that if there is no more space available in the device, then no data will be recorded during the next flight.

The file name for each flight log is computed automatically from the recorded flight date, altimeter serial number and flight number information.

Select this button and you are prompted to select a flight record file, either a .telem file recording telemetry data or a .eeprom file containing flight data saved from the altimeter flash memory.

Once a flight record is selected, the flight monitor interface is displayed and the flight is re-enacted in real time. Check the Monitor Flight chapter above to learn how this window operates.

Select this button and you are prompted to select a flight record file, either a .telem file recording telemetry data or a .eeprom file containing flight data saved from flash memory.

Note that telemetry files will generally produce poor graphs due to the lower sampling rate and missed telemetry packets. Use saved flight data in .eeprom files for graphing where possible.

Once a flight record is selected, a window with multiple tabs is opened.

4.1. Flight Graph

By default, the graph contains acceleration (blue), velocity (green) and altitude (red).

The graph can be zoomed into a particular area by clicking and dragging down and to the right. Once zoomed, the graph can be reset by clicking and dragging up and to the left. Holding down control and clicking and dragging allows the graph to be panned. The right mouse button causes a pop-up menu to be displayed, giving you the option save or print the plot.

4.2. Configure Graph

This selects which graph elements to show, and, at the very bottom, lets you switch between metric and imperial units

4.3. Flight Statistics

Shows overall data computed from the flight.

4.4. Map

Shows a satellite image of the flight area overlaid with the path of the flight. The red concentric circles mark the launch pad, the black concentric circles mark the landing location.

This tool takes the raw data files and makes them available for external analysis. When you select this button, you are prompted to select a flight data file, which can be either a .eeprom or .telem. The .eeprom files contain higher resolution and more continuous data, while .telem files contain receiver signal strength information. Next, a second dialog appears which is used to select where to write the resulting file. It has a selector to choose between CSV and KML file formats.

Select this button and then select either an altimeter or TeleDongle Device from the list provided. Selecting a TeleDongle device will use the radio link to configure a remote altimeter.

The first few lines of the dialog provide information about the connected device, including the product name, software version and hardware serial number. Below that are the individual configuration entries.

At the bottom of the dialog, there are four buttons:

The rest of the dialog contains the parameters to be configured.

6.11. Configure Pyro Channels

This opens a separate window to configure the additional pyro channels available on TeleMega. One column is presented for each channel. Each row represents a single parameter, if enabled the parameter must meet the specified test for the pyro channel to be fired. See the Pyro Channels section in the System Operation chapter above for a description of these parameters.

Select conditions and set the related value; the pyro channel will be activated when all of the conditions are met. Each pyro channel has a separate set of configuration values, so you can use different values for the same condition with different channels.

Once you have selected the appropriate configuration for all of the necessary pyro channels, you can save the pyro configuration along with the rest of the flight computer configuration by pressing the 'Save' button in the main Configure Flight Computer window.

This button presents a dialog so that you can configure the AltosUI global settings.

Select this button and then select a TeleDongle Device from the list provided.

The first few lines of the dialog provide information about the connected device, including the product name, software version and hardware serial number. Below that are the individual configuration entries.

Note that the TeleDongle itself doesn't save any configuration data, the settings here are recorded on the local machine in the Java preferences database. Moving the TeleDongle to another machine, or using a different user account on the same machine will cause settings made here to have no effect.

At the bottom of the dialog, there are three buttons:

The rest of the dialog contains the parameters to be configured.

This reprograms Altus Metrum devices with new firmware. TeleMetrum v1.x, TeleDongle, TeleMini and TeleBT are all reprogrammed by using another similar unit as a programming dongle (pair programming). TeleMega, TeleMetrum v2 and EasyMini are all programmed directly over their USB ports (self programming). Please read the directions for flashing devices in the Updating Device Firmware chapter below.

This activates the igniter circuits in the flight computer to help test recovery systems deployment. Because this command can operate over the Packet Command Link, you can prepare the rocket as for flight and then test the recovery system without needing to snake wires inside the air-frame.

Selecting the 'Fire Igniter' button brings up the usual device selection dialog. Pick the desired device. This brings up another window which shows the current continuity test status for all of the pyro channels.

Next, select the desired igniter to fire. This will enable the 'Arm' button.

Select the 'Arm' button. This enables the 'Fire' button. The word 'Arm' is replaced by a countdown timer indicating that you have 10 seconds to press the 'Fire' button or the system will deactivate, at which point you start over again at selecting the desired igniter.

This listens for telemetry packets on all of the configured frequencies, displaying information about each device it receives a packet from. You can select which of the three telemetry formats should be tried; by default, it only listens for the standard telemetry packets used in v1.0 and later firmware.

Before heading out to a new launch site, you can use this to load satellite images in case you don't have internet connectivity at the site. This loads a fairly large area around the launch site, which should cover any flight you're likely to make.

There's a drop-down menu of launch sites we know about; if your favorites aren't there, please let us know the lat/lon and name of the site. The contents of this list are actually downloaded from our server at run-time, so as new sites are sent in, they'll get automatically added to this list.

If the launch site isn't in the list, you can manually enter the lat/lon values

Clicking the 'Load Map' button will fetch images from Google Maps; note that Google limits how many images you can fetch at once, so if you load more than one launch site, you may get some gray areas in the map which indicate that Google is tired of sending data to you. Try again later.

This brings up a dialog similar to the Monitor Flight UI, except it works with the altimeter in “idle” mode by sending query commands to discover the current state rather than listening for telemetry packets. Because this uses command mode, it needs to have the TeleDongle and flight computer callsigns match exactly. If you can receive telemetry, but cannot manage to run Monitor Idle, then it's very likely that your callsigns are different in some way.

AltosDroid is available from the Google Play store. To install it on your Android device, open the Google Play Store application and search for “altosdroid”. Make sure you don't have a space between “altos” and “droid” or you probably won't find what you want. That should bring you to the right page from which you can download and install the application.

Press the Android 'Menu' button or soft-key to see the configuration options available. Select the 'Connect a device' option and then the 'Scan for devices' entry at the bottom to look for your TeleBT device. Select your device, and when it asks for the code, enter '1234'.

Subsequent connections will not require you to enter that code, and your 'paired' device will appear in the list without scanning.

The only configuration option available for AltosDroid is which frequency to listen on. Press the Android 'Menu' button or soft-key and pick the 'Select radio frequency' entry. That brings up a menu of pre-set radio frequencies; pick the one which matches your altimeter.

AltosDroid is designed to mimic the AltosUI flight monitoring display, providing separate tabs for each stage of your rocket flight along with a tab containing a map of the local area with icons marking the current location of the altimeter and the Android device.

AltosDroid always saves every bit of telemetry data it receives. To download that to a computer for use with AltosUI, simply remove the SD card from your Android device, or connect your device to your computer's USB port and browse the files on that device. You will find '.telem' files in the TeleMetrum directory that will work with AltosUI directly.

First off, in the US, you need an amateur radio license or other authorization to legally operate the radio transmitters that are part of our products.

In the rocket itself, you just need a flight computer and a single-cell, 3.7 volt nominal Li-Po rechargeable battery. An 850mAh battery weighs less than a 9V alkaline battery, and will run a TeleMetrum or TeleMega for hours. A 110mAh battery weighs less than a triple A battery and is a good choice for use with TeleMini.

By default, we ship flight computers with a simple wire antenna. If your electronics bay or the air-frame it resides within is made of carbon fiber, which is opaque to RF signals, you may prefer to install an SMA connector so that you can run a coaxial cable to an antenna mounted elsewhere in the rocket. However, note that the GPS antenna is fixed on all current products, so you really want to install the flight computer in a bay made of RF-transparent materials if at all possible.

To receive the data stream from the rocket, you need an antenna and short feed-line connected to one of our TeleDongle units. If possible, use an SMA to BNC adapter instead of feedline between the antenna feedpoint and TeleDongle, as this will give you the best performance. The TeleDongle in turn plugs directly into the USB port on a notebook computer. Because TeleDongle looks like a simple serial port, your computer does not require special device drivers... just plug it in.

The GUI tool, AltosUI, is written in Java and runs across Linux, Mac OS and Windows. There's also a suite of C tools for Linux which can perform most of the same tasks.

Alternatively, a TeleBT attached with an SMA to BNC adapter at the feed point of a hand-held yagi used in conjunction with an Android device running AltosDroid makes an outstanding ground station.

After the flight, you can use the radio link to extract the more detailed data logged in either TeleMetrum or TeleMini devices, or you can use a mini USB cable to plug into the TeleMetrum board directly. Pulling out the data without having to open up the rocket is pretty cool! A USB cable is also how you charge the Li-Po battery, so you'll want one of those anyway... the same cable used by lots of digital cameras and other modern electronic stuff will work fine.

If your rocket lands out of sight, you may enjoy having a hand-held GPS receiver, so that you can put in a way-point for the last reported rocket position before touch-down. This makes looking for your rocket a lot like Geo-Caching... just go to the way-point and look around starting from there. AltosDroid on an Android device with GPS receiver works great for this, too!

You may also enjoy having a ham radio “HT” that covers the 70cm band... you can use that with your antenna to direction-find the rocket on the ground the same way you can use a Walston or Beeline tracker. This can be handy if the rocket is hiding in sage brush or a tree, or if the last GPS position doesn't get you close enough because the rocket dropped into a canyon, or the wind is blowing it across a dry lake bed, or something like that... Keith currently uses a Yaesu VX-7R, Bdale has a Baofung UV-5R which isn't as nice, but was a whole lot cheaper.

So, to recap, on the ground the hardware you'll need includes:

The best hand-held commercial directional antennas we've found for radio direction finding rockets are from Arrow Antennas. The 440-3 and 440-5 are both good choices for finding a TeleMetrum- or TeleMini- equipped rocket when used with a suitable 70cm HT. TeleDongle and an SMA to BNC adapter fit perfectly between the driven element and reflector of Arrow antennas.

Our software makes it easy to log the data from each flight, both the telemetry received during the flight itself, and the more complete data log recorded in the flash memory on the altimeter board. Once this data is on your computer, our post-flight tools make it easy to quickly get to the numbers everyone wants, like apogee altitude, max acceleration, and max velocity. You can also generate and view a standard set of plots showing the altitude, acceleration, and velocity of the rocket during flight. And you can even export a TeleMetrum data file usable with Google Maps and Google Earth for visualizing the flight path in two or three dimensions!

Our ultimate goal is to emit a set of files for each flight that can be published as a web page per flight, or just viewed on your local disk with a web browser.

We've designed a simple GPS based radio tracker called TeleGPS. If all goes well, we hope to introduce this in the first half of 2014.

We have designed and prototyped several “companion boards” that can attach to the companion connector on TeleMetrum and TeleMega flight computers to collect more data, provide more pyro channels, and so forth. We do not yet know if or when any of these boards will be produced in enough quantity to sell. If you have specific interests for data collection or control of events in your rockets beyond the capabilities of our existing productions, please let us know!

Because all of our work is open, both the hardware designs and the software, if you have some great idea for an addition to the current Altus Metrum family, feel free to dive in and help! Or let us know what you'd like to see that we aren't already working on, and maybe we'll get excited about it too...

Watch our web site for more news and information as our family of products evolves!

The first consideration is to ensure that the altimeter is securely fastened to the air-frame. For most of our products, we prefer nylon standoffs and nylon screws; they're good to at least 50G and cannot cause any electrical issues on the board. Metal screws and standoffs are fine, too, just be careful to avoid electrical shorts! For TeleMini v1.0, we usually cut small pieces of 1/16 inch balsa to fit under the screw holes, and then take 2x56 nylon screws and screw them through the TeleMini mounting holes, through the balsa and into the underlying material.

The antenna supplied is just a piece of solid, insulated, wire. If it gets damaged or broken, it can be easily replaced. It should be kept straight and not cut; bending or cutting it will change the resonant frequency and/or impedance, making it a less efficient radiator and thus reducing the range of the telemetry signal.

Keeping metal away from the antenna will provide better range and a more even radiation pattern. In most rockets, it's not entirely possible to isolate the antenna from metal components; there are often bolts, all-thread and wires from other electronics to contend with. Just be aware that the more stuff like this around the antenna, the lower the range.

Make sure the antenna is not inside a tube made or covered with conducting material. Carbon fiber is the most common culprit here -- CF is a good conductor and will effectively shield the antenna, dramatically reducing signal strength and range. Metallic flake paint is another effective shielding material which should be avoided around any antennas.

If the ebay is large enough, it can be convenient to simply mount the altimeter at one end and stretch the antenna out inside. Taping the antenna to the sled can keep it straight under acceleration. If there are metal rods, keep the antenna as far away as possible.

For a shorter ebay, it's quite practical to have the antenna run through a bulkhead and into an adjacent bay. Drill a small hole in the bulkhead, pass the antenna wire through it and then seal it up with glue or clay. We've also used acrylic tubing to create a cavity for the antenna wire. This works a bit better in that the antenna is known to stay straight and not get folded by recovery components in the bay. Angle the tubing towards the side wall of the rocket and it ends up consuming very little space.

If you need to place the UHF antenna at a distance from the altimeter, you can replace the antenna with an edge-mounted SMA connector, and then run 50Ω coax from the board to the antenna. Building a remote antenna is beyond the scope of this manual.

The GPS antenna and receiver used in TeleMetrum and TeleMega is highly sensitive and normally have no trouble tracking enough satellites to provide accurate position information for recovering the rocket. However, there are many ways the GPS signal can end up attenuated, negatively affecting GPS performance.

Any altimeter will generate RFI; the digital circuits use high-frequency clocks that spray radio interference across a wide band. Altus Metrum altimeters generate intentional radio signals as well, increasing the amount of RF energy around the board.

Rocketry altimeters also use precise sensors measuring air pressure and acceleration. Tiny changes in voltage can cause these sensor readings to vary by a huge amount. When the sensors start mis-reporting data, the altimeter can either fire the igniters at the wrong time, or not fire them at all.

Voltages are induced when radio frequency energy is transmitted from one circuit to another. Here are things that influence the induced voltage and current:

Altusmetrum altimeters measure altitude with a barometric sensor, essentially measuring the amount of air above the rocket to figure out how high it is. A large number of measurements are taken as the altimeter initializes itself to figure out the pad altitude. Subsequent measurements are then used to compute the height above the pad.

To accurately measure atmospheric pressure, the ebay containing the altimeter must be vented outside the air-frame. The vent must be placed in a region of linear airflow, have smooth edges, and away from areas of increasing or decreasing pressure.

All barometric sensors are quite sensitive to chemical damage from the products of APCP or BP combustion, so make sure the ebay is carefully sealed from any compartment which contains ejection charges or motors.

The most important aspect of any installation is careful ground testing. Bringing an air-frame up to the LCO table which hasn't been ground tested can lead to delays or ejection charges firing on the pad, or, even worse, a recovery system failure.

Do a 'full systems' test that includes wiring up all igniters without any BP and turning on all of the electronics in flight mode. This will catch any mistakes in wiring and any residual RFI issues that might accidentally fire igniters at the wrong time. Let the air-frame sit for several minutes, checking for adequate telemetry signal strength and GPS lock. If any igniters fire unexpectedly, find and resolve the issue before loading any BP charges!

Ground test the ejection charges. Prepare the rocket for flight, loading ejection charges and igniters. Completely assemble the air-frame and then use the 'Fire Igniters' interface through a TeleDongle to command each charge to fire. Make sure the charge is sufficient to robustly separate the air-frame and deploy the recovery system.

The big concept to understand is that you have to use a TeleMega, TeleMetrum or TeleDongle as a programmer to update a pair programmed device. Due to limited memory resources in the cc1111, we don't support programming directly over USB for these devices.

Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini firmware, but you use either a TeleMetrum or another TeleDongle as the programmer.

Be careful removing the programming cable from the locking 8-pin connector on TeleMetrum. You'll need a fingernail or perhaps a thin screwdriver or knife blade to gently pry the locking ears out slightly to extract the connector. We used a locking connector on TeleMetrum to help ensure that the cabling to companion boards used in a rocket don't ever come loose accidentally in flight.