diff options
| author | Bdale Garbee <bdale@gag.com> | 2010-11-12 17:32:21 -0700 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2010-11-12 17:32:21 -0700 |
| commit | f1118717780a81f9257d2eed7828b66538deb8a8 (patch) | |
| tree | d6d7d6bae7001c5e089be71cd415347488305fd4 | |
| parent | 7def9dd0d0a4ce9cf7c65de573100e664f278717 (diff) | |
fold in content from Keith's email on the re-flashing subject
| -rw-r--r-- | doc/telemetrum-doc.xsl | 1336 |
1 files changed, 726 insertions, 610 deletions
diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index ff8cd755..67831fe2 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -28,6 +28,13 @@ </legalnotice> <revhistory> <revision> + <revnumber>0.3</revnumber> + <date>12 November 2010</date> + <revremark> + Add instructions for re-flashing devices using AltosUI + </revremark> + </revision> + <revision> <revnumber>0.2</revnumber> <date>18 July 2010</date> <revremark>Significant update</revremark> @@ -118,12 +125,12 @@ When you have successfully installed the software suite (either from compiled source code or as the pre-built Debian package) you will have 10 or so executable programs all of which have names beginning - with 'ao-'. + with 'ao-'. ('ao-view' is the lone GUI-based program, the rest are command-line oriented.) You will also have man pages, that give you basic info - on each program. + on each program. You will also get this documentation in two file types in the doc/ -directory, telemetrum-doc.pdf and telemetrum-doc.html. + directory, telemetrum-doc.pdf and telemetrum-doc.html. Finally you will have a couple control files that allow the ao-view GUI-based program to appear in your menu of programs (under the 'Internet' category). @@ -133,7 +140,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. with using USB ports. The first thing you should try after getting both units plugged into to your computer's usb port(s) is to run 'ao-list' from a terminal-window to see what port-device-name each - device has been assigned by the operating system. + device has been assigned by the operating system. You will need this information to access the devices via their respective on-board firmware and data using other command line programs in the AltOS software suite. @@ -158,7 +165,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. <para> Both TeleMetrum and TeleDongle share the concept of a two level command set in their firmware. - The first layer has several single letter commands. Once + The first layer has several single letter commands. Once you are using 'cu' (or 'cutecom') sending (typing) a '?' returns a full list of these commands. The second level are configuration sub-commands accessed @@ -177,7 +184,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. use 'N0CALL' which is cute, but not exactly legal! Spend a few minutes getting comfortable with the units, their firmware, and 'cu' (or possibly 'cutecom'). - For instance, try to send + For instance, try to send (type) a 'c r 2' and verify the channel change by sending a 'c s'. Verify you can connect and disconnect from the units while in your terminal program by sending the escape-disconnect mentioned above. @@ -250,7 +257,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. As for ao-view.... some things are in the menu but don't do anything very useful. The developers have stopped working on ao-view to focus on a new, cross-platform ground station program. So ao-view may or - may not be updated in the future. Mostly you just use + may not be updated in the future. Mostly you just use the Log and Device menus. It has a wonderful display of the incoming flight data and I am sure you will enjoy what it has to say to you once you enable the voice output! @@ -299,659 +306,768 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. Live telemetry is written to file(s) whenever 'ao-view' is connected to the TeleDongle. The file area defaults to ~/altos but is easily changed using the menus in 'ao-view'. The files that - are written end in '.telem'. The after-flight + are written end in '.telem'. The after-flight data-dumped files will end in .eeprom and represent continuous data unlike the rf-linked .telem files that are subject to the turnarounds/data-packaging time slots in the half-duplex rf data path. See the above instructions on what and how to save the eeprom stored data after physically retrieving your TeleMetrum. Make sure to save - the on-board data after each flight, as the current firmware will - over-write any previous flight data during a new flight. + the on-board data after each flight, as the current firmware will + over-write any previous flight data during a new flight. + </para> + </section> + </chapter> + <chapter> + <title>Specifications</title> + <itemizedlist> + <listitem> + <para> + Recording altimeter for model rocketry. </para> - </section> - </chapter> - <chapter> - <title>Specifications</title> - <itemizedlist> - <listitem> - <para> - Recording altimeter for model rocketry. - </para> - </listitem> - <listitem> - <para> - Supports dual deployment (can fire 2 ejection charges). - </para> - </listitem> - <listitem> - <para> - 70cm ham-band transceiver for telemetry downlink. - </para> - </listitem> - <listitem> - <para> - Barometric pressure sensor good to 45k feet MSL. - </para> - </listitem> - <listitem> - <para> - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - </para> - </listitem> - <listitem> - <para> - On-board, integrated GPS receiver with 5hz update rate capability. - </para> - </listitem> - <listitem> - <para> - On-board 1 megabyte non-volatile memory for flight data storage. - </para> - </listitem> - <listitem> - <para> - USB interface for battery charging, configuration, and data recovery. - </para> - </listitem> - <listitem> - <para> - Fully integrated support for LiPo rechargeable batteries. - </para> - </listitem> - <listitem> - <para> - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. - </para> - </listitem> - <listitem> - <para> - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - </para> - </listitem> - </itemizedlist> - </chapter> - <chapter> - <title>Handling Precautions</title> + </listitem> + <listitem> + <para> + Supports dual deployment (can fire 2 ejection charges). + </para> + </listitem> + <listitem> + <para> + 70cm ham-band transceiver for telemetry downlink. + </para> + </listitem> + <listitem> + <para> + Barometric pressure sensor good to 45k feet MSL. + </para> + </listitem> + <listitem> + <para> + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + </para> + </listitem> + <listitem> + <para> + On-board, integrated GPS receiver with 5hz update rate capability. + </para> + </listitem> + <listitem> + <para> + On-board 1 megabyte non-volatile memory for flight data storage. + </para> + </listitem> + <listitem> + <para> + USB interface for battery charging, configuration, and data recovery. + </para> + </listitem> + <listitem> + <para> + Fully integrated support for LiPo rechargeable batteries. + </para> + </listitem> + <listitem> + <para> + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + </para> + </listitem> + <listitem> + <para> + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + </para> + </listitem> + </itemizedlist> + </chapter> + <chapter> + <title>Handling Precautions</title> + <para> + TeleMetrum is a sophisticated electronic device. When handled gently and + properly installed in an airframe, it will deliver impressive results. + However, like all electronic devices, there are some precautions you + must take. + </para> + <para> + The Lithium Polymer rechargeable batteries used with TeleMetrum 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 airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + </para> + <para> + The TeleMetrum barometric sensor is sensitive to sunlight. In normal + mounting situations, it 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, though, when + designing an installation, for example, in a 29mm airframe with a + see-through plastic payload bay. + </para> + <para> + The TeleMetrum 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, but also by having a + suitable static vent to outside air. + </para> + <para> + As with all other rocketry electronics, TeleMetrum must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. + </para> + </chapter> + <chapter> + <title>Hardware Overview</title> + <para> + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. + </para> + <para> + A typical TeleMetrum installation using the on-board GPS antenna and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. + </para> + <para> + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, you can do so by adding + a second 2mm connector to position B2 on the board and cutting the + thick pcb trace connecting the LiPo battery to the pyro circuit between + the two silk screen marks on the surface mount side of the board shown + here [insert photo] + </para> + <para> + We offer two choices of pyro and power switch connector, or you can + choose neither and solder wires directly to the board. All three choices + are reasonable depending on the constraints of your airframe. Our + favorite option when there is sufficient room above the board is to use + the Tyco pin header with polarization and locking. If you choose this + option, you crimp individual wires for the power switch and e-matches + into a mating connector, and installing and removing the TeleMetrum + board from an airframe is as easy as plugging or unplugging two + connectors. If the airframe will not support this much height or if + you want to be able to directly attach e-match leads to the board, we + offer a screw terminal block. This is very similar to what most other + altimeter vendors provide and so may be the most familiar option. + You'll need a very small straight blade screwdriver to connect + and disconnect the board in this case, such as you might find in a + jeweler's screwdriver set. Finally, you can forego both options and + solder wires directly to the board, which may be the best choice for + minimum diameter and/or minimum mass designs. + </para> + <para> + For most airframes, the integrated GPS antenna and wire UHF antenna are + a great combination. However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to use + off-board external antennas instead. In this case, you can order + TeleMetrum with an SMA connector for the UHF antenna connection, and + you can unplug the integrated GPS antenna and select an appropriate + off-board GPS antenna with cable terminating in a U.FL connector. + </para> + </chapter> + <chapter> + <title>Operation</title> + <section> + <title>Firmware Modes </title> + <para> + The AltOS firmware build for TeleMetrum has two fundamental modes, + "idle" and "flight". Which of these modes the firmware operates in + is determined by the orientation of the rocket (well, actually the + board, of course...) at the time power is switched on. If the rocket + is "nose up", then TeleMetrum assumes it's on a rail or rod being + prepared for launch, so the firmware chooses flight mode. However, + if the rocket is more or less horizontal, the firmware instead enters + idle mode. + </para> + <para> + At power on, you will hear three beeps + ("S" in Morse code for startup) and then a pause while + TeleMetrum completes initialization and self tests, and decides which + mode to enter next. + </para> <para> - TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver impressive results. - However, like all electronic devices, there are some precautions you - must take. + In flight or "pad" mode, TeleMetrum turns on the GPS system, + engages the flight + state machine, goes into transmit-only mode on the RF link sending + telemetry, and waits for launch to be detected. Flight mode is + indicated by an audible "di-dah-dah-dit" ("P" for pad) on the + beeper, followed by + beeps indicating the state of the pyrotechnic igniter continuity. + One beep indicates apogee continuity, two beeps indicate + main continuity, three beeps indicate both apogee and main continuity, + and one longer "brap" sound indicates no continuity. For a dual + deploy flight, make sure you're getting three beeps before launching! + For apogee-only or motor eject flights, do what makes sense. </para> <para> - The Lithium Polymer rechargeable batteries used with TeleMetrum 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 airframe. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. + In idle mode, you will hear an audible "di-dit" ("I" for idle), and + the normal flight state machine is disengaged, thus + no ejection charges will fire. TeleMetrum also listens on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can be issued to a TeleMetrum in idle mode over either + USB or the RF link equivalently. + Idle mode is useful for configuring TeleMetrum, for extracting data + from the on-board storage chip after flight, and for ground testing + pyro charges. </para> <para> - The TeleMetrum barometric sensor is sensitive to sunlight. In normal - mounting situations, it 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, though, when - designing an installation, for example, in a 29mm airframe with a - see-through plastic payload bay. + One "neat trick" of particular value when TeleMetrum is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + TeleMetrum to reboot, realize it's now nose-up, and thus choose + flight mode. This is much safer than standing on the top step of a + rickety step-ladder or hanging off the side of a launch tower with + a screw-driver trying to turn on your avionics before installing + igniters! </para> + </section> + <section> + <title>GPS </title> <para> - The TeleMetrum 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, but also by having a - suitable static vent to outside air. + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! </para> <para> - As with all other rocketry electronics, TeleMetrum must be protected - from exposure to corrosive motor exhaust and ejection charge gasses. + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. </para> - </chapter> - <chapter> - <title>Hardware Overview</title> + </section> + <section> + <title>Ground Testing </title> <para> - TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMetrum should have at least 10 inches of interior length. + An important aspect of preparing a rocket using electronic deployment + for flight is ground testing the recovery system. Thanks + to the bi-directional RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum-equipped rocket without as + much work as you may be accustomed to with other systems. It can + even be fun! </para> <para> - A typical TeleMetrum installation using the on-board GPS antenna and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. + Just prep the rocket for flight, then power up TeleMetrum while the + airframe is horizontal. This will cause the firmware to go into + "idle" mode, in which the normal flight state machine is disabled and + charges will not fire without manual command. Then, establish an + RF packet connection from a TeleDongle-equipped computer using the + P command from a safe distance. You can now command TeleMetrum to + fire the apogee or main charges to complete your testing. </para> <para> - By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard - low-current e-matches like the J-Tek from MJG Technologies, and with - Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, you can do so by adding - a second 2mm connector to position B2 on the board and cutting the - thick pcb trace connecting the LiPo battery to the pyro circuit between - the two silk screen marks on the surface mount side of the board shown - here [insert photo] + In order to reduce the chance of accidental firing of pyrotechnic + charges, the command to fire a charge is intentionally somewhat + difficult to type, and the built-in help is slightly cryptic to + prevent accidental echoing of characters from the help text back at + the board from firing a charge. The command to fire the apogee + drogue charge is 'i DoIt drogue' and the command to fire the main + charge is 'i DoIt main'. </para> + </section> + <section> + <title>Radio Link </title> <para> - We offer two choices of pyro and power switch connector, or you can - choose neither and solder wires directly to the board. All three choices - are reasonable depending on the constraints of your airframe. Our - favorite option when there is sufficient room above the board is to use - the Tyco pin header with polarization and locking. If you choose this - option, you crimp individual wires for the power switch and e-matches - into a mating connector, and installing and removing the TeleMetrum - board from an airframe is as easy as plugging or unplugging two - connectors. If the airframe will not support this much height or if - you want to be able to directly attach e-match leads to the board, we - offer a screw terminal block. This is very similar to what most other - altimeter vendors provide and so may be the most familiar option. - You'll need a very small straight blade screwdriver to connect - and disconnect the board in this case, such as you might find in a - jeweler's screwdriver set. Finally, you can forego both options and - solder wires directly to the board, which may be the best choice for - minimum diameter and/or minimum mass designs. + The chip our boards are based on incorporates an RF transceiver, but + it's not a full duplex system... each end can only be transmitting or + receiving at any given moment. So we had to decide how to manage the + link. </para> <para> - For most airframes, the integrated GPS antenna and wire UHF antenna are - a great combination. However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to use - off-board external antennas instead. In this case, you can order - TeleMetrum with an SMA connector for the UHF antenna connection, and - you can unplug the integrated GPS antenna and select an appropriate - off-board GPS antenna with cable terminating in a U.FL connector. + By design, TeleMetrum firmware listens for an RF connection when + it's in "idle mode" (turned on while the rocket is horizontal), which + allows us to use the RF link to configure the rocket, do things like + ejection tests, and extract data after a flight without having to + crack open the airframe. However, when the board is in "flight + mode" (turned on when the rocket is vertical) the TeleMetrum only + transmits and doesn't listen at all. That's because we want to put + ultimate priority on event detection and getting telemetry out of + the rocket and out over + the RF link in case the rocket crashes and we aren't able to extract + data later... + </para> + <para> + We don't use a 'normal packet radio' mode because they're just too + inefficient. The GFSK modulation we use is just FSK with the + baseband pulses passed through a + Gaussian filter before they go into the modulator to limit the + transmitted bandwidth. When combined with the hardware forward error + correction support in the cc1111 chip, this allows us to have a very + robust 38.4 kilobit data link with only 10 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 good reception, and calculations + suggest we should be good to well over 40k feet AGL with a 5-element yagi on + the ground. We hope to fly boards to higher altitudes soon, and would + of course appreciate customer feedback on performance in higher + altitude flights! + </para> + </section> + <section> + <title>Configurable Parameters</title> + <para> + Configuring a TeleMetrum board for flight is very simple. Because we + have both acceleration and pressure sensors, there is no need to set + a "mach delay", for example. The few configurable parameters can all + be set using a simple terminal program over the USB port or RF link + via TeleDongle. </para> - </chapter> - <chapter> - <title>Operation</title> <section> - <title>Firmware Modes </title> - <para> - The AltOS firmware build for TeleMetrum has two fundamental modes, - "idle" and "flight". Which of these modes the firmware operates in - is determined by the orientation of the rocket (well, actually the - board, of course...) at the time power is switched on. If the rocket - is "nose up", then TeleMetrum assumes it's on a rail or rod being - prepared for launch, so the firmware chooses flight mode. However, - if the rocket is more or less horizontal, the firmware instead enters - idle mode. - </para> - <para> - At power on, you will hear three beeps - ("S" in Morse code for startup) and then a pause while - TeleMetrum completes initialization and self tests, and decides which - mode to enter next. - </para> - <para> - In flight or "pad" mode, TeleMetrum turns on the GPS system, - engages the flight - state machine, goes into transmit-only mode on the RF link sending - telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" ("P" for pad) on the - beeper, followed by - beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates apogee continuity, two beeps indicate - main continuity, three beeps indicate both apogee and main continuity, - and one longer "brap" sound indicates no continuity. For a dual - deploy flight, make sure you're getting three beeps before launching! - For apogee-only or motor eject flights, do what makes sense. - </para> - <para> - In idle mode, you will hear an audible "di-dit" ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. TeleMetrum also listens on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. - Idle mode is useful for configuring TeleMetrum, for extracting data - from the on-board storage chip after flight, and for ground testing - pyro charges. - </para> - <para> - One "neat trick" of particular value when TeleMetrum is used with very - large airframes, is that you can power the board up while the rocket - is horizontal, such that it comes up in idle mode. Then you can - raise the airframe to launch position, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will cause - TeleMetrum to reboot, realize it's now nose-up, and thus choose - flight mode. This is much safer than standing on the top step of a - rickety step-ladder or hanging off the side of a launch tower with - a screw-driver trying to turn on your avionics before installing - igniters! + <title>Radio Channel</title> + <para> + Our firmware supports 10 channels. The default channel 0 corresponds + to a center frequency of 434.550 Mhz, and channels are spaced every + 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. + At any given launch, we highly recommend coordinating who will use + each channel and when to avoid interference. And of course, both + TeleMetrum and TeleDongle must be configured to the same channel to + successfully communicate with each other. + </para> + <para> + To set the radio channel, use the 'c r' command, like 'c r 3' to set + channel 3. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip on + your TeleMetrum board if you want the change to stay in place across reboots. </para> </section> <section> - <title>GPS </title> - <para> - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! - </para> - <para> - TeleMetrum provides backup power to the GPS chip any time a LiPo - battery is connected. This allows the receiver to "warm start" on - the launch rail much faster than if every power-on were a "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe - preparation will be sufficient to allow the GPS receiver to cold - start and acquire lock. Then the board can be powered down during - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. + <title>Apogee Delay</title> + <para> + Apogee delay is the number of seconds after TeleMetrum detects flight + apogee that the drogue charge should be fired. In most cases, this + should be left at the default of 0. However, if you are flying + redundant electronics such as for an L3 certification, you may wish + to set one of your altimeters to a positive delay so that both + primary and backup pyrotechnic charges do not fire simultaneously. + </para> + <para> + To set the apogee delay, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + </para> + <para> + Please note that the TeleMetrum apogee detection algorithm always + fires a fraction of a second *after* apogee. If you are also flying + an altimeter like the PerfectFlite MAWD, which only supports selecting + 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 + seconds delay and set the TeleMetrum to fire your backup 2 or 3 + seconds later to avoid any chance of both charges firing + simultaneously. We've flown several airframes this way quite happily, + including Keith's successful L3 cert. </para> </section> <section> - <title>Ground Testing </title> + <title>Main Deployment Altitude</title> <para> - An important aspect of preparing a rocket using electronic deployment - for flight is ground testing the recovery system. Thanks - to the bi-directional RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum-equipped rocket without as - much work as you may be accustomed to with other systems. It can - even be fun! + By default, TeleMetrum will fire the main deployment charge at an + elevation of 250 meters (about 820 feet) above ground. We think this + is a good elevation for most airframes, but feel free to change this + to suit. In particular, if you are flying two altimeters, you may + wish to set the + deployment elevation for the backup altimeter to be something lower + than the primary so that both pyrotechnic charges don't fire + simultaneously. </para> <para> - Just prep the rocket for flight, then power up TeleMetrum while the - airframe is horizontal. This will cause the firmware to go into - "idle" mode, in which the normal flight state machine is disabled and - charges will not fire without manual command. Then, establish an - RF packet connection from a TeleDongle-equipped computer using the - P command from a safe distance. You can now command TeleMetrum to - fire the apogee or main charges to complete your testing. + To set the main deployment altitude, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + </para> + </section> + </section> + <section> + <title>Calibration</title> + <para> + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle. + </para> + <section> + <title>Radio Frequency</title> + <para> + The radio frequency is synthesized from a clock based on the 48 Mhz + crystal on the board. The actual frequency of this oscillator must be + measured to generate a calibration constant. While our GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. </para> <para> - In order to reduce the chance of accidental firing of pyrotechnic - charges, the command to fire a charge is intentionally somewhat - difficult to type, and the built-in help is slightly cryptic to - prevent accidental echoing of characters from the help text back at - the board from firing a charge. The command to fire the apogee - drogue charge is 'i DoIt drogue' and the command to fire the main - charge is 'i DoIt main'. + To calibrate the radio frequency, connect the UHF antenna port to a + frequency counter, set the board to channel 0, and use the 'C' + command to generate a CW carrier. Wait for the transmitter temperature + to stabilize and the frequency to settle down. + Then, divide 434.550 Mhz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. </para> </section> <section> - <title>Radio Link </title> - <para> - The chip our boards are based on incorporates an RF transceiver, but - it's not a full duplex system... each end can only be transmitting or - receiving at any given moment. So we had to decide how to manage the - link. - </para> - <para> - By design, TeleMetrum firmware listens for an RF connection when - it's in "idle mode" (turned on while the rocket is horizontal), which - allows us to use the RF link to configure the rocket, do things like - ejection tests, and extract data after a flight without having to - crack open the airframe. However, when the board is in "flight - mode" (turned on when the rocket is vertical) the TeleMetrum only - transmits and doesn't listen at all. That's because we want to put - ultimate priority on event detection and getting telemetry out of - the rocket and out over - the RF link in case the rocket crashes and we aren't able to extract - data later... - </para> - <para> - We don't use a 'normal packet radio' mode because they're just too - inefficient. The GFSK modulation we use is just FSK with the - baseband pulses passed through a - Gaussian filter before they go into the modulator to limit the - transmitted bandwidth. When combined with the hardware forward error - correction support in the cc1111 chip, this allows us to have a very - robust 38.4 kilobit data link with only 10 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 good reception, and calculations - suggest we should be good to well over 40k feet AGL with a 5-element yagi on - the ground. We hope to fly boards to higher altitudes soon, and would - of course appreciate customer feedback on performance in higher - altitude flights! + <title>Accelerometer</title> + <para> + The accelerometer we use has its own 5 volt power supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratiometric to + the ADC converter, and calibration is required. We also support the + use of any of several accelerometers from a Freescale family that + includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + </para> + <para> + To calibrate the acceleration sensor, use the 'c a 0' command. You + will be prompted to orient the board vertically with the UHF antenna + up and press a key, then to orient the board vertically with the + UHF antenna down and press a key. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + </para> + <para> + The +1g and -1g calibration points are included in each telemetry + frame and are part of the header extracted by ao-dumplog after flight. + Note that we always store and return raw ADC samples for each + sensor... nothing is permanently "lost" or "damaged" if the + calibration is poor. </para> </section> + </section> + </chapter> + <chapter> + <title>Updating Device Firmware</title> + <para> + The big conceptual thing to realize is that you have to use a + TeleDongle as a programmer to update a TeleMetrum, and vice versa. + Due to limited memory resources in the cc1111, we don't support + programming either unit directly over USB. + </para> + <para> + You may wish to begin by ensuring you have current firmware images. + These are distributed as part of the AltOS software bundle that + also includes the AltosUI ground station program. Newer ground + station versions typically work fine with older firmware versions, + so you don't need to update your devices just to try out new + software features. You can always download the most recent + version from http://www.altusmetrum.org/AltOS/. + </para> + <para> + We recommend updating TeleMetrum first, before updating TeleDongle. + </para> + <section> + <title>Updating TeleMetrum Firmware</title> + <orderedlist inheritnum='inherit' numeration='arabic'> + <listitem> + Find the 'programming cable' that you got as part of the starter + kit, that has a red 8-pin MicroMaTch connector on one end and a + red 4-pin MicroMaTch connector on the other end. + </listitem> + + <listitem> + Take the 2 screws out of the TeleDongle case to get access + to the circuit board. + </listitem> + <listitem> + Plug the 8-pin end of the programming cable to the + matching connector on the TeleDongle, and the 4-pin end to the + matching connector on the TeleMetrum. + </listitem> + <listitem> + Attach a battery to the TeleMetrum board. + </listitem> + <listitem> + Plug the TeleDongle into your computer's USB port, and power + up the TeleMetrum. + </listitem> + <listitem> + Run AltosUI, and select 'Flash Image' from the File menu. + </listitem> + <listitem> + Pick the TeleDongle device from the list, identifying it as the + programming device. + </listitem> + <listitem> + Select the image you want put on the TeleMetrum, which should have a + name in the form telemetrum-v1.0-0.7.1.ihx. It should be visible + in the default directory, if not you may have to poke around + your system to find it. + </listitem> + <listitem> + Make sure the configuration parameters are reasonable + looking. If the serial number and/or RF configuration + values aren't right, you'll need to change them. + </listitem> + <listitem> + Hit the 'OK' button and the software should proceed to flash + the TeleMetrum with new firmware, showing a progress bar. + </listitem> + <listitem> + Confirm that the TeleMetrum board seems to have updated ok, which you + can do by plugging in to it over USB and using a terminal program + to connect to the board and issue the 'v' command to check + the version, etc. + </listitem> + <listitem> + If something goes wrong, give it another try. + </listitem> + </orderedlist> + </section> + <section> + <title>Updating TeleDongle Firmware</title> + <para> + Updating TeleDongle's firmware is just like updating TeleMetrum + firmware, but you switch which board is the programmer and which + is the programming target. + </para> + <orderedlist inheritnum='inherit' numeration='arabic'> + <listitem> + Find the 'programming cable' that you got as part of the starter + kit, that has a red 8-pin MicroMaTch connector on one end and a + red 4-pin MicroMaTch connector on the other end. + </listitem> + <listitem> + Find the USB cable that you got as part of the starter kit, and + plug the "mini" end in to the mating connector on TeleMetrum. + </listitem> + <listitem> + Take the 2 screws out of the TeleDongle case to get access + to the circuit board. + </listitem> + <listitem> + Plug the 8-pin end of the programming cable to the (latching) + matching connector on the TeleMetrum, and the 4-pin end to the + matching connector on the TeleDongle. + </listitem> + <listitem> + Attach a battery to the TeleMetrum board. + </listitem> + <listitem> + Plug both TeleMetrum and TeleDongle into your computer's USB + ports, and power up the TeleMetrum. + </listitem> + <listitem> + Run AltosUI, and select 'Flash Image' from the File menu. + </listitem> + <listitem> + Pick the TeleMongle device from the list, identifying it as the + programming device. + </listitem> + <listitem> + Select the image you want put on the TeleDongle, which should have a + name in the form teledongle-v0.2-0.7.1.ihx. It should be visible + in the default directory, if not you may have to poke around + your system to find it. + </listitem> + <listitem> + Make sure the configuration parameters are reasonable + looking. If the serial number and/or RF configuration + values aren't right, you'll need to change them. The TeleDongle + serial number is on the "bottom" of the circuit board, and can + usually be read through the translucent blue plastic case without + needing to remove the board from the case. + </listitem> + <listitem> + Hit the 'OK' button and the software should proceed to flash + the TeleDongle with new firmware, showing a progress bar. + </listitem> + <listitem> + Confirm that the TeleDongle board seems to have updated ok, which you + can do by plugging in to it over USB and using a terminal program + to connect to the board and issue the 'v' command to check + the version, etc. Once you're happy, remove the programming cable + and put the cover back on the TeleDongle. + </listitem> + <listitem> + If something goes wrong, give it another try. + </listitem> + </orderedlist> + <para> + Be careful removing the programming cable from the locking 8-pin + connector on TeleMetrum. You'll need a fingernail or perhaps a thin + screwdriver or knife blade to gently pry the locking ears out + slightly to extract the connector. We used a locking connector on + TeleMetrum to help ensure that the cabling to companion boards + used in a rocket don't ever come loose accidentally in flight. + </para> + </section> + </chapter> + <chapter> + <title>Using Altus Metrum Products</title> + <section> + <title>Being Legal</title> + <para> + First off, in the US, you need an [amateur radio license](../Radio) or + other authorization to legally operate the radio transmitters that are part + of our products. + </para> <section> - <title>Configurable Parameters</title> - <para> - Configuring a TeleMetrum board for flight is very simple. Because we - have both acceleration and pressure sensors, there is no need to set - a "mach delay", for example. The few configurable parameters can all - be set using a simple terminal program over the USB port or RF link - via TeleDongle. - </para> - <section> - <title>Radio Channel</title> - <para> - Our firmware supports 10 channels. The default channel 0 corresponds - to a center frequency of 434.550 Mhz, and channels are spaced every - 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. - At any given launch, we highly recommend coordinating who will use - each channel and when to avoid interference. And of course, both - TeleMetrum and TeleDongle must be configured to the same channel to - successfully communicate with each other. - </para> - <para> - To set the radio channel, use the 'c r' command, like 'c r 3' to set - channel 3. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip on - your TeleMetrum board if you want the change to stay in place across reboots. - </para> - </section> - <section> - <title>Apogee Delay</title> - <para> - Apogee delay is the number of seconds after TeleMetrum detects flight - apogee that the drogue charge should be fired. In most cases, this - should be left at the default of 0. However, if you are flying - redundant electronics such as for an L3 certification, you may wish - to set one of your altimeters to a positive delay so that both - primary and backup pyrotechnic charges do not fire simultaneously. - </para> - <para> - To set the apogee delay, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - </para> - <para> - Please note that the TeleMetrum apogee detection algorithm always - fires a fraction of a second *after* apogee. If you are also flying - an altimeter like the PerfectFlite MAWD, which only supports selecting - 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 - seconds delay and set the TeleMetrum to fire your backup 2 or 3 - seconds later to avoid any chance of both charges firing - simultaneously. We've flown several airframes this way quite happily, - including Keith's successful L3 cert. - </para> - </section> - <section> - <title>Main Deployment Altitude</title> - <para> - By default, TeleMetrum will fire the main deployment charge at an - elevation of 250 meters (about 820 feet) above ground. We think this - is a good elevation for most airframes, but feel free to change this - to suit. In particular, if you are flying two altimeters, you may - wish to set the - deployment elevation for the backup altimeter to be something lower - than the primary so that both pyrotechnic charges don't fire - simultaneously. - </para> - <para> - To set the main deployment altitude, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - </para> - </section> + <title>In the Rocket</title> + <para> + In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and + a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + </para> + <para> + By default, we ship TeleMetrum with a simple wire antenna. If your + electronics bay or the airframe it resides within is made of carbon fiber, + which is opaque to RF signals, you may choose to have an SMA connector + installed so that you can run a coaxial cable to an antenna mounted + elsewhere in the rocket. + </para> </section> <section> - <title>Calibration</title> - <para> - There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle. - </para> - <section> - <title>Radio Frequency</title> - <para> - The radio frequency is synthesized from a clock based on the 48 Mhz - crystal on the board. The actual frequency of this oscillator must be - measured to generate a calibration constant. While our GFSK modulation - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - </para> - <para> - To calibrate the radio frequency, connect the UHF antenna port to a - frequency counter, set the board to channel 0, and use the 'C' - command to generate a CW carrier. Wait for the transmitter temperature - to stabilize and the frequency to settle down. - Then, divide 434.550 Mhz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - </para> - </section> - <section> - <title>Accelerometer</title> - <para> - The accelerometer we use has its own 5 volt power supply and - the output must be passed through a resistive voltage divider to match - the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratiometric to - the ADC converter, and calibration is required. We also support the - use of any of several accelerometers from a Freescale family that - includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, - a simple 2-point calibration yields acceptable results capturing both - the different sensitivities and ranges of the different accelerometer - parts and any variation in power supply voltages or resistor values - in the divider network. - </para> - <para> - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - </para> - <para> - The +1g and -1g calibration points are included in each telemetry - frame and are part of the header extracted by ao-dumplog after flight. - Note that we always store and return raw ADC samples for each - sensor... nothing is permanently "lost" or "damaged" if the - calibration is poor. - </para> - </section> + <title>On the Ground</title> + <para> + To receive the data stream from the rocket, you need an antenna and short + feedline connected to one of our [TeleDongle](../TeleDongle) units. The + TeleDongle in turn plugs directly into the USB port on a notebook + computer. Because TeleDongle looks like a simple serial port, your computer + does not require special device drivers... just plug it in. + </para> + <para> + Right now, all of our application software is written for Linux. However, + because we understand that many people run Windows or MacOS, we are working + on a new ground station program written in Java that should work on all + operating systems. + </para> + <para> + After the flight, you can use the RF link to extract the more detailed data + logged in the rocket, or you can use a mini USB cable to plug into the + TeleMetrum board directly. Pulling out the data without having to open up + the rocket is pretty cool! A USB cable is also how you charge the LiPo + battery, so you'll want one of those anyway... the same cable used by lots + of digital cameras and other modern electronic stuff will work fine. + </para> + <para> + If your rocket lands out of sight, you may enjoy having a hand-held GPS + receiver, so that you can put in a waypoint for the last reported rocket + position before touch-down. This makes looking for your rocket a lot like + Geo-Cacheing... just go to the waypoint and look around starting from there. + </para> + <para> + You may also enjoy having a ham radio "HT" that covers the 70cm band... you + can use that with your antenna to direction-find the rocket on the ground + the same way you can use a Walston or Beeline tracker. This can be handy + if the rocket is hiding in sage brush or a tree, or if the last GPS position + doesn't get you close enough because the rocket dropped into a canyon, or + the wind is blowing it across a dry lake bed, or something like that... Keith + and Bdale both currently own and use the Yaesu VX-7R at launches. + </para> + <para> + So, to recap, on the ground the hardware you'll need includes: + <orderedlist inheritnum='inherit' numeration='arabic'> + <listitem> + an antenna and feedline + </listitem> + <listitem> + a TeleDongle + </listitem> + <listitem> + a notebook computer + </listitem> + <listitem> + optionally, a handheld GPS receiver + </listitem> + <listitem> + optionally, an HT or receiver covering 435 Mhz + </listitem> + </orderedlist> + </para> + <para> + The best hand-held commercial directional antennas we've found for radio + direction finding rockets are from + <ulink url="http://www.arrowantennas.com/" > + Arrow Antennas. + </ulink> + The 440-3 and 440-5 are both good choices for finding a + TeleMetrum-equipped rocket when used with a suitable 70cm HT. + </para> </section> - </chapter> - <chapter> - <title>Updating Device Firmware - <para> - The big conceptual thing to realize is that you have to use a - TeleDongle as a programmer to update a TeleMetrum, and vice versa. - Due to limited memory resources in the cc1111, we don't support - programming a unit directly over USB. - </para> - <para> - Find the 'programming cable' that you got as part of the starter - kit, that has a red 8-pin MicroMaTch connector on one end and a - red 4-pin MicroMaTch connector on the other end. Take the 2 - screws out of the TeleDongle case to get access to the circuit - board. Plug the 8-pin end of the programming cable to the - matching connector on the TeleDongle, and the 4-pin end to the - matching connector on the TeleMetrum. Plug the TeleDongle into - your computer's USB port, power up the TeleMetrum, then run - altosui. Using the File/Flash menu, pick the TeleDongle as the - programming device, and the image you want put on the TeleMetrum, - and it should flash the TeleMetrum with new firmware. - </para> - <para> - Confirm that the TeleMetrum board seems to have updated ok, which you - can do by plugging in to it over USB and using a terminal program - to connect to the board and issue the 'v' command to check - the version, etc. - </para> - <para> - To update the TeleDongle's firmware, you switch things around. Put - the 8-pin end of the programming cable on the TeleMetrum board's - (locking) 8-pin connector, put the 4-pin end on the TeleDongle - board, plug both into USB (the TeleDongle needs power, the - TeleMetrum is now the programmer). Use the altosui interface to - pick the TeleMetrum as the programmer and a suitable image for - the TeleDongle, and it should program ok. You can verify the - TeleDongle programmed correctly by using a terminal program to - talk to it and using the 'v' command, etc. Once you're happy, - put the cover back on the TeleDongle. - </para> - <para> - Be careful removing the programming cable from the locking 8-pin - connector on TeleMetrum. You'll need a fingernail or perhaps a thin - screwdriver or knife blade to gently pry the locking ears out - slightly to extract the connector. We used a locking connector on - TeleMetrum to help ensure that the cabling to companion boards - used in a rocket don't ever come loose accidentally in flight. - </para> - </chapter> - <chapter> - <title>Using Altus Metrum Products</title> <section> - <title>Being Legal</title> - <para> - First off, in the US, you need an [amateur radio license](../Radio) or - other authorization to legally operate the radio transmitters that are part - of our products. - </para> - <section> - <title>In the Rocket</title> - <para> - In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and - a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. - </para> - <para> - By default, we ship TeleMetrum with a simple wire antenna. If your - electronics bay or the airframe it resides within is made of carbon fiber, - which is opaque to RF signals, you may choose to have an SMA connector - installed so that you can run a coaxial cable to an antenna mounted - elsewhere in the rocket. - </para> - </section> - <section> - <title>On the Ground</title> - <para> - To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our [TeleDongle](../TeleDongle) units. The - TeleDongle in turn plugs directly into the USB port on a notebook - computer. Because TeleDongle looks like a simple serial port, your computer - does not require special device drivers... just plug it in. - </para> - <para> - Right now, all of our application software is written for Linux. However, - because we understand that many people run Windows or MacOS, we are working - on a new ground station program written in Java that should work on all - operating systems. - </para> - <para> - After the flight, you can use the RF link to extract the more detailed data - logged in the rocket, or you can use a mini USB cable to plug into the - TeleMetrum board directly. Pulling out the data without having to open up - the rocket is pretty cool! A USB cable is also how you charge the LiPo - battery, so you'll want one of those anyway... the same cable used by lots - of digital cameras and other modern electronic stuff will work fine. - </para> - <para> - If your rocket lands out of sight, you may enjoy having a hand-held GPS - receiver, so that you can put in a waypoint for the last reported rocket - position before touch-down. This makes looking for your rocket a lot like - Geo-Cacheing... just go to the waypoint and look around starting from there. - </para> - <para> - You may also enjoy having a ham radio "HT" that covers the 70cm band... you - can use that with your antenna to direction-find the rocket on the ground - the same way you can use a Walston or Beeline tracker. This can be handy - if the rocket is hiding in sage brush or a tree, or if the last GPS position - doesn't get you close enough because the rocket dropped into a canyon, or - the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the Yaesu VX-7R at launches. - </para> - <para> - So, to recap, on the ground the hardware you'll need includes: - <orderedlist inheritnum='inherit' numeration='arabic'> - <listitem> - an antenna and feedline - </listitem> - <listitem> - a TeleDongle - </listitem> - <listitem> - a notebook computer - </listitem> - <listitem> - optionally, a handheld GPS receiver - </listitem> - <listitem> - optionally, an HT or receiver covering 435 Mhz - </listitem> - </orderedlist> - </para> - <para> - The best hand-held commercial directional antennas we've found for radio - direction finding rockets are from - <ulink url="http://www.arrowantennas.com/" > - Arrow Antennas. - </ulink> - The 440-3 and 440-5 are both good choices for finding a - TeleMetrum-equipped rocket when used with a suitable 70cm HT. - </para> - </section> - <section> - <title>Data Analysis</title> - <para> - Our software makes it easy to log the data from each flight, both the - telemetry received over the RF link during the flight itself, and the more - complete data log recorded in the DataFlash memory on the TeleMetrum - board. Once this data is on your computer, our postflight tools make it - easy to quickly get to the numbers everyone wants, like apogee altitude, - max acceleration, and max velocity. You can also generate and view a - standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a data file - useable with Google Maps and Google Earth for visualizing the flight path - in two or three dimensions! - </para> - <para> - Our ultimate goal is to emit a set of files for each flight that can be - published as a web page per flight, or just viewed on your local disk with - a web browser. - </para> - </section> - <section> - <title>Future Plans</title> - <para> - In the future, we intend to offer "companion boards" for the rocket that will - plug in to TeleMetrum to collect additional data, provide more pyro channels, - and so forth. A reference design for a companion board will be documented - soon, and will be compatible with open source Arduino programming tools. - </para> - <para> - We are also working on the design of a hand-held ground terminal that will - allow monitoring the rocket's status, collecting data during flight, and - logging data after flight without the need for a notebook computer on the - flight line. Particularly since it is so difficult to read most notebook - screens in direct sunlight, we think this will be a great thing to have. - </para> - <para> - Because all of our work is open, both the hardware designs and the software, - if you have some great idea for an addition to the current Altus Metrum family, - feel free to dive in and help! Or let us know what you'd like to see that - we aren't already working on, and maybe we'll get excited about it too... - </para> - </section> + <title>Data Analysis</title> + <para> + Our software makes it easy to log the data from each flight, both the + telemetry received over the RF link during the flight itself, and the more + complete data log recorded in the DataFlash memory on the TeleMetrum + board. Once this data is on your computer, our postflight tools make it + easy to quickly get to the numbers everyone wants, like apogee altitude, + max acceleration, and max velocity. You can also generate and view a + standard set of plots showing the altitude, acceleration, and + velocity of the rocket during flight. And you can even export a data file + useable with Google Maps and Google Earth for visualizing the flight path + in two or three dimensions! + </para> + <para> + Our ultimate goal is to emit a set of files for each flight that can be + published as a web page per flight, or just viewed on your local disk with + a web browser. + </para> </section> <section> - <title> - How GPS Works - </title> + <title>Future Plans</title> + <para> + In the future, we intend to offer "companion boards" for the rocket that will + plug in to TeleMetrum to collect additional data, provide more pyro channels, + and so forth. A reference design for a companion board will be documented + soon, and will be compatible with open source Arduino programming tools. + </para> <para> - Placeholder. + We are also working on the design of a hand-held ground terminal that will + allow monitoring the rocket's status, collecting data during flight, and + logging data after flight without the need for a notebook computer on the + flight line. Particularly since it is so difficult to read most notebook + screens in direct sunlight, we think this will be a great thing to have. + </para> + <para> + Because all of our work is open, both the hardware designs and the software, + if you have some great idea for an addition to the current Altus Metrum family, + feel free to dive in and help! Or let us know what you'd like to see that + we aren't already working on, and maybe we'll get excited about it too... </para> </section> - </chapter> - </book> - + </section> + <section> + <title> + How GPS Works + </title> + <para> + Placeholder. + </para> + </section> + </chapter> +</book> + |