doc: Add asciidoc version of altosui chapter.

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 110 insertions, 0 deletions

diff --git a/doc/pyro-channels.inc b/doc/pyro-channels.inc
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+
+Acceleration:: Select a value, and then choose
+whether acceleration should be above or below
+that value. Acceleration is positive upwards,
+so accelerating towards the ground would
+produce negative numbers. Acceleration during
+descent is noisy and inaccurate, so be careful
+when using it during these phases of the
+flight.
+
+Vertical speed:: Select a value, and then
+choose whether vertical speed should be above
+or below that value. Speed is positive
+upwards, so moving towards the ground would
+produce negative numbers. Speed during descent
+is a bit noisy and so be careful when using it
+during these phases of the flight.
+
+Height:: Select a value, and then choose
+whether the height above the launch pad should
+be above or below that value.
+
+Orientation:: TeleMega and EasyMega contain a
+3-axis gyroscope and accelerometer which is
+used to measure the current angle. Note that
+this angle is not the change in angle from the
+launch pad, but rather absolute relative to
+gravity; the 3-axis accelerometer is used to
+compute the angle of the rocket on the launch
+pad and initialize the system.
+
+  [NOTE]
+  ====
+  Because this value is computed by integrating
+  rate gyros, it gets progressively less
+  accurate as the flight goes on. It should have
+  an accumulated error of less than 0.2°/second
+  (after 10 seconds of flight, the error should
+  be less than 2°).
+
+  The usual use of the orientation configuration
+  is to ensure that the rocket is traveling
+  mostly upwards when deciding whether to ignite
+  air starts or additional stages. For that,
+  choose a reasonable maximum angle (like 20°)
+  and set the motor igniter to require an angle
+  of less than that value.
+  ====
+
+Flight Time:: Time since boost was
+detected. Select a value and choose whether to
+activate the pyro channel before or after that
+amount of time.
+
+Ascending:: A simple test saying whether the
+rocket is going up or not. This is exactly
+equivalent to testing whether the speed is
+> 0.
+
+Descending:: A simple test saying whether the
+rocket is going down or not. This is exactly
+equivalent to testing whether the speed is
+< 0.
+
+After Motor:: The flight software counts each
+time the rocket starts accelerating and then
+decelerating (presumably due to a motor or
+motors burning). Use this value for
+multi-staged or multi-airstart launches.
+
+Delay:: This value doesn't perform any checks,
+instead it inserts a delay between the time
+when the other parameters become true and when
+the pyro channel is activated.
+
+Flight State:: The flight software tracks the flight
+through a sequence of states:
+
+ * Boost. The motor has lit and the rocket is
+   accelerating upwards.
+
+ * Fast. The motor has burned out and the
+   rocket is decelerating, but it is going
+   faster than 200m/s.
+
+ * Coast. The rocket is still moving upwards
+   and decelerating, but the speed is less
+   than 200m/s.
+
+ * Drogue. The rocket has reached apogee and
+   is heading back down, but is above the
+   configured Main altitude.
+
+ * Main. The rocket is still descending, and
+   is below the Main altitude
+
+ * Landed. The rocket is no longer moving.
+
+You can select a state to limit when the pyro
+channel may activate; note that the check is
+based on when the rocket transitions *into*
+the state, and so checking for “greater than
+Boost” means that the rocket is currently in
+boost or some later state.
+
+When a motor burns out, the rocket enters
+either Fast or Coast state (depending on how
+fast it is moving). If the computer detects
+upwards acceleration again, it will move back
+to Boost state.