-<html><head><meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1"><title>TeleGPS Owner's Manual</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="idp27051008"></a>TeleGPS Owner's Manual</h1></div><div><h2 class="subtitle">A recording GPS tracker</h2></div><div><div class="author"><h3 class="author"><span class="firstname">Keith</span> <span class="surname">Packard</span></h3></div></div><div><p class="copyright">Copyright © 2014 Bdale Garbee and Keith Packard</p></div><div><div class="legalnotice"><a name="idp54268208"></a><p>
- This document is released under the terms of the
- <a class="ulink" href="http://creativecommons.org/licenses/by-sa/3.0/" target="_top">
- Creative Commons ShareAlike 3.0
- </a>
- license.
- </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 1.4.1</td><td align="left">20 June 2014</td></tr><tr><td align="left" colspan="2">
- Minor release fixing some installation bugs.
- </td></tr><tr><td align="left">Revision 1.4</td><td align="left">13 June 2014</td></tr><tr><td align="left" colspan="2">
- Initial release
- </td></tr></table></div></div></div><hr></div><div class="dedication"><div class="titlepage"><div><div><h1 class="title"><a name="idp54273408"></a>Acknowledgements</h1></div></div></div><p>
- Have fun using these products, and we hope to meet all of you
- out on the rocket flight line somewhere.
- </p><div class="literallayout"><p><br>
-Bdale Garbee, KB0G<br>
-NAR #87103, TRA #12201<br>
-<br>
-Keith Packard, KD7SQG<br>
-NAR #88757, TRA #12200<br>
- </p></div><p>
- </p></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="chapter"><a href="#idp54275776">1. Quick Start Guide</a></span></dt><dt><span class="chapter"><a href="#idp54280400">2. Handling Precautions</a></span></dt><dt><span class="chapter"><a href="#idp53558976">3. TeleGPS Hardware</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53559648">1. Hooking Up Lithium Polymer Batteries</a></span></dt><dt><span class="section"><a href="#idp53562576">2. On-board Data Recording</a></span></dt><dt><span class="section"><a href="#idp53566784">3. Installation</a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp53569904">4. System Operation</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53570576">1. GFSK Telemetry</a></span></dt><dt><span class="section"><a href="#idp53573504">2. APRS</a></span></dt><dt><span class="section"><a href="#idp53403232">3. Configurable Parameters</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53404560">3.1. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp53406688">3.2. Callsign</a></span></dt><dt><span class="section"><a href="#idp53407872">3.3. Telemetry/RDF/APRS Enable</a></span></dt><dt><span class="section"><a href="#idp53409200">3.4. APRS Interval</a></span></dt><dt><span class="section"><a href="#idp53410704">3.5. Maximum Flight Log</a></span></dt><dt><span class="section"><a href="#idp53412304">3.6. Logging Trigger Motion</a></span></dt><dt><span class="section"><a href="#idp53413632">3.7. Position Reporting Interval</a></span></dt></dl></dd></dl></dd><dt><span class="chapter"><a href="#idp53415280">5. TeleGPS Application</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53416864">1. Telemetry Monitoring</a></span></dt><dd><dl><dt><span class="section"><a href="#idp58905744">1.1. Map</a></span></dt><dt><span class="section"><a href="#idp58911776">1.2. Location</a></span></dt><dt><span class="section"><a href="#idp58915056">1.3. Status</a></span></dt><dt><span class="section"><a href="#idp58918480">1.4. Table</a></span></dt></dl></dd><dt><span class="section"><a href="#idp58922432">2. TeleGPS Menus</a></span></dt><dd><dl><dt><span class="section"><a href="#idp58930528">2.1. New Window</a></span></dt><dt><span class="section"><a href="#idp58931856">2.2. Graph Data</a></span></dt><dt><span class="section"><a href="#idp55925216">2.3. Export Data</a></span></dt><dt><span class="section"><a href="#idp56070224">2.4. Load Maps</a></span></dt><dt><span class="section"><a href="#idp58955008">2.5. Preferences</a></span></dt><dt><span class="section"><a href="#idp58974944">2.6. Close</a></span></dt><dt><span class="section"><a href="#idp58976208">2.7. Exit</a></span></dt><dt><span class="section"><a href="#idp58977360">2.8. Connect Device</a></span></dt><dt><span class="section"><a href="#idp58980896">2.9. Disconnect</a></span></dt><dt><span class="section"><a href="#idp58982048">2.10. Scan Channels</a></span></dt><dt><span class="section"><a href="#idp58985600">2.11. Download Data</a></span></dt><dt><span class="section"><a href="#idp58988736">2.12. Configure Device</a></span></dt><dt><span class="section"><a href="#idp59012480">2.13. Flash Device</a></span></dt></dl></dd></dl></dd><dt><span class="chapter"><a href="#idp59014080">6. Updating Device Firmware</a></span></dt><dd><dl><dt><span class="section"><a href="#idp59016528">1.
- Updating TeleGPS Firmware
- </a></span></dt></dl></dd><dt><span class="chapter"><a href="#idp59025888">7. Technical Information</a></span></dt><dd><dl><dt><span class="section"><a href="#idp59026560">1. GPS Receiver</a></span></dt><dt><span class="section"><a href="#idp59029872">2. Micro-controller</a></span></dt><dt><span class="section"><a href="#idp59031200">3. Lithium Polymer Battery</a></span></dt><dt><span class="section"><a href="#idp59032464">4. Mechanical Considerations</a></span></dt><dt><span class="section"><a href="#idp59033792">5. On-board data storage</a></span></dt></dl></dd><dt><span class="appendix"><a href="#idp59035248">A. 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="#idp53386560">Altus Metrum APRS Comments</a></dt></dl></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54275776"></a>Chapter 1. Quick Start Guide</h1></div></div></div><p>
- TeleGPS is designed to be easy to use. Requiring no external
- components, flying takes just a few steps.
- </p><p>
- First, download and install the software from <a class="ulink" href="http://altusmetrum.org/AltOS" target="_top">http://altusmetrum.org/AltOS</a>. This will make sure that
- you have the right device drivers installed.
- </p><p>
- Next, plug in the battery and USB cable and connect TeleGPS to
- your computer. This will charge the battery and allow you to
- configure the device.
- </p><p>
- Start the TeleGPS application and set the callsign and frequency
- on your TeleGPS device; refer to the Configure TeleGPS section
- in the TeleGPS Application chapter for instructions.
- </p><p>
- Unplug TeleGPS when the battery charger light goes green. This
- will enable the radio and logging portions of the TeleGPS
- firmware.
- </p><p>
- Connect TeleDongle to your computer and start TeleGPS or start
- AltosDroid on your android device and connect to TeleBT. Set the
- frequency to match the TeleGPS and you should be receiving telemetry.
- </p></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp54280400"></a>Chapter 2. Handling Precautions</h1></div></div></div><p>
- All Altus Metrum products are sophisticated electronic devices.
- When handled gently and properly installed in an air-frame, they
- will deliver impressive results. However, as with all electronic
- devices, there are some precautions you must take.
- </p><p>
- The Lithium polymer batteries have an
- extraordinary power density. This is great because we can fly with
- much less battery mass... but if they are punctured
- or their contacts are allowed to short, they can and will release their
- energy very rapidly!
- Thus we recommend that you take some care when handling TeleGPS
- to keep conductive material from coming in contact with the exposed metal elements.
- </p><p>
- As with all other rocketry electronics, Altus Metrum devices must
- be protected from exposure to corrosive motor exhaust and ejection
- charge gasses.
- </p></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp53558976"></a>Chapter 3. TeleGPS Hardware</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp53559648">1. Hooking Up Lithium Polymer Batteries</a></span></dt><dt><span class="section"><a href="#idp53562576">2. On-board Data Recording</a></span></dt><dt><span class="section"><a href="#idp53566784">3. Installation</a></span></dt></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53559648"></a>1. Hooking Up Lithium Polymer Batteries</h2></div></div></div><p>
- TeleGPS has a two pin JST PH series connector to connect up
- a single-cell Lithium Polymer cell (3.7V nominal). You can
- purchase matching batteries from the Altus Metrum store, or
- other vendors, or you can make your own. Pin 1 of the
- connector is positive, pin 2 is negative. Spark Fun sells a
- cable with the connector attached, which they call a <a class="ulink" href="https://www.sparkfun.com/products/9914" target="_top">JST Jumper 2
- Wire Assembly</a>.
- </p><p>
- Many RC vendors also sell lithium polymer batteries with
- this same connector. All that we have found use the opposite
- polarity, and if you use them that way, you will damage or
- destroy TeleGPS.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53562576"></a>2. On-board Data Recording</h2></div></div></div><p>
- TeleGPS logs GPS data at a user-configurable rate. Data are
- logged to a 2MB on-board flash memory part, which can be
- partitioned into several equal-sized blocks, one for each
- flight. 64kB of this storage are reserved to hold
- configuration data, leaving 1984kB for flight data.
- </p><p>
- 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.
- </p><p>
- To compute the amount of space needed for a single log, you
- can divide the expected time (in seconds) by the sample period
- (by default, 1 second per sample) and then multiply the result
- by 32 bytes per sample. For instance, a sample period of 1
- second and a flight lasting one hour will take 32 * 3600 =
- 115200 bytes. TeleGPS does try to reduce log space used by not
- recording position information when it isn't moving, so actual
- space consumed may be less than this.
- </p><p>
- The default size allows for four flights of 496kB each, which
- provides over four hours of logging at 1 sample per second.
- </p><p>
- TeleGPS will not overwrite existing flight data, so be sure to
- download flight data and erase it from the onboard flash
- before it fills up. TeleGPS will still report telemetry even
- if memory is full, so the only thing you will lose is the
- on-board data log.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53566784"></a>3. Installation</h2></div></div></div><p>
- 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. <span class="emphasis"><em>Check
- polarity and voltage before connecting any battery not purchased
- from Altus Metrum or Spark Fun.</em></span>
- </p><p>
- TeleGPS uses an integrate GPS patch antenna and won't
- receive GPS signals if installed inside a metal or carbon
- fiber compartment. Test GPS reception and telemetry
- transmission with the system installed and all other
- electronics powered up to verify signal reception and make
- sure there isn't any interference from other systems.
- </p></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp53569904"></a>Chapter 4. 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="#idp53570576">1. GFSK Telemetry</a></span></dt><dt><span class="section"><a href="#idp53573504">2. APRS</a></span></dt><dt><span class="section"><a href="#idp53403232">3. Configurable Parameters</a></span></dt><dd><dl><dt><span class="section"><a href="#idp53404560">3.1. Radio Frequency</a></span></dt><dt><span class="section"><a href="#idp53406688">3.2. Callsign</a></span></dt><dt><span class="section"><a href="#idp53407872">3.3. Telemetry/RDF/APRS Enable</a></span></dt><dt><span class="section"><a href="#idp53409200">3.4. APRS Interval</a></span></dt><dt><span class="section"><a href="#idp53410704">3.5. Maximum Flight Log</a></span></dt><dt><span class="section"><a href="#idp53412304">3.6. Logging Trigger Motion</a></span></dt><dt><span class="section"><a href="#idp53413632">3.7. Position Reporting Interval</a></span></dt></dl></dd></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53570576"></a>1. GFSK Telemetry</h2></div></div></div><p>
- TeleGPS's native telemetry system doesn't use a 'normal packet
- radio' mode like APRS because it's not very efficient. 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.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53573504"></a>2. APRS</h2></div></div></div><p>
- TeleGPS 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.
- </p><p>
- 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.
- </p><p>
- 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.
- </p><div class="table"><a name="idp53386560"></a><p class="title"><b>Table 4.1. 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">Battery Voltage</td></tr></tbody></table></div></div><br class="table-break"><p>
- Here's an example of an APRS comment showing GPS lock with 6
- satellites in view and a battery at 4.0V.
- </p><pre class="screen">
- L6 B4.0
- </pre><p>
- </p><p>
- Make sure your primary battery is above 3.8V and GPS is locked
- with at least 5 or 6 satellites in view before starting. 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.
- </p><p>
- 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.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53403232"></a>3. Configurable Parameters</h2></div></div></div><p>
- Configuring TeleGPS is very
- simple; the few configurable parameters can all be set
- using the TeleGPS application over USB. Read
- the Configure TeleGPS section in the TeleGPS Software chapter below
- for more information.
- </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53404560"></a>3.1. Radio Frequency</h3></div></div></div><p>
- Altus Metrum boards support radio frequencies in the 70cm
- band. By default, the configuration interface provides a
- list of 10 “standard” frequencies in 100kHz channels starting at
- 434.550MHz. However, the firmware supports use of
- any 50kHz multiple within the 70cm band. At any given
- launch, we highly recommend coordinating when and by whom each
- frequency will be used to avoid interference. And of course, both
- TeleGPS and the receiver must be configured to the same
- frequency to successfully communicate with each other.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53406688"></a>3.2. Callsign</h3></div></div></div><p>
- This sets the callsign used for telemetry and APRS to
- identify the device.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53407872"></a>3.3. Telemetry/RDF/APRS Enable</h3></div></div></div><p>
- You can completely disable the radio, if necessary, leaving
- TeleGPS only logging data to internal memory.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53409200"></a>3.4. APRS Interval</h3></div></div></div><p>
- This selects how often APRS packets are transmitted. Set
- this to zero to disable APRS without also disabling the
- regular telemetry and RDF transmissions. As APRS takes a
- full second to transmit a single position report, we
- recommend sending packets no more than once every 5 seconds.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53410704"></a>3.5. Maximum Flight Log</h3></div></div></div><p>
- Changing this value will set the maximum amount of flight
- log storage that an individual flight will use. The
- available storage is divided into as many flights of the
- specified size as can fit in the available space. You can
- download and erase individual flight logs. If you fill up
- the available storage, future flights will not get logged
- until you erase some of the stored ones.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53412304"></a>3.6. Logging Trigger Motion</h3></div></div></div><p>
- If TeleGPS moves less than this distance over a long period
- of time, it will not log that location, saving storage space.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp53413632"></a>3.7. Position Reporting Interval</h3></div></div></div><p>
- This sets how often TeleGPS reports position information via
- telemetry and to the on-board log. Reducing this value will
- save power and logging memory consumption.
- </p></div></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp53415280"></a>Chapter 5. TeleGPS Application</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp53416864">1. Telemetry Monitoring</a></span></dt><dd><dl><dt><span class="section"><a href="#idp58905744">1.1. Map</a></span></dt><dt><span class="section"><a href="#idp58911776">1.2. Location</a></span></dt><dt><span class="section"><a href="#idp58915056">1.3. Status</a></span></dt><dt><span class="section"><a href="#idp58918480">1.4. Table</a></span></dt></dl></dd><dt><span class="section"><a href="#idp58922432">2. TeleGPS Menus</a></span></dt><dd><dl><dt><span class="section"><a href="#idp58930528">2.1. New Window</a></span></dt><dt><span class="section"><a href="#idp58931856">2.2. Graph Data</a></span></dt><dt><span class="section"><a href="#idp55925216">2.3. Export Data</a></span></dt><dt><span class="section"><a href="#idp56070224">2.4. Load Maps</a></span></dt><dt><span class="section"><a href="#idp58955008">2.5. Preferences</a></span></dt><dt><span class="section"><a href="#idp58974944">2.6. Close</a></span></dt><dt><span class="section"><a href="#idp58976208">2.7. Exit</a></span></dt><dt><span class="section"><a href="#idp58977360">2.8. Connect Device</a></span></dt><dt><span class="section"><a href="#idp58980896">2.9. Disconnect</a></span></dt><dt><span class="section"><a href="#idp58982048">2.10. Scan Channels</a></span></dt><dt><span class="section"><a href="#idp58985600">2.11. Download Data</a></span></dt><dt><span class="section"><a href="#idp58988736">2.12. Configure Device</a></span></dt><dt><span class="section"><a href="#idp59012480">2.13. Flash Device</a></span></dt></dl></dd></dl></div><p>
- The TeleGPS application provides a graphical user interface for
- interacting with the Altus Metrum product family. TeleGPS can
- monitor telemetry data, configure devices and many other
- tasks. The primary interface window is for displaying data
- received over the telemetry link. There are additional
- tasks available from the main window menu bar. This chapter
- is split into sections, each of which documents one of the tasks
- provided from the top-level toolbar.
- </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp53416864"></a>1. Telemetry Monitoring</h2></div></div></div><p>
- This is the window brought up when you start the
- application. If you have a TeleDongle device connected to the
- computer, it will automatically be selected for telemetry monitoring
- </p><p>
- All telemetry data received are automatically recorded in
- suitable log files. The name of the files includes the current
- date and TeleGPS serial and flight numbers.
- </p><p>
- 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. The TeleGPS application remembers the last
- frequency selected for each TeleDongle and selects that
- automatically the next time you use that device.
- </p><p>
- Below the TeleDongle frequency selector, the window contains a few
- significant pieces of information about the altimeter providing
- the telemetry data stream:
- </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. TeleGPS remembers how many
- times it has flown.
- </p></li><li class="listitem"><p>
- The Received Signal Strength Indicator value. This lets
- you know how strong a signal TeleDongle is receiving. The
- radio inside TeleDongle operates down to about -100dBm;
- weaker signals may not be receivable. The packet link uses
- error detection and correction techniques which prevent
- incorrect data from being reported.
- </p></li><li class="listitem"><p>
- The age of the displayed data, in seconds since the last
- successfully received telemetry packet. In normal operation
- this will stay in the low single digits. If the number starts
- counting up, then you are no longer receiving data over the radio
- link from the flight computer.
- </p></li></ul></div><p>
- Finally, the largest portion of the window contains a set of
- tabs, each of which contain some information about the TeleGPS
- board. The final 'table' tab displays many of the raw telemetry
- values in one place in a spreadsheet-like format.
- </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58905744"></a>1.1. Map</h3></div></div></div><p>
- The Map tab shows the TeleGPS track over time on top of map
- data making it easy to locate the device.
- </p><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="telegps-map.png" width="495"></td></tr></table></div></div><p>
- The map's default scale is approximately 3m (10ft) per pixel. The map
- can be dragged using the left mouse button. The map will attempt
- to keep the rocket roughly centered while data is being received.
- </p><p>
- You can adjust the style of map and the zoom level with
- buttons on the right side of the map window. You can draw a
- line on the map by moving the mouse over the map with a
- button other than the left one pressed, or by pressing the
- left button while also holding down the shift key. The
- length of the line in real-world units will be shown at the
- start of the line.
- </p><p>
- 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.
- </p><p>
- You can pre-load images for your favorite launch sites
- before you leave home; check out the 'Preload Maps' section below.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58911776"></a>1.2. Location</h3></div></div></div><p>
- The Location tab shows the raw GPS data received from TeleGPS.
- </p><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="telegps-location.png" width="495"></td></tr></table></div></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58915056"></a>1.3. Status</h3></div></div></div><p>
- The Status tab shows data relative to the location of
- TeleGPS when the application first received telemetry from
- it.
- </p><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="telegps-status.png" width="495"></td></tr></table></div></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58918480"></a>1.4. Table</h3></div></div></div><p>
- The Table tab shows detailed information about the GPS
- receiver
- </p><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="telegps-table.png" width="495"></td></tr></table></div></div></div></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp58922432"></a>2. TeleGPS Menus</h2></div></div></div><p>
- TeleGPS has three or four menus at the top of the window:
- </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">File</span></dt><dd><p>
- New Window, Graph Data, Export Data, Load Maps, Preferences, Close and Exit
- </p></dd><dt><span class="term">Monitor</span></dt><dd><p>
- Connect Device, Disconnect and Scan Channels
- </p></dd><dt><span class="term">Device</span></dt><dd><p>
- Download Data, Configure Device and Flash Device
- </p></dd><dt><span class="term">Frequency</span></dt><dd><p>
- This shows the current monitoring frequency with a
- drop-down menu listing other configured
- frequencies. You can change the set of frequencies
- shown here from the Preferences dialog. This menu is
- only shown when the TeleGPS application is connected
- to a TeleDongle or TeleBT device.
- </p></dd></dl></div><p>
- </p><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58930528"></a>2.1. New Window</h3></div></div></div><p>
- This creates another telemetry monitoring window, in case
- you have multiple TeleDongle devices connected to the
- computer.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58931856"></a>2.2. Graph Data</h3></div></div></div><p>
- This brings up a file dialog to load a saved log, either
- a .telem file of recorded telemetry or .eeprom of saved
- data from on-board memory. It looks a bit like the flight
- monitoring window, using a selection of tabs to show
- different views of the saved data.
- </p><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58933200"></a>2.2.1. Graph</h4></div></div></div><p>
- The Graph tab shows a plot of the the GPS data
- collected. The X axis is time in seconds; there are a
- variety of Y axes available for different kinds of data.
- </p><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="telegps-graph-graph.png" width="540"></td></tr></table></div></div></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58937104"></a>2.2.2. Configure Graph</h4></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="telegps-graph-configure.png" width="540"></td></tr></table></div></div><p>
- This selects which graph elements to show, and, at the
- bottom, lets you switch between metric and imperial units
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58940880"></a>2.2.3. Statistics</h4></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="telegps-graph-stats.png" width="540"></td></tr></table></div></div><p>
- Shows overall data computed from the flight.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58944496"></a>2.2.4. Map</h4></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="telegps-graph-map.png" width="540"></td></tr></table></div></div><p>
- Shows a map of the area overlaid with the GPS track. As with
- the telemetry monitoring window, you can select the style
- of map and zoom level using buttons along the side;
- you can scroll the map by dragging within the map pressing
- the left button and you can draw a line to measure
- distances using either the left button with the shift key,
- or any other button.
- </p></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp55925216"></a>2.3. Export Data</h3></div></div></div><p>
- 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 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.
- </p><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp56823520"></a>2.3.1. Comma Separated Value Format</h4></div></div></div><p>
- This is a text file containing the data in a form suitable for
- import into a spreadsheet or other external data analysis
- tool. The first few lines of the file contain the version and
- configuration information from TeleGPS, then
- there is a single header line which labels all of the
- fields. All of these lines start with a '#' character which
- many tools can be configured to skip over.
- </p><p>
- The remaining lines of the file contain the data, with each
- field separated by a comma and at least one space. All of
- the sensor values are converted to standard units, with the
- barometric data reported in both pressure, altitude and
- height above pad units.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp56832480"></a>2.3.2. Keyhole Markup Language (for Google Earth)</h4></div></div></div><p>
- This is the format used by Google Earth to provide an overlay
- within that application. With this, you can use Google Earth to
- see the whole flight path in 3D.
- </p></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp56070224"></a>2.4. Load Maps</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="468"><tr><td><img src="load-maps.png" width="468"></td></tr></table></div></div><p>
- Before using TeleGPS, you can use Load Maps to load map data
- in case you don't have access to the internet while
- receiving telemetry.
- </p><p>
- There's a drop-down menu of rocket 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
- </p><p>
- There are four different kinds of maps you can view; you can
- select which to download by selecting as many as you like from
- the available types:
- </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Hybrid</span></dt><dd><p>
- A combination of satellite imagery and road data. This
- is the default view.
- </p></dd><dt><span class="term">Satellite</span></dt><dd><p>
- Just the satellite imagery without any annotation.
- </p></dd><dt><span class="term">Roadmap</span></dt><dd><p>
- Roads, political boundaries and a few geographic features.
- </p></dd><dt><span class="term">Terrain</span></dt><dd><p>
- Contour intervals and shading that show hills and
- valleys.
- </p></dd></dl></div><p>
- </p><p>
- You can specify the range of zoom levels to download; smaller
- numbers show more area with less resolution. The default
- level, 0, shows about 3m/pixel. One zoom level change
- doubles or halves that number.
- </p><p>
- The Tile Radius value sets how large an area around the center
- point to download. Each tile is 512x512 pixels, and the
- 'radius' value specifies how many tiles away from the center
- will be downloaded. Specify a radius of 0 and you get only the
- center tile. A radius of 1 loads a 3x3 grid, centered on the
- specified location.
- </p><p>
- 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.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58955008"></a>2.5. Preferences</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="216"><tr><td><img src="telegps-preferences.png" width="216"></td></tr></table></div></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58958016"></a>2.5.1. Voice Settings</h4></div></div></div><p>
- AltosUI provides voice announcements during flight so that you
- can keep your eyes on the sky and still get information about
- the current flight status. However, sometimes you don't want
- to hear them.
- </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>
- Plays a short message allowing you to verify
- that the audio system is working and the volume settings
- are reasonable
- </p></dd></dl></div></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58963040"></a>2.5.2. Log Directory</h4></div></div></div><p>
- AltosUI logs all telemetry data and saves all TeleMetrum flash
- data to this directory. This directory is also used as the
- staring point when selecting data files for display or export.
- </p><p>
- Click on the directory name to bring up a directory choosing
- dialog, select a new directory and click 'Select Directory' to
- change where AltosUI reads and writes data files.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58965072"></a>2.5.3. Callsign</h4></div></div></div><p>
- This value is transmitted in each command packet sent from
- TeleDongle and received from an altimeter. It is not used in
- telemetry mode, as the callsign configured in the altimeter board
- is included in all telemetry packets. Configure this
- with the AltosUI operators call sign as needed to comply with
- your local radio regulations.
- </p><p>
- Note that to successfully command a flight computer over the radio
- (to configure the altimeter, monitor idle, or fire pyro charges),
- the callsign configured here must exactly match the callsign
- configured in the flight computer. This matching is case
- sensitive.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58967344"></a>2.5.4. Imperial Units</h4></div></div></div><p>
- This switches between metric units (meters) and imperial
- units (feet and miles). This affects the display of values
- use during flight monitoring, configuration, data graphing
- and all of the voice announcements. It does not change the
- units used when exporting to CSV files, those are always
- produced in metric units.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58968864"></a>2.5.5. Serial Debug</h4></div></div></div><p>
- This causes all communication with a connected device to be
- dumped to the console from which AltosUI was started. If
- you've started it from an icon or menu entry, the output
- will simply be discarded. This mode can be useful to debug
- various serial communication issues.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58970368"></a>2.5.6. Font Size</h4></div></div></div><p>
- Selects the set of fonts used in the flight monitor
- window. Choose between the small, medium and large sets.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58971664"></a>2.5.7. Look & Feel</h4></div></div></div><p>
- Adjust the style of the windows. By default, the TeleGPS
- application attempts to blend in with the native style.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp58972960"></a>2.5.8. Manage Frequencies</h4></div></div></div><p>
- This brings up a dialog where you can configure the set of
- frequencies shown in the various frequency menus. You can
- add as many as you like, or even reconfigure the default
- set. Changing this list does not affect the frequency
- settings of any devices, it only changes the set of
- frequencies shown in the menus.
- </p></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58974944"></a>2.6. Close</h3></div></div></div><p>
- This closes the current window, leaving any other windows
- open and the application running.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58976208"></a>2.7. Exit</h3></div></div></div><p>
- This closes all TeleGPS windows and terminates the application.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58977360"></a>2.8. Connect Device</h3></div></div></div><p>
- Selecting this item brings up a dialog box listing all of
- the connected TeleDongle devices. When you choose one of
- these, AltosUI will display telemetry data as received by
- the selected TeleDongle device.
- </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></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58980896"></a>2.9. Disconnect</h3></div></div></div><p>
- Disconnects the currently connected TeleDongle or TeleBT
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58982048"></a>2.10. Scan Channels</h3></div></div></div><p>
- Scans the configured set of frequencies looking for
- telemetry signals. A list of all of the discovered signals
- is show; selecting one of those and clicking on 'Monitor'
- will select that frequency in the associated TeleGPS
- application window.
- </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="telegps-scan.png" width="279"></td></tr></table></div></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58985600"></a>2.11. Download Data</h3></div></div></div><p>
- TeleGPS records data to its internal flash memory.
- On-board data is recorded at the same rate as telemetry
- but is not subject to radio drop-outs. As
- such, it generally provides a more complete and precise record.
- The 'Download Data' menu entry allows you to read the
- flash memory and write it to disk.
- </p><p>
- Select the 'Download Data' menu entry to bring up a list of
- connected TeleGPS devices. After the device has been
- selected, a dialog showing the data stored in the
- device will be shown allowing you to select which entries to
- download and which to delete. You must erase flights in order for the space they
- consume to be reused by another track. This prevents
- accidentally losing data if you neglect to download
- data before starting TeleGPS again. Note that if there is no more
- space available in the device, then no data will be recorded.
- </p><p>
- The file name for each data log is computed automatically
- from the recorded date, altimeter serial number and flight
- number information.
- </p></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp58988736"></a>2.12. Configure Device</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="324"><tr><td><img src="telegps-configure.png" width="324"></td></tr></table></div></div><p>
- Select this button and then select any connected TeleGPS
- device from the list provided.
- </p><p>
- 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.
- </p><p>
- At the bottom of the dialog, there are four buttons:
- </p><div class="variablelist"><dl class="variablelist"><dt><span class="term">Save</span></dt><dd><p>
- This writes any changes to the
- configuration parameter block in flash memory. If you don't
- press this button, any changes you make will be lost.
- </p></dd><dt><span class="term">Reset</span></dt><dd><p>
- This resets the dialog to the most recently saved values,
- erasing any changes you have made.
- </p></dd><dt><span class="term">Reboot</span></dt><dd><p>
- This reboots the device. This will restart logging for
- a new flight number, if any log information has been
- saved for the current flight.
- </p></dd><dt><span class="term">Close</span></dt><dd><p>
- This closes the dialog. Any unsaved changes will be
- lost.
- </p></dd></dl></div><p>
- The rest of the dialog contains the parameters to be configured.
- </p><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59000864"></a>2.12.1. Frequency</h4></div></div></div><p>
- This configures which of the frequencies to use for both
- telemetry and packet command mode. Note that if you set this
- value via packet command mode, the TeleDongle frequency will
- also be automatically reconfigured to match so that
- communication will continue afterwards.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59002368"></a>2.12.2. RF Calibration</h4></div></div></div><p>
- The radios in every Altus Metrum device are calibrated at the
- factory to ensure that they transmit and receive on the
- specified frequency. If you need to you can adjust the calibration
- by changing this value. Do not do this without understanding what
- the value means, read the appendix on calibration and/or the source
- code for more information. To change a TeleDongle's calibration,
- you must reprogram the unit completely.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59004032"></a>2.12.3. Telemetry/RDF/APRS Enable</h4></div></div></div><p>
- Enables the radio for transmission during flight. When
- disabled, the radio will not transmit anything during flight
- at all.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59005344"></a>2.12.4. APRS Interval</h4></div></div></div><p>
- How often to transmit GPS information via APRS (in
- seconds). When set to zero, APRS transmission is
- disabled. This option is available on TeleMetrum v2 and
- TeleMega boards. TeleMetrum v1 boards cannot transmit APRS
- packets. Note that a single APRS packet takes nearly a full
- second to transmit, so enabling this option will prevent
- sending any other telemetry during that time.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59006928"></a>2.12.5. Callsign</h4></div></div></div><p>
- This sets the call sign included in each telemetry packet. Set this
- as needed to conform to your local radio regulations.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59008256"></a>2.12.6. Maximum Log Size</h4></div></div></div><p>
- This sets the space (in kilobytes) allocated for each data
- log. The available space will be divided into chunks of this
- size. A smaller value will allow more logs to be stored,
- a larger value will record data for longer times.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59009696"></a>2.12.7. Logging Trigger Motion</h4></div></div></div><p>
- If TeleGPS moves less than this distance over a long period
- of time, it will not log that location, saving storage space.
- </p></div><div class="section"><div class="titlepage"><div><div><h4 class="title"><a name="idp59011008"></a>2.12.8. Position Reporting Interval</h4></div></div></div><p>
- This sets how often TeleGPS reports position information via
- telemetry and to the on-board log. Reducing this value will
- save power and logging memory consumption.
- </p></div></div><div class="section"><div class="titlepage"><div><div><h3 class="title"><a name="idp59012480"></a>2.13. Flash Device</h3></div></div></div><p>
- This reprograms TeleGPS devices with new firmware. Please
- read the directions for flashing devices in the Updating
- Device Firmware chapter below.
- </p></div></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp59014080"></a>Chapter 6. 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="#idp59016528">1.
- Updating TeleGPS Firmware
- </a></span></dt></dl></div><p>
- TeleGPS is programmed directly over its USB connectors.
- </p><p>
- You may wish to begin by ensuring you have current firmware images.
- These are distributed as part of the TeleGPS software bundle that
- also includes the TeleGPS ground station program. Newer ground
- station versions typically work fine with older firmware versions,
- so you don't need to update your devices just to try out new
- software features. You can always download the most recent
- version from <a class="ulink" href="http://www.altusmetrum.org/AltOS/" target="_top">http://www.altusmetrum.org/AltOS/</a>.
- </p><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59016528"></a>1.
- Updating TeleGPS Firmware
- </h2></div></div></div><div class="orderedlist"><ol class="orderedlist" type="1"><li class="listitem"><p>
- Attach a battery and power switch to the target
- device. Power up the device.
- </p></li><li class="listitem"><p>
- Using a Micro USB cable, connect the target device to your
- computer's USB socket.
- </p></li><li class="listitem"><p>
- Run TeleGPS, and select 'Flash Device' from the Device menu.
- </p></li><li class="listitem"><p>
- Select the target device in the Device Selection dialog.
- </p></li><li class="listitem"><p>
- Select the image you want to flash to the device, which
- should have a name in the form
- <product>-v<product-version>-<software-version>.ihx, such
- as TeleGPS-v1.0-1.4.0.ihx.
- </p></li><li class="listitem"><p>
- Make sure the configuration parameters are reasonable
- looking. If the serial number and/or RF configuration
- values aren't right, you'll need to change them.
- </p></li><li class="listitem"><p>
- Hit the 'OK' button and the software should proceed to flash
- the device with new firmware, showing a progress bar.
- </p></li><li class="listitem"><p>
- Verify that the device is working by using the 'Configure
- Altimeter' item to check over the configuration.
- </p></li></ol></div></div></div><div class="chapter"><div class="titlepage"><div><div><h1 class="title"><a name="idp59025888"></a>Chapter 7. Technical Information</h1></div></div></div><div class="toc"><p><b>Table of Contents</b></p><dl class="toc"><dt><span class="section"><a href="#idp59026560">1. GPS Receiver</a></span></dt><dt><span class="section"><a href="#idp59029872">2. Micro-controller</a></span></dt><dt><span class="section"><a href="#idp59031200">3. Lithium Polymer Battery</a></span></dt><dt><span class="section"><a href="#idp59032464">4. Mechanical Considerations</a></span></dt><dt><span class="section"><a href="#idp59033792">5. On-board data storage</a></span></dt></dl></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59026560"></a>1. GPS Receiver</h2></div></div></div><p>
- TeleGPS uses the u-Blox Max-7Q GPS receiver.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59029872"></a>2. Micro-controller</h2></div></div></div><p>
- TeleGPS uses an NXP LPC11U14 micro-controller. This tiny
- CPU contains 32kB of flash for the application and 4kB of RAM for
- temporary data storage.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59031200"></a>3. Lithium Polymer Battery</h2></div></div></div><p>
- Shipping restrictions may prevent us from including a battery
- battery with TeleGPS.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59032464"></a>4. Mechanical Considerations</h2></div></div></div><p>
- TeleGPS is designed to be rugged enough for typical rocketry
- applications. The 4 mounting holes on the board are sized for
- use with 4-40 or M3 screws.
- </p></div><div class="section"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59033792"></a>5. On-board data storage</h2></div></div></div><p>
- TeleGPS has 2MB of non-volatile storage, separate from the
- code storage memory. The TeleGPS firmware uses this to log
- information during flight.
- </p></div></div><div class="appendix"><div class="titlepage"><div><div><h1 class="title"><a name="idp59035248"></a>Appendix A. Release Notes</h1></div></div></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59035888"></a>Version 1.41</h2></div></div></div><p>
- Version 1.4.1 is a minor release. It fixes install issues on
- Windows and provides the missing TeleMetrum V2.0 firmware. There
- aren't any changes to the firmware or host applications at
- all. All Windows users will want to upgrade to get the signed
- driver, but Mac and Linux users who do not need the TeleMetrum
- V2.0 firmware image will not need to upgrade.
- </p><p>
- Windows Install Fixes
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- Provide signed Windows driver files. This should avoid any need to
- disable driver signature checking on Windows 7 or 8.
- </p></li><li class="listitem"><p>
- Fix Java version detection and download. Previously, the
- installer would only look for Java 6 or 7 and insist on
- downloading its own Java bits if there was something else
- installed. Furthermore, the 64-bit Java link provided didn't
- work for anyone other than Keith, making it impossible to
- install AltOS on any machine with Java SE 8 installed.
- </p></li></ul></div><p>
- </p><p>
- Other Fixes
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- Include 1.4 firmware for TeleMetrum V2.0. None of the
- installers shipped this file. Now it's included in the AltOS
- packages for Linux, Mac and Windows.
- </p></li><li class="listitem"><p>
- Include Google Application Key for map downloading. The 1.4
- release didn't have this key in the released version of the
- software, making map downloading fail for most people.
- </p></li></ul></div><p>
- </p></div><div class="simplesect"><div class="titlepage"><div><div><h2 class="title" style="clear: both"><a name="idp59037488"></a>Version 1.4</h2></div></div></div><p>
- Version 1.4 is a major release. It includes support for our new
- TeleGPS product, new features and bug fixes in in the flight
- software for all our boards and the AltosUI ground station
- </p><p>
- AltOS New Features
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- Add support for TeleGPS boards.
- </p></li><li class="listitem"><p>
- Replace the 'dit dit dit' tones at startup with the current
- battery voltage, measured in tenths of a volt. This lets you
- check the battery voltage without needing telemetry, which
- is especially useful on EasyMini.
- </p></li><li class="listitem"><p>
- Change state beeping to "Farnsworth spacing", which means
- they're quite a bit faster than before, and so they take
- less time to send.
- </p></li><li class="listitem"><p>
- Make the beeper tone configurable, making it possible to
- distinguish between two Altus Metrum products in the same ebay.
- </p></li><li class="listitem"><p>
- Make the firing time for extra pyro channels configurable,
- allowing longer (or shorter) than the default 50ms. Only relevant
- for TeleMega at this time.
- </p></li></ul></div><p>
- </p><p>
- AltOS Fixes
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- Fix bug preventing the selection of the 'Flight State After'
- mode in pyro configuration.
- </p></li><li class="listitem"><p>
- Fix bug where erasing flights would reset the flight number
- to 2 on TeleMega and TeleMetrum v2.
- </p></li><li class="listitem"><p>
- Fix u-Blox GPS driver to mark course and speed data as being
- present.
- </p></li></ul></div><p>
- </p><p>
- AltosUI New Features
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- Add zooming and new content types (terrain and road maps) to
- map view. Change map storage format from PNG to Jpeg, which
- saves a huge amount of disk space. You will need to
- re-download all of your pre-loaded map images.
- </p></li><li class="listitem"><p>
- Add a distance measuring device to the maps view. Select
- this by using any button other than the left one, or by
- pressing shift or control on the keyboard while using the
- left button.
- </p></li><li class="listitem"><p>
- Add new 'Ignitor' tab to the flight monitor display for
- TeleMega's extra ignitors.
- </p></li><li class="listitem"><p>
- Increase the width of data lines in the graphs to make them
- easier to read.
- </p></li><li class="listitem"><p>
- Add additional ignitor firing marks and voltages to the
- graph so you can see when the ignitors fired, along with
- the ignitor voltages.
- </p></li><li class="listitem"><p>
- Add GPS course, ground speed and climb rate as optional
- graph elements.
- </p></li></ul></div><p>
- </p><p>
- AltosUI Fixes
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- When flashing new firmware, re-try opening the device as
- sometimes it takes a while for the underlying operating
- system to recognize that the device has rebooted in
- preparation for the flashing operation.
- </p></li><li class="listitem"><p>
- Hide Tilt Angle in ascent tab for devices that don't have a gyro.
- </p></li><li class="listitem"><p>
- Filter out speed and acceleration spikes caused by ejection
- charge firing when computing the maximum values. This
- provides a more accurate reading of those maximums.
- </p></li><li class="listitem"><p>
- Fix EasyMini voltage displays. Early EasyMini prototypes
- used a 3.0V regulator, and AltosUI still used that value as
- the basis of the computation. Production EasyMini boards
- have always shipped with a 3.3V regulator. Also, purple
- EasyMini boards sensed the battery voltage past the blocking
- diode, resulting in a drop of about 150mV from the true
- battery voltage. Compensate for that when displaying the
- value.
- </p></li><li class="listitem"><p>
- Display error message when trying to configure maximum
- flight log size while the flight computer still has flight
- data stored.
- </p></li><li class="listitem"><p>
- Handle TeleMetrum and TeleMini eeprom files generated with
- pre-1.0 firmware. Those ancient versions didn't report the
- log format, so just use the product name instead.
- </p></li></ul></div><p>
- </p><p>
- TeleGPS Application
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- New application designed for use with TeleGPS boards.
- </p></li><li class="listitem"><p>
- Shares code with AltosUI, mostly just trimmed down to focus
- on TeleGPS-related functions.
- </p></li></ul></div><p>
- </p><p>
- Documentation changes
- </p><div class="itemizedlist"><ul class="itemizedlist" style="list-style-type: disc; "><li class="listitem"><p>
- Re-create the drill template images; they should print
- correctly from Firefox at least. Ship these as individual
- PDF files so they're easy to print.
- </p></li><li class="listitem"><p>
- Add a description of the 'Apogee Lockout' setting, which
- prevents the apogee charge from firing for a configurable
- amount of time after boost.
- </p></li></ul></div><p>
- </p></div></div></div></body></html>
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="UTF-8">
+<meta http-equiv="X-UA-Compatible" content="IE=edge">
+<meta name="viewport" content="width=device-width, initial-scale=1.0">
+<meta name="generator" content="Asciidoctor 2.0.10">
+<meta name="author" content="Keith Packard, Bdale Garbee">
+<meta name="copyright" content="Bdale Garbee and Keith Packard 2020">
+<title>TeleGPS Owner’s Manual</title>
+<link rel="stylesheet" href="./am.css">
+</head>
+<body class="book">
+<div id="header">
+<h1>TeleGPS Owner’s Manual</h1>
+<div class="details">
+<span id="author" class="author">Keith Packard</span><br>
+<span id="email" class="email"><a href="mailto:keithp@keithp.com">keithp@keithp.com</a></span><br>
+<span id="author2" class="author">Bdale Garbee</span><br>
+<span id="email2" class="email"><a href="mailto:bdale@gag.com">bdale@gag.com</a></span><br>
+<span id="revnumber">version v1.9.4,</span>
+<span id="revdate">02 Jul 2020</span>
+</div>
+<div id="toc" class="toc">
+<div id="toctitle">Table of Contents</div>
+<ul class="sectlevel1">
+<li><a href="#_license">License</a></li>
+<li><a href="#_acknowledgments">Acknowledgments</a></li>
+<li><a href="#_telegps_quick_start_guide">1. TeleGPS Quick Start Guide</a></li>
+<li><a href="#_using_telegps_hardware">2. Using TeleGPS Hardware</a>
+<ul class="sectlevel2">
+<li><a href="#_hooking_up_lithium_polymer_batteries">2.1. Hooking Up Lithium Polymer Batteries</a></li>
+<li><a href="#_on_board_data_recording">2.2. On-board Data Recording</a></li>
+<li><a href="#_leds">2.3. LEDs</a></li>
+<li><a href="#_installation">2.4. Installation</a></li>
+</ul>
+</li>
+<li><a href="#_telegps_application">3. TeleGPS Application</a>
+<ul class="sectlevel2">
+<li><a href="#_telemetry_monitoring">3.1. Telemetry Monitoring</a></li>
+<li><a href="#_telegps_menus">3.2. TeleGPS Menus</a></li>
+<li><a href="#_graph_data">3.3. Graph Data</a></li>
+<li><a href="#_export_data">3.4. Export Data</a></li>
+<li><a href="#_load_maps">3.5. Load Maps</a></li>
+<li><a href="#_preferences">3.6. Preferences</a></li>
+<li><a href="#_close">3.7. Close</a></li>
+<li><a href="#_exit">3.8. Exit</a></li>
+<li><a href="#_connect_device">3.9. Connect Device</a></li>
+<li><a href="#_disconnect">3.10. Disconnect</a></li>
+<li><a href="#_scan_channels">3.11. Scan Channels</a></li>
+<li><a href="#_download_data">3.12. Download Data</a></li>
+<li><a href="#_configure_device">3.13. Configure Device</a></li>
+<li><a href="#_flash_device">3.14. Flash Device</a></li>
+</ul>
+</li>
+<li><a href="#_telegps_system_operation">Appendix A: TeleGPS System Operation</a>
+<ul class="sectlevel2">
+<li><a href="#_gfsk_telemetry">A.1. GFSK Telemetry</a></li>
+<li><a href="#_aprs">A.2. APRS</a></li>
+<li><a href="#_configurable_parameters">A.3. Configurable Parameters</a></li>
+</ul>
+</li>
+<li><a href="#_handling_precautions">Appendix B: Handling Precautions</a></li>
+<li><a href="#_technical_information">Appendix C: Technical Information</a>
+<ul class="sectlevel2">
+<li><a href="#_gps_receiver">C.1. GPS Receiver</a></li>
+<li><a href="#_70cm_transmitter">C.2. 70cm Transmitter</a></li>
+<li><a href="#_micro_controller">C.3. Micro-controller</a></li>
+<li><a href="#_lithium_polymer_battery">C.4. Lithium Polymer Battery</a></li>
+<li><a href="#_mechanical_considerations">C.5. Mechanical Considerations</a></li>
+<li><a href="#_on_board_data_storage">C.6. On-board data storage</a></li>
+</ul>
+</li>
+<li><a href="#_updating_device_firmware">Appendix D: Updating Device Firmware</a>
+<ul class="sectlevel2">
+<li><a href="#_updating_telegps_firmware">D.1. Updating TeleGPS Firmware</a></li>
+</ul>
+</li>
+<li><a href="#_release_notes">Appendix E: Release Notes</a>
+<ul class="sectlevel2">
+<li><a href="#_release_notes_for_version_1_9_4">E.1. Release Notes for Version 1.9.4</a></li>
+<li><a href="#_release_notes_for_version_1_9_3">E.2. Release Notes for Version 1.9.3</a></li>
+<li><a href="#_release_notes_for_version_1_9_1">E.3. Release Notes for Version 1.9.1</a></li>
+<li><a href="#_release_notes_for_version_1_9">E.4. Release Notes for Version 1.9</a></li>
+<li><a href="#_release_notes_for_version_1_8_7">E.5. Release Notes for Version 1.8.7</a></li>
+<li><a href="#_release_notes_for_version_1_8_6">E.6. Release Notes for Version 1.8.6</a></li>
+<li><a href="#_release_notes_for_version_1_8_5">E.7. Release Notes for Version 1.8.5</a></li>
+<li><a href="#_release_notes_for_version_1_8_4">E.8. Release Notes for Version 1.8.4</a></li>
+<li><a href="#_release_notes_for_version_1_8_3">E.9. Release Notes for Version 1.8.3</a></li>
+<li><a href="#_release_notes_for_version_1_8_2">E.10. Release Notes for Version 1.8.2</a></li>
+<li><a href="#_release_notes_for_version_1_8_1">E.11. Release Notes for Version 1.8.1</a></li>
+<li><a href="#_release_notes_for_version_1_8">E.12. Release Notes for Version 1.8</a></li>
+<li><a href="#_release_notes_for_version_1_7">E.13. Release Notes for Version 1.7</a></li>
+<li><a href="#_release_notes_for_version_1_6_8">E.14. Release Notes for Version 1.6.8</a></li>
+<li><a href="#_release_notes_for_version_1_6_5">E.15. Release Notes for Version 1.6.5</a></li>
+<li><a href="#_release_notes_for_version_1_6_4">E.16. Release Notes for Version 1.6.4</a></li>
+<li><a href="#_release_notes_for_version_1_6_3">E.17. Release Notes for Version 1.6.3</a></li>
+<li><a href="#_release_notes_for_version_1_6_2">E.18. Release Notes for Version 1.6.2</a></li>
+<li><a href="#_release_notes_for_version_1_6_1">E.19. Release Notes for Version 1.6.1</a></li>
+<li><a href="#_release_notes_for_version_1_6">E.20. Release Notes for Version 1.6</a></li>
+<li><a href="#_release_notes_for_version_1_5">E.21. Release Notes for Version 1.5</a></li>
+<li><a href="#_release_notes_for_version_1_4_2">E.22. Release Notes for Version 1.4.2</a></li>
+<li><a href="#_release_notes_for_version_1_4_1">E.23. Release Notes for Version 1.4.1</a></li>
+<li><a href="#_release_notes_for_version_1_4">E.24. Release Notes for Version 1.4</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+<div id="content">
+<div id="preamble">
+<div class="sectionbody">
+<div id="logo" class="imageblock">
+<div class="content">
+<a class="image" href="https://altusmetrum.org"><img src="altusmetrum-oneline.svg" alt="Altus Metrum"></a>
+</div>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_license">License</h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>Copyright © 2018 Bdale Garbee and Keith Packard</p>
+</div>
+<div class="paragraph">
+<p>This document is released under the terms of the <a href="http://creativecommons.org/licenses/by-sa/3.0/">Creative Commons ShareAlike 3.0 License</a></p>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_acknowledgments">Acknowledgments</h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>Thanks to Anthony (AJ) Towns for major contributions including
+the TeleGPS graphing and site map code and associated documentation.
+Free software means that our customers and friends can become our
+collaborators, and we certainly appreciate this level of
+contribution!</p>
+</div>
+<div class="paragraph">
+<p>Have fun using these products, and we hope to meet all of you
+out on the rocket flight line somewhere.</p>
+</div>
+<div class="verseblock">
+<pre class="content">Bdale Garbee, KB0G
+NAR #87103, TRA #12201</pre>
+</div>
+<div class="verseblock">
+<pre class="content">Keith Packard, KD7SQG
+NAR #88757, TRA #12200</pre>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_telegps_quick_start_guide">1. TeleGPS Quick Start Guide</h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>TeleGPS is designed to be easy to use. Requiring no external
+components, flying takes just a few steps.</p>
+</div>
+<div class="olist arabic">
+<ol class="arabic">
+<li>
+<p>First, download and install the software from
+<a href="http://altusmetrum.org/AltOS" class="bare">http://altusmetrum.org/AltOS</a>. This will make sure that
+you have the right device drivers installed.</p>
+</li>
+<li>
+<p>Next, plug in the battery and USB cable and connect TeleGPS to
+your computer. This will charge the battery and allow you to
+configure the device.</p>
+</li>
+<li>
+<p>Start the TeleGPS application and set the callsign and frequency
+on your TeleGPS device; refer to <a href="#_configure_device">Configure Device</a> for instructions.</p>
+</li>
+<li>
+<p>Unplug TeleGPS when the battery charger light goes green. This
+will enable the radio and logging portions of the TeleGPS
+firmware.</p>
+</li>
+<li>
+<p>Connect TeleDongle to your computer and start TeleGPS or start
+AltosDroid on your android device and connect to TeleBT. Set the
+frequency to match the TeleGPS and you should be receiving telemetry.</p>
+</li>
+</ol>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_using_telegps_hardware">2. Using TeleGPS Hardware</h2>
+<div class="sectionbody">
+<div class="sect2">
+<h3 id="_hooking_up_lithium_polymer_batteries">2.1. Hooking Up Lithium Polymer Batteries</h3>
+<div class="paragraph">
+<p>TeleGPS has a two pin JST PH series connector to connect up
+a single-cell Lithium Polymer cell (3.7V nominal). You can
+purchase matching batteries from the Altus Metrum store, or
+other vendors, or you can make your own. Pin 1 of the
+connector is positive, pin 2 is negative. Spark Fun sells a
+cable with the connector attached, which they call a
+<a href="https://www.sparkfun.com/products/9914">JST Jumper 2 Wire Assembly</a></p>
+</div>
+<div class="admonitionblock warning">
+<table>
+<tr>
+<td class="icon">
+<div class="title">Warning</div>
+</td>
+<td class="content">
+Many RC vendors also sell lithium polymer batteries with
+this same connector. All that we have found use the opposite
+polarity, and if you use them that way, you will damage or
+destroy TeleGPS.
+</td>
+</tr>
+</table>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_on_board_data_recording">2.2. On-board Data Recording</h3>
+<div class="paragraph">
+<p>TeleGPS logs GPS data at a user-configurable
+rate. Data are logged to a 2MB on-board flash memory
+part, which can be partitioned into several
+equal-sized blocks, one for each flight. 64kB of this
+storage are reserved to hold configuration data,
+leaving 1984kB for flight data.</p>
+</div>
+<div class="paragraph">
+<p>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.</p>
+</div>
+<div class="paragraph">
+<p>To compute the amount of space needed for a single
+log, you can divide the expected time (in seconds) by
+the sample period (by default, 1 second per sample)
+and then multiply the result by 32 bytes per
+sample. For instance, a sample period of 1 second and
+a flight lasting one hour will take 32 * 3600 = 115200
+bytes. TeleGPS does try to reduce log space used by
+not recording position information when it isn’t
+moving, so actual space consumed may be less than
+this.</p>
+</div>
+<div class="paragraph">
+<p>The default size allows for four flights of 496kB
+each, which provides over four hours of logging at 1
+sample per second.</p>
+</div>
+<div class="paragraph">
+<p>TeleGPS will not overwrite existing flight data, so be
+sure to download flight data and erase it from the
+onboard flash before it fills up. TeleGPS will still
+report telemetry even if memory is full, so the only
+thing you will lose is the on-board data log.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_leds">2.3. LEDs</h3>
+<div class="paragraph">
+<p>TeleGPS v1.0 has a dual greed/red LED along the edge
+towards the USB connector end of the board. This
+indicates battery charging status while connected to
+power over USB. When the red LED is lit, the battery
+is charging. Once the battery is fully charged, the
+red LED goes out and the green LED turns on. If both
+LEDs are lit, something is probably wrong with the battery.</p>
+</div>
+<div class="paragraph">
+<p>TeleGPS v2.0 has the same green/red battery charging
+status LED and adds another green LED along the same
+edge, towards end of the board with the 70cm
+antenna. This green LED indicates GPS lock status — it
+blinks once every three seconds when the GPS receiver
+is locked and tracking position.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_installation">2.4. Installation</h3>
+<div class="paragraph">
+<p>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.</p>
+</div>
+<div class="admonitionblock warning">
+<table>
+<tr>
+<td class="icon">
+<div class="title">Warning</div>
+</td>
+<td class="content">
+Check polarity and voltage before connecting any
+battery not purchased from Altus Metrum or Spark
+Fun.
+</td>
+</tr>
+</table>
+</div>
+<div class="paragraph">
+<p>TeleGPS uses an integrate GPS patch antenna and won’t
+receive GPS signals if installed inside a metal or
+carbon fiber compartment. Test GPS reception and
+telemetry transmission with the system installed and
+all other electronics powered up to verify signal
+reception and make sure there isn’t any interference
+from other systems.</p>
+</div>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_telegps_application">3. TeleGPS Application</h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>The TeleGPS application provides a graphical user interface for
+interacting with the Altus Metrum product family. TeleGPS can
+monitor telemetry data, configure devices and many other
+tasks. The primary interface window is for displaying data
+received over the telemetry link. There are additional
+tasks available from the main window menu bar.</p>
+</div>
+<div class="sect2">
+<h3 id="_telemetry_monitoring">3.1. Telemetry Monitoring</h3>
+<div class="paragraph">
+<p>This is the window brought up when you start the
+application. If you have a TeleDongle device connected
+to the computer, it will automatically be selected for
+telemetry monitoring</p>
+</div>
+<div class="paragraph">
+<p>All telemetry data received are automatically recorded
+in suitable log files. The name of the files includes
+the current date and TeleGPS serial and flight
+numbers.</p>
+</div>
+<div class="paragraph">
+<p>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. The TeleGPS
+application remembers the last frequency selected for
+each TeleDongle and selects that automatically the
+next time you use that device.</p>
+</div>
+<div class="paragraph">
+<p>Below the TeleDongle frequency selector, the window
+contains a few significant pieces of information about
+the altimeter providing the telemetry data stream:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>The configured call-sign</p>
+</li>
+<li>
+<p>The device serial number</p>
+</li>
+<li>
+<p>The flight number. TeleGPS remembers how many times
+it has flown.</p>
+</li>
+<li>
+<p>The Received Signal Strength Indicator value. This
+lets you know how strong a signal TeleDongle is
+receiving. The radio inside TeleDongle operates down
+to about -100dBm; weaker signals may not be
+receivable. The packet link uses error detection and
+correction techniques which prevent incorrect data
+from being reported.</p>
+</li>
+<li>
+<p>The age of the displayed data, in seconds since the
+last successfully received telemetry packet. In
+normal operation this will stay in the low single
+digits. If the number starts counting up, then you
+are no longer receiving data over the radio link
+from the flight computer.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>Finally, the largest portion of the window contains a set of
+tabs, each of which contain some information about the TeleGPS
+board. The final 'table' tab displays many of the raw telemetry
+values in one place in a spreadsheet-like format.</p>
+</div>
+<div class="sect3">
+<h4 id="_map">3.1.1. Map</h4>
+<div class="paragraph">
+<p>The Map tab shows the TeleGPS track over time
+on top of map data making it easy to locate
+the device.</p>
+</div>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-map.png" alt="telegps map" width="400">
+</div>
+<div class="title">Figure 1. TeleGPS Map View</div>
+</div>
+<div class="paragraph">
+<p>The map’s default scale is approximately 3m
+(10ft) per pixel. The map can be dragged using
+the left mouse button. The map will attempt to
+keep the rocket roughly centered while data is
+being received.</p>
+</div>
+<div class="paragraph">
+<p>You can adjust the style of map and the zoom
+level with buttons on the right side of the
+map window. You can draw a line on the map by
+moving the mouse over the map with a button
+other than the left one pressed, or by
+pressing the left button while also holding
+down the shift key. The length of the line in
+real-world units will be shown at the start of
+the line.</p>
+</div>
+<div class="paragraph">
+<p>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.</p>
+</div>
+<div class="paragraph">
+<p>You can pre-load images for your favorite
+launch sites before you leave home; check out
+<a href="#_load_maps">Load Maps</a>.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_location">3.1.2. Location</h4>
+<div class="paragraph">
+<p>The Location tab shows the raw GPS data
+received from TeleGPS.</p>
+</div>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-location.png" alt="telegps location" width="400">
+</div>
+<div class="title">Figure 2. TeleGPS Location View</div>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_status">3.1.3. Status</h4>
+<div class="paragraph">
+<p>The Status tab shows data relative to the
+location of TeleGPS when the application first
+received telemetry from it.</p>
+</div>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-status.png" alt="telegps status" width="400">
+</div>
+<div class="title">Figure 3. TeleGPS Status View</div>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_table">3.1.4. Table</h4>
+<div class="paragraph">
+<p>The Table tab shows detailed information about
+the GPS receiver</p>
+</div>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-table.png" alt="telegps table" width="400">
+</div>
+<div class="title">Figure 4. TeleGPS Information Table</div>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_telegps_menus">3.2. TeleGPS Menus</h3>
+<div class="paragraph">
+<p>TeleGPS has three or four menus at the top of
+the window:</p>
+</div>
+<div class="dlist">
+<dl>
+<dt class="hdlist1">File</dt>
+<dd>
+<p>New Window, Graph Data, Export Data, Load Maps,
+Preferences, Close and Exit</p>
+</dd>
+<dt class="hdlist1">Monitor</dt>
+<dd>
+<p>Connect Device, Disconnect and Scan Channels</p>
+</dd>
+<dt class="hdlist1">Device</dt>
+<dd>
+<p>Download Data, Configure Device and Flash Device</p>
+</dd>
+<dt class="hdlist1">Frequency</dt>
+<dd>
+<p>This shows the current monitoring frequency with a
+drop-down menu listing other configured
+frequencies. You can change the set of frequencies
+shown here from the Preferences dialog. This menu is
+only shown when the TeleGPS application is connected
+to a TeleDongle or TeleBT device.</p>
+</dd>
+</dl>
+</div>
+<div class="sect3">
+<h4 id="_new_window">3.2.1. New Window</h4>
+<div class="paragraph">
+<p>This creates another telemetry monitoring window, in case
+you have multiple TeleDongle devices connected to the
+computer.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_graph_data">3.3. Graph Data</h3>
+<div class="paragraph">
+<p>The Graph tab shows a plot of the the GPS data
+collected. The X axis is time in seconds; there are a
+variety of Y axes available for different kinds of
+data. This window also allows you to see some
+statistics computed from the data, and an overall map
+of the entire data record.</p>
+</div>
+<div class="sect3">
+<h4 id="_data_graph">3.3.1. Data Graph</h4>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-graph-graph.png" alt="telegps graph graph" width="400">
+</div>
+<div class="title">Figure 5. TeleGPS Graph</div>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_graph_configuration">3.3.2. Graph Configuration</h4>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-graph-configure.png" alt="telegps graph configure" width="400">
+</div>
+<div class="title">Figure 6. TeleGPS Graph Configuration</div>
+</div>
+<div class="paragraph">
+<p>This selects which graph elements to show, and, at the
+bottom, lets you switch between metric and imperial
+units</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_statistics">3.3.3. Statistics</h4>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-graph-stats.png" alt="telegps graph stats" width="400">
+</div>
+<div class="title">Figure 7. TeleGPS Statistics</div>
+</div>
+<div class="paragraph">
+<p>Shows overall data computed from the flight.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_map_2">3.3.4. Map</h4>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-graph-map.png" alt="telegps graph map" width="450">
+</div>
+<div class="title">Figure 8. TeleGPS Map</div>
+</div>
+<div class="paragraph">
+<p>Shows a map of the area overlaid with the GPS track. As with
+the telemetry monitoring window, you can select the style
+of map and zoom level using buttons along the side;
+you can scroll the map by dragging within the map pressing
+the left button and you can draw a line to measure
+distances using either the left button with the shift key,
+or any other button.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_export_data">3.4. Export Data</h3>
+<div class="paragraph">
+<p>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 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.</p>
+</div>
+<div class="sect3">
+<h4 id="_comma_separated_value_format">3.4.1. Comma Separated Value Format</h4>
+<div class="paragraph">
+<p>This is a text file containing the data in a
+form suitable for import into a spreadsheet or
+other external data analysis tool. The first
+few lines of the file contain the version and
+configuration information from TeleGPS, then
+there is a single header line which labels all
+of the fields. All of these lines start with a
+'#' character which many tools can be
+configured to skip over.</p>
+</div>
+<div class="paragraph">
+<p>The remaining lines of the file contain the
+data, with each field separated by a comma and
+at least one space. All of the sensor values
+are converted to standard units, with the
+barometric data reported in both pressure,
+altitude and height above pad units.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_keyhole_markup_language_for_google_earth">3.4.2. Keyhole Markup Language (for Google Earth)</h4>
+<div class="paragraph">
+<p>This is the format used by Google Earth to provide an overlay
+within that application. With this, you can use Google Earth to
+see the whole path in 3D.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_load_maps">3.5. Load Maps</h3>
+<div class="imageblock">
+<div class="content">
+<img src="load-maps.png" alt="load maps" width="500">
+</div>
+<div class="title">Figure 9. Load Maps Window</div>
+</div>
+<div class="paragraph">
+<p>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. Try not to wait
+until the last minute, though, particularly if you’re
+heading to a major launch. If too many people are
+all trying to download map data at once, Google may
+limit access until the next day.</p>
+</div>
+<div class="paragraph">
+<p>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</p>
+</div>
+<div class="paragraph">
+<p>There are four different kinds of maps you can view;
+you can select which to download by selecting as many
+as you like from the available types:</p>
+</div>
+<div class="dlist">
+<dl>
+<dt class="hdlist1">Hybrid</dt>
+<dd>
+<p>A combination of satellite imagery and road data. This
+is the default view.</p>
+</dd>
+<dt class="hdlist1">Satellite</dt>
+<dd>
+<p>Just the satellite imagery without any annotation.</p>
+</dd>
+<dt class="hdlist1">Roadmap</dt>
+<dd>
+<p>Roads, political boundaries and a few geographic
+features.</p>
+</dd>
+<dt class="hdlist1">Terrain</dt>
+<dd>
+<p>Contour intervals and shading that show hills and
+valleys.</p>
+</dd>
+</dl>
+</div>
+<div class="paragraph">
+<p>You can specify the range of zoom levels to download;
+smaller numbers show more area with less
+resolution. The default level, 0, shows about
+3m/pixel. One zoom level change doubles or halves that
+number. Larger zoom levels show more detail, smaller
+zoom levels less.</p>
+</div>
+<div class="paragraph">
+<p>The Map Radius value sets how large an area around the
+center point to download. Select a value large enough
+to cover any plausible flight from that site. Be aware
+that loading a large area with a high maximum zoom
+level can attempt to download a lot of data. Loading
+hybrid maps with a 10km radius at a minimum zoom of -2
+and a maximum zoom of 2 consumes about 120MB of
+space. Terrain and road maps consume about 1/10 as
+much space as satellite or hybrid maps.</p>
+</div>
+<div class="paragraph">
+<p>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.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_preferences">3.6. Preferences</h3>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-preferences.png" alt="telegps preferences" width="230">
+</div>
+<div class="title">Figure 10. TeleGPS Preferences Window</div>
+</div>
+<div class="sect3">
+<h4 id="_voice_settings">3.6.1. Voice Settings</h4>
+<div class="paragraph">
+<p>TeleGPS provides voice announcements during
+flight so that you can keep your eyes on the
+sky and still get information about the
+current flight status. However, sometimes you
+don’t want to hear them.</p>
+</div>
+<div class="dlist">
+<dl>
+<dt class="hdlist1">Enable</dt>
+<dd>
+<p>Turns all voice announcements on and off</p>
+</dd>
+<dt class="hdlist1">Test Voice</dt>
+<dd>
+<p>Plays a short message allowing you to verify
+that the audio system is working and the volume settings
+are reasonable</p>
+</dd>
+</dl>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_log_directory">3.6.2. Log Directory</h4>
+<div class="paragraph">
+<p>TeleGPS logs all telemetry data and saves all
+flash data to this directory. This
+directory is also used as the staring point
+when selecting data files for display or
+export.</p>
+</div>
+<div class="paragraph">
+<p>Click on the directory name to bring up a
+directory choosing dialog, select a new
+directory and click 'Select Directory' to
+change where TeleGPS reads and writes data
+files.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_callsign">3.6.3. Callsign</h4>
+<div class="paragraph">
+<p>This value is transmitted in each command
+packet sent from TeleDongle and received from
+an altimeter. It is not used in telemetry
+mode, as the callsign configured in the
+altimeter board is included in all telemetry
+packets. Configure this with the TeleGPS
+operators call sign as needed to comply with
+your local radio regulations.</p>
+</div>
+<div class="paragraph">
+<p>Note that to successfully command a flight
+computer over the radio (to configure the
+altimeter, monitor idle, or fire pyro
+charges), the callsign configured here must
+exactly match the callsign configured in the
+flight computer. This matching is case
+sensitive.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_imperial_units">3.6.4. Imperial Units</h4>
+<div class="paragraph">
+<p>This switches between metric units (meters)
+and imperial units (feet and miles). This
+affects the display of values use during
+flight monitoring, configuration, data
+graphing and all of the voice
+announcements. It does not change the units
+used when exporting to CSV files, those are
+always produced in metric units.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_serial_debug">3.6.5. Serial Debug</h4>
+<div class="paragraph">
+<p>This causes all communication with a connected
+device to be dumped to the console from which
+TeleGPS was started. If you’ve started it from
+an icon or menu entry, the output will simply
+be discarded. This mode can be useful to debug
+various serial communication issues.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_font_size">3.6.6. Font size</h4>
+<div class="paragraph">
+<p>Selects the set of fonts used in the flight
+monitor window. Choose between the small,
+medium and large sets.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_look_feel">3.6.7. Look & feel</h4>
+<div class="paragraph">
+<p>Switches between the available Java user
+interface appearances. The default selection
+is supposed to match the native window system
+appearance for the target platform.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_menu_position">3.6.8. Menu position</h4>
+<div class="paragraph">
+<p>Selects the initial position for the main
+TeleGPS window that includes all of the
+command buttons.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_map_cache_size">3.6.9. Map Cache Size</h4>
+<div class="paragraph">
+<p>Sets the number of map 'tiles' kept in memory
+while the application is running. More tiles
+consume more memory, but will make panning
+around the map faster.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_manage_frequencies">3.6.10. Manage Frequencies</h4>
+<div class="paragraph">
+<p>This brings up a dialog where you can
+configure the set of frequencies shown in the
+various frequency menus. You can add as many
+as you like, or even reconfigure the default
+set. Changing this list does not affect the
+frequency settings of any devices, it only
+changes the set of frequencies shown in the
+menus.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_close">3.7. Close</h3>
+<div class="paragraph">
+<p>This closes the current window, leaving any other windows
+open and the application running.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_exit">3.8. Exit</h3>
+<div class="paragraph">
+<p>This closes all TeleGPS windows and terminates the
+application.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_connect_device">3.9. Connect Device</h3>
+<div class="paragraph">
+<p>Selecting this item brings up a dialog box listing all
+of the connected TeleDongle devices. When you choose
+one of these, AltosUI will display telemetry data as
+received by the selected TeleDongle device.</p>
+</div>
+<div class="imageblock">
+<div class="content">
+<img src="device-selection.png" alt="device selection" width="300">
+</div>
+<div class="title">Figure 11. Device Selection Dialog</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_disconnect">3.10. Disconnect</h3>
+<div class="paragraph">
+<p>Disconnects the currently connected TeleDongle or
+TeleBT</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_scan_channels">3.11. Scan Channels</h3>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-scan.png" alt="telegps scan" width="300">
+</div>
+<div class="title">Figure 12. Radio Scanning Dialog</div>
+</div>
+<div class="paragraph">
+<p>Scans the configured set of frequencies looking for
+telemetry signals. A list of all of the discovered
+signals is show; selecting one of those and clicking
+on 'Monitor' will select that frequency in the
+associated TeleGPS application window.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_download_data">3.12. Download Data</h3>
+<div class="paragraph">
+<p>TeleGPS records data to its internal flash memory.
+On-board data is recorded at the same rate as
+telemetry but is not subject to radio drop-outs. As
+such, it generally provides a more complete and
+precise record. The 'Download Data' menu entry allows
+you to read the flash memory and write it to disk.</p>
+</div>
+<div class="paragraph">
+<p>Select the 'Download Data' menu entry to bring up a
+list of connected TeleGPS devices. After the device
+has been selected, a dialog showing the data stored in
+the device will be shown allowing you to select which
+entries to download and which to delete. You must
+erase flights in order for the space they consume to
+be reused by another track. This prevents accidentally
+losing data if you neglect to download data before
+starting TeleGPS again. Note that if there is no more
+space available in the device, then no data will be
+recorded.</p>
+</div>
+<div class="paragraph">
+<p>The file name for each data log is computed
+automatically from the recorded date, altimeter serial
+number and flight number information.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_configure_device">3.13. Configure Device</h3>
+<div class="imageblock">
+<div class="content">
+<img src="telegps-configure.png" alt="telegps configure" width="350">
+</div>
+<div class="title">Figure 13. TeleGPS Configuration Dialog</div>
+</div>
+<div class="paragraph">
+<p>Select this button and then select any connected TeleGPS
+device from the list provided.</p>
+</div>
+<div class="paragraph">
+<p>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.</p>
+</div>
+<div class="paragraph">
+<p>At the bottom of the dialog, there are four buttons:</p>
+</div>
+<div class="dlist">
+<dl>
+<dt class="hdlist1">Save</dt>
+<dd>
+<p>This writes any changes to the configuration parameter
+block in flash memory. If you don’t press this button,
+any changes you make will be lost.</p>
+</dd>
+<dt class="hdlist1">Reset</dt>
+<dd>
+<p>This resets the dialog to the most recently saved
+values, erasing any changes you have made.</p>
+</dd>
+<dt class="hdlist1">Reboot</dt>
+<dd>
+<p>This reboots the device. Use this to switch from idle
+to pad mode by rebooting once the rocket is oriented
+for flight, or to confirm changes you think you saved
+are really saved.</p>
+</dd>
+<dt class="hdlist1">Close</dt>
+<dd>
+<p>This closes the dialog. Any unsaved changes will be
+lost.</p>
+</dd>
+</dl>
+</div>
+<div class="paragraph">
+<p>The rest of the dialog contains the parameters to be configured.</p>
+</div>
+<div class="sect3">
+<h4 id="_frequency">3.13.1. Frequency</h4>
+<div class="paragraph">
+<p>This configures which of the frequencies to use for
+both telemetry and packet command mode. Note that if
+you set this value via packet command mode, the
+TeleDongle frequency will also be automatically
+reconfigured to match so that communication will
+continue afterwards.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_rf_calibration">3.13.2. RF Calibration</h4>
+<div class="paragraph">
+<p>The radios in every Altus Metrum device are calibrated
+at the factory to ensure that they transmit and
+receive on the specified frequency. If you need to
+you can adjust the calibration by changing this value.
+Do not do this without understanding what the value
+means, read the appendix on calibration and/or the
+source code for more information. To change a
+TeleDongle’s calibration, you must reprogram the unit
+completely.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_telemetryrdfaprs_enable">3.13.3. Telemetry/RDF/APRS Enable</h4>
+<div class="paragraph">
+<p>Enables the radio for transmission during
+flight. When disabled, the radio will not
+transmit anything during flight at all.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_telemetry_baud_rate">3.13.4. Telemetry baud rate</h4>
+<div class="paragraph">
+<p>This sets the modulation bit rate for data
+transmission for both telemetry and packet
+link mode. Lower bit rates will increase range
+while reducing the amount of data that can be
+sent and increasing battery consumption. All
+telemetry is done using a rate 1/2 constraint
+4 convolution code, so the actual data
+transmission rate is 1/2 of the modulation bit
+rate specified here.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_aprs_interval">3.13.5. APRS Interval</h4>
+<div class="paragraph">
+<p>How often to transmit GPS information via APRS
+(in seconds). When set to zero, APRS
+transmission is disabled.
+Note that a single APRS packet
+takes nearly a full second to transmit, so
+enabling this option will prevent sending any
+other telemetry during that time.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_aprs_ssid">3.13.6. APRS SSID</h4>
+<div class="paragraph">
+<p>Which SSID to report in APRS packets. By
+default, this is set to the last digit of the
+serial number, but can be configured to any
+value from 0 to 9.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_aprs_format">3.13.7. APRS Format</h4>
+<div class="paragraph">
+<p>Whether to send APRS data in Compressed or
+Uncompressed format. Compressed format is
+smaller and more precise. Uncompressed
+format is older, but may work better with your
+device. The Kenwood TH-D72 only displays
+altitude information with Uncompressed
+format, while the Yaesu FT1D only displays
+altitude with Compressed format. Test before
+you fly to see which to use.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_aprs_offset">3.13.8. APRS Offset</h4>
+<div class="paragraph">
+<p>The delay from the top of the minute before sending
+the first APRS packet of the minute. Coordinating
+values for this parameter between multiple devices can
+allow a single receiver to reliably receive APRS
+packets from multiple devices. Note that this offset only
+takes effect while the GPS signal is locked so that the
+transmitting device knows the current time.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_callsign_2">3.13.9. Callsign</h4>
+<div class="paragraph">
+<p>This sets the call sign included in each
+telemetry packet. Set this as needed to
+conform to your local radio regulations.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_logging_trigger_motion">3.13.10. Logging Trigger Motion</h4>
+<div class="paragraph">
+<p>This sets the amount of motion that TeleGPS
+needs to see before logging the new
+position. Motions smaller than this are
+skipped, which saves storage space.</p>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_position_reporting_interval">3.13.11. Position Reporting Interval</h4>
+<div class="paragraph">
+<p>The interval between TeleGPS position reports,
+both over the air and in the log. Increase
+this to reduce the frequency of radio
+transmissions and the length of time available
+in the log.</p>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_flash_device">3.14. Flash Device</h3>
+<div class="paragraph">
+<p>This reprograms TeleGPS devices with new
+firmware. Please read the directions for flashing
+devices in <a href="#_updating_device_firmware">Updating Device Firmware</a>.</p>
+</div>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_telegps_system_operation">Appendix A: TeleGPS System Operation</h2>
+<div class="sectionbody">
+<div class="sect2">
+<h3 id="_gfsk_telemetry">A.1. GFSK Telemetry</h3>
+<div class="paragraph">
+<p>TeleGPS’s native telemetry system doesn’t use a
+'normal packet radio' mode like APRS because it’s not
+very efficient. 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.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_aprs">A.2. APRS</h3>
+<div class="paragraph">
+<p>TeleGPS 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 time within each
+minute that APRS transmits by changing the APRS offset
+value. When the GPS signal is locked and knows the
+current time, the APRS offset selects the time with
+each minute for the first APRS transmission;
+subsequent transmissions occur each APRS interval
+seconds thereafter. You can configure the APRS
+interval and APRS offset using TeleGPS; that
+process is described in <a href="#_configure_device">Configure Device</a>.</p>
+</div>
+<div class="paragraph">
+<p>AltOS supports both compressed and uncompressed APRS
+position report data formats. The compressed format
+provides for higher position precision and shorter
+packets than the uncompressed APRS format. We’ve found
+some older APRS receivers that do not handle the
+compressed format. The Kenwood TH-72A requires the use
+of uncompressed format to display altitude information
+correctly. The Yaesu FT1D requires the use of
+compressed format to display altitude information.</p>
+</div>
+<div class="paragraph">
+<p>APRS packets include an SSID (Secondary Station Identifier)
+field that allows one operator to have multiple
+transmitters. AltOS allows you to set this to a single digit
+from 0 to 9, allowing you to fly multiple transmitters at the
+same time while keeping the identify of each one separate in
+the receiver. By default, the SSID is set to the last digit of
+the device serial number.</p>
+</div>
+<div class="paragraph">
+<p>The APRS packet format includes a comment field that
+can have arbitrary text in it. AltOS uses this to send
+status information as shown in the following table.</p>
+</div>
+<table class="tableblock frame-all grid-all stretch">
+<caption class="title">Table 1. Altus Metrum APRS Comments</caption>
+<colgroup>
+<col style="width: 20%;">
+<col style="width: 20%;">
+<col style="width: 60%;">
+</colgroup>
+<thead>
+<tr>
+<th class="tableblock halign-left valign-top">Field</th>
+<th class="tableblock halign-left valign-top">Example</th>
+<th class="tableblock halign-left valign-top">Description</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">1</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">L</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">GPS Status U for unlocked, L for locked</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">2</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">6</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Number of Satellites in View</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">3</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">B4.0</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Altimeter Battery Voltage</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">4</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">1286</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Device Serial Number</p></td>
+</tr>
+</tbody>
+</table>
+<div class="paragraph">
+<p>Here’s an example of an APRS comment showing GPS lock with 6
+satellites in view and a primary battery at 4.0V from device 1876.</p>
+</div>
+<div class="literalblock">
+<div class="content">
+<pre>L6 B4.0 1876</pre>
+</div>
+</div>
+<div class="paragraph">
+<p>Make sure your primary battery is above 3.8V
+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.</p>
+</div>
+<div class="paragraph">
+<p>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.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_configurable_parameters">A.3. Configurable Parameters</h3>
+<div class="paragraph">
+<p>Configuring TeleGPS is very simple; the few configurable
+parameters can all be set using the TeleGPS application over
+USB. Check out <a href="#_configure_device">Configure Device</a>.</p>
+</div>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_handling_precautions">Appendix B: Handling Precautions</h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>All Altus Metrum products are sophisticated electronic devices.
+When handled gently and properly installed in an air-frame, they
+will deliver impressive results. However, as with all electronic
+devices, there are some precautions you must take.</p>
+</div>
+<div class="admonitionblock warning">
+<table>
+<tr>
+<td class="icon">
+<div class="title">Warning</div>
+</td>
+<td class="content">
+The Lithium Polymer rechargeable batteries have an
+extraordinary power density. This is great because we can fly with
+much less battery mass than if we used alkaline batteries or previous
+generation rechargeable batteries…​ but if they are punctured
+or their leads are allowed to short, they can and will release their
+energy very rapidly!
+Thus we recommend that you take some care when handling our batteries
+and consider giving them some extra protection in your air-frame. We
+often wrap them in suitable scraps of closed-cell packing foam before
+strapping them down, for example.
+</td>
+</tr>
+</table>
+</div>
+<div class="paragraph">
+<p>The barometric sensors used on all of our flight computers are
+sensitive to sunlight. In normal mounting situations, the baro sensor
+and all of the other surface mount components
+are “down” towards whatever the underlying mounting surface is, so
+this is not normally a problem. Please consider this when designing an
+installation in an air-frame with a see-through plastic payload bay. It
+is particularly important to
+consider this with TeleMini v1.0, both because the baro sensor is on the
+“top” of the board, and because many model rockets with payload bays
+use clear plastic for the payload bay! Replacing these with an opaque
+cardboard tube, painting them, or wrapping them with a layer of masking
+tape are all reasonable approaches to keep the sensor out of direct
+sunlight.</p>
+</div>
+<div class="paragraph">
+<p>The barometric sensor sampling port must be able to “breathe”,
+both by not being covered by foam or tape or other materials that might
+directly block the hole on the top of the sensor, and also by having a
+suitable static vent to outside air.</p>
+</div>
+<div class="paragraph">
+<p>As with all other rocketry electronics, Altus Metrum altimeters must
+be protected from exposure to corrosive motor exhaust and ejection
+charge gasses.</p>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_technical_information">Appendix C: Technical Information</h2>
+<div class="sectionbody">
+<div class="sect2">
+<h3 id="_gps_receiver">C.1. GPS Receiver</h3>
+<div class="paragraph">
+<p>TeleGPS uses the u-Blox Max-7Q GPS receiver.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_70cm_transmitter">C.2. 70cm Transmitter</h3>
+<div class="paragraph">
+<p>TeleGPS uses a TI CC115L transmitter. This radio
+produces 10mW of RF output.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_micro_controller">C.3. Micro-controller</h3>
+<div class="paragraph">
+<p>TeleGPS uses an NXP LPC11U14 micro-controller. This
+tiny CPU contains 32kB of flash for the application
+and 4kB of RAM for temporary data storage.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_lithium_polymer_battery">C.4. Lithium Polymer Battery</h3>
+<div class="paragraph">
+<p>Shipping restrictions may prevent us from including a
+battery battery with TeleGPS.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_mechanical_considerations">C.5. Mechanical Considerations</h3>
+<div class="paragraph">
+<p>TeleGPS is designed to be rugged enough for typical
+rocketry applications. The 4 mounting holes on the
+board are sized for use with 4-40 or M3 screws.</p>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_on_board_data_storage">C.6. On-board data storage</h3>
+<div class="paragraph">
+<p>TeleGPS has 2MB of non-volatile storage, separate from
+the code storage memory. The TeleGPS firmware uses
+this to log information during flight.</p>
+</div>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_updating_device_firmware">Appendix D: Updating Device Firmware</h2>
+<div class="sectionbody">
+<div class="paragraph">
+<p>TeleGPS is programmed directly over its USB connectors.</p>
+</div>
+<div class="paragraph">
+<p>You may wish to begin by ensuring you have current firmware images.
+These are distributed as part of the TeleGPS software bundle that
+also includes the TeleGPS ground station program. Newer ground
+station versions typically work fine with older firmware versions,
+so you don’t need to update your devices just to try out new
+software features. You can always download the most recent
+version from <a href="http://www.altusmetrum.org/AltOS/" class="bare">http://www.altusmetrum.org/AltOS/</a></p>
+</div>
+<div class="sect2">
+<h3 id="_updating_telegps_firmware">D.1. Updating TeleGPS Firmware</h3>
+<div class="olist arabic">
+<ol class="arabic">
+<li>
+<p>Attach a battery and power switch to the target
+device. Power up the device.</p>
+</li>
+<li>
+<p>Using a Micro USB cable, connect the target device to
+your computer’s USB socket.</p>
+</li>
+<li>
+<p>Run TeleGPS, and select 'Flash Device' from the
+Device menu.</p>
+</li>
+<li>
+<p>Select the target device in the Device Selection
+dialog.</p>
+</li>
+<li>
+<p>Select the image you want to flash to the device,
+which should have a name in the form
+<product>-v<product-version>-<software-version>.ihx,
+such as TeleGPS-v1.0-1.4.0.ihx.</p>
+</li>
+<li>
+<p>Make sure the configuration parameters are reasonable
+looking. If the serial number and/or RF configuration
+values aren’t right, you’ll need to change them.</p>
+</li>
+<li>
+<p>Hit the 'OK' button and the software should proceed
+to flash the device with new firmware, showing a
+progress bar.</p>
+</li>
+<li>
+<p>Verify that the device is working by using the
+'Configure Device item to check over the
+configuration.</p>
+</li>
+</ol>
+</div>
+</div>
+</div>
+</div>
+<div class="sect1">
+<h2 id="_release_notes">Appendix E: Release Notes</h2>
+<div class="sectionbody">
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_9_4">E.1. Release Notes for Version 1.9.4</h3>
+<div class="paragraph">
+<p>Version 1.9.4</p>
+</div>
+<div class="sect3">
+<h4 id="_altos">E.1.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Fixed firmware for TeleDongle v3.0 and TeleBT v4.0. Version 1.9.3 bricked those
+devices requiring them to be opened up to get them working again.</p>
+</li>
+<li>
+<p>Fixed firmware for EasyMini v1.0. Changes in the storage
+code caused it to use significantly more RAM which made the
+interrupt stack smash into other data structures and cause
+the device to panic at startup time.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui">E.1.2. AltosUI</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Add TeleMetrum v3.0 firmware to the Linux and Mac OSX
+AltosUI packages.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_9_3">E.2. Release Notes for Version 1.9.3</h3>
+<div class="paragraph">
+<p>Version 1.9.3</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_2">E.2.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Add APRS offset. Allows multiple APRS transmitters to coordinate when
+transmission occurs to allow them to share a frequency.</p>
+</li>
+<li>
+<p>Fix max log size. Flight computer storage is erased in 64kB chunks. Adjust max
+log size to be a multiple of this size.</p>
+</li>
+<li>
+<p>Check flight erasing more carefully. Handle interrupting erasing in the
+middle.</p>
+</li>
+<li>
+<p>Add EasyTimer support.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_micropeak">E.2.2. AltosUI, TeleGPS, MicroPeak</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Add configuration support for APRS offset.</p>
+</li>
+<li>
+<p>Adjust flight log sizes to be a multiple of the flight
+computer erase block size.</p>
+</li>
+<li>
+<p>Report barometric pad altitude in Pad tab for TeleMini.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_9_1">E.3. Release Notes for Version 1.9.1</h3>
+<div class="paragraph">
+<p>Version 1.9.1</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_3">E.3.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleMetrum v3.0</p>
+</li>
+<li>
+<p>Fix accel cal value when changing EasyMega v2.0 pad orientation</p>
+</li>
+<li>
+<p>Correct EasyMega v2.0 magnetometer data axes</p>
+</li>
+<li>
+<p>Fix EasyMega v2.0 idle monitor display of IMU data</p>
+</li>
+<li>
+<p>Report all sensor failures at power-up time.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_micropeak_2">E.3.2. AltosUI, TeleGPS, MicroPeak</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Display error message when attempting to graph unknown format file.</p>
+</li>
+<li>
+<p>Make it possible to disable APRS once enabled.</p>
+</li>
+<li>
+<p>Display some data for point near cursor in map tab.</p>
+</li>
+<li>
+<p>Support upgrading devices from pre-1.8 firmware</p>
+</li>
+<li>
+<p>Wait for Windows to prepare new devices during firmware
+upgrade. This should avoid the “COMxx: open failed” message.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_9">E.4. Release Notes for Version 1.9</h3>
+<div class="paragraph">
+<p>Version 1.9</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_4">E.4.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for EasyMega v2.0</p>
+</li>
+<li>
+<p>Replace C library for ARM devices</p>
+</li>
+<li>
+<p>Remove support for 8051-based devices and SDCC compiler</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_micropeak_3">E.4.2. AltosUI, TeleGPS, MicroPeak</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Select ROM images based on product name when reflashing</p>
+</li>
+<li>
+<p>Fix TeleGPS v2 battery voltage display</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_7">E.5. Release Notes for Version 1.8.7</h3>
+<div class="paragraph">
+<p>Version 1.8.7</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_5">E.5.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Include TeleMega v3.0 firmware</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_micropeak_4">E.5.2. AltosUI, TeleGPS, MicroPeak</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Poll for new devices while Device dialog is displayed</p>
+</li>
+<li>
+<p>Wait for device to re-appear when flashing new firmware</p>
+</li>
+<li>
+<p>Fetch correct TeleBT v4.0 RF calibration values from web
+site when reflashing.</p>
+</li>
+<li>
+<p>Change gyro headings in .csv files from x/y/z to
+roll/pitch/yaw</p>
+</li>
+<li>
+<p>Add documentation about Packet Link mode</p>
+</li>
+<li>
+<p>Add documentation about forcing TeleMini RF parameters to
+known values.</p>
+</li>
+<li>
+<p>Create a proxy server for Google Maps to re-enable map
+images</p>
+</li>
+<li>
+<p>Fix Java version info in all distributed jar files so that
+applications will run with standard Mac OS X Java.</p>
+</li>
+<li>
+<p>Replace JavaApplicationStub for Mac OS X so that
+applications will run with Oracle Java.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_6">E.6. Release Notes for Version 1.8.6</h3>
+<div class="paragraph">
+<p>Version 1.8.6</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_6">E.6.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Use maximum of 64 previous tilt values in pyro tilt tests</p>
+</li>
+<li>
+<p>Eliminate 100m height requirement for coast detection</p>
+</li>
+<li>
+<p>Change After Motor pyro check to be >= instead of ==</p>
+</li>
+<li>
+<p>Change Time since Boost to be Time since launch.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps">E.6.2. AltosUI, TeleGPS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Clarify pyro test phrasing</p>
+</li>
+<li>
+<p>Remove ascending/descending from pyro config UI</p>
+</li>
+<li>
+<p>Fix accel calibration in Antenna Down mode</p>
+</li>
+<li>
+<p>Add mag sensor reporting for TeleMega v3 idle monitoring.</p>
+</li>
+<li>
+<p>Fix radio parameter saving at 2400 bps telmetry rate.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_micropeak">E.6.3. MicroPeak</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Report altimeter-recorded maximum height value</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_5">E.7. Release Notes for Version 1.8.5</h3>
+<div class="paragraph">
+<p>Version 1.8.5 includes fixes to the ground software support
+for TeleBT v4, along with a few other minor updates.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_7">E.7.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix startup beeps that indicate sensor failures.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_2">E.7.2. AltosUI, TeleGPS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>When updating device firmware, make sure selected firmware
+matches target device.</p>
+</li>
+<li>
+<p>Correct Bluetooth device matching when looking for TeleBT
+devices.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_4">E.8. Release Notes for Version 1.8.4</h3>
+<div class="paragraph">
+<p>Version 1.8.4 includes support for EasyMini version 2.0</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_8">E.8.1. AltOS</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Support for EasyMini version 2.0 hardware.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_3">E.9. Release Notes for Version 1.8.3</h3>
+<div class="paragraph">
+<p>Version 1.8.3 includes support for TeleMega version 3.0 along
+with two important flight computer fixes. This version also
+changes KML export data to make Tripoli Record reporting
+better and some updates to graph presentation and data
+downloading.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_9">E.9.1. AltOS</h4>
+<div class="sect4">
+<h5 id="_altos_new_features">AltOS New Features</h5>
+<div class="ulist">
+<ul>
+<li>
+<p>Support for TeleMega version 3.0 hardware.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect4">
+<h5 id="_altos_bug_fixes">AltOS Bug Fixes</h5>
+<div class="ulist">
+<ul>
+<li>
+<p>Ground testing EasyMega and TeleMega additional pyro
+channels could result in a sticky 'fired' status which would
+prevent these channels from firing on future flights.</p>
+</li>
+<li>
+<p>Corrupted flight log records could prevent future flights
+from capturing log data.</p>
+</li>
+<li>
+<p>Fixed saving of pyro configuration that ended with
+'Descending'.</p>
+</li>
+</ul>
+</div>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications">E.9.2. AltosUI and TeleGPS Applications</h4>
+<div class="sect4">
+<h5 id="_altosui_new_features">AltosUI New Features</h5>
+<div class="ulist">
+<ul>
+<li>
+<p>Support for TeleMega version 3.0.</p>
+</li>
+<li>
+<p>Graph lines have improved appearance to make them easier to
+distinguish. Markers may be placed at data points to show
+captured recorded data values.</p>
+</li>
+<li>
+<p>Graphing offers the ability to adjust the smoothing of
+computed speed and acceleration data.</p>
+</li>
+<li>
+<p>The download dialog now offers to graph new flights, checks
+for existing files to avoid overwriting data and reports if
+there are checksum errors in the downloaded data.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect4">
+<h5 id="_altosuitelegps_bug_fixes">AltosUI/TeleGPS Bug Fixes</h5>
+<div class="ulist">
+<ul>
+<li>
+<p>Restore TeleGPS tracking behavior.</p>
+</li>
+<li>
+<p>Display flight computer call sign and serial number in
+Monitor Idle mode instead of ground station values.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect4">
+<h5 id="_altosui_and_telegps_changes">AltosUI and TeleGPS Changes</h5>
+<div class="ulist">
+<ul>
+<li>
+<p>KML export now reports both barometric and GPS altitude data
+to make it more useful for Tripoli record reporting.</p>
+</li>
+<li>
+<p>CSV export now includes TeleMega/EasyMega pyro voltages and
+tilt angle.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_2">E.10. Release Notes for Version 1.8.2</h3>
+<div class="paragraph">
+<p>Version 1.8.2 includes support for TeleGPS version 2.0 along
+with accelerometer recalibration support in AltosUI.</p>
+</div>
+<div class="paragraph">
+<p>1.8.2 also contains a couple of minor fixes for AltosUI when
+analyzing saved data files.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_10">E.10.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Support for TeleGPS version 2.0 hardware.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_2">E.10.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI and TeleGPS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Support for TeleGPS version 2.0.</p>
+</li>
+<li>
+<p>Accelerometer re-calibration user interface.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI and TeleGPS Bug Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Prevent some crashes when reading older saved flight data
+for graphing or KML export.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8_1">E.11. Release Notes for Version 1.8.1</h3>
+<div class="paragraph">
+<p>Version 1.8.1 includes an important bug fix for Apogee Lockout
+operation in all flight computers. Anyone using this option
+must update firmware.</p>
+</div>
+<div class="paragraph">
+<p>This release also contains a change in how flight computers
+with accelerometers deal with speeds around and above Mach
+1. In previous versions, the flight computer would completely
+disregard the barometric sensor above 330m/s (around Mach
+1). Now, the data from the barometric sensor is reduced in
+effect without ever going away entirely. This prevents early
+drogue deployment for flights which spend considerable time
+above Mach 1.</p>
+</div>
+<div class="paragraph">
+<p>1.8.1 also contains a couple of minor fixes for AltosUI when
+analyzing saved data files.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_11">E.11.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS Bug Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Handle time value wrapping in Apogee Lockout
+correctly. Without this, apogee lockout would sometimes
+prevent any drogue charge from firing.</p>
+</li>
+<li>
+<p>Change Kalman filter on flight computers with accelerometer
+to continue using the barometric sensor even at high speeds
+to avoid unintentional drogue deployment during
+deceleration.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_3">E.11.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add new 'Huge' font size to make text even bigger on high
+resolution monitors.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI Bug Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Prevent some crashes when reading older saved flight data
+for graphing or KML export.</p>
+</li>
+<li>
+<p>Load frequency preference at startup. The loading code was
+broken, so you’d see only the default frequencies.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_8">E.12. Release Notes for Version 1.8</h3>
+<div class="paragraph">
+<p>Version 1.8 includes support for our new TeleBT v4.0 ground
+station, updates for data analysis in our ground station
+software and bug fixes in in the flight software for all our
+boards and ground station interfaces.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_12">E.12.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleBT v4.0 boards.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_4">E.12.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleBT v4.0 hardware</p>
+</li>
+<li>
+<p>Rewrite graphing and export functions. This code now handles
+each data series separately so that graphs are drawn
+correctly. Smoothing now uses a filter that looks both
+forward and backwards in time to make computed speed and
+acceleration data more accurate.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI Bug Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Correct axis labeling of magnetic sensor in TeleMega and
+EasyMega. The Y and Z axes were flipped.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_7">E.13. Release Notes for Version 1.7</h3>
+<div class="paragraph">
+<p>Version 1.7 includes support for our new TeleMini v3.0
+flight computer and bug fixes in in the flight software for all our boards
+and ground station interfaces.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_13">E.13.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleMini v3.0 boards.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix interrupt priorities on STM32L processors. Run timer
+interrupt at lowest priority so that device interrupts get
+serviced first.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_5">E.13.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleMini v3.0 hardware</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6_8">E.14. Release Notes for Version 1.6.8</h3>
+<div class="paragraph">
+<p>Version 1.6.8 fixes a TeleMega and TeleMetrum v2.0 bug where
+the device could stop logging data and transmitting
+telemetry in flight. All TeleMega v1.0, v2.0 and TeleMetrum
+v2.0 users should update their flight firmware.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_14">E.14.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix STM32L DMA driver to work around STM32L SoC DMA priority
+issue t lock-up in the logging or radio code, either of
+which could stop data logging and telemetry.</p>
+</li>
+<li>
+<p>Avoid having TeleBT battery status values smash telemetry
+packet data by holding a lock during both operations.</p>
+</li>
+<li>
+<p>Don’t start reporting 'flight 0' when the log fills in
+flight.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS changes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Flash LEDS on all products briefly during power up so that
+they can be tested during production.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_and_altosdroid_applications">E.14.2. AltosUI, TeleGPS and AltosDroid Applications</h4>
+<div class="paragraph">
+<p>AltosUI fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Re-enable go/no-go entries after they’ve been disabled due
+to lack of data. If telemetry information is delayed when
+the Ui starts up, sometimes important fields would get
+disabled to never re-appear.</p>
+</li>
+<li>
+<p>Deal with ground station failure better during Configure
+Ground Station operation by cleaning up pending operations.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6_5">E.15. Release Notes for Version 1.6.5</h3>
+<div class="paragraph">
+<p>Version 1.6.5 fixes a TeleMega and TeleMetrum v2.0 bug where
+the device would often stop logging data and transmitting
+telemetry in flight. All TeleMega v1.0, v2.0 and TeleMetrum
+v2.0 users should update their flight firmware.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_15">E.15.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix STM32L SPI driver to prevent lock-up in the logging or
+radio code, either of which could stop data logging and
+telemetry. Found and characterized by Chuck Haskin, who also
+tested the new firmware before release.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_and_altosdroid_applications_2">E.15.2. AltosUI, TeleGPS and AltosDroid Applications</h4>
+<div class="paragraph">
+<p>AltosUI fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Deliver firmward for TeleMega v2.0 and TeleBT v3.0 with
+Windows package.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6_4">E.16. Release Notes for Version 1.6.4</h3>
+<div class="paragraph">
+<p>Version 1.6.4 fixes a bluetooth communication problem with
+TeleBT v1.0 devices, along with some altosui and altosdroid
+minor nits. It also now ships firmware for some newer devices.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_16">E.16.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix hardware flow control on TeleBT v1.0. Hardware RTS/CTS
+doesn’t seem to work, switch from using the hardware to
+driving these pins with software.</p>
+</li>
+<li>
+<p>Fix ARM USB drivers to deal with OS restarts. Needed to
+reset all USB-related state when the USB bus is reset. These
+fixes affect all STM32L, STM32F0 and LPC11U14 based devices.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_telegps_and_altosdroid_applications_3">E.16.2. AltosUI, TeleGPS and AltosDroid Applications</h4>
+<div class="paragraph">
+<p>AltosUI, TeleGPS and AltosDroid New Features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Automatically switch from meters or feet to kilometers or
+miles for distance units.</p>
+</li>
+<li>
+<p>Add Monitor Idle mode to TeleGPS application.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI, TeleGPS and AltosDroid Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Abort map preloading when the preload map dialog is closed.</p>
+</li>
+<li>
+<p>In AltosDroid, Don’t reconnect to last device if the user
+had disconnected it the last time the application was
+active.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_documentation">E.16.3. Documentation</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Mention TeleMega v2.0 in hardware specs table.</p>
+</li>
+<li>
+<p>Document TeleGPS RF output in telegps manual.</p>
+</li>
+</ul>
+</div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6_3">E.17. Release Notes for Version 1.6.3</h3>
+<div class="paragraph">
+<p>Version 1.6.3 adds idle mode to AltosDroid and has bug fixes
+for our host software on desktops, laptops an android devices
+along with BlueTooth support for Windows.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_17">E.17.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix hardware flow control on TeleBT v3.0. RTS/CTS is
+wired backwards on this board, switch from using the
+hardware to driving these pins with software.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_6">E.17.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI and TeleGPS New Features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add BlueTooth support for Windows operating system. This
+supports connections to TeleBT over BlueTooth rather than
+just USB.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI and TeleGPS Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Change Java detection and install on Windows. Detection is
+now done by looking for the 'javaw.exe' program, and
+installation by opening a browser on the java.com web site.</p>
+</li>
+<li>
+<p>Delay polling while the Fire Igniters is visible to allow
+for TeleMega to report back complete status over the radio.</p>
+</li>
+<li>
+<p>Disallow changing RF calibration numbers in the
+configuration UI. There’s no good reason to change this from
+the field, and recovering is really hard if you haven’t
+written down the right number.</p>
+</li>
+<li>
+<p>Fix USB device discovery on Mac OS X El Capitan. This makes
+the connected Altus Metrum USB devices appear again.</p>
+</li>
+<li>
+<p>Fix acceleration data presented in MonitorIdle mode for
+TeleMetrum v2.0 flight computers.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosdroid">E.17.3. AltosDroid</h4>
+<div class="paragraph">
+<p>AltosDroid new features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Monitor Idle mode. Check state of flight computer while in
+idle mode over the radio link</p>
+</li>
+<li>
+<p>Fire Igniters. Remotely fire ignires for recovery system
+ground tests.</p>
+</li>
+<li>
+<p>Remote reboot. Cause the flight computer to reboot over the
+radio link. This provides a method for switching the flight
+computer from idle to flight mode without needing to reach
+the power switch.</p>
+</li>
+<li>
+<p>Configurable frequency menu. Change the set of available
+frequencies and provide more descriptive names.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosDroid bug fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Don’t set target location if GPS hasn’t locked yet.</p>
+</li>
+<li>
+<p>Fix saving target states so they can be reloaded when the
+application restarts. When the application is shut down and
+restarted, all previous target state information will be
+restored (including GPS position if available).</p>
+</li>
+<li>
+<p>Fix crash on some Android devices for offline maps when
+changing the map scale or location.</p>
+</li>
+<li>
+<p>Don’t require USB OTG support. This kept the latest
+AltosDroid from being offered on devices without USB device
+support, although it can work without that just fine using
+BlueTooth.</p>
+</li>
+<li>
+<p>Don’t require bluetooth to be enabled. This allows the
+application to operate with USB devices or just show old
+data without turning on the bluetooth radio.</p>
+</li>
+<li>
+<p>Recover old tracker positions when restarting
+application. This finally allows you to safely stop and
+restart the application without losing the last known
+location of any tracker.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_documentation_2">E.17.4. Documentation</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>Document TeleMega and EasyMega additional pyro channel
+continuity audio alert pattern.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6_2">E.18. Release Notes for Version 1.6.2</h3>
+<div class="paragraph">
+<p>Version 1.6.2 includes support for our updated TeleMega v2.0
+product and bug fixes in in the flight software for all our boards
+and ground station interfaces.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_18">E.18.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleMega v2.0 boards.</p>
+</li>
+<li>
+<p>Add PWM servo driver. There’s no higher level code using
+this yet, but the driver allows testing of the TeleMega v2.0
+servo output connector.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Slow down telemetry packets to allow receiver to keep
+up.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_7">E.18.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI and TeleGPS Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix post-flight orientation computation when processing
+TeleMega and EasyMega eeprom data files.</p>
+</li>
+<li>
+<p>Capture complete eeprom data even when there are invalid
+entries in the data. This keeps reading eeprom contents and
+writing the associated .eeprom file when an error is detected.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_documentation_3">E.18.3. Documentation</h4>
+<div class="paragraph">
+<p>We spent a bunch of time trying to improve our documentation</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>HTML versions now have a table of contents on the left side.</p>
+</li>
+<li>
+<p>EasyMini now has its own shorter manual.</p>
+</li>
+<li>
+<p>Provide links between sections in each document.</p>
+</li>
+<li>
+<p>Lots of minor rewriting and restructuring to avoid
+duplication of information</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6_1">E.19. Release Notes for Version 1.6.1</h3>
+<div class="paragraph">
+<p>Version 1.6.1 includes support for our updated TeleBT v3.0
+product and bug fixes in in the flight software for all our boards
+and ground station interfaces.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_19">E.19.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleBT v3.0 boards.</p>
+</li>
+<li>
+<p>Add support for uncompressed APRS data, providing support
+for older APRS receivers. Uncompressed APRS data is less
+precise, takes more bandwidth and doesn’t have integrated
+altitude data.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Make TeleDongle and TeleBT more tolerant of data rate
+variations from transmitting devices.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_8">E.19.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI and TeleGPS New Features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add map to Monitor Idle display. It’s nice to be able to
+verify that maps are working, instead of needing to use
+Monitor Flight.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI and TeleGPS Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Fix frequency configuration to round values instead of
+truncate them, avoiding a common 1kHz error in the setting.</p>
+</li>
+<li>
+<p>Turn the Windows stub into a more useful program that can
+launch the application with parameters so that file manager
+icons work more reliably.</p>
+</li>
+<li>
+<p>Force KML export to use a C locale so that numbers are
+formatted with '.' instead of ',' for a decimal separator in
+non-US locales.</p>
+</li>
+<li>
+<p>Preload map tiles based on distance rather than number of
+tiles; this means you get the same resolution covering the
+entire area, rather than having high resolution near the
+center and low resolution further away.</p>
+</li>
+<li>
+<p>Allow configuration of frequency and callsign in Monitor
+Idle mode.</p>
+</li>
+<li>
+<p>Fix layout weirdness when resizing windows on
+Windows. Windows shouldn’t have giant blank spaces around
+the useful content anymore.</p>
+</li>
+<li>
+<p>Fix layout weirdness when resizing windows on
+Windows. Windows shouldn’t have giant blank spaces around
+the useful content anymore.</p>
+</li>
+<li>
+<p>Use a longer filter for descent speed values. This should
+provide something more useful on the display, although it
+will take longer to respond to changes now.</p>
+</li>
+<li>
+<p>Make Replay Flight run in realtime again. It had been set to
+run at 10x speed by mistake.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosdroid_2">E.19.3. AltosDroid</h4>
+<div class="paragraph">
+<p>AltosDroid New Features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add offline map support using mapping code from AltosUI.</p>
+</li>
+<li>
+<p>Support TeleDongle (and TeleBT via USB) on devices
+supporting USB On-The-Go.</p>
+</li>
+<li>
+<p>Display additional TeleMega pyro channel status in Pad tab.</p>
+</li>
+<li>
+<p>Switch between metric and imperial units.</p>
+</li>
+<li>
+<p>Monitor TeleBT battery voltage.</p>
+</li>
+<li>
+<p>Track multiple devices at the same time, selecting between
+them with a menu or using the map.</p>
+</li>
+<li>
+<p>Add hybrid, satellite and terrain map types.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosDroid Fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Use standard Android display conventions so that a menu
+button is available in the application title bar.</p>
+</li>
+<li>
+<p>Adjust layout to work on large and small screens; shrinking
+the go/no-go lights in smaller environments to try and make
+everything visible.</p>
+</li>
+<li>
+<p>Make voice announcements depend on current tab.</p>
+</li>
+<li>
+<p>Compute adjustment to current travel direction while in
+motion towards rocket.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_6">E.20. Release Notes for Version 1.6</h3>
+<div class="paragraph">
+<p>Version 1.6 includes support for our updated TeleDongle v3.0
+product and bug fixes in in the flight software for all our boards
+and ground station interfaces.</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_20">E.20.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleDongle v3.0 boards.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Don’t beep out the continuity twice by accident in idle mode.
+If the battery voltage report takes longer than the initialiation
+sequence, the igniter continuity would get reported twice.</p>
+</li>
+<li>
+<p>Record all 32 bits of gyro calibration data in TeleMega and
+EasyMega log files. This fixes computation of the gyro rates
+in AltosUI.</p>
+</li>
+<li>
+<p>Change TeleDongle LED usage. Green LED flashes when valid
+packet is received. Red LED flashes when invalid packet is
+received.</p>
+</li>
+<li>
+<p>Replace LPC11U14 SPI driver with non-interrupt version. The
+interrupt code would occasionally wedge on long transfers
+if interrupts were blocked for too long. This affects all
+released TeleGPS products; if you have a TeleGPS device,
+you’ll want to reflash the firmware.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_9">E.20.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI and TeleGPS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Compute tilt angle from TeleMega and EasyMega log
+files. This duplicates the quaternion-based angle tracking
+code from the flight firmware inside the ground station
+software so that post-flight analysis can include evaluation
+of the tilt angle.</p>
+</li>
+<li>
+<p>Shows the tool button window when starting with a data file
+specified. This means that opening a data file from the file
+manager will now bring up the main window to let you operate
+the whole application.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Show the 'Connecting' dialog when using Monitor Idle. Lets
+you cancel the Monitor Idle startup when connecting over the
+radio link.</p>
+</li>
+<li>
+<p>Make 'Monitor Idle' work for TeleGPS devices when connected
+over USB. It’s nice for testing without needing to broadcast
+over the radio.</p>
+</li>
+<li>
+<p>Use different Windows API to discover USB devices. This
+works better on my Windows 7 box, and will be used if the
+older API fails to provide the necessary information.</p>
+</li>
+<li>
+<p>Look in more places in the registry to try and identify the
+installed Java version on Windows. If you install the
+default 32-bit version of Windows on a 64-bit OS, the Java
+registry information is hiding \SOFTWARE\Wow6432Node for
+some reason.</p>
+</li>
+<li>
+<p>Fix file association on Windows by searching for the
+javaw.exe program instead of assuming it is in
+%SYSTEMROOT%. This makes double-clicking on Altus Metrum
+data files in the file manager work correctly.</p>
+</li>
+<li>
+<p>When replaying a file, put 'done' in the Age field when we
+reach the end of the file, instead of continuing to count forever.</p>
+</li>
+<li>
+<p>In the Scan Channels code, wait for five seconds if we see
+any packet. This is needed because AltOS now sends the
+callsign, serial number and flight number only once every
+five seconds these days.</p>
+</li>
+<li>
+<p>In the Scan Channels code, reset pending flight state
+information each time we change channels. This avoids having
+flight computers appear on multiple frequencies by accident.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_5">E.21. Release Notes for Version 1.5</h3>
+<div class="paragraph">
+<p>Version 1.5 is a major release. It includes support for our new
+EasyMega product, new features and bug fixes in in the flight
+software for all our boards and the AltosUI ground station</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_21">E.21.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for EasyMega boards.</p>
+</li>
+<li>
+<p>Make the APRS SSID be configurable. This lets you track
+different rockets on the same receiver without getting
+things mixed up.</p>
+</li>
+<li>
+<p>Report extra pyro channel continuity state on EasyMega and
+TeleMega via the beeper. This lets you easily verify flight
+readiness on these boards after powering up the electronics
+on the rail.</p>
+</li>
+<li>
+<p>Add lower telemetry data rates (2400 and 9600 bps) to
+increase telemetry radio range. This reduces the amount of
+data received as well as increasing battery consumption in
+the transmitter.</p>
+</li>
+<li>
+<p>Change TeleGPS to have only a single log, and append new
+data to it rather than using seperate per-flight logs. This
+avoids accidentally filling up log storage by turning
+TeleGPS on/off several times.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Increase the maximum range for altitude values from +/-32767m
+to +/-2147483647m, allowing the flight computers to function
+correctly above the 32km level.</p>
+</li>
+<li>
+<p>Continuously test pyro firing conditions during delay stage,
+inhibiting the pyro channel if the test fails. This prevents
+firing pyro charges where the conditions were good before
+the delay, but become bad before the delay expires.</p>
+</li>
+<li>
+<p>Allow negative numbers in pyro configuration values. This
+lets you specify things like descending speed or
+deceleration.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_10">E.21.2. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>AltosUI and TeleGPS New Features</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Support telemetry baud rate selection. Adds menus to
+the flight monitoring and configuration for baud rate
+selection.</p>
+</li>
+<li>
+<p>Support APRS SSID configuration.</p>
+</li>
+<li>
+<p>Integrate with file managers. This provides icons for all of
+our file types and associates our application with the files
+so that using a file manager to open a AltOS data file
+results in launching our application.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Make the 'Graph' button on the landed tab work again.</p>
+</li>
+<li>
+<p>Make tests for Java on Windows a bit smarter, and also
+provide the user with the option to skip installing Java for
+cases where we just can’t figure out what version is installed.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_4_2">E.22. Release Notes for Version 1.4.2</h3>
+<div class="paragraph">
+<p>Version 1.4.2 is a minor release. It fixes Java-related install issues on
+Windows</p>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_11">E.22.1. AltosUI and TeleGPS Applications</h4>
+<div class="paragraph">
+<p>Windows Install Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Checks for Java installation data in more registry locations.</p>
+</li>
+<li>
+<p>Allows user to bypass Java installation in case the
+detection fails.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_4_1">E.23. Release Notes for Version 1.4.1</h3>
+<div class="paragraph">
+<p>Version 1.4.1 is a minor release. It fixes install issues on
+Windows and provides the missing TeleMetrum V2.0 firmware. There
+aren’t any changes to the firmware or host applications at
+all. All Windows users will want to upgrade to get the signed
+driver, but Mac and Linux users who do not need the TeleMetrum
+V2.0 firmware image will not need to upgrade.</p>
+</div>
+<div class="sect3">
+<h4 id="_altosui_and_telegps_applications_12">E.23.1. AltosUI and TeleGPS Applications:</h4>
+<div class="paragraph">
+<p>Windows Install Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Provide signed Windows driver files. This should avoid any need to
+disable driver signature checking on Windows 7 or 8.</p>
+</li>
+<li>
+<p>Fix Java version detection and download. Previously, the
+installer would only look for Java 6 or 7 and insist on
+downloading its own Java bits if there was something else
+installed. Furthermore, the 64-bit Java link provided didn’t
+work for anyone other than Keith, making it impossible to
+install AltOS on any machine with Java SE 8 installed.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>Other Fixes</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Include 1.4 firmware for TeleMetrum V2.0. None of the
+installers shipped this file. Now it’s included in the AltOS
+packages for Linux, Mac and Windows.</p>
+</li>
+<li>
+<p>Include Google Application Key for map downloading. The 1.4
+release didn’t have this key in the released version of the
+software, making map downloading fail for most people.</p>
+</li>
+</ul>
+</div>
+<div style="page-break-after: always;"></div>
+</div>
+</div>
+<div class="sect2">
+<h3 id="_release_notes_for_version_1_4">E.24. Release Notes for Version 1.4</h3>
+<div class="paragraph">
+<p>Version 1.4 is a major release. It includes support for our new
+TeleGPS product, new features and bug fixes in in the flight
+software for all our boards and the AltosUI ground station</p>
+</div>
+<div class="sect3">
+<h4 id="_altos_22">E.24.1. AltOS</h4>
+<div class="paragraph">
+<p>AltOS new features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add support for TeleGPS boards.</p>
+</li>
+<li>
+<p>Make the beeper tone configurable, making it
+possible to distinguish between two Altus Metrum
+products in the same ebay.</p>
+</li>
+<li>
+<p>Make the firing time for extra pyro channels
+configurable, allowing longer (or shorter) than the
+default 50ms. Only relevant for TeleMega at this
+time.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltOS fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Replace the 'dit dit dit' tones at startup with the
+current battery voltage, measured in tenths of a
+volt. This lets you check the battery voltage
+without needing telemetry, which is especially
+useful on EasyMini.</p>
+</li>
+<li>
+<p>Change state beeping to "Farnsworth spacing", which
+means they’re quite a bit faster than before, and so
+they take less time to send.</p>
+</li>
+<li>
+<p>Fix bug preventing the selection of the 'Flight
+State After' mode in pyro configuration.</p>
+</li>
+<li>
+<p>Fix bug where erasing flights would reset the flight
+number to 2 on TeleMega and TeleMetrum v2.</p>
+</li>
+<li>
+<p>Fix u-Blox GPS driver to mark course and speed data
+as being present.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_altosui_application">E.24.2. AltosUI Application</h4>
+<div class="paragraph">
+<p>AltosUI new features:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Add zooming and new content types (terrain and road
+maps) to map view. Change map storage format from
+PNG to Jpeg, which saves a huge amount of disk
+space. You will need to re-download all of your
+pre-loaded map images.</p>
+</li>
+<li>
+<p>Add a distance measuring device to the maps
+view. Select this by using any button other than the
+left one, or by pressing shift or control on the
+keyboard while using the left button.</p>
+</li>
+<li>
+<p>Add new 'Ignitor' tab to the flight monitor display
+for TeleMega’s extra ignitors.</p>
+</li>
+<li>
+<p>Add additional ignitor firing marks and voltages to
+the graph so you can see when the ignitors fired,
+along with the ignitor voltages.</p>
+</li>
+<li>
+<p>Add GPS course, ground speed and climb rate as
+optional graph elements.</p>
+</li>
+</ul>
+</div>
+<div class="paragraph">
+<p>AltosUI fixes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>When flashing new firmware, re-try opening the
+device as sometimes it takes a while for the
+underlying operating system to recognize that the
+device has rebooted in preparation for the flashing
+operation.</p>
+</li>
+<li>
+<p>Hide Tilt Angle in ascent tab for devices that don’t
+have a gyro.</p>
+</li>
+<li>
+<p>Increase the width of data lines in the graphs to
+make them easier to read.</p>
+</li>
+<li>
+<p>Filter out speed and acceleration spikes caused by
+ejection charge firing when computing the maximum
+values. This provides a more accurate reading of
+those maximums.</p>
+</li>
+<li>
+<p>Fix EasyMini voltage displays. Early EasyMini
+prototypes used a 3.0V regulator, and AltosUI still
+used that value as the basis of the
+computation. Production EasyMini boards have always
+shipped with a 3.3V regulator. Also, purple EasyMini
+boards sensed the battery voltage past the blocking
+diode, resulting in a drop of about 150mV from the
+true battery voltage. Compensate for that when
+displaying the value.</p>
+</li>
+<li>
+<p>Display error message when trying to configure
+maximum flight log size while the flight computer
+still has flight data stored.</p>
+</li>
+<li>
+<p>Handle TeleMetrum and TeleMini eeprom files
+generated with pre-1.0 firmware. Those ancient
+versions didn’t report the log format, so just use
+the product name instead.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_telegps_application_2">E.24.3. TeleGPS Application</h4>
+<div class="ulist">
+<ul>
+<li>
+<p>New application designed for use with TeleGPS boards.</p>
+</li>
+<li>
+<p>Shares code with AltosUI, mostly just trimmed down
+to focus on TeleGPS-related functions.</p>
+</li>
+</ul>
+</div>
+</div>
+<div class="sect3">
+<h4 id="_documentation_4">E.24.4. Documentation</h4>
+<div class="paragraph">
+<p>Documentation changes:</p>
+</div>
+<div class="ulist">
+<ul>
+<li>
+<p>Re-create the drill template images; they should
+print correctly from Firefox at least. Ship these as
+individual PDF files so they’re easy to print.</p>
+</li>
+<li>
+<p>Add a description of the 'Apogee Lockout' setting,
+which prevents the apogee charge from firing for a
+configurable amount of time after boost.</p>
+</li>
+</ul>
+</div>
+</div>
+</div>
+</div>
+</div>
+</div>
+<div id="footer">
+<div id="footer-text">
+Version v1.9.4<br>
+Last updated 2020-07-02 20:34:31 -0600
+</div>
+</div>
+</body>
+</html>
\ No newline at end of file
projects / web / altusmetrum / blobdiff