From c1ca80318102af122cb7b5380331e37795280761 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 13 Oct 2015 13:52:32 -0700
Subject: doc: Force FOP to read images from doc directory

Looks like something changed and fop is now reading from the directory
containing the source file. xmlto places that source in /tmp, making
all relative URIs fail. Fix this by creating a fop configuration file
directing it to load relative to the doc directory and then pass that
through xmlto.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 9c6189b4..9d4d68c6 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -74,6 +74,7 @@ PDF=altusmetrum.pdf altos.pdf telemetry.pdf companion.pdf micropeak.pdf telegps.
 	telemetrum-outline.pdf telemega-outline.pdf easymini-outline.pdf easymega-outline.pdf
 HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl
 FOSTYLE=xorg-fo.xsl
+FOPCFG=fop-cfg.xml
 TEMPLATES=titlepage.templates.xsl
 PDFSTYLE=
 IMAGES=$(PICTURES) $(SVG)
@@ -87,7 +88,7 @@ XSLTFLAGS=--stringparam section.autolabel 1 --xinclude
 	xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl
 
 .xsl.pdf:
-	xmlto -x $(FOSTYLE) --with-fop pdf $*.xsl
+	xmlto -p '-c $(FOPCFG)' --searchpath `pwd` -x $(FOSTYLE) --with-fop pdf $*.xsl
 
 .xml.xsl:
 	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.xml
@@ -116,8 +117,11 @@ altusmetrum.pdf: $(RELNOTES_XSL) $(IMAGES)
 telegps.html: $(RELNOTES_XSL) $(IMAGES)
 telegps.pdf: $(RELNOTES_XSL) $(IMAGES)
 
-$(PDF): $(FOSTYLE) $(TEMPLATES)
+$(PDF): $(FOSTYLE) $(TEMPLATES) $(FOPCFG)
 
 indent:		altusmetrum.xsl
 	xmlindent -i 2 < altusmetrum.xsl > altusmetrum.new
 
+$(FOPCFG): Makefile
+	(echo '<fop version="1.0">'; echo '  <base>'"`pwd`"'</base>'; echo '</fop>') > $@
+
-- 
cgit v1.2.3


From 8cf466d7a767a20387a8d9d6ec81ee00af3fe4a7 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 29 Oct 2015 12:12:15 +0900
Subject: doc: Start doc transition to asciidoc

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/.gitignore                           |    2 +
 doc/Makefile                             |   27 +-
 doc/altusmetrum-docinfo.xml              |  153 +
 doc/altusmetrum.txt                      |   46 +
 doc/altusmetrum.xsl                      | 6413 ------------------------------
 doc/am-fo.xsl                            |  191 +
 doc/am.css                               |  356 ++
 doc/common.xsl                           |  106 +
 doc/fonts/DejaVuSansMono-Bold.ttf        |  Bin 0 -> 331536 bytes
 doc/fonts/DejaVuSansMono-BoldOblique.ttf |  Bin 0 -> 253116 bytes
 doc/fonts/DejaVuSansMono-Oblique.ttf     |  Bin 0 -> 251472 bytes
 doc/fonts/DejaVuSansMono.ttf             |  Bin 0 -> 340240 bytes
 doc/fonts/FrutigerLTStd-Italic.otf       |  Bin 0 -> 27736 bytes
 doc/fonts/FrutigerLTStd-Light.otf        |  Bin 0 -> 27440 bytes
 doc/fonts/FrutigerLTStd-LightItalic.otf  |  Bin 0 -> 27888 bytes
 doc/fonts/FrutigerLTStd-Roman.otf        |  Bin 0 -> 27328 bytes
 doc/footer.templates.xsl                 |   52 +
 doc/fop.xconf                            |   88 +
 doc/getting-started.inc                  |   85 +
 doc/handling.inc                         |   42 +
 doc/intro.inc                            |   54 +
 doc/specs.inc                            |  139 +
 doc/telemetrum.inc                       |   68 +
 doc/usage.inc                            |   90 +
 24 files changed, 1497 insertions(+), 6415 deletions(-)
 create mode 100644 doc/altusmetrum-docinfo.xml
 create mode 100644 doc/altusmetrum.txt
 delete mode 100644 doc/altusmetrum.xsl
 create mode 100644 doc/am-fo.xsl
 create mode 100644 doc/am.css
 create mode 100644 doc/common.xsl
 create mode 100644 doc/fonts/DejaVuSansMono-Bold.ttf
 create mode 100644 doc/fonts/DejaVuSansMono-BoldOblique.ttf
 create mode 100644 doc/fonts/DejaVuSansMono-Oblique.ttf
 create mode 100644 doc/fonts/DejaVuSansMono.ttf
 create mode 100644 doc/fonts/FrutigerLTStd-Italic.otf
 create mode 100644 doc/fonts/FrutigerLTStd-Light.otf
 create mode 100644 doc/fonts/FrutigerLTStd-LightItalic.otf
 create mode 100644 doc/fonts/FrutigerLTStd-Roman.otf
 create mode 100644 doc/footer.templates.xsl
 create mode 100644 doc/fop.xconf
 create mode 100644 doc/getting-started.inc
 create mode 100644 doc/handling.inc
 create mode 100644 doc/intro.inc
 create mode 100644 doc/specs.inc
 create mode 100644 doc/telemetrum.inc
 create mode 100644 doc/usage.inc

(limited to 'doc/Makefile')

diff --git a/doc/.gitignore b/doc/.gitignore
index 73fe56e6..786123a3 100644
--- a/doc/.gitignore
+++ b/doc/.gitignore
@@ -1,4 +1,6 @@
 *.html
 *.pdf
 *.fo
+*.raw
 titlepage.templates.xsl
+fop-cfg.xml
diff --git a/doc/Makefile b/doc/Makefile
index 9d4d68c6..6ebe829c 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -61,6 +61,15 @@ PICTURES=\
 	telemini-v1-top.jpg \
 	telemini-v2-top.jpg
 
+TXT_FILES=altusmetrum.txt
+INC_FILES=intro.inc getting-started.inc usage.inc telemetrum.inc handling.inc specs.inc
+
+RAW_FILES=$(TXT_FILES:.txt=.raw)
+
+RAW_INC=$(INC_FILES:.inc=.raw)
+
+AD_PDF=$(TXT_FILES:.txt=.pdf)
+
 SVG=\
 	easymini.svg \
 	telemega.svg \
@@ -71,7 +80,7 @@ SVG=\
 RELNOTES_XSL=$(RELNOTES:.html=.xsl)
 HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html telegps.html $(RELNOTES)
 PDF=altusmetrum.pdf altos.pdf telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \
-	telemetrum-outline.pdf telemega-outline.pdf easymini-outline.pdf easymega-outline.pdf
+	telemetrum-outline.pdf telemega-outline.pdf easymini-outline.pdf easymega-outline.pdf $(AD_PDF)
 HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl
 FOSTYLE=xorg-fo.xsl
 FOPCFG=fop-cfg.xml
@@ -80,10 +89,22 @@ PDFSTYLE=
 IMAGES=$(PICTURES) $(SVG)
 DOC=$(HTML) $(PDF) $(IMAGES)
 
-.SUFFIXES: .xml .xsl .html .pdf
+.SUFFIXES: .inc .txt .raw .pdf .html
 
 XSLTFLAGS=--stringparam section.autolabel 1 --xinclude
 
+.txt.raw:
+	sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ 	]*//' -e 's/^\\//' $*.txt > $@
+
+.inc.raw:
+	sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
+
+.raw.pdf:
+	a2x --verbose -k -d book -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file am-fo.xsl --fop --fop-opts="-c fop.xconf" $*.raw
+
+.raw.html:
+	a2x --verbose -k -d book -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=am.css $*.raw
+
 .xsl.html:
 	xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl
 
@@ -95,6 +116,8 @@ XSLTFLAGS=--stringparam section.autolabel 1 --xinclude
 
 all:	$(HTML) $(PDF)
 
+altusmetrum.pdf: altusmetrum-docinfo.xml $(RAW_FILES) $(RAW_INC)
+
 install:	all
 
 publish:	$(DOC)
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
new file mode 100644
index 00000000..05815f5a
--- /dev/null
+++ b/doc/altusmetrum-docinfo.xml
@@ -0,0 +1,153 @@
+<subtitle>An Owner's Manual for Altus Metrum Rocketry Electronics</subtitle>
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+</author>
+<author>
+  <firstname>Bob</firstname>
+  <surname>Finch</surname>
+</author>
+<author>
+  <firstname>Anthony</firstname>
+  <surname>Towns</surname>
+</author>
+<copyright>
+  <year>2015</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
+<revhistory>
+  <revision>
+    <revnumber>1.6.1</revnumber>
+    <date>15 July 2015</date>
+    <revremark>
+      Minor release adding TeleBT v3.0 support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.6</revnumber>
+    <date>8 January 2015</date>
+    <revremark>
+      Major release adding TeleDongle v3.0 support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.5</revnumber>
+    <date>6 September 2014</date>
+    <revremark>
+      Major release adding EasyMega support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.4.1</revnumber>
+    <date>20 June 2014</date>
+    <revremark>
+      Minor release fixing some installation bugs.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.4</revnumber>
+    <date>15 June 2014</date>
+    <revremark>
+      Major release adding TeleGPS support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.3.2</revnumber>
+    <date>24 January 2014</date>
+    <revremark>
+      Bug fixes for TeleMega and AltosUI.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.3.1</revnumber>
+    <date>21 January 2014</date>
+    <revremark>
+      Bug fixes for TeleMega and TeleMetrum v2.0 along with a few
+      small UI improvements.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.3</revnumber>
+    <date>12 November 2013</date>
+    <revremark>
+      Updated for software version 1.3. Version 1.3 adds support
+      for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini
+      and fixes bugs in AltosUI and the AltOS firmware.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.2.1</revnumber>
+    <date>21 May 2013</date>
+    <revremark>
+      Updated for software version 1.2. Version 1.2 adds support
+      for TeleBT and AltosDroid. It also adds a few minor features
+      and fixes bugs in AltosUI and the AltOS firmware.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.2</revnumber>
+    <date>18 April 2013</date>
+    <revremark>
+      Updated for software version 1.2. Version 1.2 adds support
+      for MicroPeak and the MicroPeak USB interface.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.1.1</revnumber>
+    <date>16 September 2012</date>
+    <revremark>
+      Updated for software version 1.1.1 Version 1.1.1 fixes a few
+      bugs found in version 1.1.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.1</revnumber>
+    <date>13 September 2012</date>
+    <revremark>
+      Updated for software version 1.1. Version 1.1 has new
+      features but is otherwise compatible with version 1.0.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.0</revnumber>
+    <date>24 August 2011</date>
+    <revremark>
+      Updated for software version 1.0.  Note that 1.0 represents a
+      telemetry format change, meaning both ends of a link 
+      (TeleMetrum/TeleMini and TeleDongle) must be updated or 
+      communications will fail.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>0.9</revnumber>
+    <date>18 January 2011</date>
+    <revremark>
+      Updated for software version 0.9.  Note that 0.9 represents a
+      telemetry format change, meaning both ends of a link (TeleMetrum and
+      TeleDongle) must be updated or communications will fail.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>0.8</revnumber>
+    <date>24 November 2010</date>
+    <revremark>Updated for software version 0.8 </revremark>
+  </revision>
+</revhistory>
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
new file mode 100644
index 00000000..5b6dfe81
--- /dev/null
+++ b/doc/altusmetrum.txt
@@ -0,0 +1,46 @@
+= The Altus Metrum System
+
+:doctype: book
+:numbered:
+
+	[dedication]
+	== Acknowledgments
+
+		Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
+		Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
+		Kit” which formed the basis of the original Getting Started chapter
+		in this manual.  Bob was one of our first customers for a production
+		TeleMetrum, and his continued enthusiasm and contributions
+		are immensely gratifying and highly appreciated!
+
+		And thanks to Anthony (AJ) Towns for major contributions including
+		the AltosUI 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!
+
+		Have fun using these products, and we hope to meet all of you
+		out on the rocket flight line somewhere.
+
+		[verse]
+		Bdale Garbee, KB0G
+		NAR #87103, TRA #12201
+
+		[verse]
+		Keith Packard, KD7SQG
+		NAR #88757, TRA #12200
+
+	include::intro.raw[]
+
+	include::getting-started.raw[]
+
+	include::usage.raw[]
+
+	include::telemetrum.raw[]
+
+	include::handling.raw[]
+
+	include::specs.raw[]
+
+	[index]
+	== Index
diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
deleted file mode 100644
index d1328abf..00000000
--- a/doc/altusmetrum.xsl
+++ /dev/null
@@ -1,6413 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<book>
-  <title>The Altus Metrum System</title>
-  <subtitle>An Owner's Manual for Altus Metrum Rocketry Electronics</subtitle>
-  <bookinfo>
-    <author>
-      <firstname>Bdale</firstname>
-      <surname>Garbee</surname>
-    </author>
-    <author>
-      <firstname>Keith</firstname>
-      <surname>Packard</surname>
-    </author>
-    <author>
-      <firstname>Bob</firstname>
-      <surname>Finch</surname>
-    </author>
-    <author>
-      <firstname>Anthony</firstname>
-      <surname>Towns</surname>
-    </author>
-    <copyright>
-      <year>2015</year>
-      <holder>Bdale Garbee and Keith Packard</holder>
-    </copyright>
-    <mediaobject>
-      <imageobject>
-	<imagedata fileref="../themes/background.png" width="6.0in"/>
-      </imageobject>
-    </mediaobject>
-    <legalnotice>
-      <para>
-        This document is released under the terms of the
-        <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
-          Creative Commons ShareAlike 3.0
-        </ulink>
-        license.
-      </para>
-    </legalnotice>
-    <revhistory>
-      <revision>
-	<revnumber>1.6.1</revnumber>
-	<date>15 July 2015</date>
-	<revremark>
-	  Minor release adding TeleBT v3.0 support.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.6</revnumber>
-	<date>8 January 2015</date>
-	<revremark>
-	  Major release adding TeleDongle v3.0 support.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.5</revnumber>
-	<date>6 September 2014</date>
-	<revremark>
-	  Major release adding EasyMega support.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.4.1</revnumber>
-	<date>20 June 2014</date>
-	<revremark>
-	  Minor release fixing some installation bugs.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.4</revnumber>
-	<date>15 June 2014</date>
-	<revremark>
-	  Major release adding TeleGPS support.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.3.2</revnumber>
-	<date>24 January 2014</date>
-	<revremark>
-	  Bug fixes for TeleMega and AltosUI.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.3.1</revnumber>
-	<date>21 January 2014</date>
-	<revremark>
-	  Bug fixes for TeleMega and TeleMetrum v2.0 along with a few
-	  small UI improvements.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.3</revnumber>
-	<date>12 November 2013</date>
-	<revremark>
-	  Updated for software version 1.3. Version 1.3 adds support
-	  for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini
-	  and fixes bugs in AltosUI and the AltOS firmware.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.2.1</revnumber>
-	<date>21 May 2013</date>
-	<revremark>
-	  Updated for software version 1.2. Version 1.2 adds support
-	  for TeleBT and AltosDroid. It also adds a few minor features
-	  and fixes bugs in AltosUI and the AltOS firmware.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.2</revnumber>
-	<date>18 April 2013</date>
-	<revremark>
-	  Updated for software version 1.2. Version 1.2 adds support
-	  for MicroPeak and the MicroPeak USB interface.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.1.1</revnumber>
-	<date>16 September 2012</date>
-	<revremark>
-	  Updated for software version 1.1.1 Version 1.1.1 fixes a few
-	  bugs found in version 1.1.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.1</revnumber>
-	<date>13 September 2012</date>
-	<revremark>
-	  Updated for software version 1.1. Version 1.1 has new
-	  features but is otherwise compatible with version 1.0.
-	</revremark>
-      </revision>
-      <revision>
-        <revnumber>1.0</revnumber>
-        <date>24 August 2011</date>
-	<revremark>
-	  Updated for software version 1.0.  Note that 1.0 represents a
-	  telemetry format change, meaning both ends of a link 
-	  (TeleMetrum/TeleMini and TeleDongle) must be updated or 
-          communications will fail.
-	</revremark>
-      </revision>
-      <revision>
-        <revnumber>0.9</revnumber>
-        <date>18 January 2011</date>
-	<revremark>
-	  Updated for software version 0.9.  Note that 0.9 represents a
-	  telemetry format change, meaning both ends of a link (TeleMetrum and
-	  TeleDongle) must be updated or communications will fail.
-	</revremark>
-      </revision>
-      <revision>
-        <revnumber>0.8</revnumber>
-        <date>24 November 2010</date>
-	<revremark>Updated for software version 0.8 </revremark>
-      </revision>
-    </revhistory>
-  </bookinfo>
-  <dedication>
-    <title>Acknowledgments</title>
-    <para>
-      Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
-      Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
-      Kit” which formed the basis of the original Getting Started chapter 
-      in this manual.  Bob was one of our first customers for a production
-      TeleMetrum, and his continued enthusiasm and contributions
-      are immensely gratifying and highly appreciated!
-    </para>
-    <para>
-      And thanks to Anthony (AJ) Towns for major contributions including
-      the AltosUI 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!
-    </para>
-    <para>
-      Have fun using these products, and we hope to meet all of you
-      out on the rocket flight line somewhere.
-      <literallayout>
-Bdale Garbee, KB0G
-NAR #87103, TRA #12201
-
-Keith Packard, KD7SQG
-NAR #88757, TRA #12200
-      </literallayout>
-    </para>
-  </dedication>
-  <chapter>
-    <title>Introduction and Overview</title>
-    <para>
-      Welcome to the Altus Metrum community!  Our circuits and software reflect
-      our passion for both hobby rocketry and Free Software.  We hope their
-      capabilities and performance will delight you in every way, but by
-      releasing all of our hardware and software designs under open licenses,
-      we also hope to empower you to take as active a role in our collective
-      future as you wish!
-    </para>
-    <para>
-      The first device created for our community was TeleMetrum, a dual
-      deploy altimeter with fully integrated GPS and radio telemetry
-      as standard features, and a “companion interface” that will
-      support optional capabilities in the future. The latest version
-      of TeleMetrum, v2.0, has all of the same features but with
-      improved sensors and radio to offer increased performance.
-    </para>
-    <para>
-      Our second device was TeleMini, a dual deploy altimeter with
-      radio telemetry and radio direction finding. The first version
-      of this device was only 13mm by 38mm (½ inch by 1½ inches) and
-      could fit easily in an 18mm air-frame. The latest version, v2.0,
-      includes a beeper, USB data download and extended on-board
-      flight logging, along with an improved barometric sensor.
-    </para>
-    <para>
-      TeleMega is our most sophisticated device, including six pyro
-      channels (four of which are fully programmable), integrated GPS,
-      integrated gyroscopes for staging/air-start inhibit and high
-      performance telemetry.
-    </para>
-    <para>
-      EasyMini is a dual-deploy altimeter with logging and built-in
-      USB data download.
-    </para>
-    <para>
-      EasyMega is essentially a TeleMega board with the GPS receiver
-      and telemetry transmitter removed. It offers the same 6 pyro
-      channels and integrated gyroscopes for staging/air-start inhibit.
-    </para>
-    <para>
-      TeleDongle v0.2 was our first ground station, providing a USB to RF
-      interfaces for communicating with the altimeters. Combined with
-      your choice of antenna and notebook computer, TeleDongle and our
-      associated user interface software form a complete ground
-      station capable of logging and displaying in-flight telemetry,
-      aiding rocket recovery, then processing and archiving flight
-      data for analysis and review. The latest version, TeleDongle
-      v3, has all new electronics with a higher performance radio
-      for improved range.
-    </para>
-    <para>
-      For a slightly more portable ground station experience that also
-      provides direct rocket recovery support, TeleBT offers flight
-      monitoring and data logging using a  Bluetooth™ connection between
-      the receiver and an Android device that has the AltosDroid
-      application installed from the Google Play store.
-    </para>
-    <para>
-      More products will be added to the Altus Metrum family over time, and
-      we currently envision that this will be a single, comprehensive manual
-      for the entire product family.
-    </para>
-  </chapter>
-  <chapter>
-    <title>Getting Started</title>
-    <para>
-      The first thing to do after you check the inventory of parts in your
-      “starter kit” is to charge the battery.
-    </para>
-    <para>
-      For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the
-      corresponding socket of the device and then using the USB
-      cable to plug the flight computer into your computer's USB socket. The
-      on-board circuitry will charge the battery whenever it is plugged
-      in, because the on-off switch does NOT control the
-      charging circuitry.
-    </para>
-    <para>
-      On TeleMetrum v1 boards, when the GPS chip is initially
-      searching for satellites, TeleMetrum will consume more current
-      than it pulls from the USB port, so the battery must be
-      attached in order to get satellite lock.  Once GPS is locked,
-      the current consumption goes back down enough to enable charging
-      while running. So it's a good idea to fully charge the battery
-      as your first item of business so there is no issue getting and
-      maintaining satellite lock.  The yellow charge indicator led
-      will go out when the battery is nearly full and the charger goes
-      to trickle charge. It can take several hours to fully recharge a
-      deeply discharged battery.
-    </para>
-    <para>
-      TeleMetrum v2.0, TeleMega and EasyMega use a higher power battery charger,
-      allowing them to charge the battery while running the board at
-      maximum power. When the battery is charging, or when the board
-      is consuming a lot of power, the red LED will be lit. When the
-      battery is fully charged, the green LED will be lit. When the
-      battery is damaged or missing, both LEDs will be lit, which
-      appears yellow.
-    </para>
-    <para>
-      The Lithium Polymer TeleMini and EasyMini battery can be charged by
-      disconnecting it from the board and plugging it into a
-      standalone battery charger such as the LipoCharger product
-      included in TeleMini Starter Kits, and connecting that via a USB
-      cable to a laptop or other USB power source.
-    </para>
-    <para>
-      You can also choose to use another battery with TeleMini v2.0
-      and EasyMini, anything supplying between 4 and 12 volts should
-      work fine (like a standard 9V battery), but if you are planning
-      to fire pyro charges, ground testing is required to verify that
-      the battery supplies enough current to fire your chosen e-matches.
-    </para>
-    <para>
-      The other active device in the starter kit is the TeleDongle USB to
-      RF interface.  If you plug it in to your Mac or Linux computer it should
-      “just work”, showing up as a serial port device.  Windows systems need
-      driver information that is part of the AltOS download to know that the
-      existing USB modem driver will work.  We therefore recommend installing
-      our software before plugging in TeleDongle if you are using a Windows
-      computer.  If you are using an older version of Linux and are having 
-      problems, try moving to a fresher kernel (2.6.33 or newer). 
-    </para>
-    <para>
-      Next you should obtain and install the AltOS software.  The AltOS
-      distribution includes the AltosUI ground station program, current 
-      firmware
-      images for all of the hardware, and a number of standalone
-      utilities that are rarely needed.  Pre-built binary packages are
-      available for Linux, Microsoft Windows, and recent MacOSX
-      versions.  Full source code and build instructions are also
-      available.  The latest version may always be downloaded from
-      <ulink url="http://altusmetrum.org/AltOS"/>.
-    </para>
-    <para>
-      If you're using a TeleBT instead of the TeleDongle, you'll want to 
-      install the AltosDroid application from the Google Play store on an 
-      Android device. You don't need a data plan to use AltosDroid, but 
-      without network access, the Map view will be less useful as it
-      won't contain any map data. You can also use TeleBT connected
-      over USB with your laptop computer; it acts exactly like a
-      TeleDongle. Anywhere this manual talks about TeleDongle, you can
-      also read that as 'and TeleBT when connected via USB'.
-    </para>
-  </chapter>
-  <chapter>
-    <title>Handling Precautions</title>
-    <para>
-      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.
-    </para>
-    <para>
-      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.
-    </para>
-    <para>
-      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.
-    </para>
-    <para>
-      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.
-    </para>
-    <para>
-      As with all other rocketry electronics, Altus Metrum altimeters must 
-      be protected from exposure to corrosive motor exhaust and ejection 
-      charge gasses.
-    </para>
-  </chapter>
-  <chapter>
-    <title>Altus Metrum Hardware</title>
-    <section>
-      <title>General Usage Instructions</title>
-      <para>
-	Here are general instructions for hooking up an Altus Metrum
-	flight computer. Instructions specific to each model will be
-	found in the section devoted to that model below.
-      </para>
-      <para>
-	To prevent electrical interference from affecting the
-	operation of the flight computer, it's important to always
-	twist pairs of wires connected to the board. Twist the switch
-	leads, the pyro leads and the battery leads. This reduces
-	interference through a mechanism called common mode rejection.
-      </para>
-      <section>
-	<title>Hooking Up Lithium Polymer Batteries</title>
-	<para>
-	  All Altus Metrum flight computers have 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 <ulink
-	  url="https://www.sparkfun.com/products/9914">JST Jumper 2
-	  Wire Assembly</ulink>.
-	</para>
-	<para>
-	  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 the flight computer.
-	</para>
-      </section>
-      <section>
-	<title>Hooking Up Pyro Charges</title>
-	<para>
-	  Altus Metrum flight computers always have two screws for
-	  each pyro charge. This means you shouldn't need to put two
-	  wires into a screw terminal or connect leads from pyro
-	  charges together externally.
-	</para>
-	<para>
-	  On the flight computer, one lead from each charge is hooked
-	  to the positive battery terminal through the power switch.
-	  The other lead is connected through the pyro circuit, which
-	  is connected to the negative battery terminal when the pyro
-	  circuit is fired.
-	</para>
-      </section>
-      <section>
-	<title>Hooking Up a Power Switch</title>
-	<para>
-	  Altus Metrum flight computers need an external power switch
-	  to turn them on. This disconnects both the computer and the
-	  pyro charges from the battery, preventing the charges from
-	  firing when in the Off position. The switch is in-line with
-	  the positive battery terminal.
-	</para>
-	<section>
-	  <title>Using an External Active Switch Circuit</title>
-	  <para>
-	    You can use an active switch circuit, such as the
-	    Featherweight Magnetic Switch, with any Altus Metrum
-	    flight computer. These require three connections, one to
-	    the battery, one to the positive power input on the flight
-	    computer and one to ground. Find instructions on how to
-	    hook these up for each flight computer below. The follow
-	    the instructions that come with your active switch to
-	    connect it up.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery</title>
-	<para>
-	  As mentioned above in the section on hooking up pyro
-	  charges, one lead for each of the pyro charges is connected
-	  through the power switch directly to the positive battery
-	  terminal. The other lead is connected to the pyro circuit,
-	  which connects it to the negative battery terminal when the
-	  pyro circuit is fired. The pyro circuit on all of the flight
-	  computers is designed to handle up to 16V.
-	</para>
-	<para>
-	  To use a separate pyro battery, connect the negative pyro
-	  battery terminal to the flight computer ground terminal,
-	  the positive battery terminal to the igniter and the other
-	  igniter lead to the negative pyro terminal on the flight
-	  computer. When the pyro channel fires, it will complete the
-	  circuit between the negative pyro terminal and the ground
-	  terminal, firing the igniter. Specific instructions on how
-	  to hook this up will be found in each section below.
-	</para>
-      </section>
-      <section>
-	<title>Using a Different Kind of Battery</title>
-	<para>
-	  EasyMini and TeleMini v2 are designed to use either a
-	  lithium polymer battery or any other battery producing
-	  between 4 and 12 volts, such as a rectangular 9V
-	  battery. TeleMega, EasyMega and TeleMetrum are not designed for this,
-	  and must only be powered by a lithium polymer battery. Find
-	  instructions on how to use other batteries in the EasyMini
-	  and TeleMini sections below.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Specifications</title>
-      <para>
-	Here's the full set of Altus Metrum products, both in
-	production and retired.
-      </para>
-      <table frame='all'>
-	<title>Altus Metrum Electronics</title>
-	<?dbfo keep-together="always"?>
-	<tgroup cols='8' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='*' colname='Device'/>
-	  <colspec align='center' colwidth='*' colname='Barometer'/>
-	  <colspec align='center' colwidth='*' colname='Z-axis accelerometer'/>
-	  <colspec align='center' colwidth='*' colname='GPS'/>
-	  <colspec align='center' colwidth='*' colname='3D sensors'/>
-	  <colspec align='center' colwidth='*' colname='Storage'/>
-	  <colspec align='center' colwidth='*' colname='RF'/>
-	  <colspec align='center' colwidth='*' colname='Battery'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Device</entry>
-	      <entry align='center'>Barometer</entry>
-	      <entry align='center'>Z-axis accelerometer</entry>
-	      <entry align='center'>GPS</entry>
-	      <entry align='center'>3D sensors</entry>
-	      <entry align='center'>Storage</entry>
-	      <entry align='center'>RF Output</entry>
-	      <entry align='center'>Battery</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>TeleMetrum v1.0</entry>
-	      <entry><para>MP3H6115 10km (33k')</para></entry>
-	      <entry><para>MMA2202 50g</para></entry>
-	      <entry>SkyTraq</entry>
-	      <entry>-</entry>
-	      <entry>1MB</entry>
-	      <entry>10mW</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMetrum v1.1</entry>
-	      <entry><para>MP3H6115 10km (33k')</para></entry>
-	      <entry><para>MMA2202 50g</para></entry>
-	      <entry>SkyTraq</entry>
-	      <entry>-</entry>
-	      <entry>2MB</entry>
-	      <entry>10mW</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMetrum v1.2</entry>
-	      <entry><para>MP3H6115 10km (33k')</para></entry>
-	      <entry><para>ADXL78 70g</para></entry>
-	      <entry>SkyTraq</entry>
-	      <entry>-</entry>
-	      <entry>2MB</entry>
-	      <entry>10mW</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMetrum v2.0</entry>
-	      <entry><para>MS5607 30km (100k')</para></entry>
-	      <entry><para>MMA6555 102g</para></entry>
-	      <entry>uBlox Max-7Q</entry>
-	      <entry>-</entry>
-	      <entry>8MB</entry>
-	      <entry>40mW</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	    <row>
-	      <entry><para>TeleMini <?linebreak?>v1.0</para></entry>
-	      <entry><para>MP3H6115 10km (33k')</para></entry>
-	      <entry>-</entry>
-	      <entry>-</entry>
-	      <entry>-</entry>
-	      <entry>5kB</entry>
-	      <entry>10mW</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMini <?linebreak?>v2.0</entry>
-	      <entry><para>MS5607 30km (100k')</para></entry>
-	      <entry>-</entry>
-	      <entry>-</entry>
-	      <entry>-</entry>
-	      <entry>1MB</entry>
-	      <entry>10mW</entry>
-	      <entry>3.7-12V</entry>
-	    </row>
-	    <row>
-	      <entry>EasyMini <?linebreak?>v1.0</entry>
-	      <entry><para>MS5607 30km (100k')</para></entry>
-	      <entry>-</entry>
-	      <entry>-</entry>
-	      <entry>-</entry>
-	      <entry>1MB</entry>
-	      <entry>-</entry>
-	      <entry>3.7-12V</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMega <?linebreak?>v1.0</entry>
-	      <entry><para>MS5607 30km (100k')</para></entry>
-	      <entry><para>MMA6555 102g</para></entry>
-	      <entry>uBlox Max-7Q</entry>
-	      <entry><para>MPU6000 HMC5883</para></entry>
-	      <entry>8MB</entry>
-	      <entry>40mW</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	    <row>
-	      <entry>EasyMega <?linebreak?>v1.0</entry>
-	      <entry><para>MS5607 30km (100k')</para></entry>
-	      <entry><para>MMA6555 102g</para></entry>
-	      <entry>-</entry>
-	      <entry><para>MPU6000 HMC5883</para></entry>
-	      <entry>8MB</entry>
-	      <entry>-</entry>
-	      <entry>3.7V</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-      <table frame='all'>
-	<title>Altus Metrum Boards</title>
-	<?dbfo keep-together="always"?>
-	<tgroup cols='6' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='*' colname='Device'/>
-	  <colspec align='center' colwidth='*' colname='Connectors'/>
-	  <colspec align='center' colwidth='*' colname='Screw Terminals'/>
-	  <colspec align='center' colwidth='*' colname='Width'/>
-	  <colspec align='center' colwidth='*' colname='Length'/>
-	  <colspec align='center' colwidth='*' colname='Tube Size'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Device</entry>
-	      <entry align='center'>Connectors</entry>
-	      <entry align='center'>Screw Terminals</entry>
-	      <entry align='center'>Width</entry>
-	      <entry align='center'>Length</entry>
-	      <entry align='center'>Tube Size</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>TeleMetrum</entry>
-	      <entry><para>
-		Antenna<?linebreak?>
-		Debug<?linebreak?>
-		Companion<?linebreak?>
-		USB<?linebreak?>
-		Battery
-	      </para></entry>
-	      <entry><para>Apogee pyro <?linebreak?>Main pyro <?linebreak?>Switch</para></entry>
-	      <entry>1 inch (2.54cm)</entry>
-	      <entry>2 ¾ inch (6.99cm)</entry>
-	      <entry>29mm coupler</entry>
-	    </row>
-	    <row>
-	      <entry><para>TeleMini <?linebreak?>v1.0</para></entry>
-	      <entry><para>
-		Antenna<?linebreak?>
-		Debug<?linebreak?>
-		Battery
-	      </para></entry>
-	      <entry><para>
-		Apogee pyro <?linebreak?>
-		Main pyro
-	      </para></entry>
-	      <entry>½ inch (1.27cm)</entry>
-	      <entry>1½ inch (3.81cm)</entry>
-	      <entry>18mm coupler</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMini <?linebreak?>v2.0</entry>
-	      <entry><para>
-		Antenna<?linebreak?>
-		Debug<?linebreak?>
-		USB<?linebreak?>
-		Battery
-	      </para></entry>
-	      <entry><para>
-		Apogee pyro <?linebreak?>
-		Main pyro <?linebreak?>
-		Battery <?linebreak?>
-		Switch
-		</para></entry>
-	      <entry>0.8 inch (2.03cm)</entry>
-	      <entry>1½ inch (3.81cm)</entry>
-	      <entry>24mm coupler</entry>
-	    </row>
-	    <row>
-	      <entry>EasyMini</entry>
-	      <entry><para>
-		Debug<?linebreak?>
-		USB<?linebreak?>
-		Battery
-	      </para></entry>
-	      <entry><para>
-		Apogee pyro <?linebreak?>
-		Main pyro <?linebreak?>
-		Battery <?linebreak?>
-		Switch
-		</para></entry>
-	      <entry>0.8 inch (2.03cm)</entry>
-	      <entry>1½ inch (3.81cm)</entry>
-	      <entry>24mm coupler</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMega</entry>
-	      <entry><para>
-		Antenna<?linebreak?>
-		Debug<?linebreak?>
-		Companion<?linebreak?>
-		USB<?linebreak?>
-		Battery
-	      </para></entry>
-	      <entry><para>
-		Apogee pyro <?linebreak?>
-		Main pyro<?linebreak?>
-		Pyro A-D<?linebreak?>
-		Switch<?linebreak?>
-		Pyro battery
-	      </para></entry>
-	      <entry>1¼ inch (3.18cm)</entry>
-	      <entry>3¼ inch (8.26cm)</entry>
-	      <entry>38mm coupler</entry>
-	    </row>
-	    <row>
-	      <entry>EasyMega</entry>
-	      <entry><para>
-		Debug<?linebreak?>
-		Companion<?linebreak?>
-		USB<?linebreak?>
-		Battery
-	      </para></entry>
-	      <entry><para>
-		Apogee pyro <?linebreak?>
-		Main pyro<?linebreak?>
-		Pyro A-D<?linebreak?>
-		Switch<?linebreak?>
-		Pyro battery
-	      </para></entry>
-	      <entry>1¼ inch (3.18cm)</entry>
-	      <entry>2¼ inch (5.62cm)</entry>
-	      <entry>38mm coupler</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-    </section>
-    <section>
-      <title>TeleMetrum</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	TeleMetrum is a 1 inch by 2¾ inch circuit board.  It was designed to
-	fit inside coupler for 29mm air-frame tubing, but using it in a tube that
-	small in diameter may require some creativity in mounting and wiring
-	to succeed!  The presence of an accelerometer means TeleMetrum should
-	be aligned along the flight axis of the airframe, and by default the ¼
-	wave UHF wire antenna should be on the nose-cone end of the board.  The
-	antenna wire is about 7 inches long, and wiring for a power switch and
-	the e-matches for apogee and main ejection charges depart from the
-	fin can end of the board, meaning an ideal “simple” avionics
-	bay for TeleMetrum should have at least 10 inches of interior length.
-      </para>
-      <section>
-	<title>TeleMetrum Screw Terminals</title>
-	<para>
-	  TeleMetrum has six screw terminals on the end of the board
-	  opposite the telemetry antenna. Two are for the power
-	  switch, and two each for the apogee and main igniter
-	  circuits. Using the picture above and starting from the top,
-	  the terminals are as follows:
-	</para>
-	<table frame='all'>
-	  <title>TeleMetrum Screw Terminals</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Pin #'/>
-	    <colspec align='center' colwidth='2*' colname='Pin Name'/>
-	    <colspec align='left' colwidth='5*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry align='center'>Terminal #</entry>
-		<entry align='center'>Terminal Name</entry>
-		<entry align='center'>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>1</entry>
-		<entry>Switch Output</entry>
-		<entry>Switch connection to flight computer</entry>
-	      </row>
-	      <row>
-		<entry>2</entry>
-		<entry>Switch Input</entry>
-		<entry>Switch connection to positive battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>3</entry>
-		<entry>Main +</entry>
-		<entry>Main pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>4</entry>
-		<entry>Main -</entry>
-		<entry>Main pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>5</entry>
-		<entry>Apogee +</entry>
-		<entry>Apogee pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>6</entry>
-		<entry>Apogee -</entry>
-		<entry>Apogee pyro channel connection to pyro circuit</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery with TeleMetrum</title>
-	<para>
-	  As described above, using an external pyro battery involves
-	  connecting the negative battery terminal to the flight
-	  computer ground, connecting the positive battery terminal to
-	  one of the igniter leads and connecting the other igniter
-	  lead to the per-channel pyro circuit connection.
-	</para>
-	<para>
-	  To connect the negative battery terminal to the TeleMetrum
-	  ground, insert a small piece of wire, 24 to 28 gauge
-	  stranded, into the GND hole just above the screw terminal
-	  strip and solder it in place.
-	</para>
-	<para>
-	  Connecting the positive battery terminal to the pyro
-	  charges must be done separate from TeleMetrum, by soldering
-	  them together or using some other connector.
-	</para>
-	<para>
-	  The other lead from each pyro charge is then inserted into
-	  the appropriate per-pyro channel screw terminal (terminal 4 for the
-	  Main charge, terminal 6 for the Apogee charge).
-	</para>
-      </section>
-      <section>
-	<title>Using an Active Switch with TeleMetrum</title>
-	<para>
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground.
-	</para>
-	<para>
-	  The positive battery terminal is available on screw terminal
-	  2, the positive flight computer input is on terminal 1. To
-	  hook a lead to ground, solder a piece of wire, 24 to 28
-	  gauge stranded, to the GND hole just above terminal 1.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>TeleMini v1.0</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	TeleMini v1.0 is ½ inches by 1½ inches.  It was
-	designed to fit inside an 18mm air-frame tube, but using it in
-	a tube that small in diameter may require some creativity in
-	mounting and wiring to succeed!  Since there is no
-	accelerometer, TeleMini can be mounted in any convenient
-	orientation.  The default ¼ wave UHF wire antenna attached to
-	the center of one end of the board is about 7 inches long. Two
-	wires for the power switch are connected to holes in the
-	middle of the board. Screw terminals for the e-matches for
-	apogee and main ejection charges depart from the other end of
-	the board, meaning an ideal “simple” avionics bay for TeleMini
-	should have at least 9 inches of interior length.
-      </para>
-      <section>
-	<title>TeleMini v1.0 Screw Terminals</title>
-	<para>
-	  TeleMini v1.0 has four screw terminals on the end of the
-	  board opposite the telemetry antenna. Two are for the apogee
-	  and two are for main igniter circuits. There are also wires
-	  soldered to the board for the power switch.  Using the
-	  picture above and starting from the top for the terminals
-	  and from the left for the power switch wires, the
-	  connections are as follows:
-	</para>
-	<table frame='all'>
-	  <title>TeleMini v1.0 Connections</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Pin #'/>
-	    <colspec align='center' colwidth='2*' colname='Pin Name'/>
-	    <colspec align='left' colwidth='5*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry align='center'>Terminal #</entry>
-		<entry align='center'>Terminal Name</entry>
-		<entry align='center'>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>1</entry>
-		<entry>Apogee -</entry>
-		<entry>Apogee pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>2</entry>
-		<entry>Apogee +</entry>
-		<entry>Apogee pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>3</entry>
-		<entry>Main -</entry>
-		<entry>Main pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>4</entry>
-		<entry>Main +</entry>
-		<entry>Main pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Left</entry>
-		<entry>Switch Output</entry>
-		<entry>Switch connection to flight computer</entry>
-	      </row>
-	      <row>
-		<entry>Right</entry>
-		<entry>Switch Input</entry>
-		<entry>Switch connection to positive battery terminal</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery with TeleMini v1.0</title>
-	<para>
-	  As described above, using an external pyro battery involves
-	  connecting the negative battery terminal to the flight
-	  computer ground, connecting the positive battery terminal to
-	  one of the igniter leads and connecting the other igniter
-	  lead to the per-channel pyro circuit connection. Because
-	  there is no solid ground connection to use on TeleMini, this
-	  is not recommended.
-	</para>
-	<para>
-	  The only available ground connection on TeleMini v1.0 are
-	  the two mounting holes next to the telemetry
-	  antenna. Somehow connect a small piece of wire to one of
-	  those holes and hook it to the negative pyro battery terminal.
-	</para>
-	<para>
-	  Connecting the positive battery terminal to the pyro
-	  charges must be done separate from TeleMini v1.0, by soldering
-	  them together or using some other connector.
-	</para>
-	<para>
-	  The other lead from each pyro charge is then inserted into
-	  the appropriate per-pyro channel screw terminal (terminal 3 for the
-	  Main charge, terminal 1 for the Apogee charge).
-	</para>
-      </section>
-      <section>
-	<title>Using an Active Switch with TeleMini v1.0</title>
-	<para>
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground. Again,
-	  because TeleMini doesn't have any good ground connection,
-	  this is not recommended.
-	</para>
-	<para>
-	  The positive battery terminal is available on the Right
-	  power switch wire, the positive flight computer input is on
-	  the left power switch wire. Hook a lead to either of the
-	  mounting holes for a ground connection.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>TeleMini v2.0</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="telemini-v2-top.jpg" width="5.5in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
-	on-board data logging memory, a built-in USB connector and
-	screw terminals for the battery and power switch. The larger
-	board fits in a 24mm coupler. There's also a battery connector
-	for a LiPo battery if you want to use one of those.
-      </para>
-      <section>
-	<title>TeleMini v2.0 Screw Terminals</title>
-	<para>
-	  TeleMini v2.0 has two sets of four screw terminals on the end of the
-	  board opposite the telemetry antenna. Using the picture
-	  above, the top four have connections for the main pyro
-	  circuit and an external battery and the bottom four have
-	  connections for the apogee pyro circuit and the power
-	  switch. Counting from the left, the connections are as follows:
-	</para>
-	<table frame='all'>
-	  <title>TeleMini v2.0 Connections</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Pin #'/>
-	    <colspec align='center' colwidth='2*' colname='Pin Name'/>
-	    <colspec align='left' colwidth='5*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry align='center'>Terminal #</entry>
-		<entry align='center'>Terminal Name</entry>
-		<entry align='center'>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>Top 1</entry>
-		<entry>Main -</entry>
-		<entry>Main pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 2</entry>
-		<entry>Main +</entry>
-		<entry>Main pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Top 3</entry>
-		<entry>Battery +</entry>
-		<entry>Positive external battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Top 4</entry>
-		<entry>Battery -</entry>
-		<entry>Negative external battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 1</entry>
-		<entry>Apogee -</entry>
-		<entry>Apogee pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 2</entry>
-		<entry>Apogee +</entry>
-		<entry>Apogee pyro channel common connection to
-		battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 3</entry>
-		<entry>Switch Output</entry>
-		<entry>Switch connection to flight computer</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 4</entry>
-		<entry>Switch Input</entry>
-		<entry>Switch connection to positive battery terminal</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery with TeleMini v2.0</title>
-	<para>
-	  As described above, using an external pyro battery involves
-	  connecting the negative battery terminal to the flight
-	  computer ground, connecting the positive battery terminal to
-	  one of the igniter leads and connecting the other igniter
-	  lead to the per-channel pyro circuit connection.
-	</para>
-	<para>
-	  To connect the negative pyro battery terminal to TeleMini
-	  ground, connect it to the negative external battery
-	  connection, top terminal 4.
-	</para>
-	<para>
-	  Connecting the positive battery terminal to the pyro
-	  charges must be done separate from TeleMini v2.0, by soldering
-	  them together or using some other connector.
-	</para>
-	<para>
-	  The other lead from each pyro charge is then inserted into
-	  the appropriate per-pyro channel screw terminal (top
-	  terminal 1 for the Main charge, bottom terminal 1 for the
-	  Apogee charge).
-	</para>
-      </section>
-      <section>
-	<title>Using an Active Switch with TeleMini v2.0</title>
-	<para>
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground. Use
-	  the negative external battery connection, top terminal 4 for
-	  ground.
-	</para>
-	<para>
-	  The positive battery terminal is available on bottom
-	  terminal 4, the positive flight computer input is on the
-	  bottom terminal 3.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>EasyMini</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="easymini-top.jpg" width="5.5in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
-	designed to fit in a 24mm coupler tube. The connectors and
-	screw terminals match TeleMini v2.0, so you can easily swap between
-	EasyMini and TeleMini.
-      </para>
-      <section>
-	<title>EasyMini Screw Terminals</title>
-	<para>
-	  EasyMini has two sets of four screw terminals on the end of the
-	  board opposite the telemetry antenna. Using the picture
-	  above, the top four have connections for the main pyro
-	  circuit and an external battery and the bottom four have
-	  connections for the apogee pyro circuit and the power
-	  switch. Counting from the left, the connections are as follows:
-	</para>
-	<table frame='all'>
-	  <title>EasyMini Connections</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Pin #'/>
-	    <colspec align='center' colwidth='2*' colname='Pin Name'/>
-	    <colspec align='left' colwidth='5*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry align='center'>Terminal #</entry>
-		<entry align='center'>Terminal Name</entry>
-		<entry align='center'>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>Top 1</entry>
-		<entry>Main -</entry>
-		<entry>Main pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 2</entry>
-		<entry>Main +</entry>
-		<entry>Main pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Top 3</entry>
-		<entry>Battery +</entry>
-		<entry>Positive external battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Top 4</entry>
-		<entry>Battery -</entry>
-		<entry>Negative external battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 1</entry>
-		<entry>Apogee -</entry>
-		<entry>Apogee pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 2</entry>
-		<entry>Apogee +</entry>
-		<entry>Apogee pyro channel common connection to
-		battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 3</entry>
-		<entry>Switch Output</entry>
-		<entry>Switch connection to flight computer</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 4</entry>
-		<entry>Switch Input</entry>
-		<entry>Switch connection to positive battery terminal</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery with EasyMini</title>
-	<para>
-	  As described above, using an external pyro battery involves
-	  connecting the negative battery terminal to the flight
-	  computer ground, connecting the positive battery terminal to
-	  one of the igniter leads and connecting the other igniter
-	  lead to the per-channel pyro circuit connection.
-	</para>
-	<para>
-	  To connect the negative pyro battery terminal to TeleMini
-	  ground, connect it to the negative external battery
-	  connection, top terminal 4.
-	</para>
-	<para>
-	  Connecting the positive battery terminal to the pyro
-	  charges must be done separate from EasyMini, by soldering
-	  them together or using some other connector.
-	</para>
-	<para>
-	  The other lead from each pyro charge is then inserted into
-	  the appropriate per-pyro channel screw terminal (top
-	  terminal 1 for the Main charge, bottom terminal 1 for the
-	  Apogee charge).
-	</para>
-      </section>
-      <section>
-	<title>Using an Active Switch with EasyMini</title>
-	<para>
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground. Use
-	  the negative external battery connection, top terminal 4 for
-	  ground.
-	</para>
-	<para>
-	  The positive battery terminal is available on bottom
-	  terminal 4, the positive flight computer input is on the
-	  bottom terminal 3.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>TeleMega</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
-	designed to easily fit in a 38mm coupler. Like TeleMetrum,
-	TeleMega has an accelerometer and so it must be mounted so that
-	the board is aligned with the flight axis. It can be mounted
-	either antenna up or down.
-      </para>
-      <section>
-	<title>TeleMega Screw Terminals</title>
-	<para>
-	  TeleMega has two sets of nine screw terminals on the end of
-	  the board opposite the telemetry antenna. They are as follows:
-	</para>
-	<table frame='all'>
-	  <title>TeleMega Screw Terminals</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Pin #'/>
-	    <colspec align='center' colwidth='2*' colname='Pin Name'/>
-	    <colspec align='left' colwidth='5*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry align='center'>Terminal #</entry>
-		<entry align='center'>Terminal Name</entry>
-		<entry align='center'>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>Top 1</entry>
-		<entry>Switch Input</entry>
-		<entry>Switch connection to positive battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Top 2</entry>
-		<entry>Switch Output</entry>
-		<entry>Switch connection to flight computer</entry>
-	      </row>
-	      <row>
-		<entry>Top 3</entry>
-		<entry>GND</entry>
-		<entry>Ground connection for use with external active switch</entry>
-	      </row>
-	      <row>
-		<entry>Top 4</entry>
-		<entry>Main -</entry>
-		<entry>Main pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 5</entry>
-		<entry>Main +</entry>
-		<entry>Main pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Top 6</entry>
-		<entry>Apogee -</entry>
-		<entry>Apogee pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 7</entry>
-		<entry>Apogee +</entry>
-		<entry>Apogee pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Top 8</entry>
-		<entry>D -</entry>
-		<entry>D pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 9</entry>
-		<entry>D +</entry>
-		<entry>D pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 1</entry>
-		<entry>GND</entry>
-		<entry>Ground connection for negative pyro battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 2</entry>
-		<entry>Pyro</entry>
-		<entry>Positive pyro battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 3</entry>
-		<entry>Lipo</entry>
-		<entry>
-		  Power switch output. Use to connect main battery to
-		  pyro battery input
-		</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 4</entry>
-		<entry>A -</entry>
-		<entry>A pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 5</entry>
-		<entry>A +</entry>
-		<entry>A pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 6</entry>
-		<entry>B -</entry>
-		<entry>B pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 7</entry>
-		<entry>B +</entry>
-		<entry>B pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 8</entry>
-		<entry>C -</entry>
-		<entry>C pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 9</entry>
-		<entry>C +</entry>
-		<entry>C pyro channel common connection to battery +</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery with TeleMega</title>
-	<para>
-	  TeleMega provides explicit support for an external pyro
-	  battery. All that is required is to remove the jumper
-	  between the lipo terminal (Bottom 3) and the pyro terminal
-	  (Bottom 2). Then hook the negative pyro battery terminal to ground
-	  (Bottom 1) and the positive pyro battery to the pyro battery
-	  input (Bottom 2). You can then use the existing pyro screw
-	  terminals to hook up all of the pyro charges.
-	</para>
-      </section>
-      <section>
-	<title>Using Only One Battery With TeleMega</title>
-	<para>
-	  Because TeleMega has built-in support for a separate pyro
-	  battery, if you want to fly with just one battery running
-	  both the computer and firing the charges, you need to
-	  connect the flight computer battery to the pyro
-	  circuit. TeleMega has two screw terminals for this—hook a
-	  wire from the Lipo terminal (Bottom 3) to the Pyro terminal
-	  (Bottom 2).
-	</para>
-      </section>
-      <section>
-	<title>Using an Active Switch with TeleMega</title>
-	<para>
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground.
-	</para>
-	<para>
-	  The positive battery terminal is available on Top terminal
-	  1, the positive flight computer input is on Top terminal
-	  2. Ground is on Top terminal 3.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>EasyMega</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="easymega-v1.0-top.jpg" width="4.5in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	EasyMega is a 1¼ inch by 2¼ inch circuit board. It was
-	designed to easily fit in a 38mm coupler. Like TeleMetrum,
-	EasyMega has an accelerometer and so it must be mounted so that
-	the board is aligned with the flight axis. It can be mounted
-	either antenna up or down.
-      </para>
-      <section>
-	<title>EasyMega Screw Terminals</title>
-	<para>
-	  EasyMega has two sets of nine screw terminals on the end of
-	  the board opposite the telemetry antenna. They are as follows:
-	</para>
-	<table frame='all'>
-	  <title>EasyMega Screw Terminals</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Pin #'/>
-	    <colspec align='center' colwidth='2*' colname='Pin Name'/>
-	    <colspec align='left' colwidth='5*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry align='center'>Terminal #</entry>
-		<entry align='center'>Terminal Name</entry>
-		<entry align='center'>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>Top 1</entry>
-		<entry>Switch Input</entry>
-		<entry>Switch connection to positive battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Top 2</entry>
-		<entry>Switch Output</entry>
-		<entry>Switch connection to flight computer</entry>
-	      </row>
-	      <row>
-		<entry>Top 3</entry>
-		<entry>GND</entry>
-		<entry>Ground connection for use with external active switch</entry>
-	      </row>
-	      <row>
-		<entry>Top 4</entry>
-		<entry>Main -</entry>
-		<entry>Main pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 5</entry>
-		<entry>Main +</entry>
-		<entry>Main pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Top 6</entry>
-		<entry>Apogee -</entry>
-		<entry>Apogee pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 7</entry>
-		<entry>Apogee +</entry>
-		<entry>Apogee pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Top 8</entry>
-		<entry>D -</entry>
-		<entry>D pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Top 9</entry>
-		<entry>D +</entry>
-		<entry>D pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 1</entry>
-		<entry>GND</entry>
-		<entry>Ground connection for negative pyro battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 2</entry>
-		<entry>Pyro</entry>
-		<entry>Positive pyro battery terminal</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 3</entry>
-		<entry>Lipo</entry>
-		<entry>
-		  Power switch output. Use to connect main battery to
-		  pyro battery input
-		</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 4</entry>
-		<entry>A -</entry>
-		<entry>A pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 5</entry>
-		<entry>A +</entry>
-		<entry>A pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 6</entry>
-		<entry>B -</entry>
-		<entry>B pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 7</entry>
-		<entry>B +</entry>
-		<entry>B pyro channel common connection to battery +</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 8</entry>
-		<entry>C -</entry>
-		<entry>C pyro channel connection to pyro circuit</entry>
-	      </row>
-	      <row>
-		<entry>Bottom 9</entry>
-		<entry>C +</entry>
-		<entry>C pyro channel common connection to battery +</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </section>
-      <section>
-	<title>Using a Separate Pyro Battery with EasyMega</title>
-	<para>
-	  EasyMega provides explicit support for an external pyro
-	  battery. All that is required is to remove the jumper
-	  between the lipo terminal (Bottom 3) and the pyro terminal
-	  (Bottom 2). Then hook the negative pyro battery terminal to ground
-	  (Bottom 1) and the positive pyro battery to the pyro battery
-	  input (Bottom 2). You can then use the existing pyro screw
-	  terminals to hook up all of the pyro charges.
-	</para>
-      </section>
-      <section>
-	<title>Using Only One Battery With EasyMega</title>
-	<para>
-	  Because EasyMega has built-in support for a separate pyro
-	  battery, if you want to fly with just one battery running
-	  both the computer and firing the charges, you need to
-	  connect the flight computer battery to the pyro
-	  circuit. EasyMega has two screw terminals for this—hook a
-	  wire from the Lipo terminal (Bottom 3) to the Pyro terminal
-	  (Bottom 2).
-	</para>
-      </section>
-      <section>
-	<title>Using an Active Switch with EasyMega</title>
-	<para>
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground.
-	</para>
-	<para>
-	  The positive battery terminal is available on Top terminal
-	  1, the positive flight computer input is on Top terminal
-	  2. Ground is on Top terminal 3.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Flight Data Recording</title>
-      <para>
-	Each flight computer logs data at 100 samples per second
-	during ascent and 10 samples per second during descent, except
-	for TeleMini v1.0, which records ascent at 10 samples per
-	second and descent at 1 sample per second. Data are logged to
-	an on-board flash memory part, which can be partitioned into
-	several equal-sized blocks, one for each flight.
-      </para>
-      <table frame='all'>
-	<title>Data Storage on Altus Metrum altimeters</title>
-	<?dbfo keep-together="always"?>
-	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='*' colname='Device'/>
-	  <colspec align='center' colwidth='*' colname='Bytes per sample'/>
-	  <colspec align='center' colwidth='*' colname='Total storage'/>
-	  <colspec align='center' colwidth='*' colname='Minutes of
-							full-rate'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Device</entry>
-	      <entry align='center'>Bytes per Sample</entry>
-	      <entry align='center'>Total Storage</entry>
-	      <entry align='center'>Minutes at Full Rate</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>TeleMetrum v1.0</entry>
-	      <entry>8</entry>
-	      <entry>1MB</entry>
-	      <entry>20</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMetrum v1.1 v1.2</entry>
-	      <entry>8</entry>
-	      <entry>2MB</entry>
-	      <entry>40</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMetrum v2.0</entry>
-	      <entry>16</entry>
-	      <entry>8MB</entry>
-	      <entry>80</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMini v1.0</entry>
-	      <entry>2</entry>
-	      <entry>5kB</entry>
-	      <entry>4</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMini v2.0</entry>
-	      <entry>16</entry>
-	      <entry>1MB</entry>
-	      <entry>10</entry>
-	    </row>
-	    <row>
-	      <entry>EasyMini</entry>
-	      <entry>16</entry>
-	      <entry>1MB</entry>
-	      <entry>10</entry>
-	    </row>
-	    <row>
-	      <entry>TeleMega</entry>
-	      <entry>32</entry>
-	      <entry>8MB</entry>
-	      <entry>40</entry>
-	    </row>
-	    <row>
-	      <entry>EasyMega</entry>
-	      <entry>32</entry>
-	      <entry>8MB</entry>
-	      <entry>40</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-      <para>
-	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.
-      </para>
-      <para>
-	Configuration data is also stored in the flash memory on
-	TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB
-	of flash space.  This configuration space is not available
-	for storing flight log data. TeleMetrum v2.0, TeleMega and EasyMega
-	store configuration data in a bit of eeprom available within
-	the processor chip, leaving that space available in flash for
-	more flight data.
-      </para>
-      <para>
-	To compute the amount of space needed for a single flight, you
-	can multiply the expected ascent time (in seconds) by 100
-	times bytes-per-sample, multiply the expected descent time (in
-	seconds) by 10 times the bytes per sample and add the two
-	together. That will slightly under-estimate the storage (in
-	bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending
-	20 seconds in ascent and 150 seconds in descent will take
-	about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You
-	could store dozens of these flights in the on-board flash.
-      </para>
-      <para>
-	The default size allows for several flights on each flight
-	computer, except for TeleMini v1.0, which only holds data for a
-	single flight. You can adjust the size.
-      </para>
-      <para>
-	Altus Metrum flight computers will not overwrite existing
-	flight data, so be sure to download flight data and erase it
-	from the flight computer before it fills up. The flight
-	computer will still successfully control the flight even if it
-	cannot log data, so the only thing you will lose is the data.
-      </para>
-    </section>
-    <section>
-      <title>Installation</title>
-      <para>
-	A typical installation involves attaching 
-	only a suitable battery, a single pole switch for 
-	power on/off, and two pairs of wires connecting e-matches for the 
-	apogee and main ejection charges.  All Altus Metrum products are 
-	designed for use with single-cell batteries with 3.7 volts
-	nominal. TeleMini v2.0 and EasyMini may also be used with other
-	batteries as long as they supply between 4 and 12 volts. 
-      </para>
-      <para>
-	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. <emphasis>Check
-	polarity and voltage before connecting any battery not purchased
-	from Altus Metrum or Spark Fun.</emphasis>
-      </para>
-      <para>
-	By default, we use the unregulated output of the battery directly
-	to fire ejection charges.  This works marvelously with standard
-	low-current e-matches like the J-Tek from MJG Technologies, and with
-	Quest Q2G2 igniters.  However, if you want or need to use a separate 
-	pyro battery, check out the “External Pyro Battery” section in this 
-	manual for instructions on how to wire that up. The altimeters are 
-	designed to work with an external pyro battery of no more than 15 volts.
-      </para>
-      <para>
-	Ejection charges are wired directly to the screw terminal block
-	at the aft end of the altimeter.  You'll need a very small straight 
-	blade screwdriver for these screws, such as you might find in a 
-	jeweler's screwdriver set.
-      </para>
-      <para>
-	Except for TeleMini v1.0, the flight computers also use the
-	screw terminal block for the power switch leads. On TeleMini v1.0,
-	the power switch leads are soldered directly to the board and
-	can be connected directly to a switch.
-      </para>
-      <para>
-	For most air-frames, the integrated antennas are more than
-	adequate.   However, if you are installing in a carbon-fiber or
-	metal electronics bay which is opaque to RF signals, you may need to
-	use off-board external antennas instead.  In this case, you can
-	replace the stock UHF antenna wire with an edge-launched SMA connector,
-	and, on TeleMetrum v1, you can unplug the integrated GPS
-	antenna and select an appropriate off-board GPS antenna with
-	cable terminating in a U.FL connector.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>System Operation</title>
-    <section>
-      <title>Firmware Modes </title>
-      <para>
-        The AltOS firmware build for the altimeters has two
-        fundamental modes, “idle” and “flight”.  Which of these modes
-        the firmware operates in is determined at start up time. For
-        TeleMetrum, TeleMega and EasyMega, which have accelerometers, the mode is 
-	controlled by the orientation of the
-        rocket (well, actually the board, of course...) at the time
-        power is switched on.  If the rocket is “nose up”, then
-        the flight computer assumes it's on a rail or rod being prepared for
-        launch, so the firmware chooses flight mode.  However, if the
-        rocket is more or less horizontal, the firmware instead enters
-        idle mode.  Since TeleMini v2.0 and EasyMini don't have an
-        accelerometer we can use to determine orientation, “idle” mode
-        is selected if the board is connected via USB to a computer,
-        otherwise the board enters “flight” mode. TeleMini v1.0
-        selects “idle” mode if it receives a command packet within the
-        first five seconds of operation.
-      </para>
-      <para>
-        At power on, the altimeter will beep out the battery voltage
-        to the nearest tenth of a volt.  Each digit is represented by
-        a sequence of short “dit” beeps, with a pause between
-        digits. A zero digit is represented with one long “dah”
-        beep. Then there will be a short pause while the altimeter
-        completes initialization and self test, and decides which mode
-        to enter next.
-      </para>
-      <para>
-	Here's a short summary of all of the modes and the beeping (or
-	flashing, in the case of TeleMini v1) that accompanies each
-	mode. In the description of the beeping pattern, “dit” means a
-	short beep while "dah" means a long beep (three times as
-	long). “Brap” means a long dissonant tone.
-	<table frame='all'>
-	  <title>AltOS Modes</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='4' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Mode Name'/>
-	    <colspec align='center' colwidth='*' colname='Letter'/>
-	    <colspec align='center' colwidth='*' colname='Beeps'/>
-	    <colspec align='center' colwidth='*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry>Mode Name</entry>
-		<entry>Abbreviation</entry>
-		<entry>Beeps</entry>
-		<entry>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>Startup</entry>
-		<entry>S</entry>
-		<entry>battery voltage in decivolts</entry>
-		<entry>
-		  <para>
-		    Calibrating sensors, detecting orientation.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Idle</entry>
-		<entry>I</entry>
-		<entry>dit dit</entry>
-		<entry>
-		  <para>
-		    Ready to accept commands over USB or radio link.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Pad</entry>
-		<entry>P</entry>
-		<entry>dit dah dah dit</entry>
-		<entry>
-		  <para>
-		    Waiting for launch. Not listening for commands.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Boost</entry>
-		<entry>B</entry>
-		<entry>dah dit dit dit</entry>
-		<entry>
-		  <para>
-		    Accelerating upwards.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Fast</entry>
-		<entry>F</entry>
-		<entry>dit dit dah dit</entry>
-		<entry>
-		  <para>
-		    Decelerating, but moving faster than 200m/s.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Coast</entry>
-		<entry>C</entry>
-		<entry>dah dit dah dit</entry>
-		<entry>
-		  <para>
-		    Decelerating, moving slower than 200m/s
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Drogue</entry>
-		<entry>D</entry>
-		<entry>dah dit dit</entry>
-		<entry>
-		  <para>
-		    Descending after apogee. Above main height.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Main</entry>
-		<entry>M</entry>
-		<entry>dah dah</entry>
-		<entry>
-		  <para>
-		    Descending. Below main height.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Landed</entry>
-		<entry>L</entry>
-		<entry>dit dah dit dit</entry>
-		<entry>
-		  <para>
-		    Stable altitude for at least ten seconds.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Sensor error</entry>
-		<entry>X</entry>
-		<entry>dah dit dit dah</entry>
-		<entry>
-		  <para>
-		    Error detected during sensor calibration.
-		  </para>
-		</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </para>
-      <para>
-        In flight or “pad” mode, the altimeter engages the flight
-        state machine, goes into transmit-only mode to send telemetry,
-        and waits for launch to be detected.  Flight mode is indicated
-        by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights,
-        followed by beeps or flashes indicating the state of the
-        pyrotechnic igniter continuity.  One beep/flash indicates
-        apogee continuity, two beeps/flashes indicate main continuity,
-        three beeps/flashes indicate both apogee and main continuity,
-        and one longer “brap” sound which is made by rapidly
-        alternating between two tones indicates no continuity.  For a
-        dual deploy flight, make sure you're getting three beeps or
-        flashes before launching!  For apogee-only or motor eject
-        flights, do what makes sense.
-      </para>
-      <para>
-        If idle mode is entered, you will hear an audible “di-dit” or
-        see two short flashes (“I” for idle), and the flight state
-        machine is disengaged, thus no ejection charges will fire.
-        The altimeters also listen for the radio link when in idle
-        mode for requests sent via TeleDongle.  Commands can be issued
-        in idle mode over either USB or the radio link
-        equivalently. TeleMini v1.0 only has the radio link.  Idle
-        mode is useful for configuring the altimeter, for extracting
-        data from the on-board storage chip after flight, and for
-        ground testing pyro charges.
-      </para>
-      <para>
-	In “Idle” and “Pad” modes, once the mode indication
-	beeps/flashes and continuity indication has been sent, if
-	there is no space available to log the flight in on-board
-	memory, the flight computer will emit a warbling tone (much
-	slower than the “no continuity tone”)
-      </para>
-      <para>
-	Here's a summary of all of the “pad” and “idle” mode indications.
-	<table frame='all'>
-	  <title>Pad/Idle Indications</title>
-	  <?dbfo keep-together="always"?>
-	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	    <colspec align='center' colwidth='*' colname='Name'/>
-	    <colspec align='center' colwidth='*' colname='Beeps'/>
-	    <colspec align='center' colwidth='*' colname='Description'/>
-	    <thead>
-	      <row>
-		<entry>Name</entry>
-		<entry>Beeps</entry>
-		<entry>Description</entry>
-	      </row>
-	    </thead>
-	    <tbody>
-	      <row>
-		<entry>Neither</entry>
-		<entry>brap</entry>
-		<entry>
-		  <para>
-		    No continuity detected on either apogee or main
-		    igniters.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Apogee</entry>
-		<entry>dit</entry>
-		<entry>
-		  <para>
-		    Continuity detected only on apogee igniter.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Main</entry>
-		<entry>dit dit</entry>
-		<entry>
-		  <para>
-		    Continuity detected only on main igniter.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Both</entry>
-		<entry>dit dit dit</entry>
-		<entry>
-		  <para>
-		    Continuity detected on both igniters.
-		  </para>
-		</entry>
-	      </row>
-	      <row>
-		<entry>Storage Full</entry>
-		<entry>warble</entry>
-		<entry>
-		  <para>
-		    On-board data logging storage is full. This will
-		    not prevent the flight computer from safely
-		    controlling the flight or transmitting telemetry
-		    signals, but no record of the flight will be
-		    stored in on-board flash.
-		  </para>
-		</entry>
-	      </row>
-	    </tbody>
-	  </tgroup>
-	</table>
-      </para>
-      <para>
-	Once landed, the flight computer will signal that by emitting
-	the “Landed” sound described above, after which it will beep
-	out the apogee height (in meters). Each digit is represented
-	by a sequence of short “dit” beeps, with a pause between
-	digits. A zero digit is represented with one long “dah”
-	beep. The flight computer will continue to report landed mode
-	and beep out the maximum height until turned off.
-      </para>
-      <para>
-        One “neat trick” of particular value when TeleMetrum, TeleMega
-	or EasyMega are used with 
-        very large air-frames, is that you can power the board up while the 
-        rocket is horizontal, such that it comes up in idle mode.  Then you can
-        raise the air-frame to launch position, and issue a 'reset' command 
-	via TeleDongle over the radio link to cause the altimeter to reboot and 
-        come up in flight mode.  This is much safer than standing on the top 
-        step of a rickety step-ladder or hanging off the side of a launch 
-        tower with a screw-driver trying to turn on your avionics before 
-        installing igniters!
-      </para>
-      <para>
-	TeleMini v1.0 is configured solely via the radio link. Of course, that
-	means you need to know the TeleMini radio configuration values
-	or you won't be able to communicate with it. For situations
-	when you don't have the radio configuration values, TeleMini v1.0
-	offers an 'emergency recovery' mode. In this mode, TeleMini is
-	configured as follows:
-	<itemizedlist>
-	  <listitem>
-	    <para>
-	    Sets the radio frequency to 434.550MHz
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	    Sets the radio calibration back to the factory value.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	    Sets the callsign to N0CALL
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	    Does not go to 'pad' mode after five seconds.
-	    </para>
-	  </listitem>
-	</itemizedlist>
-      </para>
-      <para>
-	To get into 'emergency recovery' mode, first find the row of
-	four small holes opposite the switch wiring. Using a short
-	piece of small gauge wire, connect the outer two holes
-	together, then power TeleMini up. Once the red LED is lit,
-	disconnect the wire and the board should signal that it's in
-	'idle' mode after the initial five second startup period.
-      </para>
-    </section>
-    <section>
-      <title>GPS </title>
-      <para>
-        TeleMetrum and TeleMega include a complete GPS receiver.  A
-        complete explanation of how GPS works is beyond the scope of
-        this manual, but the bottom line is that the GPS receiver
-        needs to lock onto at least four satellites to obtain a solid
-        3 dimensional position fix and know what time it is.
-      </para>
-      <para>
-        The flight computers provide backup power to the GPS chip any time a 
-        battery is connected.  This allows the receiver to “warm start” on
-        the launch rail much faster than if every power-on were a GPS 
-	“cold start”.  In typical operations, powering up
-        on the flight line in idle mode while performing final air-frame
-        preparation will be sufficient to allow the GPS receiver to cold
-        start and acquire lock.  Then the board can be powered down during
-        RSO review and installation on a launch rod or rail.  When the board
-        is turned back on, the GPS system should lock very quickly, typically
-        long before igniter installation and return to the flight line are
-        complete.
-      </para>
-    </section>
-    <section>
-      <title>Controlling An Altimeter Over The Radio Link</title>
-      <para>
-        One of the unique features of the Altus Metrum system is the
-        ability to create a two way command link between TeleDongle
-        and an altimeter using the digital radio transceivers
-        built into each device. This allows you to interact with the
-        altimeter from afar, as if it were directly connected to the
-        computer.
-      </para>
-      <para>
-        Any operation which can be performed with a flight computer can
-        either be done with the device directly connected to the
-        computer via the USB cable, or through the radio
-        link. TeleMini v1.0 doesn't provide a USB connector and so it is
-        always communicated with over radio.  Select the appropriate 
-        TeleDongle device when the list of devices is presented and 
-        AltosUI will interact with an altimeter over the radio link.
-      </para>
-      <para>
-	One oddity in the current interface is how AltosUI selects the
-	frequency for radio communications. Instead of providing
-	an interface to specifically configure the frequency, it uses
-	whatever frequency was most recently selected for the target
-	TeleDongle device in Monitor Flight mode. If you haven't ever
-	used that mode with the TeleDongle in question, select the
-	Monitor Flight button from the top level UI, and pick the
-	appropriate TeleDongle device.  Once the flight monitoring
-	window is open, select the desired frequency and then close it
-	down again. All radio communications will now use that frequency.
-      </para>
-      <itemizedlist>
-        <listitem>
-          <para>
-            Save Flight Data—Recover flight data from the rocket without
-            opening it up.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            Configure altimeter apogee delays, main deploy heights
-	    and additional pyro event conditions
-            to respond to changing launch conditions. You can also
-            'reboot' the altimeter. Use this to remotely enable the
-            flight computer by turning TeleMetrum or TeleMega on in “idle” mode,
-            then once the air-frame is oriented for launch, you can
-            reboot the altimeter and have it restart in pad mode
-            without having to climb the scary ladder.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            Fire Igniters—Test your deployment charges without snaking
-            wires out through holes in the air-frame. Simply assemble the
-            rocket as if for flight with the apogee and main charges
-            loaded, then remotely command the altimeter to fire the
-            igniters.
-          </para>
-        </listitem>
-      </itemizedlist>
-      <para>
-        Operation over the radio link for configuring an altimeter, ground
-        testing igniters, and so forth uses the same RF frequencies as flight
-        telemetry.  To configure the desired TeleDongle frequency, select
-        the monitor flight tab, then use the frequency selector and 
-        close the window before performing other desired radio operations.
-      </para>
-      <para>
-        The flight computers only enable radio commanding in 'idle' mode.
-	TeleMetrum and TeleMega use the accelerometer to detect which orientation they
-	start up in, so make sure you have the flight computer lying horizontally when you turn
-        it on. Otherwise, it will start in 'pad' mode ready for
-        flight, and will not be listening for command packets from TeleDongle.
-      </para>
-      <para>
-	TeleMini listens for a command packet for five seconds after
-	first being turned on, if it doesn't hear anything, it enters
-	'pad' mode, ready for flight and will no longer listen for
-	command packets. The easiest way to connect to TeleMini is to
-	initiate the command and select the TeleDongle device. At this
-	point, the TeleDongle will be attempting to communicate with
-	the TeleMini. Now turn TeleMini on, and it should immediately
-	start communicating with the TeleDongle and the desired
-	operation can be performed.
-      </para>
-      <para>
-        You can monitor the operation of the radio link by watching the 
-        lights on the devices. The red LED will flash each time a packet
-        is transmitted, while the green LED will light up on TeleDongle when 
-        it is waiting to receive a packet from the altimeter.
-      </para>
-    </section>
-    <section>
-      <title>Ground Testing </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 radio link central to the Altus Metrum system,
-        this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket 
-        with less work than you may be accustomed to with other systems.  It 
-        can even be fun!
-      </para>
-      <para>
-        Just prep the rocket for flight, then power up the altimeter
-        in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
-        selecting the Configure Altimeter tab for TeleMini).  This will cause 
-        the firmware to go into “idle” mode, in which the normal flight
-        state machine is disabled and charges will not fire without
-        manual command.  You can now command the altimeter to fire the apogee
-        or main charges from a safe distance using your computer and 
-        TeleDongle and the Fire Igniter tab to complete ejection testing.
-      </para>
-    </section>
-    <section>
-      <title>Radio Link </title>
-      <para>
-        Our flight computers all incorporate an RF transceiver, but
-        it's not a full duplex system... each end can only be transmitting or
-        receiving at any given moment.  So we had to decide how to manage the
-        link.
-      </para>
-      <para>
-        By design, the altimeter firmware listens for the radio link when
-        it's in “idle mode”, which
-        allows us to use the radio link to configure the rocket, do things like
-        ejection tests, and extract data after a flight without having to
-        crack open the air-frame.  However, when the board is in “flight
-        mode”, the altimeter only
-        transmits and doesn't listen at all.  That's because we want to put
-        ultimate priority on event detection and getting telemetry out of
-        the rocket through
-        the radio in case the rocket crashes and we aren't able to extract
-        data later...
-      </para>
-      <para>
-        We don't generally use a 'normal packet radio' mode like APRS
-        because they're just too inefficient.  The GFSK modulation we
-        use is FSK with the base-band pulses passed through a Gaussian
-        filter before they go into the modulator to limit the
-        transmitted bandwidth.  When combined with forward error
-        correction and interleaving, this allows us to have a very
-        robust 19.2 kilobit data link with only 10-40 milliwatts of
-        transmit power, a whip antenna in the rocket, and a hand-held
-        Yagi on the ground.  We've had flights to above 21k feet AGL
-        with great reception, and calculations suggest we should be
-        good to well over 40k feet AGL with a 5-element yagi on the
-        ground with our 10mW units and over 100k feet AGL with the
-        40mW devices.  We hope to fly boards to higher altitudes over
-        time, and would of course appreciate customer feedback on
-        performance in higher altitude flights!
-      </para>
-    </section>
-    <section>
-      <title>APRS</title>
-      <para>
-	TeleMetrum v2.0 and TeleMega can send APRS if desired, and the
-	interval between APRS packets can be configured. As each APRS
-	packet takes a full second to transmit, we recommend an
-	interval of at least 5 seconds to avoid consuming too much
-	battery power or radio channel bandwidth. You can configure
-	the APRS interval using AltosUI; that process is described in
-	the Configure Altimeter section of the AltosUI chapter.
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <table frame='all'>
-	<title>Altus Metrum APRS Comments</title>
-	<?dbfo keep-together="always"?>
-	<tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='*' colname='Field'/>
-	  <colspec align='center' colwidth='*' colname='Example'/>
-	  <colspec align='center' colwidth='4*' colname='Description'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Field</entry>
-	      <entry align='center'>Example</entry>
-	      <entry align='center'>Description</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>1</entry>
-	      <entry>L</entry>
-	      <entry>GPS Status U for unlocked, L for locked</entry>
-	    </row>
-	    <row>
-	      <entry>2</entry>
-	      <entry>6</entry>
-	      <entry>Number of Satellites in View</entry>
-	    </row>
-	    <row>
-	      <entry>3</entry>
-	      <entry>B4.0</entry>
-	      <entry>Altimeter Battery Voltage</entry>
-	    </row>
-	    <row>
-	      <entry>4</entry>
-	      <entry>A3.7</entry>
-	      <entry>Apogee Igniter Voltage</entry>
-	    </row>
-	    <row>
-	      <entry>5</entry>
-	      <entry>M3.7</entry>
-	      <entry>Main Igniter Voltage</entry>
-	    </row>
-	    <row>
-	      <entry>6</entry>
-	      <entry>1286</entry>
-	      <entry>Device Serial Number</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-      <para>
-	Here's an example of an APRS comment showing GPS lock with 6
-	satellites in view, a primary battery at 4.0V, and
-	apogee and main igniters both at 3.7V from device 1286.
-	<screen>
-	  L6 B4.0 A3.7 M3.7 1286
-	</screen>
-      </para>
-      <para>
-	Make sure your primary battery is above 3.8V, any connected
-	igniters are above 3.5V and GPS is locked with at least 5 or 6
-	satellites in view before flying. If GPS is switching between
-	L and U regularly, then it doesn't have a good lock and you
-	should wait until it becomes stable.
-      </para>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>Configurable Parameters</title>
-      <para>
-        Configuring an Altus Metrum altimeter for flight is very
-        simple.  Even on our baro-only TeleMini and EasyMini boards,
-        the use of a Kalman filter means there is no need to set a
-        “mach delay”.  The few configurable parameters can all be set
-        using AltosUI over USB or or radio link via TeleDongle. Read
-	the Configure Altimeter section in the AltosUI chapter below
-	for more information.
-      </para>
-      <section>
-        <title>Radio Frequency</title>
-        <para>
-	  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
-	  altimeter and TeleDongle must be configured to the same
-	  frequency to successfully communicate with each other.
-        </para>
-      </section>
-      <section>
-	<title>Callsign</title>
-	<para>
-	  This sets the callsign used for telemetry, APRS and the
-	  packet link. For telemetry and APRS, this is used to
-	  identify the device. For the packet link, the callsign must
-	  match that configured in AltosUI or the link will not
-	  work. This is to prevent accidental configuration of another
-	  Altus Metrum flight computer operating on the same frequency nearby.
-	</para>
-      </section>
-      <section>
-	<title>Telemetry/RDF/APRS Enable</title>
-	<para>
-	  You can completely disable the radio while in flight, if
-	  necessary. This doesn't disable the packet link in idle
-	  mode.
-	</para>
-      </section>
-      <section>
-	<title>Telemetry baud rate</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>APRS Interval</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>APRS SSID</title>
-	<para>
-	  This selects the SSID reported in APRS packets. By default,
-	  it is set to the last digit of the serial number, but you
-	  can change this to any value from 0 to 9.
-	</para>
-      </section>
-      <section>
-        <title>Apogee Delay</title>
-        <para>
-          Apogee delay is the number of seconds after the altimeter 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>
-          The Altus Metrum apogee detection algorithm fires exactly at
-          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 air-frames this
-          way quite happily, including Keith's successful L3 cert.
-        </para>
-      </section>
-      <section>
-	<title>Apogee Lockout</title>
-	<para>
-	  Apogee lockout is the number of seconds after boost where
-	  the flight computer will not fire the apogee charge, even if
-	  the rocket appears to be at apogee. This is often called
-	  'Mach Delay', as it is intended to prevent a flight computer
-	  from unintentionally firing apogee charges due to the pressure
-	  spike that occurrs across a mach transition. Altus Metrum
-	  flight computers include a Kalman filter which is not fooled
-	  by this sharp pressure increase, and so this setting should
-	  be left at the default value of zero to disable it.
-	</para>
-      </section>
-      <section>
-        <title>Main Deployment Altitude</title>
-        <para>
-          By default, the altimeter 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 air-frames, 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>
-      </section>
-      <section>
-	<title>Maximum Flight Log</title>
-	<para>
-	  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.
-	</para>
-	<para>
-	  Even though our flight computers (except TeleMini v1.0) can store
-	  multiple flights, we strongly recommend downloading and saving
-	  flight data after each flight.
-	</para>
-      </section>
-      <section>
-	<title>Ignite Mode</title>
-	<para>
-	  Instead of firing one charge at apogee and another charge at
-	  a fixed height above the ground, you can configure the
-	  altimeter to fire both at apogee or both during
-	  descent. This was added to support an airframe Bdale designed that 
-	  had two altimeters, one in the fin can and one in the nose.
-	</para>
-	<para>
-	  Providing the ability to use both igniters for apogee or
-	  main allows some level of redundancy without needing two
-	  flight computers.  In Redundant Apogee or Redundant Main
-	  mode, the two charges will be fired two seconds apart.
-	</para>
-      </section>
-      <section>
-	<title>Pad Orientation</title>
-	<para>
-	  TeleMetrum, TeleMega and EasyMega measure acceleration along the axis
-	  of the board. Which way the board is oriented affects the
-	  sign of the acceleration value. Instead of trying to guess
-	  which way the board is mounted in the air frame, the
-	  altimeter must be explicitly configured for either Antenna
-	  Up or Antenna Down. The default, Antenna Up, expects the end
-	  of the board connected to the 70cm antenna to be nearest the
-	  nose of the rocket, with the end containing the screw
-	  terminals nearest the tail.
-	</para>
-      </section>
-      <section>
-	<title>Configurable Pyro Channels</title>
-	<para>
-	  In addition to the usual Apogee and Main pyro channels,
-	  TeleMega and EasyMega have four additional channels that can be configured
-	  to activate when various flight conditions are
-	  satisfied. You can select as many conditions as necessary;
-	  all of them must be met in order to activate the
-	  channel. The conditions available are:
-	</para>
-	<itemizedlist>
-	  <listitem>
-	    <para>
-	      Acceleration away from the ground. 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.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Height. Select a value, and then choose whether the
-	      height above the launch pad should be above or below
-	      that value.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      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. 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°).
-	    </para>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Ascending. A simple test saying whether the rocket is
-	      going up or not. This is exactly equivalent to testing
-	      whether the speed is &gt; 0.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Descending. A simple test saying whether the rocket is
-	      going down or not. This is exactly equivalent to testing
-	      whether the speed is &lt; 0.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Flight State. The flight software tracks the flight
-	      through a sequence of states:
-	      <orderedlist>
-		<listitem>
-		  <para>
-		    Boost. The motor has lit and the rocket is
-		    accelerating upwards.
-		  </para>
-		</listitem>
-		<listitem>
-		  <para>
-		    Fast. The motor has burned out and the rocket is
-		    decelerating, but it is going faster than 200m/s.
-		  </para>
-		</listitem>
-		<listitem>
-		  <para>
-		    Coast. The rocket is still moving upwards and
-		    decelerating, but the speed is less than 200m/s.
-		  </para>
-		</listitem>
-		<listitem>
-		  <para>
-		    Drogue. The rocket has reached apogee and is heading
-		    back down, but is above the configured Main
-		    altitude.
-		  </para>
-		</listitem>
-		<listitem>
-		  <para>
-		    Main. The rocket is still descending, and is below
-		    the Main altitude
-		  </para>
-		</listitem>
-		<listitem>
-		  <para>
-		    Landed. The rocket is no longer moving.
-		  </para>
-		</listitem>
-	      </orderedlist>
-	    </para>
-	    <para>
-	      You can select a state to limit when the pyro channel
-	      may activate; note that the check is based on when the
-	      rocket transitions <emphasis>into</emphasis> the state, and so checking for
-	      “greater than Boost” means that the rocket is currently
-	      in boost or some later state.
-	    </para>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	</itemizedlist>
-      </section>
-    </section>
-
-  </chapter>
-  <chapter>
-    <title>AltosUI</title>
-    <informalfigure>
-      <mediaobject>
-	<imageobject>
-	  <imagedata fileref="altosui.png" width="4.6in"/>
-	</imageobject>
-      </mediaobject>
-    </informalfigure>
-    <para>
-      The AltosUI program provides a graphical user interface for
-      interacting with the Altus Metrum product family. AltosUI can
-      monitor telemetry data, configure devices and many other
-      tasks. The primary interface window provides a selection of
-      buttons, one for each major activity in the system.  This chapter
-      is split into sections, each of which documents one of the tasks
-      provided from the top-level toolbar.
-    </para>
-    <section>
-      <title>Monitor Flight</title>
-      <subtitle>Receive, Record and Display Telemetry Data</subtitle>
-      <para>
-        Selecting this item brings up a dialog box listing all of the
-        connected TeleDongle devices. When you choose one of these,
-        AltosUI will create a window to display telemetry data as
-        received by the selected TeleDongle device.
-      </para>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="device-selection.png" width="3.1in"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-        All telemetry data received are automatically recorded in
-        suitable log files. The name of the files includes the current
-        date and rocket serial and flight numbers.
-      </para>
-      <para>
-        The radio frequency being monitored by the TeleDongle device is
-        displayed at the top of the window. You can configure the
-        frequency by clicking on the frequency box and selecting the desired
-        frequency. AltosUI remembers the last frequency selected for each
-        TeleDongle and selects that automatically the next time you use
-        that device.
-      </para>
-      <para>
-        Below the TeleDongle frequency selector, the window contains a few
-        significant pieces of information about the altimeter providing
-        the telemetry data stream:
-      </para>
-      <itemizedlist>
-        <listitem>
-          <para>The configured call-sign</para>
-        </listitem>
-        <listitem>
-          <para>The device serial number</para>
-        </listitem>
-        <listitem>
-          <para>The flight number. Each altimeter remembers how many
-            times it has flown.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            The rocket flight state. Each flight passes through several
-            states including Pad, Boost, Fast, Coast, Drogue, Main and
-            Landed.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            The Received Signal Strength Indicator value. This lets
-            you know how strong a signal TeleDongle is receiving. At
-            the default data rate, 38400 bps, in bench testing, the
-            radio inside TeleDongle v0.2 operates down to about
-            -106dBm, while the v3 radio works down to about -111dBm.
-            Weaker signals, or an environment with radio noise may
-            cause the data to not be received. The packet link uses
-            error detection and correction techniques which prevent
-            incorrect data from being reported.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            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.
-          </para>
-        </listitem>
-      </itemizedlist>
-      <para>
-        Finally, the largest portion of the window contains a set of
-        tabs, each of which contain some information about the rocket.
-        They're arranged in 'flight order' so that as the flight
-        progresses, the selected tab automatically switches to display
-        data relevant to the current state of the flight. You can select
-        other tabs at any time. The final 'table' tab displays all of
-        the raw telemetry values in one place in a spreadsheet-like format.
-      </para>
-      <section>
-        <title>Launch Pad</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="launch-pad.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          The 'Launch Pad' tab shows information used to decide when the
-          rocket is ready for flight. The first elements include red/green
-          indicators, if any of these is red, you'll want to evaluate
-          whether the rocket is ready to launch:
-          <variablelist>
-	    <varlistentry>
-	      <term>Battery Voltage</term>
-	      <listitem>
-		<para>
-		  This indicates whether the Li-Po battery powering the 
-		  flight computer has sufficient charge to last for
-		  the duration of the flight. A value of more than
-		  3.8V is required for a 'GO' status.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Apogee Igniter Voltage</term>
-	      <listitem>
-		<para>
-		  This indicates whether the apogee
-		  igniter has continuity. If the igniter has a low
-		  resistance, then the voltage measured here will be close
-		  to the Li-Po battery voltage. A value greater than 3.2V is
-		  required for a 'GO' status.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Main Igniter Voltage</term>
-	      <listitem>
-		<para>
-		  This indicates whether the main
-		  igniter has continuity. If the igniter has a low
-		  resistance, then the voltage measured here will be close
-		  to the Li-Po battery voltage. A value greater than 3.2V is
-		  required for a 'GO' status.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>On-board Data Logging</term>
-	      <listitem>
-		<para>
-		  This indicates whether there is
-		  space remaining on-board to store flight data for the
-		  upcoming flight. If you've downloaded data, but failed
-		  to erase flights, there may not be any space
-		  left. Most of our flight computers can store multiple 
-		  flights, depending on the configured maximum flight log 
-		  size. TeleMini v1.0 stores only a single flight, so it 
-		  will need to be
-		  downloaded and erased after each flight to capture
-		  data. This only affects on-board flight logging; the
-		  altimeter will still transmit telemetry and fire
-		  ejection charges at the proper times even if the flight
-		  data storage is full.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>GPS Locked</term>
-	      <listitem>
-		<para>
-		  For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
-		  currently able to compute position information. GPS requires
-		  at least 4 satellites to compute an accurate position.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>GPS Ready</term>
-	      <listitem>
-		<para>
-		  For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
-		  10 consecutive positions without losing lock. This ensures
-		  that the GPS receiver has reliable reception from the
-		  satellites.
-		</para>
-	      </listitem>
-	    </varlistentry>
-          </variablelist>
-        </para>
-	<para>
-	  The Launchpad tab also shows the computed launch pad position
-	  and altitude, averaging many reported positions to improve the
-	  accuracy of the fix.
-	</para>
-      </section>
-      <section>
-        <title>Ascent</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="ascent.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          This tab is shown during Boost, Fast and Coast
-          phases. The information displayed here helps monitor the
-          rocket as it heads towards apogee.
-        </para>
-        <para>
-          The height, speed, acceleration and tilt are shown along
-          with the maximum values for each of them. This allows you to
-          quickly answer the most commonly asked questions you'll hear
-          during flight.
-        </para>
-        <para>
-          The current latitude and longitude reported by the GPS are
-          also shown. Note that under high acceleration, these values
-          may not get updated as the GPS receiver loses position
-          fix. Once the rocket starts coasting, the receiver should
-          start reporting position again.
-        </para>
-        <para>
-          Finally, the current igniter voltages are reported as in the
-          Launch Pad tab. This can help diagnose deployment failures
-          caused by wiring which comes loose under high acceleration.
-        </para>
-      </section>
-      <section>
-        <title>Descent</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="descent.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          Once the rocket has reached apogee and (we hope) activated the
-          apogee charge, attention switches to tracking the rocket on
-          the way back to the ground, and for dual-deploy flights,
-          waiting for the main charge to fire.
-        </para>
-        <para>
-          To monitor whether the apogee charge operated correctly, the
-          current descent rate is reported along with the current
-          height. Good descent rates vary based on the choice of recovery
-	  components, but generally range from 15-30m/s on drogue and should
-	  be below 10m/s when under the main parachute in a dual-deploy flight.
-        </para>
-        <para>
-          With GPS-equipped flight computers, you can locate the rocket in the
-          sky using the elevation and bearing information to figure
-          out where to look. Elevation is in degrees above the
-          horizon. Bearing is reported in degrees relative to true
-          north. Range can help figure out how big the rocket will
-          appear. Ground Distance shows how far it is to a point
-          directly under the rocket and can help figure out where the
-          rocket is likely to land. Note that all of these values are
-          relative to the pad location. If the elevation is near 90°,
-          the rocket is over the pad, not over you.
-        </para>
-        <para>
-          Finally, the igniter voltages are reported in this tab as
-          well, both to monitor the main charge as well as to see what
-          the status of the apogee charge is.  Note that some commercial
-	  e-matches are designed to retain continuity even after being
-	  fired, and will continue to show as green or return from red to
-	  green after firing.
-        </para>
-      </section>
-      <section>
-        <title>Landed</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="landed.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          Once the rocket is on the ground, attention switches to
-          recovery. While the radio signal is often lost once the
-          rocket is on the ground, the last reported GPS position is
-          generally within a short distance of the actual landing location.
-        </para>
-        <para>
-          The last reported GPS position is reported both by
-          latitude and longitude as well as a bearing and distance from
-          the launch pad. The distance should give you a good idea of
-          whether to walk or hitch a ride.  Take the reported
-          latitude and longitude and enter them into your hand-held GPS
-          unit and have that compute a track to the landing location.
-        </para>
-	<para>
-	  Our flight computers will continue to transmit RDF
-	  tones after landing, allowing you to locate the rocket by
-	  following the radio signal if necessary. You may need to get 
-	  away from the clutter of the flight line, or even get up on 
-	  a hill (or your neighbor's RV roof) to receive the RDF signal.
-	</para>
-        <para>
-          The maximum height, speed and acceleration reported
-          during the flight are displayed for your admiring observers.
-	  The accuracy of these immediate values depends on the quality
-	  of your radio link and how many packets were received.  
-	  Recovering the on-board data after flight may yield
-	  more precise results.
-        </para>
-	<para>
-	  To get more detailed information about the flight, you can
-	  click on the 'Graph Flight' button which will bring up a
-	  graph window for the current flight.
-	</para>
-      </section>
-      <section>
-	<title>Table</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="table.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  The table view shows all of the data available from the
-	  flight computer. Probably the most useful data on
-	  this tab is the detailed GPS information, which includes
-	  horizontal dilution of precision information, and
-	  information about the signal being received from the satellites.
-	</para>
-      </section>
-      <section>
-        <title>Site Map</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="site-map.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          When the TeleMetrum has a GPS fix, the Site Map tab will map
-          the rocket's position to make it easier for you to locate the
-          rocket, both while it is in the air, and when it has landed. The
-          rocket's state is indicated by color: white for pad, red for
-          boost, pink for fast, yellow for coast, light blue for drogue,
-          dark blue for main, and black for landed.
-        </para>
-        <para>
-          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.
-        </para>
-	<para>
-	  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.
-	</para>
-        <para>
-          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.
-        </para>
-	<para>
-	  You can pre-load images for your favorite launch sites
-	  before you leave home; check out the 'Preload Maps' section below.
-	</para>
-      </section>
-      <section>
-        <title>Ignitor</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="ignitor.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          TeleMega includes four additional programmable pyro
-          channels. The Ignitor tab shows whether each of them has
-          continuity. If an ignitor has a low resistance, then the
-          voltage measured here will be close to the pyro battery
-          voltage. A value greater than 3.2V is required for a 'GO'
-          status.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Save Flight Data</title>
-      <para>
-        The altimeter records flight data to its internal flash memory.
-        TeleMetrum data is recorded at a much higher rate than the telemetry
-        system can handle, and is not subject to radio drop-outs. As
-        such, it provides a more complete and precise record of the
-        flight. The 'Save Flight Data' button allows you to read the
-        flash memory and write it to disk. 
-      </para>
-      <para>
-        Clicking on the 'Save Flight Data' button brings up a list of
-        connected flight computers and TeleDongle devices. If you select a
-        flight computer, the flight data will be downloaded from that
-        device directly. If you select a TeleDongle device, flight data
-        will be downloaded from a flight computer over radio link via the 
-	specified TeleDongle. See the chapter on Controlling An Altimeter 
-	Over The Radio Link for more information.
-      </para>
-      <para>
-	After the device has been selected, a dialog showing the
-	flight data saved in the device will be shown allowing you to
-	select which flights to download and which to delete. With
-	version 0.9 or newer firmware, you must erase flights in order
-	for the space they consume to be reused by another
-	flight. This prevents accidentally losing flight data
-	if you neglect to download data before flying again. Note that
-	if there is no more space available in the device, then no
-	data will be recorded during the next flight.
-      </para>
-      <para>
-        The file name for each flight log is computed automatically
-        from the recorded flight date, altimeter serial number and
-        flight number information.
-      </para>
-    </section>
-    <section>
-      <title>Replay Flight</title>
-      <para>
-        Select this button and you are prompted to select a flight
-        record file, either a .telem file recording telemetry data or a
-        .eeprom file containing flight data saved from the altimeter
-        flash memory.
-      </para>
-      <para>
-        Once a flight record is selected, the flight monitor interface
-        is displayed and the flight is re-enacted in real time. Check
-        the Monitor Flight chapter above to learn how this window operates.
-      </para>
-    </section>
-    <section>
-      <title>Graph Data</title>
-      <para>
-        Select this button and you are prompted to select a flight
-        record file, either a .telem file recording telemetry data or a
-        .eeprom file containing flight data saved from
-        flash memory.
-      </para>
-      <para>
-        Note that telemetry files will generally produce poor graphs
-        due to the lower sampling rate and missed telemetry packets.
-        Use saved flight data in .eeprom files for graphing where possible.
-      </para>
-      <para>
-        Once a flight record is selected, a window with multiple tabs is
-        opened.
-      </para>
-      <section>
-	<title>Flight Graph</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="graph.png" width="6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  By default, the graph contains acceleration (blue),
-	  velocity (green) and altitude (red).
-	</para>
-      <para>
-        The graph can be zoomed into a particular area by clicking and
-        dragging down and to the right. Once zoomed, the graph can be
-        reset by clicking and dragging up and to the left. Holding down
-        control and clicking and dragging allows the graph to be panned.
-        The right mouse button causes a pop-up menu to be displayed, giving
-        you the option save or print the plot.
-      </para>
-      </section>
-      <section>
-	<title>Configure Graph</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="graph-configure.png" width="6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  This selects which graph elements to show, and, at the
-	  very bottom, lets you switch between metric and
-	  imperial units
-	</para>
-      </section>
-      <section>
-	<title>Flight Statistics</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="graph-stats.png" width="6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  Shows overall data computed from the flight.
-	</para>
-      </section>
-      <section>
-	<title>Map</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="graph-map.png" width="6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  Shows a satellite image of the flight area overlaid
-	  with the path of the flight. The red concentric
-	  circles mark the launch pad, the black concentric
-	  circles mark the landing location.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Export Data</title>
-      <para>
-        This tool takes the raw data files and makes them available for
-        external analysis. When you select this button, you are prompted to 
-	select a flight data file, which can be either a .eeprom or .telem.
-	The .eeprom files contain higher resolution and more continuous data, 
-	while .telem files contain receiver signal strength information.  
-	Next, a second dialog appears which is used to select
-        where to write the resulting file. It has a selector to choose
-        between CSV and KML file formats.
-      </para>
-      <section>
-        <title>Comma Separated Value Format</title>
-        <para>
-          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 the altimeter, 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.
-        </para>
-        <para>
-          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.
-        </para>
-      </section>
-      <section>
-        <title>Keyhole Markup Language (for Google Earth)</title>
-        <para>
-          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.
-        </para>
-      </section>
-    </section>
-    <section>
-      <title>Configure Altimeter</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="configure-altimeter.png" width="3.6in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-        Select this button and then select either an altimeter or
-        TeleDongle Device from the list provided. Selecting a TeleDongle
-        device will use the radio link to configure a remote altimeter. 
-      </para>
-      <para>
-        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.
-      </para>
-      <para>
-        At the bottom of the dialog, there are four buttons:
-      </para>
-      <variablelist>
-	<varlistentry>
-	  <term>Save</term>
-	  <listitem>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	</varlistentry>
-	<varlistentry>
-	  <term>Reset</term>
-	  <listitem>
-	    <para>
-	      This resets the dialog to the most recently saved values,
-	      erasing any changes you have made.
-	    </para>
-	  </listitem>
-	</varlistentry>
-	<varlistentry>
-	  <term>Reboot</term>
-	  <listitem>
-	    <para>
-	      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.
-	    </para>
-	  </listitem>
-	</varlistentry>
-	<varlistentry>
-	  <term>Close</term>
-	  <listitem>
-	    <para>
-	      This closes the dialog. Any unsaved changes will be
-	      lost.
-	    </para>
-	  </listitem>
-	</varlistentry>
-      </variablelist>
-      <para>
-        The rest of the dialog contains the parameters to be configured.
-      </para>
-      <section>
-        <title>Main Deploy Altitude</title>
-        <para>
-          This sets the altitude (above the recorded pad altitude) at
-          which the 'main' igniter will fire. The drop-down menu shows
-          some common values, but you can edit the text directly and
-          choose whatever you like. If the apogee charge fires below
-          this altitude, then the main charge will fire two seconds
-          after the apogee charge fires.
-        </para>
-      </section>
-      <section>
-        <title>Apogee Delay</title>
-        <para>
-          When flying redundant electronics, it's often important to
-          ensure that multiple apogee charges don't fire at precisely
-          the same time, as that can over pressurize the apogee deployment
-          bay and cause a structural failure of the air-frame. The Apogee
-          Delay parameter tells the flight computer to fire the apogee
-          charge a certain number of seconds after apogee has been
-          detected.
-        </para>
-      </section>
-      <section>
-        <title>Apogee Lockoug</title>
-        <para>
-	  Apogee lockout is the number of seconds after boost where
-	  the flight computer will not fire the apogee charge, even if
-	  the rocket appears to be at apogee. This is often called
-	  'Mach Delay', as it is intended to prevent a flight computer
-	  from unintentionally firing apogee charges due to the pressure
-	  spike that occurrs across a mach transition. Altus Metrum
-	  flight computers include a Kalman filter which is not fooled
-	  by this sharp pressure increase, and so this setting should
-	  be left at the default value of zero to disable it.
-        </para>
-      </section>
-      <section>
-        <title>Frequency</title>
-        <para>
-          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.
-        </para>
-      </section>
-      <section>
-        <title>RF Calibration</title>
-        <para>
-          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.
-        </para>
-      </section>
-      <section>
-	<title>Telemetry/RDF/APRS Enable</title>
-	<para>
-	  Enables the radio for transmission during flight. When
-	  disabled, the radio will not transmit anything during flight
-	  at all.
-	</para>
-      </section>
-      <section>
-	<title>Telemetry baud rate</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>APRS Interval</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>APRS SSID</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-        <title>Callsign</title>
-        <para>
-          This sets the call sign included in each telemetry packet. Set this
-          as needed to conform to your local radio regulations.
-        </para>
-      </section>
-      <section>
-        <title>Maximum Flight Log Size</title>
-        <para>
-          This sets the space (in kilobytes) allocated for each flight
-          log. The available space will be divided into chunks of this
-          size. A smaller value will allow more flights to be stored,
-          a larger value will record data from longer flights.
-	</para>
-      </section>
-      <section>
-        <title>Ignitor Firing Mode</title>
-	<para>
-	  This configuration parameter allows the two standard ignitor
-	  channels (Apogee and Main) to be used in different
-	  configurations.
-	</para>
-          <variablelist>
-	    <varlistentry>
-	      <term>Dual Deploy</term>
-	      <listitem>
-		<para>
-		  This is the usual mode of operation; the
-		  'apogee' channel is fired at apogee and the 'main'
-		  channel at the height above ground specified by the
-		  'Main Deploy Altitude' during descent.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Redundant Apogee</term>
-	      <listitem>
-		<para>
-		  This fires both channels at
-		  apogee, the 'apogee' channel first followed after a two second
-		  delay by the 'main' channel.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Redundant Main</term>
-	      <listitem>
-		<para>
-		  This fires both channels at the
-		  height above ground specified by the Main Deploy
-		  Altitude setting during descent. The 'apogee'
-		  channel is fired first, followed after a two second
-		  delay by the 'main' channel.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	</variablelist>
-      </section>
-      <section>
-        <title>Pad Orientation</title>
-	<para>
-	  Because they include accelerometers, TeleMetrum,
-	  TeleMega and EasyMega are sensitive to the orientation of the board. By
-	  default, they expect the antenna end to point forward. This
-	  parameter allows that default to be changed, permitting the
-	  board to be mounted with the antenna pointing aft instead.
-	</para>
-	<variablelist>
-	  <varlistentry>
-	    <term>Antenna Up</term>
-	    <listitem>
-	      <para>
-		In this mode, the antenna end of the
-		flight computer must point forward, in line with the
-		expected flight path.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Antenna Down</term>
-	    <listitem>
-	      <para>
-		In this mode, the antenna end of the
-		flight computer must point aft, in line with the
-		expected flight path.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </section>
-      <section>
-        <title>Beeper Frequency</title>
-	<para>
-	  The beeper on all Altus Metrum flight computers works best
-	  at 4000Hz, however if you have more than one flight computer
-	  in a single airframe, having all of them sound at the same
-	  frequency can be confusing. This parameter lets you adjust
-	  the base beeper frequency value.
-	</para>
-      </section>
-      <section>
-	<title>Configure Pyro Channels</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="configure-pyro.png" width="6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  This opens a separate window to configure the additional
-	  pyro channels available on TeleMega and EasyMega.  One column is
-	  presented for each channel. Each row represents a single
-	  parameter, if enabled the parameter must meet the specified
-	  test for the pyro channel to be fired. See the Pyro Channels
-	  section in the System Operation chapter above for a
-	  description of these parameters.
-	</para>
-	<para>
-	  Select conditions and set the related value; the pyro
-	  channel will be activated when <emphasis>all</emphasis> of the
-	  conditions are met. Each pyro channel has a separate set of
-	  configuration values, so you can use different values for
-	  the same condition with different channels.
-	</para>
-	<para>
-	  At the bottom of the window, the 'Pyro Firing Time'
-	  configuration sets the length of time (in seconds) which
-	  each of these pyro channels will fire for.
-	</para>
-	<para>
-	  Once you have selected the appropriate configuration for all
-	  of the necessary pyro channels, you can save the pyro
-	  configuration along with the rest of the flight computer
-	  configuration by pressing the 'Save' button in the main
-	  Configure Flight Computer window.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Configure AltosUI</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="configure-altosui.png" width="2.4in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-        This button presents a dialog so that you can configure the AltosUI global settings.
-      </para>
-      <section>
-        <title>Voice Settings</title>
-        <para>
-          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.
-        </para>
-        <variablelist>
-	  <varlistentry>
-	    <term>Enable</term>
-	    <listitem>
-	      <para>Turns all voice announcements on and off</para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Test Voice</term>
-	    <listitem>
-	      <para>
-		Plays a short message allowing you to verify
-		that the audio system is working and the volume settings
-		are reasonable
-	      </para>
-	    </listitem>
-	  </varlistentry>
-        </variablelist>
-      </section>
-      <section>
-        <title>Log Directory</title>
-        <para>
-          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.
-        </para>
-        <para>
-          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.
-        </para>
-      </section>
-      <section>
-        <title>Callsign</title>
-        <para>
-          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.
-        </para>
-        <para>
-	  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.
-        </para>
-      </section>
-      <section>
-	<title>Imperial Units</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>Font Size</title>
-	<para>
-	  Selects the set of fonts used in the flight monitor
-	  window. Choose between the small, medium and large sets.
-	</para>
-      </section>
-      <section>
-        <title>Serial Debug</title>
-        <para>
-          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.
-        </para>
-      </section>
-      <section>
-	<title>Manage Frequencies</title>
-	<para>
-	  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.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Configure Groundstation</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="configure-groundstation.png" width="3.1in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-        Select this button and then select a TeleDongle or TeleBT Device from the list provided.
-      </para>
-      <para>
-        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.
-      </para>
-      <para>
-	Note that TeleDongle and TeleBT don't save any configuration
-	data, the settings here are recorded on the local machine in
-	the Java preferences database. Moving the device to
-	another machine, or using a different user account on the same
-	machine will cause settings made here to have no effect.
-      </para>
-      <para>
-        At the bottom of the dialog, there are three buttons:
-      </para>
-      <variablelist>
-	<varlistentry>
-	  <term>Save</term>
-	  <listitem>
-	    <para>
-	      This writes any changes to the
-	      local Java preferences file. If you don't
-	      press this button, any changes you make will be lost.
-	    </para>
-	  </listitem>
-	</varlistentry>
-	<varlistentry>
-	  <term>Reset</term>
-	  <listitem>
-	    <para>
-	      This resets the dialog to the most recently saved values,
-	      erasing any changes you have made.
-	    </para>
-	  </listitem>
-	</varlistentry>
-	<varlistentry>
-	  <term>Close</term>
-	  <listitem>
-	    <para>
-	      This closes the dialog. Any unsaved changes will be
-	      lost.
-	    </para>
-	  </listitem>
-	</varlistentry>
-      </variablelist>
-      <para>
-        The rest of the dialog contains the parameters to be configured.
-      </para>
-      <section>
-        <title>Frequency</title>
-        <para>
-          This configures the frequency to use for both telemetry and
-          packet command mode. Set this before starting any operation
-          involving packet command mode so that it will use the right
-          frequency. Telemetry monitoring mode also provides a menu to
-          change the frequency, and that menu also sets the same Java
-          preference value used here.
-        </para>
-      </section>
-      <section>
-        <title>RF Calibration</title>
-        <para>
-          The radios in every Altus Metrum device are calibrated at the
-          factory to ensure that they transmit and receive on the
-          specified frequency.  To change a TeleDongle or TeleBT's calibration, 
-	  you must reprogram the unit completely, so this entry simply
-	  shows the current value and doesn't allow any changes.
-        </para>
-      </section>
-      <section>
-        <title>Telemetry Rate</title>
-        <para>
-          This lets you match the telemetry and packet link rate from
-          the transmitter. If they don't match, the device won't
-          receive any data.
-        </para>
-      </section>
-    </section>
-    <section>
-      <title>Flash Image</title>
-      <para>
-        This reprograms Altus Metrum devices with new
-        firmware. TeleMetrum v1.x, TeleDongle v0.2, TeleMini and
-        TeleBT are all reprogrammed by using another similar unit as a
-        programming dongle (pair programming). TeleMega, EasyMega,
-        TeleMetrum v2, EasyMini and TeleDongle v3 are all programmed
-        directly over their USB ports (self programming).  Please read
-        the directions for flashing devices in the Updating Device
-        Firmware chapter below.
-      </para>
-    </section>
-    <section>
-      <title>Fire Igniter</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="fire-igniter.png" width="1.2in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	This activates the igniter circuits in the flight computer to help 
-	test recovery systems deployment. Because this command can operate
-	over the Packet Command Link, you can prepare the rocket as
-	for flight and then test the recovery system without needing
-	to snake wires inside the air-frame.
-      </para>
-      <para>
-	Selecting the 'Fire Igniter' button brings up the usual device
-	selection dialog. Pick the desired device. This brings up another 
-	window which shows the current continuity test status for all
-	of the pyro channels.
-      </para>
-      <para>
-	Next, select the desired igniter to fire. This will enable the
-	'Arm' button.
-      </para>
-      <para>
-	Select the 'Arm' button. This enables the 'Fire' button. The
-	word 'Arm' is replaced by a countdown timer indicating that
-	you have 10 seconds to press the 'Fire' button or the system
-	will deactivate, at which point you start over again at
-	selecting the desired igniter.
-      </para>
-    </section>
-    <section>
-      <title>Scan Channels</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="scan-channels.png" width="3.2in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	This listens for telemetry packets on all of the configured
-	frequencies, displaying information about each device it
-	receives a packet from. You can select which of the baud rates
-	and telemetry formats should be tried; by default, it only listens
-	at 38400 baud with the standard telemetry format used in v1.0 and later
-	firmware.
-      </para>
-    </section>
-    <section>
-      <title>Load Maps</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="load-maps.png" width="5.2in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	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.
-      </para>
-      <para>
-	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
-      </para>
-      <para>
-	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:
-	<variablelist>
-	  <varlistentry>
-	    <term>Hybrid</term>
-	    <listitem>
-	      <para>
-		A combination of satellite imagery and road data. This
-		is the default view.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Satellite</term>
-	    <listitem>
-	      <para>
-		Just the satellite imagery without any annotation.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Roadmap</term>
-	    <listitem>
-	      <para>
-		Roads, political boundaries and a few geographic features.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Terrain</term>
-	    <listitem>
-	      <para>
-		Contour intervals and shading that show hills and
-		valleys.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>Monitor Idle</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="monitor-idle.png" width="5.2in" scalefit="1"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	This brings up a dialog similar to the Monitor Flight UI,
-	except it works with the altimeter in “idle” mode by sending
-	query commands to discover the current state rather than
-	listening for telemetry packets. Because this uses command
-	mode, it needs to have the TeleDongle and flight computer
-	callsigns match exactly. If you can receive telemetry, but
-	cannot manage to run Monitor Idle, then it's very likely that
-	your callsigns are different in some way.
-      </para>
-      <para>
-	You can change the frequency and callsign used to communicate
-	with the flight computer; they must both match the
-	configuration in the flight computer exactly.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>AltosDroid</title>
-    <para>
-      AltosDroid provides the same flight monitoring capabilities as
-      AltosUI, but runs on Android devices. AltosDroid is designed to connect
-      to a TeleBT receiver over Bluetooth™ and (on Android devices supporting
-      USB On-the-go) TeleDongle and TeleBT devices over USB. AltosDroid monitors
-      telemetry data, logging it to internal storage in the Android
-      device, and presents that data in a UI similar to the 'Monitor
-      Flight' window in AltosUI.
-    </para>
-    <para>
-      This manual will explain how to configure AltosDroid, connect to
-      TeleBT or TeleDongle, operate the flight monitoring interface
-      and describe what the displayed data means.
-    </para>
-    <section>
-      <title>Installing AltosDroid</title>
-      <para>
-	AltosDroid is available from the Google Play store. To install
-	it on your Android device, open the Google Play Store
-	application and search for “altosdroid”. Make sure you don't
-	have a space between “altos” and “droid” or you probably won't
-	find what you want. That should bring you to the right page
-	from which you can download and install the application.
-      </para>
-    </section>
-    <section>
-      <title>Charging TeleBT Battery</title>
-      <para>
-	Before using TeleBT with AltosDroid, make sure the internal 
-	TeleBT battery is charged.  To do this, attach a micro USB
-	cable from a computer or other USB power source to TeleBT.
-	A dual LED on the circuit board should illuminate, showing
-	red while the battery is charging, green when charging is
-	completed, and both red and green on at the same time if
-	there is a battery fault.
-      </para>
-    </section>
-    <section>
-      <title>Connecting to TeleBT over Bluetooth™</title>
-      <para>
-	Press the Android 'Menu' button or soft-key to see the
-	configuration options available. Select the 'Connect a device'
-	option and then the 'Scan for devices' entry at the bottom to
-	look for your TeleBT device. Select your device, and when it
-	asks for the code, enter '1234'.
-      </para>
-      <para>
-	Subsequent connections will not require you to enter that
-	code, and your 'paired' device will appear in the list without
-	scanning.
-      </para>
-    </section>
-    <section>
-      <title>Connecting to TeleDongle or TeleBT over USB</title>
-      <para>
-	Get a special USB On-the-go adapter cable. These cables have a USB
-	micro-B male connector on one end and a standard A female
-	connector on the other end. Plug in your TeleDongle or TeleBT
-	device to the adapter cable and the adapter cable into your
-	phone and AltosDroid should automatically start up. If it
-	doesn't, the most likely reason is that your Android device
-	doesn't support USB On-the-go.
-      </para>
-    </section>
-    <section>
-      <title>Configuring AltosDroid</title>
-      <para>
-	There are several configuration and operation parameters
-	available in the AltosDroid menu.
-      </para>
-      <section>
-	<title>Select radio frequency</title>
-	<para>
-	  This selects which frequency to listen on by bringing up a
-	  menu of pre-set radio frequencies. Pick the one which matches
-	  your altimeter.
-	</para>
-      </section>
-      <section>
-	<title>Select data rate</title>
-	<para>
-	  Altus Metrum transmitters can be configured to operate at
-	  lower data rates to improve transmission range. If you have
-	  configured your device to do this, this menu item allows you
-	  to change the receiver to match.
-	</para>
-      </section>
-      <section>
-	<title>Change units</title>
-	<para>
-	  This toggles between metric and imperial units.
-	</para>
-      </section>
-      <section>
-	<title>Load maps</title>
-	<para>
-	  Brings up a dialog allowing you to download offline map
-	  tiles so that you can have maps available even if you have
-	  no network connectivity at the launch site.
-	</para>
-      </section>
-      <section>
-	<title>Map type</title>
-	<para>
-	  Displays a menu of map types and lets you select one. Hybrid
-	  maps include satellite images with a roadmap
-	  overlaid. Satellite maps dispense with the roadmap
-	  overlay. Roadmap shows just the roads. Terrain includes
-	  roads along with shadows indicating changes in elevation,
-	  and other geographical features.
-	</para>
-      </section>
-      <section>
-	<title>Toggle Online/Offline maps</title>
-	<para>
-	  Switches between online and offline maps. Online maps will
-	  show a 'move to current position' icon in the upper right
-	  corner, while offline maps will have copyright information
-	  all over the map. Otherwise, they're pretty similar.
-	</para>
-      </section>
-      <section>
-	<title>Select Tracker</title>
-	<para>
-	  Switches the information displays to show data for a
-	  different transmitting device. The map will always show all
-	  of the devices in view. Trackers are shown and selected by
-	  serial number, so make sure you note the serial number of
-	  devices in each airframe.
-	</para>
-      </section>
-      <section>
-	<title>Delete Track</title>
-	<para>
-	  Deletes all information about a transmitting device.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>AltosDroid Flight Monitoring</title>
-      <para>
-	AltosDroid is designed to mimic the AltosUI flight monitoring
-	display, providing separate tabs for each stage of your rocket
-	flight along with a tab containing a map of the local area
-	with icons marking the current location of the altimeter and
-	the Android device.
-      </para>
-      <section>
-	<title>Pad</title>
-        <para>
-          The 'Pad' tab shows information used to decide when the
-          rocket is ready for flight. The first elements include red/green
-          indicators, if any of these is red, you'll want to evaluate
-          whether the rocket is ready to launch.
-	</para>
-	<para>
-	  When the pad tab is selected, the voice responses will
-	  include status changes to the igniters and GPS reception,
-	  letting you know if the rocket is still ready for launch.
-	</para>
-        <variablelist>
-	  <varlistentry>
-	    <term>Battery</term>
-	    <listitem>
-	      <para>
-		This indicates whether the Li-Po battery
-		powering the transmitter has sufficient charge to last for
-		the duration of the flight. A value of more than
-		3.8V is required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Receiver Battery</term>
-	    <listitem>
-	      <para>
-		This indicates whether the Li-Po battery
-		powering the TeleBT has sufficient charge to last for
-		the duration of the flight. A value of more than
-		3.8V is required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Data Logging</term>
-	    <listitem>
-	      <para>
-		This indicates whether there is space remaining
-		on-board to store flight data for the upcoming
-		flight. If you've downloaded data, but failed to
-		erase flights, there may not be any space
-		left. TeleMetrum and TeleMega can store multiple
-		flights, depending on the configured maximum flight
-		log size. TeleGPS logs data continuously. TeleMini
-		stores only a single flight, so it will need to be
-		downloaded and erased after each flight to capture
-		data. This only affects on-board flight logging; the
-		altimeter will still transmit telemetry and fire
-		ejection charges at the proper times.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>GPS Locked</term>
-	    <listitem>
-	      <para>
-		For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
-		currently able to compute position information. GPS requires
-		at least 4 satellites to compute an accurate position.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>GPS Ready</term>
-	    <listitem>
-	      <para>
-		For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
-		10 consecutive positions without losing lock. This ensures
-		that the GPS receiver has reliable reception from the
-		satellites.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Apogee Igniter</term>
-	    <listitem>
-	      <para>
-		This indicates whether the apogee
-		igniter has continuity. If the igniter has a low
-		resistance, then the voltage measured here will be close
-		to the Li-Po battery voltage. A value greater than 3.2V is
-		required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Main Igniter</term>
-	    <listitem>
-	      <para>
-		This indicates whether the main
-		igniter has continuity. If the igniter has a low
-		resistance, then the voltage measured here will be close
-		to the Li-Po battery voltage. A value greater than 3.2V is
-		required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Igniter A-D</term>
-	    <listitem>
-	      <para>
-		This indicates whether the indicated additional pyro
-		channel igniter has continuity. If the igniter has a
-		low resistance, then the voltage measured here will
-		be close to the Li-Po battery voltage. A value
-		greater than 3.2V is required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-        </variablelist>
-	<para>
-	  The Pad tab also shows the location of the Android device.
-	</para>
-      </section>
-      <section>
-	<title>Flight</title>
-        <para>
-          The 'Flight' tab shows information used to evaluate and spot
-          a rocket while in flight. It displays speed and height data
-          to monitor the health of the rocket, along with elevation,
-          range and bearing to help locate the rocket in the sky.
-	</para>
-	<para>
-	  While the Flight tab is displayed, the voice announcements
-	  will include current speed, height, elevation and bearing
-	  information.
-	</para>
-        <variablelist>
-	  <varlistentry>
-	    <term>Speed</term>
-	    <listitem>
-	      <para>
-		Shows current vertical speed. During descent, the
-		speed values are averaged over a fairly long time to
-		try and make them steadier.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Height</term>
-	    <listitem>
-	      <para>
-		Shows the current height above the launch pad.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Max Speed</term>
-	    <listitem>
-	      <para>
-		Shows the maximum vertical speed seen during the flight.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Max Height</term>
-	    <listitem>
-	      <para>
-		Shows the maximum height above launch pad.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Elevation</term>
-	    <listitem>
-	      <para>
-		This is the angle above the horizon from the android
-		devices current position.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Range</term>
-	    <listitem>
-	      <para>
-		The total distance from the android device to the
-		rocket, including both ground distance and
-		difference in altitude. Use this to gauge how large
-		the rocket is likely to appear in the sky.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Bearing</term>
-	    <listitem>
-	      <para>
-		This is the aziumuth from true north for the rocket
-		from the android device. Use this in combination
-		with the Elevation value to help locate the rocket
-		in the sky, or at least to help point the antenna in
-		the general direction. This is provided in both
-		degrees and a compass point (like West South
-		West). You'll want to know which direction is true
-		north before launching your rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Ground Distance</term>
-	    <listitem>
-	      <para>
-		This shows the distance across the ground to the
-		lat/lon where the rocket is located. Use this to
-		estimate what is currently under the rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Latitude/Longitude</term>
-	    <listitem>
-	      <para>
-		Displays the last known location of the rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Apogee Igniter</term>
-	    <listitem>
-	      <para>
-		This indicates whether the apogee
-		igniter has continuity. If the igniter has a low
-		resistance, then the voltage measured here will be close
-		to the Li-Po battery voltage. A value greater than 3.2V is
-		required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Main Igniter</term>
-	    <listitem>
-	      <para>
-		This indicates whether the main
-		igniter has continuity. If the igniter has a low
-		resistance, then the voltage measured here will be close
-		to the Li-Po battery voltage. A value greater than 3.2V is
-		required for a 'GO' status.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-        </variablelist>
-      </section>
-      <section>
-	<title>Recover</title>
-        <para>
-          The 'Recover' tab shows information used while recovering the
-	  rocket on the ground after flight.
-	</para>
-	<para>
-	  While the Recover tab is displayed, the voice announcements
-	  will include distance along with either bearing or
-	  direction, depending on whether you are moving.
-	</para>
-        <variablelist>
-	  <varlistentry>
-	    <term>Bearing</term>
-	    <listitem>
-	      <para>
-		This is the aziumuth from true north for the rocket
-		from the android device. Use this in combination
-		with the Elevation value to help locate the rocket
-		in the sky, or at least to help point the antenna in
-		the general direction. This is provided in both
-		degrees and a compass point (like West South
-		West). You'll want to know which direction is true
-		north before launching your rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Direction</term>
-	    <listitem>
-	      <para>
-		When you are in motion, this provides the angle from
-		your current direction of motion towards the rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Distance</term>
-	    <listitem>
-	      <para>
-		Distance over the ground to the rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Tar Lat/Tar Lon</term>
-	    <listitem>
-	      <para>
-		Displays the last known location of the rocket.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>My Lat/My Lon</term>
-	    <listitem>
-	      <para>
-		Displays the location of the Android device.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Max Height</term>
-	    <listitem>
-	      <para>
-		Shows the maximum height above launch pad.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Max Speed</term>
-	    <listitem>
-	      <para>
-		Shows the maximum vertical speed seen during the flight.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Max Accel</term>
-	    <listitem>
-	      <para>
-		Shows the maximum vertical acceleration seen during the flight.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-        </variablelist>
-      </section>
-      <section>
-	<title>Map</title>
-	<para>
-	  The 'Map' tab shows a map of the area around the rocket
-	  being tracked along with information needed to recover it.
-	</para>
-	<para>
-	  On the map itself, icons showing the location of the android
-	  device along with the last known location of each tracker. A
-	  blue line is drawn from the android device location to the
-	  currently selected tracker.
-	</para>
-	<para>
-	  Below the map, the distance and either bearing or direction
-	  along with the lat/lon of the target and the android device
-	  are shown
-	</para>
-	<para>
-	  The Map tab provides the same voice announcements as the
-	  Recover tab.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Downloading Flight Logs</title>
-      <para>
-	AltosDroid always saves every bit of telemetry data it
-	receives. To download that to a computer for use with AltosUI,
-	remove the SD card from your Android device, or connect your
-	device to your computer's USB port and browse the files on
-	that device. You will find '.telem' files in the TeleMetrum
-	directory that will work with AltosUI directly.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Using Altus Metrum Products</title>
-    <section>
-      <title>Being Legal</title>
-      <para>
-        First off, in the US, you need an <ulink url="http://www.altusmetrum.org/Radio/">amateur radio license</ulink> or
-        other authorization to legally operate the radio transmitters that are part
-        of our products.
-      </para>
-      </section>
-      <section>
-        <title>In the Rocket</title>
-        <para>
-          In the rocket itself, you just need a flight computer and
-          a single-cell, 3.7 volt nominal Li-Po rechargeable battery.  An 
-	  850mAh battery weighs less than a 9V alkaline battery, and will 
-	  run a TeleMetrum, TeleMega or EasyMega for hours.
-	  A 110mAh battery weighs less than a triple A battery and is a good
-	  choice for use with TeleMini or EasyMini.
-        </para>
-        <para>
-          By default, we ship TeleMini, TeleMetrum and TeleMega flight computers with a simple wire antenna.  
-	  If your electronics bay or the air-frame it resides within is made 
-	  of carbon fiber, which is opaque to RF signals, you may prefer to 
-	  install an SMA connector so that you can run a coaxial cable to an 
-	  antenna mounted elsewhere in the rocket.  However, note that the 
-	  GPS antenna is fixed on all current products, so you really want
-	  to install the flight computer in a bay made of RF-transparent
-	  materials if at all possible.
-        </para>
-      </section>
-      <section>
-        <title>On the Ground</title>
-        <para>
-          To receive the data stream from the rocket, you need an antenna and short
-          feed-line connected to one of our <ulink url="http://www.altusmetrum.org/TeleDongle/">TeleDongle</ulink> units.  If possible, use an SMA to BNC 
-	adapter instead of feedline between the antenna feedpoint and 
-	TeleDongle, as this will give you the best performance.  The
-          TeleDongle in turn plugs directly into the USB port on a notebook
-          computer.  Because TeleDongle looks like a simple serial port, your computer
-          does not require special device drivers... just plug it in.
-        </para>
-        <para>
-	  The GUI tool, AltosUI, is written in Java and runs across
-	  Linux, Mac OS and Windows. There's also a suite of C tools
-	  for Linux which can perform most of the same tasks.
-        </para>
-        <para>
-	  Alternatively, a TeleBT attached with an SMA to BNC adapter at the
-	  feed point of a hand-held yagi used in conjunction with an Android
-	  device running AltosDroid makes an outstanding ground station.
-        </para>
-        <para>
-          After the flight, you can use the radio link to extract the more detailed data
-          logged in either TeleMetrum or TeleMini devices, or you can use a mini USB cable to plug into the
-          TeleMetrum board directly.  Pulling out the data without having to open up
-          the rocket is pretty cool!  A USB cable is also how you charge the Li-Po
-          battery, so you'll want one of those anyway... the same cable used by lots
-          of digital cameras and other modern electronic stuff will work fine.
-        </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 way-point for the last 
-	  reported rocket position before touch-down.  This makes looking for 
-	  your rocket a lot like Geo-Caching... just go to the way-point and 
-	  look around starting from there.  AltosDroid on an Android device
-	  with GPS receiver works great for this, too!
-        </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
-          currently uses a Yaesu FT1D, Bdale has a Yaesu VX-7R, which
-	  is a nicer radio in most ways but doesn't support APRS.
-        </para>
-        <para>
-          So, to recap, on the ground the hardware you'll need includes:
-          <orderedlist inheritnum='inherit' numeration='arabic'>
-            <listitem>
-              <para>
-	      an antenna and feed-line or adapter
-	      </para>
-            </listitem>
-            <listitem>
-              <para>
-	      a TeleDongle
-	      </para>
-            </listitem>
-            <listitem>
-              <para>
-	      a notebook computer
-	      </para>
-            </listitem>
-            <listitem>
-              <para>
-	      optionally, a hand-held GPS receiver
-	      </para>
-            </listitem>
-            <listitem>
-              <para>
-	      optionally, an HT or receiver covering 435 MHz
-	      </para>
-            </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- or TeleMini- equipped rocket when used with a suitable 
-	  70cm HT.  TeleDongle and an SMA to BNC adapter fit perfectly
-	  between the driven element and reflector of Arrow antennas.
-        </para>
-      </section>
-      <section>
-        <title>Data Analysis</title>
-        <para>
-          Our software makes it easy to log the data from each flight, both the
-          telemetry received during the flight itself, and the more
-          complete data log recorded in the flash memory on the altimeter
-          board.  Once this data is on your computer, our post-flight tools make it
-          easy to quickly get to the numbers everyone wants, like apogee altitude,
-          max acceleration, and max velocity.  You can also generate and view a
-          standard set of plots showing the altitude, acceleration, and
-          velocity of the rocket during flight.  And you can even export a TeleMetrum data file
-          usable with Google Maps and Google Earth for visualizing the flight path
-          in two or three dimensions!
-        </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>
-          We have designed and prototyped several “companion boards” that 
-	  can attach to the companion connector on TeleMetrum,
-	  TeleMega and EasyMega
-	  flight computers to collect more data, provide more pyro channels, 
-	  and so forth.  We do not yet know if or when any of these boards
-	  will be produced in enough quantity to sell.  If you have specific
-	  interests for data collection or control of events in your rockets
-	  beyond the capabilities of our existing productions, please let 
-	  us know!
-        </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>
-        <para>
-	  Watch our 
-	  <ulink url="http://altusmetrum.org/">web site</ulink> for more news 
-	  and information as our family of products evolves!
-        </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Altimeter Installation Recommendations</title>
-    <para>
-      Building high-power rockets that fly safely is hard enough. Mix
-      in some sophisticated electronics and a bunch of radio energy
-      and some creativity and/or compromise may be required. This chapter
-      contains some suggestions about how to install Altus Metrum
-      products into a rocket air-frame, including how to safely and
-      reliably mix a variety of electronics into the same air-frame.
-    </para>
-    <section>
-      <title>Mounting the Altimeter</title>
-      <para>
-	The first consideration is to ensure that the altimeter is
-	securely fastened to the air-frame. For most of our products, we 
-	prefer nylon standoffs and nylon screws; they're good to at least 50G
-	and cannot cause any electrical issues on the board.  Metal screws
-	and standoffs are fine, too, just be careful to avoid electrical
-	shorts!  For TeleMini v1.0, we usually cut small pieces of 1/16 inch 
-	balsa to fit
-	under the screw holes, and then take 2x56 nylon screws and
-	screw them through the TeleMini mounting holes, through the
-	balsa and into the underlying material.
-      </para>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-	<listitem>
-	  <para>
-	    Make sure accelerometer-equipped products like TeleMetrum,
-	    TeleMega and EasyMega are aligned precisely along the axis of
-	    acceleration so that the accelerometer can accurately
-	    capture data during the flight.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Watch for any metal touching components on the
-	    board. Shorting out connections on the bottom of the board
-	    can cause the altimeter to fail during flight.
-	  </para>
-	</listitem>
-      </orderedlist>
-    </section>
-    <section>
-      <title>Dealing with the Antenna</title>
-      <para>
-	The antenna supplied is just a piece of solid, insulated,
-	wire. If it gets damaged or broken, it can be easily
-	replaced. It should be kept straight and not cut; bending or
-	cutting it will change the resonant frequency and/or
-	impedance, making it a less efficient radiator and thus
-	reducing the range of the telemetry signal.
-      </para>
-      <para>
-	Keeping metal away from the antenna will provide better range
-	and a more even radiation pattern. In most rockets, it's not
-	entirely possible to isolate the antenna from metal
-	components; there are often bolts, all-thread and wires from other
-	electronics to contend with. Just be aware that the more stuff
-	like this around the antenna, the lower the range.
-      </para>
-      <para>
-	Make sure the antenna is not inside a tube made or covered
-	with conducting material. Carbon fiber is the most common
-	culprit here -- CF is a good conductor and will effectively
-	shield the antenna, dramatically reducing signal strength and
-	range. Metallic flake paint is another effective shielding
-	material which should be avoided around any antennas.
-      </para>
-      <para>
-	If the ebay is large enough, it can be convenient to simply
-	mount the altimeter at one end and stretch the antenna out
-	inside. Taping the antenna to the sled can keep it straight
-	under acceleration. If there are metal rods, keep the
-	antenna as far away as possible.
-      </para>
-      <para>
-	For a shorter ebay, it's quite practical to have the antenna
-	run through a bulkhead and into an adjacent bay. Drill a small
-	hole in the bulkhead, pass the antenna wire through it and
-	then seal it up with glue or clay. We've also used acrylic
-	tubing to create a cavity for the antenna wire. This works a
-	bit better in that the antenna is known to stay straight and
-	not get folded by recovery components in the bay. Angle the
-	tubing towards the side wall of the rocket and it ends up
-	consuming very little space.
-      </para>
-      <para>
-	If you need to place the UHF antenna at a distance from the
-	altimeter, you can replace the antenna with an edge-mounted
-	SMA connector, and then run 50Ω coax from the board to the
-	antenna. Building a remote antenna is beyond the scope of this
-	manual.
-      </para>
-    </section>
-    <section>
-      <title>Preserving GPS Reception</title>
-      <para>
-	The GPS antenna and receiver used in TeleMetrum and TeleMega is 
-	highly sensitive and normally have no trouble tracking enough
-	satellites to provide accurate position information for
-	recovering the rocket. However, there are many ways the GPS signal
-	can end up attenuated, negatively affecting GPS performance. 
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-	<listitem>
-	  <para>
-	    Conductive tubing or coatings. Carbon fiber and metal
-	    tubing, or metallic paint will all dramatically attenuate the
-	    GPS signal. We've never heard of anyone successfully
-	    receiving GPS from inside these materials.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Metal components near the GPS patch antenna. These will
-	    de-tune the patch antenna, changing the resonant frequency
-	    away from the L1 carrier and reduce the effectiveness of the
-	    antenna. You can place as much stuff as you like beneath the
-	    antenna as that's covered with a ground plane. But, keep
-	    wires and metal out from above the patch antenna.
-	  </para>
-	</listitem>
-      </orderedlist>
-      </para>
-    </section>
-    <section>
-      <title>Radio Frequency Interference</title>
-      <para>
-	Any altimeter will generate RFI; the digital circuits use
-	high-frequency clocks that spray radio interference across a
-	wide band. Altus Metrum altimeters generate intentional radio
-	signals as well, increasing the amount of RF energy around the board.
-      </para>
-      <para>
-	Rocketry altimeters also use precise sensors measuring air
-	pressure and acceleration. Tiny changes in voltage can cause
-	these sensor readings to vary by a huge amount. When the
-	sensors start mis-reporting data, the altimeter can either
-	fire the igniters at the wrong time, or not fire them at all.
-      </para>
-      <para>
-	Voltages are induced when radio frequency energy is
-	transmitted from one circuit to another. Here are things that
-	influence the induced voltage and current:
-      </para>
-      <itemizedlist>
-	<listitem>
-	  <para>
-	    Keep wires from different circuits apart. Moving circuits
-	    further apart will reduce RFI.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	  Avoid parallel wires from different circuits. The longer two
-	  wires run parallel to one another, the larger the amount of
-	  transferred energy. Cross wires at right angles to reduce
-	  RFI.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	  Twist wires from the same circuits. Two wires the same
-	  distance from the transmitter will get the same amount of
-	  induced energy which will then cancel out. Any time you have
-	  a wire pair running together, twist the pair together to
-	  even out distances and reduce RFI. For altimeters, this
-	  includes battery leads, switch hookups and igniter
-	  circuits.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	  Avoid resonant lengths. Know what frequencies are present
-	  in the environment and avoid having wire lengths near a
-	  natural resonant length. Altus Metrum products transmit on the
-	  70cm amateur band, so you should avoid lengths that are a
-	  simple ratio of that length; essentially any multiple of ¼
-	  of the wavelength (17.5cm).
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>The Barometric Sensor</title>
-      <para>
-	Altusmetrum altimeters measure altitude with a barometric
-	sensor, essentially measuring the amount of air above the
-	rocket to figure out how high it is. A large number of
-	measurements are taken as the altimeter initializes itself to
-	figure out the pad altitude. Subsequent measurements are then
-	used to compute the height above the pad.
-      </para>
-      <para>
-	To accurately measure atmospheric pressure, the ebay
-	containing the altimeter must be vented outside the
-	air-frame. The vent must be placed in a region of linear
-	airflow, have smooth edges, and away from areas of increasing or 
-	decreasing pressure.
-      </para>
-      <para>
-	All barometric sensors are quite sensitive to chemical damage from 
-	the products of APCP or BP combustion, so make sure the ebay is 
-	carefully sealed from any compartment which contains ejection 
-	charges or motors.
-      </para>
-    </section>
-    <section>
-      <title>Ground Testing</title>
-      <para>
-	The most important aspect of any installation is careful
-	ground testing. Bringing an air-frame up to the LCO table which
-	hasn't been ground tested can lead to delays or ejection
-	charges firing on the pad, or, even worse, a recovery system
-	failure.
-      </para>
-      <para>
-	Do a 'full systems' test that includes wiring up all igniters
-	without any BP and turning on all of the electronics in flight
-	mode. This will catch any mistakes in wiring and any residual
-	RFI issues that might accidentally fire igniters at the wrong
-	time. Let the air-frame sit for several minutes, checking for
-	adequate telemetry signal strength and GPS lock.  If any igniters
-	fire unexpectedly, find and resolve the issue before loading any
-	BP charges!
-      </para>
-      <para>
-	Ground test the ejection charges. Prepare the rocket for
-	flight, loading ejection charges and igniters. Completely
-	assemble the air-frame and then use the 'Fire Igniters'
-	interface through a TeleDongle to command each charge to
-	fire. Make sure the charge is sufficient to robustly separate
-	the air-frame and deploy the recovery system.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Updating Device Firmware</title>
-    <para>
-      TeleMega, TeleMetrum v2, EasyMega, EasyMini and TeleDongle v3
-      are all programmed directly over their USB connectors (self
-      programming). TeleMetrum v1, TeleMini and TeleDongle v0.2 are
-      all programmed by using another device as a programmer (pair
-      programming). It's important to recognize which kind of devices
-      you have before trying to reprogram them.
-    </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 <ulink url="http://www.altusmetrum.org/AltOS/"/>.
-    </para>
-    <para>
-      If you need to update the firmware on a TeleDongle v0.2, we recommend 
-      updating the altimeter first, before updating TeleDongle.  However,
-      note that TeleDongle rarely need to be updated.  Any firmware version
-      1.0.1 or later will work, version 1.2.1 may have improved receiver
-      performance slightly.
-    </para>
-    <para>
-      Self-programmable devices (TeleMega, TeleMetrum v2, EasyMega and EasyMini)
-      are reprogrammed by connecting them to your computer over USB
-    </para>
-    <section>
-      <title>
-	Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or
-	TeleDongle v3 Firmware
-      </title>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-	<listitem>
-	  <para>
-	    Attach a battery if necessary and power switch to the target
-	    device. Power up the device.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Using a Micro USB cable, connect the target device to your
-	    computer's USB socket.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Run AltosUI, and select 'Flash Image' from the File menu.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Select the target device in the Device Selection dialog.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Select the image you want to flash to the device, which
-	    should have a name in the form
-	    &lt;product&gt;-v&lt;product-version&gt;-&lt;software-version&gt;.ihx, such
-	    as TeleMega-v1.0-1.3.0.ihx.
-	  </para>
-	</listitem>
-        <listitem>
-	  <para>
-	    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.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-	    Hit the 'OK' button and the software should proceed to flash
-	    the device with new firmware, showing a progress bar.
-	  </para>
-        </listitem>
-	<listitem>
-	  <para>
-	    Verify that the device is working by using the 'Configure
-	    Altimeter' or 'Configure Groundstation' item to check over
-	    the configuration.
-	  </para>
-	</listitem>
-      </orderedlist>
-      <section>
-	<title>Recovering From Self-Flashing Failure</title>
-	<para>
-	  If the firmware loading fails, it can leave the device
-	  unable to boot. Not to worry, you can force the device to
-	  start the boot loader instead, which will let you try to
-	  flash the device again.
-	</para>
-	<para>
-	  On each device, connecting two pins from one of the exposed
-	  connectors will force the boot loader to start, even if the
-	  regular operating system has been corrupted in some way.
-	</para>
-	<variablelist>
-	  <varlistentry>
-	    <term>TeleMega</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>EasyMega</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>TeleMetrum v2</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>EasyMini</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the debug connector, which is
-		the six holes next to the beeper. Pin 1 can be identified
-		by the square pad around it, and then the pins could
-		sequentially across the board, making Pin 6 the one on the
-		other end of the row.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>TeleDongle v3</term>
-	    <listitem>
-	      <para>
-		Connect pin 32 on the CPU to ground. Pin 32 is closest
-		to the USB wires on the row of pins towards the center
-		of the board. Ground is available on the capacitor
-		next to it, on the end towards the USB wires.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-	<para>
-	  Once you've located the right pins:
-	</para>
-	<orderedlist inheritnum='inherit' numeration='arabic'>
-	  <listitem>
-	    <para>
-	      Turn the altimeter power off.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Connect a battery.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Connect the indicated terminals together with a short
-	      piece of wire. Take care not to accidentally connect
-	      anything else.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Connect USB
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Turn the board power on.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      The board should now be visible over USB as 'AltosFlash'
-	      and be ready to receive firmware.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Once the board has been powered up, you can remove the
-	      piece of wire.
-	    </para>
-	  </listitem>
-	</orderedlist>
-      </section>
-    </section>
-    <section>
-      <title>Pair Programming</title>
-      <para>
-	The big concept to understand is that you have to use a
-	TeleMetrum v1.0, TeleBT v1.0 or TeleDongle v0.2 as a
-	programmer to update a pair programmed device. Due to limited
-	memory resources in the cc1111, we don't support programming
-	directly over USB for these devices.
-      </para>
-    </section>
-    <section>
-      <title>Updating TeleMetrum v1.x Firmware</title>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-        <listitem>
-	  <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.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0
-          case to get access to the circuit board.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Plug the 8-pin end of the programming cable to the
-          matching connector on the TeleDongle v0.2 or TeleBT v1.0, and the 4-pin end to the
-          matching connector on the TeleMetrum.
-	  Note that each MicroMaTch connector has an alignment pin that
-	  goes through a hole in the PC board when you have the cable
-	  oriented correctly.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Attach a battery to the TeleMetrum board.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Plug the TeleDongle v0.2 or TeleBT v1.0 into your computer's USB port, and power
-          up the TeleMetrum.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Run AltosUI, and select 'Flash Image' from the File menu.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Pick the TeleDongle v0.2 or TeleBT v1.0 device from the list, identifying it as the
-          programming device.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Select the image you want put on the TeleMetrum, which should have a
-          name in the form telemetrum-v1.2-1.0.0.ihx.  It should be visible
-	in the default directory, if not you may have to poke around
-	your system to find it.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          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.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-          Hit the 'OK' button and the software should proceed to flash
-          the TeleMetrum with new firmware, showing a progress bar.
-	  </para>
-        </listitem>
-        <listitem>
-	  <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>
-        </listitem>
-        <listitem>
-	  <para>
-          If something goes wrong, give it another try.
-	  </para>
-        </listitem>
-      </orderedlist>
-    </section>
-    <section>
-      <title>Updating TeleMini Firmware</title>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-        <listitem>
-<para>
-	  You'll need a special 'programming cable' to reprogram the
-	  TeleMini.  You can make your own using an 8-pin MicroMaTch 
-	  connector on one end and a set of four pins on the other.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 case to get access
-          to the circuit board.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Plug the 8-pin end of the programming cable to the matching
-          connector on the TeleDongle v0.2 or TeleBT v1.0, and the 4-pins into the holes
-          in the TeleMini circuit board.  Note that the MicroMaTch
-          connector has an alignment pin that goes through a hole in
-          the PC board when you have the cable oriented correctly, and
-          that pin 1 on the TeleMini board is marked with a square pad
-          while the other pins have round pads.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Attach a battery to the TeleMini board.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Plug the TeleDongle v0.2 or TeleBT v1.0 into your computer's USB port, and power
-          up the TeleMini
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Run AltosUI, and select 'Flash Image' from the File menu.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Pick the TeleDongle v0.2 or TeleBT v1.0 device from the list, identifying it as the
-          programming device.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Select the image you want put on the TeleMini, which should have a
-          name in the form telemini-v1.0-1.0.0.ihx.  It should be visible
-	in the default directory, if not you may have to poke around
-	your system to find it.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          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.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Hit the 'OK' button and the software should proceed to flash
-          the TeleMini with new firmware, showing a progress bar.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Confirm that the TeleMini board seems to have updated OK, which you
-          can do by configuring it over the radio link through the TeleDongle, or
-	  letting it come up in “flight” mode and listening for telemetry.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          If something goes wrong, give it another try.
-        </para>
-</listitem>
-      </orderedlist>
-    </section>
-    <section>
-      <title>Updating TeleDongle v0.2 Firmware</title>
-      <para>
-        Updating TeleDongle v0.2 firmware is just like updating
-	TeleMetrum v1.x or TeleMini
-	firmware, but you use either a TeleMetrum v1.x, TeleDongle
-	v0.2 or TeleBT v1.0 as the programmer.
-	</para>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-        <listitem>
-<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.
-        </para>
-</listitem>
-        <listitem>
-<para>
-	  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
-	  v1.x, TeleDongle v0.2 or TeleBT v1.0.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Take the 2 screws out of the TeleDongle v0.2 or TeleBT v1.0 case to get access
-          to the circuit board.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Plug the 8-pin end of the programming cable to the
-          matching connector on the programmer, and the 4-pin end to the
-          matching connector on the TeleDongle v0.2.
-	  Note that each MicroMaTch connector has an alignment pin that
-	  goes through a hole in the PC board when you have the cable
-	  oriented correctly.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Attach a battery to the TeleMetrum v1.x board if you're using one.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Plug both the programmer and the TeleDongle into your computer's USB
-	  ports, and power up the programmer.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Run AltosUI, and select 'Flash Image' from the File menu.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Pick the programmer device from the list, identifying it as the
-          programming device.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Select the image you want put on the TeleDongle v0.2, which should have a
-          name in the form teledongle-v0.2-1.0.0.ihx.  It should be visible
-	in the default directory, if not you may have to poke around
-	your system to find it.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          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 v0.2
-	  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.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Hit the 'OK' button and the software should proceed to flash
-          the TeleDongle v0.2 with new firmware, showing a progress bar.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          Confirm that the TeleDongle v0.2 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 v0.2.
-        </para>
-</listitem>
-        <listitem>
-<para>
-          If something goes wrong, give it another try.
-        </para>
-</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>Hardware Specifications</title>
-    <section>
-      <title>
-	TeleMega Specifications
-      </title>
-      <itemizedlist>
-	<listitem>
-	  <para>
-	    Recording altimeter for model rocketry.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Supports dual deployment and four auxiliary pyro channels
-	    (a total of 6 events).
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    70cm 40mW ham-band transceiver for telemetry down-link.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Barometric pressure sensor good to 100k feet MSL.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1-axis high-g accelerometer for motor characterization, capable of
-	    +/- 102g.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    9-axis IMU including integrated 3-axis accelerometer,
-	    3-axis gyroscope and 3-axis magnetometer.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board 8 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 Li-Po rechargeable batteries.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Can use either main system Li-Po or optional separate pyro battery
-	    to fire e-matches.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>
-	EasyMega Specifications
-      </title>
-      <itemizedlist>
-	<listitem>
-	  <para>
-	    Recording altimeter for model rocketry.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Supports dual deployment and four auxiliary pyro channels
-	    (a total of 6 events).
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Barometric pressure sensor good to 100k feet MSL.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1-axis high-g accelerometer for motor characterization, capable of
-	    +/- 102g.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    9-axis IMU including integrated 3-axis accelerometer,
-	    3-axis gyroscope and 3-axis magnetometer.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board 8 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 Li-Po rechargeable batteries.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Can use either main system Li-Po or optional separate pyro battery
-	    to fire e-matches.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>
-	TeleMetrum v2 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, 40mW ham-band transceiver for telemetry down-link.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Barometric pressure sensor good to 100k feet MSL.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1-axis high-g accelerometer for motor characterization, capable of
-	    +/- 102g.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board 8 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 Li-Po rechargeable batteries.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Uses Li-Po to fire e-matches, can be modified to support 
-	    optional separate pyro battery if needed.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>TeleMetrum v1 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, 10mW ham-band transceiver for telemetry down-link.
-	  </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 Li-Po rechargeable batteries.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Uses Li-Po to fire e-matches, can be modified to support 
-	    optional separate pyro battery if needed.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>
-	TeleMini v2.0 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, 10mW ham-band transceiver for telemetry down-link.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Barometric pressure sensor good to 100k feet MSL.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board 1 megabyte non-volatile memory for flight data storage.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    USB interface for configuration, and data recovery.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Support for Li-Po rechargeable batteries (using an
-	    external charger), or any 3.7-15V external battery.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Uses Li-Po to fire e-matches, can be modified to support 
-	    optional separate pyro battery if needed.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>
-	TeleMini v1.0 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, 10mW ham-band transceiver for telemetry down-link.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Barometric pressure sensor good to 45k feet MSL.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board 5 kilobyte non-volatile memory for flight data storage.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    RF interface for configuration, and data recovery.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Support for Li-Po rechargeable batteries, using an external charger.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Uses Li-Po to fire e-matches, can be modified to support 
-	    optional separate pyro battery if needed.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>
-	EasyMini 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>
-	    Barometric pressure sensor good to 100k feet MSL.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    On-board 1 megabyte non-volatile memory for flight data storage.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    USB interface for configuration, and data recovery.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Support for Li-Po rechargeable batteries (using an
-	    external charger), or any 3.7-15V external battery.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Uses Li-Po to fire e-matches, can be modified to support 
-	    optional separate pyro battery if needed.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-  </chapter>
-  <chapter>
-    <title>FAQ</title>
-      <para>
-        <emphasis>TeleMetrum seems to shut off when disconnected from the
-        computer.</emphasis>  <?linebreak?>
-	Make sure the battery is adequately charged.  Remember the
-        unit will pull more power than the USB port can deliver before the
-        GPS enters “locked” mode.  The battery charges best when TeleMetrum
-        is turned off.
-      </para>
-      <para>
-        <emphasis>It's impossible to stop the TeleDongle when it's in “p” mode, I have
-        to unplug the USB cable? </emphasis><?linebreak?>
-	Make sure you have tried to “escape out” of
-        this mode.  If this doesn't work the reboot procedure for the
-        TeleDongle *is* to simply unplug it. 'cu' however will retain it's
-        outgoing buffer IF your “escape out” ('~~') does not work.
-        At this point using either 'ao-view' (or possibly
-        'cutemon') instead of 'cu' will 'clear' the issue and allow renewed
-        communication.
-      </para>
-      <para>
-        <emphasis>The amber LED (on the TeleMetrum) lights up when both
-        battery and USB are connected. Does this mean it's charging? 
-	</emphasis><?linebreak?>
-        Yes, the yellow LED indicates the charging at the 'regular' rate.
-        If the led is out but the unit is still plugged into a USB port,
-        then the battery is being charged at a 'trickle' rate.
-      </para>
-      <para>
-        <emphasis>There are no “dit-dah-dah-dit” sound or lights like the manual 
-	mentions?</emphasis><?linebreak?>
-        That's the “pad” mode.  Weak batteries might be the problem.
-        It is also possible that the flight computer is horizontal and the 
-	output
-        is instead a “dit-dit” meaning 'idle'. For TeleMini, it's possible that
-	it received a command packet which would have left it in “pad” mode.
-      </para>
-      <para>
-        <emphasis>How do I save flight data?</emphasis><?linebreak?>
-        Live telemetry is written to file(s) whenever AltosUI is connected
-        to the TeleDongle.  The file area defaults to ~/TeleMetrum
-        but is easily changed using the menus in AltosUI. The files that
-        are written end in '.telem'. The after-flight
-        data-dumped files will end in .eeprom and represent continuous data
-        unlike the .telem files that are subject to losses
-        along the RF data path.
-        See the above instructions on what and how to save the eeprom stored
-        data after physically retrieving your altimeter.  Make sure to save
-        the on-board data after each flight; while the TeleMetrum can store
-	multiple flights, you never know when you'll lose the altimeter...
-      </para>
-  </chapter>
-  <appendix>
-    <title>Notes for Older Software</title>
-    <para>
-      <emphasis>
-      Before AltosUI was written, using Altus Metrum devices required
-      some finesse with the Linux command line. There was a limited
-      GUI tool, ao-view, which provided functionality similar to the
-      Monitor Flight window in AltosUI, but everything else was a
-      fairly 80's experience. This appendix includes documentation for
-      using that software.
-      </emphasis>
-    </para>
-    <para>
-      Both TeleMetrum and TeleDongle can be directly communicated
-      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.
-      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.
-    </para>
-    <para>
-      TeleMini can be communicated with through a TeleDongle device
-      over the radio link. When first booted, TeleMini listens for a
-      TeleDongle device and if it receives a packet, it goes into
-      'idle' mode. Otherwise, it goes into 'pad' mode and waits to be
-      launched. The easiest way to get it talking is to start the
-      communication link on the TeleDongle and the power up the
-      TeleMini board.
-    </para>
-    <para>
-      To access the device's firmware for configuration you need a terminal
-      program such as you would use to talk to a modem.  The software
-      authors prefer using the program 'cu' which comes from the UUCP package
-      on most Unix-like systems such as Linux.  An example command line for
-      cu might be 'cu -l /dev/ttyACM0', substituting the correct number
-      indicated from running the
-      ao-list program.  Another reasonable terminal program for Linux is
-      'cutecom'.  The default 'escape'
-      character used by CU (i.e. the character you use to
-      issue commands to cu itself instead of sending the command as input
-      to the connected device) is a '~'. You will need this for use in
-      only two different ways during normal operations. First is to exit
-      the program by sending a '~.' which is called a 'escape-disconnect'
-      and allows you to close-out from 'cu'. The
-      second use will be outlined later.
-    </para>
-    <para>
-      All of the Altus Metrum devices share the concept of a two level
-      command set in their firmware.
-      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
-      using the 'c' command, for
-      instance typing 'c?' will give you this second level of commands
-      (all of which require the
-      letter 'c' to access).  Please note that most configuration options
-      are stored only in Flash memory; TeleDongle doesn't provide any storage
-      for these options and so they'll all be lost when you unplug it.
-    </para>
-    <para>
-      Try setting these configuration ('c' or second level menu) values.  A good
-      place to start is by setting your call sign.  By default, the boards
-      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
-      (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.
-    </para>
-        <para>
-          To set the radio frequency, use the 'c R' command to specify the
-	  radio transceiver configuration parameter. This parameter is computed
-	  using the desired frequency, 'F', the radio calibration parameter, 'C' (showed by the 'c s' command) and
-	  the standard calibration reference frequency, 'S', (normally 434.550MHz):
-	  <programlisting>
-	    R = F / S * C
-	  </programlisting>
-	  Round the result to the nearest integer value.
-          As with all 'c' sub-commands, follow this with a 'c w' to write the
-          change to the parameter block in the on-board flash on
-          your altimeter board if you want the change to stay in place across reboots.
-        </para>
-        <para>
-          To set the apogee delay, use the 'c d' 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>
-          To set the main deployment altitude, use the 'c m' 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>
-          To calibrate the radio frequency, connect the UHF antenna port to a
-          frequency counter, set the board to 434.550MHz, 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 for cc1111 based products and 7119667 for cc1120
-	  based products.  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 configuration memory.
-        </para>
-    <para>
-      Note that the 'reboot' command, which is very useful on the altimeters,
-      will likely just cause problems with the dongle.  The *correct* way
-      to reset the dongle is just to unplug and re-plug it.
-    </para>
-    <para>
-      A fun thing to do at the launch site and something you can do while
-      learning how to use these units is to play with the radio link access
-      between an altimeter and the TeleDongle.  Be aware that you *must* create
-      some physical separation between the devices, otherwise the link will
-      not function due to signal overload in the receivers in each device.
-    </para>
-    <para>
-      Now might be a good time to take a break and read the rest of this
-      manual, particularly about the two “modes” that the altimeters
-      can be placed in. TeleMetrum uses the position of the device when booting
-      up will determine whether the unit is in “pad” or “idle” mode. TeleMini
-      enters “idle” mode when it receives a command packet within the first 5 seconds
-      of being powered up, otherwise it enters “pad” mode.
-    </para>
-    <para>
-      You can access an altimeter in idle mode from the TeleDongle's USB
-      connection using the radio link
-      by issuing a 'p' command to the TeleDongle. Practice connecting and
-      disconnecting ('~~' while using 'cu') from the altimeter.  If
-      you cannot escape out of the “p” command, (by using a '~~' when in
-      CU) then it is likely that your kernel has issues.  Try a newer version.
-    </para>
-    <para>
-      Using this radio link allows you to configure the altimeter, test
-      fire e-matches and igniters from the flight line, check pyro-match
-      continuity and so forth. You can leave the unit turned on while it
-      is in 'idle mode' and then place the
-      rocket vertically on the launch pad, walk away and then issue a
-      reboot command.  The altimeter will reboot and start sending data
-      having changed to the “pad” mode. If the TeleDongle is not receiving
-      this data, you can disconnect 'cu' from the TeleDongle using the
-      procedures mentioned above and THEN connect to the TeleDongle from
-      inside 'ao-view'. If this doesn't work, disconnect from the
-      TeleDongle, unplug it, and try again after plugging it back in.
-    </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'.
-    </para>
-    <para>
-      On TeleMetrum, the GPS will eventually find enough satellites, lock in on them,
-      and 'ao-view' will both auditorily announce and visually indicate
-      that GPS is ready.
-      Now you can launch knowing that you have a good data path and
-      good satellite lock for flight data and recovery.  Remember
-      you MUST tell ao-view to connect to the TeleDongle explicitly in
-      order for ao-view to be able to receive data.
-    </para>
-    <para>
-      The altimeters provide RDF (radio direction finding) tones on
-      the pad, during descent and after landing. These can be used to
-      locate the rocket using a directional antenna; the signal
-      strength providing an indication of the direction from receiver to rocket.
-    </para>
-    <para>
-      TeleMetrum also provides GPS tracking data, which can further simplify
-      locating the rocket once it has landed. (The last good GPS data
-      received before touch-down will be on the data screen of 'ao-view'.)
-    </para>
-    <para>
-      Once you have recovered the rocket you can download the eeprom
-      contents using either 'ao-dumplog' (or possibly 'ao-eeprom'), over
-      either a USB cable or over the radio link using TeleDongle.
-      And by following the man page for 'ao-postflight' you can create
-      various data output reports, graphs, and even KML data to see the
-      flight trajectory in Google-earth. (Moving the viewing angle making
-      sure to connect the yellow lines while in Google-earth is the proper
-      technique.)
-    </para>
-    <para>
-      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
-      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!
-    </para>
-  </appendix>
-  <appendix>
-    <title>Drill Templates</title>
-    <para>
-      These images, when printed, provide precise templates for the
-      mounting holes in Altus Metrum flight computers
-    </para>
-    <section>
-      <title>TeleMega template</title>
-      <para>
-	TeleMega has overall dimensions of 1.250 x 3.250 inches, and
-	the mounting holes are sized for use with 4-40 or M3 screws.
-      </para>
-      <informalfigure>
-	<mediaobject id="TeleMegaTemplate">
-	  <imageobject>
-	    <imagedata format="SVG" fileref="telemega.svg"
-		       scalefit="0" scale="100" align="center" />
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-    </section>
-    <section>
-      <title>EasyMega template</title>
-      <para>
-	EasyMega has overall dimensions of 1.250 x 2.250 inches, and
-	the mounting holes are sized for use with 4-40 or M3 screws.
-      </para>
-      <informalfigure>
-	<mediaobject id="EasyMegaTemplate">
-	  <imageobject>
-	    <imagedata format="SVG" fileref="easymega.svg"
-		       scalefit="0" scale="100" align="center" />
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-    </section>
-    <section>
-      <title>TeleMetrum template</title>
-      <para>
-	TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
-	mounting holes are sized for use with 4-40 or M3 screws.
-      </para>
-      <informalfigure>
-	<mediaobject id="TeleMetrumTemplate">
-	  <imageobject>
-	    <imagedata format="SVG" fileref="telemetrum.svg"
-		       scalefit="0" scale="100" align="center" />
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-    </section>
-    <section>
-      <title>TeleMini v2/EasyMini template</title>
-      <para>
-	TeleMini v2 and EasyMini have overall dimensions of 0.800 x 1.500 inches, and the
-	mounting holes are sized for use with 4-40 or M3 screws.
-      </para>
-      <informalfigure>
-	<mediaobject id="MiniTemplate">
-	  <imageobject>
-	    <imagedata format="SVG" fileref="easymini.svg"
-		       scalefit="0" scale="100" align="center" />
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-    </section>
-    <section>
-      <title>TeleMini v1 template</title>
-      <para>
-	TeleMini has overall dimensions of 0.500 x 1.500 inches, and the
-	mounting holes are sized for use with 2-56 or M2 screws.
-      </para>
-      <informalfigure>
-	<mediaobject id="TeleMiniTemplate">
-	  <imageobject>
-	    <imagedata format="SVG" fileref="telemini.svg"
-		       scalefit="0" scale="100" align="center" />
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-    </section>
-  </appendix>
-  <appendix>
-      <title>Calibration</title>
-      <para>
-        There are only two calibrations required for TeleMetrum and
-        TeleMega, and only one for EasyMega, TeleDongle, TeleMini and EasyMini.
-        All boards are shipped from the factory pre-calibrated, but
-        the procedures are documented here in case they are ever
-        needed.  Re-calibration is not supported by AltosUI, you must
-        connect to the board with a serial terminal program and
-        interact directly with the on-board command interpreter to
-        effect calibration.
-      </para>
-      <section>
-        <title>Radio Frequency</title>
-        <para>
-          The radio frequency is synthesized from a clock based on the
-          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 434.550MHz,
-          and use the 'C' command in the on-board command interpreter
-          to generate a CW carrier.  For USB-enabled boards, this is
-          best done over USB.  For TeleMini v1, note that the only way
-          to escape the 'C' command is via power cycle since the board
-          will no longer be listening for commands once it starts
-          generating a CW carrier.
-	</para>
-	<para>
-	  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 storage chip.
-        </para>
-	<para>
-	  Note that any time you re-do the radio frequency calibration, the
-	  radio frequency is reset to the default 434.550 Mhz.  If you want
-	  to use another frequency, you will have to set that again after
-	  calibration is completed.
-	</para>
-      </section>
-      <section>
-        <title>TeleMetrum, TeleMega and EasyMega Accelerometers</title>
-        <para>
-          While barometric sensors are factory-calibrated,
-          accelerometers are not, and so each must be calibrated once
-          installed in a flight computer.  Explicitly calibrating the
-          accelerometers also allows us to load any compatible device.
-          We perform a two-point calibration using gravity.
-        </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.  Note that the accuracy of this
-	  calibration depends primarily on how perfectly vertical and still
-	  the board is held during the cal process.  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 stored in onboard flash to be
-	  downloaded after flight.  We always store and return raw ADC 
-	  samples for each sensor... so nothing is permanently “lost” or 
-	  “damaged” if the calibration is poor.
-        </para>
-        <para>
-         In the unlikely event an accel cal goes badly, it is possible
-         that TeleMetrum, TeleMega or EasyMega may always come up in 'pad mode'
-         and as such not be listening to either the USB or radio link.
-         If that happens, there is a special hook in the firmware to
-         force the board back in to 'idle mode' so you can re-do the
-         cal.  To use this hook, you just need to ground the SPI clock
-         pin at power-on.  This pin is available as pin 2 on the 8-pin
-         companion connector, and pin 1 is ground.  So either
-         carefully install a fine-gauge wire jumper between the two
-         pins closest to the index hole end of the 8-pin connector, or
-         plug in the programming cable to the 8-pin connector and use
-         a small screwdriver or similar to short the two pins closest
-         to the index post on the 4-pin end of the programming cable,
-         and power up the board.  It should come up in 'idle mode'
-         (two beeps), allowing a re-cal.
-        </para>
-      </section>
-  </appendix>
-  <appendix>
-    <title>Igniter Current</title>
-      <para>
-	The question "how much igniter current can Altus Metrum products 
-	handle?" comes up fairly frequently.  The short answer is "more than
-	you're likely to need", the remainder of this appendix provides a
-	longer answer.
-      </para>
-      <section>
-        <title>Current Products</title>
-        <para>
-	  The FET switches we're using on all of our current products that 
-	  have pyro channels are the Vishay Siliconix Si7232DN.  These parts 
-	  have exceptionally low Rds(on) values, better than 0.02 ohms!  That 
-	  means they aren't making a lot of heat... and the limit on current 
-	  is "package limited", meaning it's all about how much you can heat 
-	  the die before something breaks.
-	</para>
-	<para>
-	  Cutting to the chase, the Si7232DN specs are 25 amps <emphasis>continuous</emphasis> at
-	  20V at a temperature of 25C.  In pulsed mode, they're rated for 40A.
-	  However, those specs are a little mis-leading because it really is 
-	  all about the heat generated... you can get something like 85A 
-	  through one briefly.  Note that a typical commercial e-match only 
-	  needed about 13 microseconds to fire in tests on my bench a couple 
-	  years ago!
-	</para>
-	<para>
-	  So a great plan is to use something like an e-match as the initiator 
-	  and build up pyrogen(s) as required to actually light what you're 
-	  trying to light...  But if you want to use a high-current igniter, 
-	  we can probably handle it!
-	</para>
-      </section>
-      <section>
-        <title>Version 1 Products</title>
-        <para>
-	  The FET switches used on TeleMetrum v1 and TeleMini v1 products
-	  were Fairchild FDS9926A.  The Rds(on) values under our operating
-	  conditions are on the order of 0.04 ohms.  These parts were rated
-	  for a continuous current-carrying capacity of 6.5A, and a pulsed 
-	  current capacity of 20A.
-	</para>
-	<para>
-	  As with the more modern parts, the real limit is based on the heat
-	  generated in the part during the firing interval.  So, while the 
-	  specs on these parts aren't as good as the ones we use on current
-	  products, they were still great, and we never had a complaint about
-	  current carrying capacity with any of our v1 boards.
-	</para>
-      </section>
-  </appendix>
-  <appendix>
-    <title>Release Notes</title>
-    <simplesect>
-      <title>Version 1.6.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.6.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.6</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.6.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.5</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.5.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.4.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.4.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.4</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.4.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.3.2</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.3.2.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.3.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.3.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.3</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.3.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.2.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.2.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.2</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.2.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.1.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.1.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.0.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.0.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 0.9.2</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-0.9.2.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 0.9</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-0.9.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 0.8</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-0.8.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 0.7.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-0.7.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-  </appendix>
-</book>
-
-<!-- LocalWords: Altusmetrum
--->
diff --git a/doc/am-fo.xsl b/doc/am-fo.xsl
new file mode 100644
index 00000000..2c36bec8
--- /dev/null
+++ b/doc/am-fo.xsl
@@ -0,0 +1,191 @@
+<!--
+  Generates single FO document from DocBook XML source using DocBook XSL
+  stylesheets.
+
+  See xsl-stylesheets/fo/param.xsl for all parameters.
+
+  NOTE: The URL reference to the current DocBook XSL stylesheets is
+  rewritten to point to the copy on the local disk drive by the XML catalog
+  rewrite directives so it doesn't need to go out to the Internet for the
+  stylesheets. This means you don't need to edit the <xsl:import> elements on
+  a machine by machine basis.
+-->
+<xsl:stylesheet version="1.0"
+                xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
+                xmlns:fo="http://www.w3.org/1999/XSL/Format">
+<xsl:import href="http://docbook.sourceforge.net/release/xsl/current/fo/docbook.xsl"/>
+<xsl:import href="common.xsl"/>
+<xsl:include href="titlepage.templates.xsl"/>
+<xsl:include href="footer.templates.xsl"/>
+
+<xsl:param name="fop1.extensions" select="1" />
+<xsl:param name="variablelist.as.blocks" select="1" />
+
+<xsl:param name="paper.type" select="'USletter'"/>
+
+<xsl:param name="hyphenate">false</xsl:param>
+<!-- justify, left or right -->
+<xsl:param name="alignment">left</xsl:param>
+
+<xsl:param name="body.font.family" select="'Frutiger LT Std,sans-serif'"/>
+<xsl:param name="title.font.family" select="'Frutiger LT Std,sans-serif'"/>
+<xsl:param name="monospace.font.family" select="'DejaVu Sans Mono,monospace'"/>
+<xsl:param name="body.font.master">12</xsl:param>
+<xsl:param name="body.font.size">
+ <xsl:value-of select="$body.font.master"/><xsl:text>pt</xsl:text>
+</xsl:param>
+
+<xsl:param name="body.margin.bottom" select="'0.5in'"/>
+<xsl:param name="body.margin.top" select="'0.5in'"/>
+<xsl:param name="bridgehead.in.toc" select="0"/>
+<xsl:param name="footer.column.widths">10 1 1</xsl:param>
+
+<!-- overide setting in common.xsl -->
+<xsl:param name="table.frame.border.thickness" select="'2px'"/>
+
+<!-- Default fetches image from Internet (long timeouts) -->
+<xsl:param name="draft.watermark.image" select="''"/>
+
+<!-- Line break -->
+<xsl:template match="processing-instruction('asciidoc-br')">
+  <fo:block/>
+</xsl:template>
+
+<!-- Horizontal ruler -->
+<xsl:template match="processing-instruction('asciidoc-hr')">
+  <fo:block space-after="1em">
+    <fo:leader leader-pattern="rule" rule-thickness="0.5pt"  rule-style="solid" leader-length.minimum="100%"/>
+  </fo:block>
+</xsl:template>
+
+<!-- Hard page break -->
+<xsl:template match="processing-instruction('asciidoc-pagebreak')">
+   <fo:block break-after='page'/>
+</xsl:template>
+
+<!-- Sets title to body text indent -->
+<xsl:param name="body.start.indent">
+  <xsl:choose>
+    <xsl:when test="$fop.extensions != 0">0pt</xsl:when>
+    <xsl:when test="$passivetex.extensions != 0">0pt</xsl:when>
+    <xsl:otherwise>1pc</xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+<xsl:param name="title.margin.left">
+  <xsl:choose>
+    <xsl:when test="$fop.extensions != 0">-1pc</xsl:when>
+    <xsl:when test="$passivetex.extensions != 0">0pt</xsl:when>
+    <xsl:otherwise>0pt</xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+<xsl:param name="page.margin.bottom" select="'0.25in'"/>
+<xsl:param name="page.margin.inner">
+  <xsl:choose>
+    <xsl:when test="$double.sided != 0">0.75in</xsl:when>
+    <xsl:otherwise>0.75in</xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+<xsl:param name="page.margin.outer">
+  <xsl:choose>
+    <xsl:when test="$double.sided != 0">0.5in</xsl:when>
+    <xsl:otherwise>0.5in</xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+
+<xsl:param name="page.margin.top" select="'0.5in'"/>
+<xsl:param name="page.orientation" select="'portrait'"/>
+<xsl:param name="page.width">
+  <xsl:choose>
+    <xsl:when test="$page.orientation = 'portrait'">
+      <xsl:value-of select="$page.width.portrait"/>
+    </xsl:when>
+    <xsl:otherwise>
+      <xsl:value-of select="$page.height.portrait"/>
+    </xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+
+
+<xsl:attribute-set name="copyright.title.properties">
+  <xsl:attribute name="font-size">12pt</xsl:attribute>
+  <xsl:attribute name="font-weight">bold</xsl:attribute>
+  <xsl:attribute name="text-align">center</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="revhistory.title.properties">
+  <xsl:attribute name="font-size">12pt</xsl:attribute>
+  <xsl:attribute name="font-weight">bold</xsl:attribute>
+  <xsl:attribute name="text-align">center</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="revhistory.table.properties">
+  <xsl:attribute name="border">0.5pt solid black</xsl:attribute>
+  <xsl:attribute name="background-color">#EEEEEE</xsl:attribute>
+  <xsl:attribute name="width">50%</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="revhistory.table.cell.properties">
+  <xsl:attribute name="border">0.5pt solid black</xsl:attribute>
+  <xsl:attribute name="font-size">12pt</xsl:attribute>
+  <xsl:attribute name="padding">4pt</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="monospace.properties">
+  <xsl:attribute name="font-size">9pt</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="component.title.properties">
+  <xsl:attribute name="font-weight">normal</xsl:attribute>
+  <xsl:attribute name="color">#0080ff</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="section.title.properties">
+  <xsl:attribute name="font-weight">normal</xsl:attribute>
+  <xsl:attribute name="color">#0080ff</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="admonition.title.properties">
+  <xsl:attribute name="font-weight">normal</xsl:attribute>
+  <xsl:attribute name="color">#ff4040</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="formal.title.properties">
+  <xsl:attribute name="font-weight">normal</xsl:attribute>
+  <xsl:attribute name="color">#0080ff</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="sidebar.properties" use-attribute-sets="formal.object.properties">
+  <xsl:attribute name="border-style">solid</xsl:attribute>
+  <xsl:attribute name="border-width">1pt</xsl:attribute>
+  <xsl:attribute name="border-color">silver</xsl:attribute>
+  <xsl:attribute name="background-color">#ffffee</xsl:attribute>
+  <xsl:attribute name="padding-left">12pt</xsl:attribute>
+  <xsl:attribute name="padding-right">12pt</xsl:attribute>
+  <xsl:attribute name="padding-top">6pt</xsl:attribute>
+  <xsl:attribute name="padding-bottom">6pt</xsl:attribute>
+  <xsl:attribute name="margin-left">0pt</xsl:attribute>
+  <xsl:attribute name="margin-right">12pt</xsl:attribute>
+  <xsl:attribute name="margin-top">6pt</xsl:attribute>
+  <xsl:attribute name="margin-bottom">6pt</xsl:attribute>
+</xsl:attribute-set>
+
+<!-- Only shade programlisting and screen verbatim elements -->
+<xsl:param name="shade.verbatim" select="1"/>
+<xsl:attribute-set name="shade.verbatim.style">
+  <xsl:attribute name="background-color">
+    <xsl:choose>
+      <xsl:when test="self::programlisting|self::screen">#ffffff</xsl:when>
+      <xsl:otherwise>inherit</xsl:otherwise>
+    </xsl:choose>
+  </xsl:attribute>
+</xsl:attribute-set>
+
+<!--
+  Force XSL Stylesheets 1.72 default table breaks to be the same as the current
+  version (1.74) default which (for tables) is keep-together="auto".
+-->
+<xsl:attribute-set name="table.properties">
+  <xsl:attribute name="keep-together.within-column">auto</xsl:attribute>
+</xsl:attribute-set>
+
+</xsl:stylesheet>
diff --git a/doc/am.css b/doc/am.css
new file mode 100644
index 00000000..2461e111
--- /dev/null
+++ b/doc/am.css
@@ -0,0 +1,356 @@
+/*
+  CSS stylesheet for XHTML produced by DocBook XSL stylesheets.
+*/
+
+body {
+    font-family: "Frutiger LT Std 45 Light",sans-serif;
+    font-size: 14pt;
+}
+
+code, pre {
+  font-family: "DejaVu Sans Mono", monospace;
+}
+
+span.strong {
+  font-weight: bold;
+}
+
+body blockquote {
+  margin-top: .75em;
+  line-height: 1.5;
+  margin-bottom: .75em;
+}
+
+html body {
+  margin: 1em 5% 1em 5%;
+  line-height: 1.2;
+}
+
+body div {
+  margin: 0;
+}
+
+a:link {
+    color: #0080ff;
+}
+
+a:visited {
+    color: #0080ff;
+}
+
+h1, h2, h3, h4, h5, h6
+{
+  color: #0080ff;
+  font-family: "Frutiger LT Std 45 Light",sans-serif;
+}
+
+div.revhistory table {
+    width: 50%;
+    border-width: 1px;
+}
+
+div titlepage {
+    margin-top: 100px;
+    border-top: 2px;
+}
+
+div.toc p:first-child,
+div.list-of-figures p:first-child,
+div.list-of-tables p:first-child,
+div.list-of-examples p:first-child,
+div.example p.title,
+div.sidebar p.title
+{
+  font-weight: normal;
+  color: #0080ff;
+  font-family: "Frutiger LT Std 45 Light",sans-serif;
+  margin-bottom: 0.2em;
+}
+
+body h1 {
+  margin: .0em 0 0 -4%;
+  line-height: 1.3;
+  border-bottom: 2px solid silver;
+}
+
+body h2 {
+  margin: 0.5em 0 0 -4%;
+  line-height: 1.3;
+  border-bottom: 2px solid silver;
+}
+
+body h3 {
+  margin: .8em 0 0 -3%;
+  line-height: 1.3;
+}
+
+body h4 {
+  margin: .8em 0 0 -3%;
+  line-height: 1.3;
+  border-top: 2px solid silver;goog
+}
+
+body h5 {
+  margin: .8em 0 0 -2%;
+  line-height: 1.3;
+}
+
+body h6 {
+  margin: .8em 0 0 -1%;
+  line-height: 1.3;
+}
+
+body hr {
+  border: none; /* Broken on IE6 */
+}
+div.footnotes hr {
+  border: 1px solid silver;
+}
+
+div.navheader th, div.navheader td, div.navfooter td {
+    font-family: "Frutiger LT Std 45 Light",sans-serif;
+    font-size: 14pt;
+    font-weight: normal;
+    color: #0080ff;
+}
+div.navheader img, div.navfooter img {
+  border-style: none;
+}
+div.navheader a, div.navfooter a {
+  font-weight: normal;
+}
+div.navfooter hr {
+  border: 1px solid silver;
+}
+
+body td {
+  line-height: 1.2
+}
+
+body th {
+  line-height: 1.2;
+}
+
+ol {
+  line-height: 1.2;
+}
+
+ul, body dir, body menu {
+  line-height: 1.2;
+}
+
+html {
+  margin: 0; 
+  padding: 0;
+}
+
+body h1, body h2, body h3, body h4, body h5, body h6 {
+  margin-left: 0
+} 
+
+body pre {
+  margin: 0.5em 10% 0.5em 1em;
+  line-height: 1.0;
+}
+
+tt.literal, code.literal {
+}
+
+.programlisting, .screen {
+  border: 1px solid silver;
+  background: #f4f4f4;
+  margin: 0.5em 10% 0.5em 0;
+  padding: 0.5em 1em;
+}
+
+div.sidebar {
+  background: #ffffee;
+  margin: 1.0em 10% 0.5em 0;
+  padding: 0.5em 1em;
+  border: 1px solid silver;
+}
+div.sidebar * { padding: 0; }
+div.sidebar div { margin: 0; }
+div.sidebar p.title {
+  margin-top: 0.5em;
+  margin-bottom: 0.2em;
+}
+
+div.bibliomixed {
+  margin: 0.5em 5% 0.5em 1em;
+}
+
+div.glossary dt {
+  font-weight: bold;
+}
+div.glossary dd p {
+  margin-top: 0.2em;
+}
+
+dl {
+  margin: .8em 0;
+  line-height: 1.2;
+}
+
+dt {
+  margin-top: 0.5em;
+}
+
+dt span.term {
+  font-style: normal;
+}
+
+div.variablelist dd p {
+  margin-top: 0;
+}
+
+div.itemizedlist li, div.orderedlist li {
+  margin-left: -0.8em;
+  margin-top: 0.5em;
+}
+
+ul, ol {
+    list-style-position: outside;
+}
+
+div.sidebar ul, div.sidebar ol {
+    margin-left: 2.8em;
+}
+
+div.itemizedlist p.title,
+div.orderedlist p.title,
+div.variablelist p.title
+{
+  margin-bottom: -0.8em;
+}
+
+table {
+    border: none;
+}
+
+div.revhistory {
+    border-style: none;
+}
+
+div.revhistory table, th, td, tr {
+    margin-top: 1em;
+    border-width: 1px;
+    border-collapse: collapse;
+    border-top: 1px;
+    border-bottom: 1px;
+    border-left: 1px;
+    border-right: 1px;
+    border: 1px solid black;
+}
+div.revhistory th {
+  color: #0080ff;
+  font-family: "Frutiger LT Std 45 Light",sans-serif;
+}
+
+/* Keep TOC and index lines close together. */
+div.toc dl, div.toc dt,
+div.list-of-figures dl, div.list-of-figures dt,
+div.list-of-tables dl, div.list-of-tables dt,
+div.indexdiv dl, div.indexdiv dt
+{
+  line-height: normal;
+  margin-top: 0;
+  margin-bottom: 0;
+}
+
+/*
+  Table styling does not work because of overriding attributes in
+  generated HTML.
+*/
+div.table table,
+div.informaltable table
+{
+    margin-left: 0;
+    margin-right: 5%;
+    margin-bottom: 0.8em;
+}
+div.informaltable table
+{
+    margin-top: 0.4em
+}
+div.table thead,
+div.table tfoot,
+div.table tbody,
+div.informaltable thead,
+div.informaltable tfoot,
+div.informaltable tbody
+{
+    /* No effect in IE6. */
+    border-top: 3px solid #527bbd;
+    border-bottom: 3px solid #527bbd;
+}
+div.table thead, div.table tfoot,
+div.informaltable thead, div.informaltable tfoot
+{
+    font-weight: bold;
+}
+
+div.mediaobject img {
+    margin-bottom: 0.8em;
+}
+div.figure p.title,
+div.table p.title
+{
+  margin-top: 1em;
+  margin-bottom: 0.4em;
+}
+
+div.calloutlist p
+{
+  margin-top: 0em;
+  margin-bottom: 0.4em;
+}
+
+a img {
+  border-style: none;
+}
+
+@media print {
+  div.navheader, div.navfooter { display: none; }
+}
+
+span.aqua { color: aqua; }
+span.black { color: black; }
+span.blue { color: blue; }
+span.fuchsia { color: fuchsia; }
+span.gray { color: gray; }
+span.green { color: green; }
+span.lime { color: lime; }
+span.maroon { color: maroon; }
+span.navy { color: navy; }
+span.olive { color: olive; }
+span.purple { color: purple; }
+span.red { color: red; }
+span.silver { color: silver; }
+span.teal { color: teal; }
+span.white { color: white; }
+span.yellow { color: yellow; }
+
+span.aqua-background { background: aqua; }
+span.black-background { background: black; }
+span.blue-background { background: blue; }
+span.fuchsia-background { background: fuchsia; }
+span.gray-background { background: gray; }
+span.green-background { background: green; }
+span.lime-background { background: lime; }
+span.maroon-background { background: maroon; }
+span.navy-background { background: navy; }
+span.olive-background { background: olive; }
+span.purple-background { background: purple; }
+span.red-background { background: red; }
+span.silver-background { background: silver; }
+span.teal-background { background: teal; }
+span.white-background { background: white; }
+span.yellow-background { background: yellow; }
+
+span.big { font-size: 2em; }
+span.small { font-size: 0.6em; }
+
+span.underline { text-decoration: underline; }
+span.overline { text-decoration: overline; }
+span.line-through { text-decoration: line-through; }
diff --git a/doc/common.xsl b/doc/common.xsl
new file mode 100644
index 00000000..2e5cbc23
--- /dev/null
+++ b/doc/common.xsl
@@ -0,0 +1,106 @@
+<!--
+  Inlcuded in xhtml.xsl, xhtml.chunked.xsl, htmlhelp.xsl.
+  Contains common XSL stylesheets parameters.
+  Output documents styled by docbook.css.
+-->
+<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform" version="1.0">
+<xsl:param name="html.stylesheet" select="'docbook-xsl.css'"/>
+
+<xsl:param name="htmlhelp.chm" select="'htmlhelp.chm'"/>
+<xsl:param name="htmlhelp.hhc.section.depth" select="5"/>
+
+<xsl:param name="section.autolabel">
+  <xsl:choose>
+    <xsl:when test="/processing-instruction('asciidoc-numbered')">1</xsl:when>
+    <xsl:otherwise>0</xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+
+<xsl:param name="suppress.navigation" select="0"/>
+<xsl:param name="navig.graphics.extension" select="'.png'"/>
+<xsl:param name="navig.graphics" select="0"/>
+<xsl:param name="navig.graphics.path">images/icons/</xsl:param>
+<xsl:param name="navig.showtitles">0</xsl:param>
+
+<xsl:param name="shade.verbatim" select="0"/>
+<xsl:attribute-set name="shade.verbatim.style">
+  <xsl:attribute name="border">0</xsl:attribute>
+  <xsl:attribute name="background-color">#E0E0E0</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:param name="admon.graphics" select="1"/>
+<xsl:param name="admon.graphics.path">images/icons/</xsl:param>
+<xsl:param name="admon.graphics.extension" select="'.png'"/>
+<xsl:param name="admon.style">
+  <xsl:text>margin-left: 0; margin-right: 10%;</xsl:text>
+</xsl:param>
+<xsl:param name="admon.textlabel" select="1"/>
+
+<xsl:param name="callout.defaultcolumn" select="'60'"/>
+<xsl:param name="callout.graphics.extension" select="'.png'"/>
+<xsl:param name="callout.graphics" select="'1'"/>
+<xsl:param name="callout.graphics.number.limit" select="'10'"/>
+<xsl:param name="callout.graphics.path" select="'images/icons/callouts/'"/>
+<xsl:param name="callout.list.table" select="'1'"/>
+
+<!-- This does not seem to work. -->
+<xsl:param name="section.autolabel.max.depth" select="2"/>
+
+<xsl:param name="chunk.first.sections" select="1"/>
+<xsl:param name="chunk.section.depth" select="1"/>
+<xsl:param name="chunk.quietly" select="0"/>
+<xsl:param name="chunk.toc" select="''"/>
+<xsl:param name="chunk.tocs.and.lots" select="0"/>
+
+<xsl:param name="html.cellpadding" select="'4px'"/>
+<xsl:param name="html.cellspacing" select="''"/>
+
+<xsl:param name="table.borders.with.css" select="1"/>
+<xsl:param name="table.cell.border.color" select="'#527bbd'"/>
+
+<xsl:param name="table.cell.border.style" select="'solid'"/>
+<xsl:param name="table.cell.border.thickness" select="'1px'"/>
+<xsl:param name="table.footnote.number.format" select="'a'"/>
+<xsl:param name="table.footnote.number.symbols" select="''"/>
+<xsl:param name="table.frame.border.color" select="'#527bbd'"/>
+<xsl:param name="table.frame.border.style" select="'solid'"/>
+<xsl:param name="table.frame.border.thickness" select="'3px'"/>
+<xsl:param name="tablecolumns.extension" select="'1'"/>
+
+<xsl:param name="highlight.source" select="1"/>
+
+<xsl:param name="section.label.includes.component.label" select="1"/>
+
+<!--
+  Table of contents inserted by <?asciidoc-toc?> processing instruction.
+-->
+<xsl:param name="generate.toc">
+  <xsl:choose>
+    <xsl:when test="/processing-instruction('asciidoc-toc')">
+article toc,title
+book    toc,title,figure,table,example,equation
+      <!-- The only way I could find that suppressed book chapter TOCs -->
+      <xsl:if test="$generate.section.toc.level != 0">
+chapter   toc,title
+part      toc,title
+preface   toc,title
+qandadiv  toc
+qandaset  toc
+reference toc,title
+sect1     toc
+sect2     toc
+sect3     toc
+sect4     toc
+sect5     toc
+section   toc
+set       toc,title
+      </xsl:if>
+    </xsl:when>
+    <xsl:otherwise>
+article nop
+book    nop
+    </xsl:otherwise>
+  </xsl:choose>
+</xsl:param>
+
+</xsl:stylesheet>
diff --git a/doc/fonts/DejaVuSansMono-Bold.ttf b/doc/fonts/DejaVuSansMono-Bold.ttf
new file mode 100644
index 00000000..1085a738
Binary files /dev/null and b/doc/fonts/DejaVuSansMono-Bold.ttf differ
diff --git a/doc/fonts/DejaVuSansMono-BoldOblique.ttf b/doc/fonts/DejaVuSansMono-BoldOblique.ttf
new file mode 100644
index 00000000..3175ebf2
Binary files /dev/null and b/doc/fonts/DejaVuSansMono-BoldOblique.ttf differ
diff --git a/doc/fonts/DejaVuSansMono-Oblique.ttf b/doc/fonts/DejaVuSansMono-Oblique.ttf
new file mode 100644
index 00000000..d5d6f92d
Binary files /dev/null and b/doc/fonts/DejaVuSansMono-Oblique.ttf differ
diff --git a/doc/fonts/DejaVuSansMono.ttf b/doc/fonts/DejaVuSansMono.ttf
new file mode 100644
index 00000000..05e23457
Binary files /dev/null and b/doc/fonts/DejaVuSansMono.ttf differ
diff --git a/doc/fonts/FrutigerLTStd-Italic.otf b/doc/fonts/FrutigerLTStd-Italic.otf
new file mode 100644
index 00000000..c02ecd00
Binary files /dev/null and b/doc/fonts/FrutigerLTStd-Italic.otf differ
diff --git a/doc/fonts/FrutigerLTStd-Light.otf b/doc/fonts/FrutigerLTStd-Light.otf
new file mode 100644
index 00000000..6d013a61
Binary files /dev/null and b/doc/fonts/FrutigerLTStd-Light.otf differ
diff --git a/doc/fonts/FrutigerLTStd-LightItalic.otf b/doc/fonts/FrutigerLTStd-LightItalic.otf
new file mode 100644
index 00000000..70237778
Binary files /dev/null and b/doc/fonts/FrutigerLTStd-LightItalic.otf differ
diff --git a/doc/fonts/FrutigerLTStd-Roman.otf b/doc/fonts/FrutigerLTStd-Roman.otf
new file mode 100644
index 00000000..a6d6edbc
Binary files /dev/null and b/doc/fonts/FrutigerLTStd-Roman.otf differ
diff --git a/doc/footer.templates.xsl b/doc/footer.templates.xsl
new file mode 100644
index 00000000..3484c0eb
--- /dev/null
+++ b/doc/footer.templates.xsl
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
+                xmlns:fo="http://www.w3.org/1999/XSL/Format"
+		xmlns:d="http://docbook.org/ns/docbook"
+                version="1.0">
+
+<xsl:template name="footer.content">
+  <xsl:param name="pageclass" select="''"/>
+  <xsl:param name="sequence" select="''"/>
+  <xsl:param name="position" select="''"/>
+  <xsl:param name="gentext-key" select="''"/>
+
+<!--
+  <fo:block>
+    <xsl:value-of select="$pageclass"/>
+    <xsl:text>, </xsl:text>
+    <xsl:value-of select="$sequence"/>
+    <xsl:text>, </xsl:text>
+    <xsl:value-of select="$position"/>
+    <xsl:text>, </xsl:text>
+    <xsl:value-of select="$gentext-key"/>
+  </fo:block>
+-->
+
+  <fo:block>
+    <!-- pageclass can be front, body, back -->
+    <!-- sequence can be odd, even, first, blank -->
+    <!-- position can be left, center, right -->
+    <xsl:choose>
+      <xsl:when test="$pageclass = 'titlepage'">
+        <!-- nop; no footer on title pages -->
+      </xsl:when>
+
+      <xsl:when test="$position='right'">
+        <fo:page-number/>
+      </xsl:when>
+
+      <xsl:when test="$position='left'">
+	<fo:block font-size="10">
+	  <xsl:value-of select="//legalnotice"/>
+	</fo:block>
+      </xsl:when>
+
+      <xsl:otherwise>
+        <!-- nop -->
+      </xsl:otherwise>
+    </xsl:choose>
+  </fo:block>
+</xsl:template>
+
+</xsl:stylesheet>
+
diff --git a/doc/fop.xconf b/doc/fop.xconf
new file mode 100644
index 00000000..0f470ffd
--- /dev/null
+++ b/doc/fop.xconf
@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<!-- $Id: fop.xconf 1339442 2012-05-17 01:42:56Z gadams $ -->
+
+<!--
+
+This is an example configuration file for FOP.
+This file contains the same settings as the default values
+and will have no effect if used unchanged.
+
+Relative config url's will be resolved relative to
+the location of this file.
+
+-->
+
+<!-- NOTE: This is the version of the configuration -->
+<fop version="1.0">
+
+  <!-- Base URL for resolving relative URLs -->
+  <base>.</base>
+  
+  <!-- Source resolution in dpi (dots/pixels per inch) for determining the size of pixels in SVG and bitmap images, default: 72dpi -->
+  <source-resolution>72</source-resolution>
+  <!-- Target resolution in dpi (dots/pixels per inch) for specifying the target resolution for generated bitmaps, default: 72dpi -->
+  <target-resolution>72</target-resolution>
+  
+  <!-- Default page-height and page-width, in case
+       value is specified as auto -->
+  <default-page-settings height="11in" width="8.26in"/>
+  
+  <!-- Information for specific renderers -->
+  <!-- Uses renderer mime type for renderers -->
+  <renderers>
+    <renderer mime="application/pdf">
+      <filterList>
+        <!-- provides compression using zlib flate (default is on) -->
+        <value>flate</value>
+      </filterList>
+
+      <fonts>
+        <!-- embedded fonts -->
+	<font embed-url="fonts/FrutigerLTStd-Light.otf">
+	  <font-triplet name="Frutiger LT Std" style="normal"
+			weight="normal"/>
+	</font>
+	<font embed-url="fonts/FrutigerLTStd-LightItalic.otf">
+	  <font-triplet name="Frutiger LT Std" style="italic"
+			weight="normal"/>
+	</font>
+	<font embed-url="fonts/FrutigerLTStd-Roman.otf">
+	  <font-triplet name="Frutiger LT Std" style="normal"
+			weight="bold"/>
+	</font>
+	<font embed-url="fonts/FrutigerLTStd-Italic.otf">
+	  <font-triplet name="Frutiger LT Std" style="italic"
+			weight="bold"/>
+	</font>
+
+	<font embed-url="fonts/DejaVuSansMono.ttf">
+	  <font-triplet name="DejaVu Sans Mono" style="normal"
+			weight="normal"/>
+	</font>
+	<font embed-url="fonts/DejaVuSansMono-Oblique.ttf">
+	  <font-triplet name="DejaVu Sans Mono" style="italic"
+			weight="normal"/>
+	</font>
+	<font embed-url="fonts/DejaVuSansMono-Bold.ttf">
+	  <font-triplet name="DejaVu Sans Mono" style="normal"
+			weight="bold"/>
+	</font>
+	<font embed-url="fonts/DejaVuSansMono-BoldOblique.ttf">
+	  <font-triplet name="DejaVu Sans Mono" style="italic"
+			weight="bold"/>
+	</font>
+      </fonts>
+    </renderer>
+
+    <renderer mime="image/svg+xml">
+      <format type="paginated"/>
+      <link value="true"/>
+      <strokeText value="false"/>
+    </renderer>
+
+    <renderer mime="text/xml">
+    </renderer>
+
+  </renderers>
+</fop>
+
diff --git a/doc/getting-started.inc b/doc/getting-started.inc
new file mode 100644
index 00000000..8401f4d0
--- /dev/null
+++ b/doc/getting-started.inc
@@ -0,0 +1,85 @@
+== Getting Started
+
+	The first thing to do after you open the box is to hook up a
+	battery and charge it if necessary.
+
+	=== Batteries
+
+		For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the
+		corresponding socket of the device and then using the USB
+		cable to plug the flight computer into your computer's USB socket. The
+		on-board circuitry will charge the battery whenever it is plugged
+		in, because the on-off switch does NOT control the
+		charging circuitry.
+		The Lithium Polymer TeleMini and EasyMini battery can be charged by
+		disconnecting it from the board and plugging it into a
+		standalone battery charger such as the LipoCharger product
+		included in TeleMini Starter Kits, and connecting that via a USB
+		cable to a laptop or other USB power source.
+
+		You can also choose to use another battery with TeleMini v2.0
+		and EasyMini, anything supplying between 4 and 12 volts should
+		work fine (like a standard 9V battery), but if you are planning
+		to fire pyro charges, ground testing is required to verify that
+		the battery supplies enough current to fire your chosen e-matches.
+
+		[NOTE]
+		====
+		On TeleMetrum v1 boards, when the GPS chip is initially
+		searching for satellites, TeleMetrum will consume more current
+		than it pulls from the USB port, so the battery must be
+		attached in order to get satellite lock.  Once GPS is locked,
+		the current consumption goes back down enough to enable charging
+		while running. So it's a good idea to fully charge the battery
+		as your first item of business so there is no issue getting and
+		maintaining satellite lock.  The yellow charge indicator led
+		will go out when the battery is nearly full and the charger goes
+		to trickle charge. It can take several hours to fully recharge a
+		deeply discharged battery.
+
+		TeleMetrum v2.0, TeleMega and EasyMega use a higher power battery charger,
+		allowing them to charge the battery while running the board at
+		maximum power. When the battery is charging, or when the board
+		is consuming a lot of power, the red LED will be lit. When the
+		battery is fully charged, the green LED will be lit. When the
+		battery is damaged or missing, both LEDs will be lit, which
+		appears yellow.
+		====
+
+	=== Ground Station Hardware
+
+		There are two ground stations available, the TeleDongle USB to
+		RF interface and the TeleBT Bluetooth/USB to RF interface.  If
+		you plug either of these in to your Mac or Linux computer it should
+		“just work”, showing up as a serial port device.  Windows systems need
+		driver information that is part of the AltOS download to know that the
+		existing USB modem driver will work.  We therefore recommend installing
+		our software before plugging in TeleDongle if you are using a Windows
+		computer.  If you are using an older version of Linux and are having
+		problems, try moving to a fresher kernel (2.6.33 or
+		newer).
+
+	=== Linux/Mac/Windows Ground Station Software
+
+		Next you should obtain and install the AltOS software.
+		The AltOS distribution includes the AltosUI ground
+		station program, current firmware images for all of
+		the hardware, and a number of standalone utilities
+		that are rarely needed.  Pre-built binary packages are
+		available for Linux, Microsoft Windows, Mac OSX. Full
+		source code and build instructions are also
+		available. The latest version may always be downloaded
+		from http://altusmetrum.org/AltOS
+
+	=== Android Ground Station Software
+
+		TeleBT can also connect to an Android device over
+		BlueTooth or USB. The
+		link:https://play.google.com/store/apps/details?id=org.altusmetrum.AltosDroid[AltosDroid
+		Android application] is available from the  
+		link:https://play.google.com[Google Play system].
+
+		You don't need a data plan to use AltosDroid, but
+		without network access, you'll want to download
+		offline map data before wandering away from the
+		network.
diff --git a/doc/handling.inc b/doc/handling.inc
new file mode 100644
index 00000000..78d9133a
--- /dev/null
+++ b/doc/handling.inc
@@ -0,0 +1,42 @@
+[appendix]
+== Handling Precautions
+
+	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.
+
+	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.
+
+	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.
+
+	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.
+
+	As with all other rocketry electronics, Altus Metrum altimeters must
+	be protected from exposure to corrosive motor exhaust and ejection
+	charge gasses.
+
diff --git a/doc/intro.inc b/doc/intro.inc
new file mode 100644
index 00000000..28daa41a
--- /dev/null
+++ b/doc/intro.inc
@@ -0,0 +1,54 @@
+== Introduction and Overview
+
+	Welcome to the Altus Metrum community!  Our circuits and software reflect
+	our passion for both hobby rocketry and Free Software.  We hope their
+	capabilities and performance will delight you in every way, but by
+	releasing all of our hardware and software designs under open licenses,
+	we also hope to empower you to take as active a role in our collective
+	future as you wish!
+
+	The first device created for our community was TeleMetrum, a dual
+	deploy altimeter with fully integrated GPS and radio telemetry
+	as standard features, and a “companion interface” that will
+	support optional capabilities in the future. The latest version
+	of TeleMetrum, v2.0, has all of the same features but with
+	improved sensors and radio to offer increased performance.
+
+	Our second device was TeleMini, a dual deploy altimeter with
+	radio telemetry and radio direction finding. The first version
+	of this device was only 13mm by 38mm (½ inch by 1½ inches) and
+	could fit easily in an 18mm air-frame. The latest version, v2.0,
+	includes a beeper, USB data download and extended on-board
+	flight logging, along with an improved barometric sensor.
+
+	TeleMega is our most sophisticated device, including six pyro
+	channels (four of which are fully programmable), integrated GPS,
+	integrated gyroscopes for staging/air-start inhibit and high
+	performance telemetry.
+
+	EasyMini is a dual-deploy altimeter with logging and built-in
+	USB data download.
+
+	EasyMega is essentially a TeleMega board with the GPS receiver
+	and telemetry transmitter removed. It offers the same 6 pyro
+	channels and integrated gyroscopes for staging/air-start inhibit.
+
+	TeleDongle v0.2 was our first ground station, providing a USB to RF
+	interfaces for communicating with the altimeters. Combined with
+	your choice of antenna and notebook computer, TeleDongle and our
+	associated user interface software form a complete ground
+	station capable of logging and displaying in-flight telemetry,
+	aiding rocket recovery, then processing and archiving flight
+	data for analysis and review. The latest version, TeleDongle
+	v3, has all new electronics with a higher performance radio
+	for improved range.
+
+	For a slightly more portable ground station experience that also
+	provides direct rocket recovery support, TeleBT offers flight
+	monitoring and data logging using a  Bluetooth™ connection between
+	the receiver and an Android device that has the AltosDroid
+	application installed from the Google Play store.
+
+	More products will be added to the Altus Metrum family over time, and
+	we currently envision that this will be a single, comprehensive manual
+	for the entire product family.
diff --git a/doc/specs.inc b/doc/specs.inc
new file mode 100644
index 00000000..0991bd2d
--- /dev/null
+++ b/doc/specs.inc
@@ -0,0 +1,139 @@
+[appendix]
+== Altus Metrum Hardware Specifications
+
+	Here's the full set of Altus Metrum products, both in
+	production and retired.
+
+	[options="header"]
+	|================================
+	|Device | Barometer | Z-axis accel | GPS | 3D sensors | Storage | RF Output | Battery
+
+	|TeleMetrum v1.0
+	|MP3H6115 10km (33k')
+	|MMA2202 50g
+	|SkyTraq
+	|-
+	|1MB
+	|10mW
+	|3.7V
+
+	|TeleMetrum v1.1
+	|MP3H6115 10km (33k')
+	|MMA2202 50g
+	|SkyTraq
+	|-
+	|2MB
+	|10mW
+	|3.7V
+
+	|TeleMetrum v1.2
+	|MP3H6115 10km (33k')
+	|ADXL78 70g
+	|SkyTraq
+	|-
+	|2MB
+	|10mW
+	|3.7V
+
+	|TeleMetrum v2.0
+	|MS5607 30km (100k')
+	|MMA6555 102g
+	|uBlox Max-7Q
+	|-
+	|8MB
+	|40mW
+	|3.7V
+
+	|TeleMini v1.0
+	|MP3H6115 10km (33k')
+	|-
+	|-
+	|-
+	|5kB
+	|10mW
+	|3.7V
+
+	|TeleMini v2.0
+	|MS5607 30km (100k')
+	|-
+	|-
+	|-
+	|1MB
+	|10mW
+	|3.7-12V
+
+	|EasyMini v1.0
+	|MS5607 30km (100k')
+	|-
+	|-
+	|-
+	|1MB
+	|-
+	|3.7-12V
+
+	|TeleMega v1.0
+	|MS5607 30km (100k')
+	|MMA6555 102g
+	|uBlox Max-7Q
+	|MPU6000 HMC5883
+	|8MB
+	|40mW
+	|3.7V
+
+	|EasyMega v1.0
+	|MS5607 30km (100k')
+	|MMA6555 102g
+	|-
+	|MPU6000 HMC5883
+	|8MB
+	|-
+	|3.7V
+	|==============================
+
+	<<<<
+	[options="header",grid="all"]
+	|==============================
+	|Device|Connectors|Screw Terminals|Width|Length|Tube Size
+
+	|TeleMetrum
+	|Antenna Debug Companion USB Battery
+	|Apogee pyro Main pyro Switch
+	|1 inch (2.54cm)
+	|2 ¾ inch (6.99cm)
+	|29mm coupler
+
+	|TeleMini v1.0
+	|Antenna Debug Battery
+	|Apogee pyro Main pyro
+	|½ inch (1.27cm)
+	|1½ inch (3.81cm)
+	|18mm coupler
+
+	|TeleMini v2.0
+	|Antenna Debug USB Battery
+	|Apogee pyro Main pyro Battery Switch
+	|0.8 inch (2.03cm)
+	|1½ inch (3.81cm)
+	|24mm coupler
+
+	|EasyMini
+	|Debug USB Battery
+	|Apogee pyro Main pyro Battery
+	|0.8 inch (2.03cm)
+	|1½ inch (3.81cm)
+	|24mm coupler
+
+	|TeleMega
+	|Antenna Debug Companion USB Battery
+	|Apogee pyro Main pyro Pyro A-D Switch Pyro battery
+	|1¼ inch (3.18cm)
+	|3¼ inch (8.26cm)
+	|38mm coupler
+
+	|EasyMega
+	|Debug Companion USB Battery
+	|Apogee pyro Main pyro Pyro A-D Switch Pyro battery
+	|1¼ inch (3.18cm)
+	|2¼ inch (5.62cm)
+	|38mm coupler
+	|====================================
diff --git a/doc/telemetrum.inc b/doc/telemetrum.inc
new file mode 100644
index 00000000..9562d994
--- /dev/null
+++ b/doc/telemetrum.inc
@@ -0,0 +1,68 @@
+== TeleMetrum
+
+	image::telemetrum-v1.1-thside.jpg[width="5.5in"]
+
+	TeleMetrum is a 1 inch by 2¾ inch circuit board.  It was designed to
+	fit inside coupler for 29mm air-frame tubing, but using it in a tube that
+	small in diameter may require some creativity in mounting and wiring
+	to succeed!  The presence of an accelerometer means TeleMetrum should
+	be aligned along the flight axis of the airframe, and by default the ¼
+	wave UHF wire antenna should be on the nose-cone end of the board.  The
+	antenna wire is about 7 inches long, and wiring for a power switch and
+	the e-matches for apogee and main ejection charges depart from the
+	fin can end of the board, meaning an ideal “simple” avionics
+	bay for TeleMetrum should have at least 10 inches of interior length.
+
+	=== TeleMetrum Screw Terminals
+
+		TeleMetrum has six screw terminals on the end of the board
+		opposite the telemetry antenna. Two are for the power
+		switch, and two each for the apogee and main igniter
+		circuits. Using the picture above and starting from the top,
+		the terminals are as follows:
+
+		[options="header",grid="all",cols="2,3,10"]
+		|=========================
+		|Terminal #|Terminal Name|Description
+		|1	|Switch Output	|Switch connection to flight computer
+		|2	|Switch Input	|Switch connection to positive battery terminal
+		|3	|Main +		|Main pyro channel common connection to battery +
+		|4	|Main -		|Main pyro channel connection to pyro circuit
+		|5	|Apogee +	|Apogee pyro channel common connection to battery +
+		|6	|Apogee -	|Apogee pyro channel connection to pyro circuit
+		|========================
+
+	=== Using a Separate Pyro Battery with TeleMetrum
+
+		As described above, using an external pyro battery involves
+		connecting the negative battery terminal to the flight
+		computer ground, connecting the positive battery terminal to
+		one of the igniter leads and connecting the other igniter
+		lead to the per-channel pyro circuit connection.
+
+		To connect the negative battery terminal to the TeleMetrum
+		ground, insert a small piece of wire, 24 to 28 gauge
+		stranded, into the GND hole just above the screw terminal
+		strip and solder it in place.
+
+		Connecting the positive battery terminal to the pyro
+		charges must be done separate from TeleMetrum, by soldering
+		them together or using some other connector.
+
+
+		The other lead from each pyro charge is then inserted into
+		the appropriate per-pyro channel screw terminal (terminal 4 for the
+		Main charge, terminal 6 for the Apogee charge).
+
+	=== Using an Active Switch with TeleMetrum
+
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground.
+
+
+		The positive battery terminal is available on screw terminal
+		2, the positive flight computer input is on terminal 1. To
+		hook a lead to ground, solder a piece of wire, 24 to 28
+		gauge stranded, to the GND hole just above terminal 1.
+
diff --git a/doc/usage.inc b/doc/usage.inc
new file mode 100644
index 00000000..b4a93271
--- /dev/null
+++ b/doc/usage.inc
@@ -0,0 +1,90 @@
+== Using Altus Metrum Hardware
+
+	Here are general instructions for hooking up an Altus Metrum
+	flight computer. Instructions specific to each model will be
+	found in the section devoted to that model below.
+
+	=== Wiring and Electrical Interference
+
+		To prevent electrical interference from affecting the
+		operation of the flight computer, it's important to always
+		twist pairs of wires connected to the board. Twist the switch
+		leads, the pyro leads and the battery leads. This reduces
+		interference through a mechanism called common mode rejection.
+
+	=== Hooking Up Lithium Polymer Batteries
+
+		All Altus Metrum flight computers have 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
+		link:https://www.sparkfun.com/products/9914[JST Jumper 2 Wire Assembly]
+
+		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 the flight computer.
+
+	=== Hooking Up Pyro Charges
+
+		Altus Metrum flight computers always have two screws for
+		each pyro charge. This means you shouldn't need to put two
+		wires into a screw terminal or connect leads from pyro
+		charges together externally.
+
+		On the flight computer, one lead from each charge is hooked
+		to the positive battery terminal through the power switch.
+		The other lead is connected through the pyro circuit, which
+		is connected to the negative battery terminal when the pyro
+		circuit is fired.
+
+	=== Hooking Up a Power Switch
+
+		Altus Metrum flight computers need an external power switch
+		to turn them on. This disconnects both the computer and the
+		pyro charges from the battery, preventing the charges from
+		firing when in the Off position. The switch is in-line with
+		the positive battery terminal.
+
+	=== Using an External Active Switch Circuit
+
+		You can use an active switch circuit, such as the
+		Featherweight Magnetic Switch, with any Altus Metrum
+		flight computer. These require three connections, one to
+		the battery, one to the positive power input on the flight
+		computer and one to ground. Find instructions on how to
+		hook these up for each flight computer below. The follow
+		the instructions that come with your active switch to
+		connect it up.
+
+	=== Using a Separate Pyro Battery
+
+		As mentioned above in the section on hooking up pyro
+		charges, one lead for each of the pyro charges is connected
+		through the power switch directly to the positive battery
+		terminal. The other lead is connected to the pyro circuit,
+		which connects it to the negative battery terminal when the
+		pyro circuit is fired. The pyro circuit on all of the flight
+		computers is designed to handle up to 16V.
+
+		To use a separate pyro battery, connect the negative pyro
+		battery terminal to the flight computer ground terminal,
+		the positive battery terminal to the igniter and the other
+		igniter lead to the negative pyro terminal on the flight
+		computer. When the pyro channel fires, it will complete the
+		circuit between the negative pyro terminal and the ground
+		terminal, firing the igniter. Specific instructions on how
+		to hook this up will be found in each section below.
+
+	=== Using a Different Kind of Battery
+
+		EasyMini and TeleMini v2 are designed to use either a
+		lithium polymer battery or any other battery producing
+		between 4 and 12 volts, such as a rectangular 9V
+		battery. TeleMega, EasyMega and TeleMetrum are not designed for this,
+		and must only be powered by a lithium polymer battery. Find
+		instructions on how to use other batteries in the EasyMini
+		and TeleMini sections below.
-- 
cgit v1.2.3


From c5fd0eaa786a122580ba9a3ef7bfc0f2cfd8263b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 29 Oct 2015 15:50:31 +0900
Subject: doc: Add asciidoc telemini v1.0

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile          |  9 +++++-
 doc/altusmetrum.txt   |  2 ++
 doc/telemini-v1.0.inc | 90 +++++++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 100 insertions(+), 1 deletion(-)
 create mode 100644 doc/telemini-v1.0.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 6ebe829c..8095b5cf 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -62,7 +62,14 @@ PICTURES=\
 	telemini-v2-top.jpg
 
 TXT_FILES=altusmetrum.txt
-INC_FILES=intro.inc getting-started.inc usage.inc telemetrum.inc handling.inc specs.inc
+INC_FILES=\
+	intro.inc \
+	getting-started.inc \
+	usage.inc \
+	telemetrum.inc \
+	telemini-v1.0.inc \
+	handling.inc \
+	specs.inc
 
 RAW_FILES=$(TXT_FILES:.txt=.raw)
 
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index 5b6dfe81..08baa863 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -38,6 +38,8 @@
 
 	include::telemetrum.raw[]
 
+	include::telemini-v1.0.raw[]
+
 	include::handling.raw[]
 
 	include::specs.raw[]
diff --git a/doc/telemini-v1.0.inc b/doc/telemini-v1.0.inc
new file mode 100644
index 00000000..7b9357e8
--- /dev/null
+++ b/doc/telemini-v1.0.inc
@@ -0,0 +1,90 @@
+== TeleMini v1.0
+
+	image::telemini-v1-top.jpg[width="5.5in"]
+
+	TeleMini v1.0 is ½ inches by 1½ inches.  It was
+	designed to fit inside an 18mm air-frame tube, but using it in
+	a tube that small in diameter may require some creativity in
+	mounting and wiring to succeed!  Since there is no
+	accelerometer, TeleMini can be mounted in any convenient
+	orientation.  The default ¼ wave UHF wire antenna attached to
+	the center of one end of the board is about 7 inches long. Two
+	wires for the power switch are connected to holes in the
+	middle of the board. Screw terminals for the e-matches for
+	apogee and main ejection charges depart from the other end of
+	the board, meaning an ideal “simple” avionics bay for TeleMini
+	should have at least 9 inches of interior length.
+
+      	=== TeleMini v1.0 Screw Terminals
+
+		TeleMini v1.0 has four screw terminals on the end of the
+		board opposite the telemetry antenna. Two are for the apogee
+		and two are for main igniter circuits. There are also wires
+		soldered to the board for the power switch.  Using the
+		picture above and starting from the top for the terminals
+		and from the left for the power switch wires, the
+		connections are as follows:
+
+		[options="header",grid="all",cols="2,3,10"]
+		|====
+		|Terminal #|Terminal Name|Description
+		|1
+		|Apogee -
+		|Apogee pyro channel connection to pyro circuit
+
+		|2
+		|Apogee +
+		|Apogee pyro channel common connection to battery +
+
+		|3
+		|Main -
+		|Main pyro channel connection to pyro circuit
+
+		|4
+		|Main +
+		|Main pyro channel common connection to battery +
+
+		|Left
+		|Switch Output
+		|Switch connection to flight computer
+
+		|Right
+		|Switch Input
+		|Switch connection to positive battery terminal
+		|====
+
+      	=== Using a Separate Pyro Battery with TeleMini v1.0
+
+		As described above, using an external pyro battery involves
+		connecting the negative battery terminal to the flight
+		computer ground, connecting the positive battery terminal to
+		one of the igniter leads and connecting the other igniter
+		lead to the per-channel pyro circuit connection. Because
+		there is no solid ground connection to use on TeleMini, this
+		is not recommended.
+
+		The only available ground connection on TeleMini v1.0 are
+		the two mounting holes next to the telemetry
+		antenna. Somehow connect a small piece of wire to one of
+		those holes and hook it to the negative pyro battery terminal.
+
+		Connecting the positive battery terminal to the pyro
+		charges must be done separate from TeleMini v1.0, by soldering
+		them together or using some other connector.
+
+		The other lead from each pyro charge is then inserted into
+		the appropriate per-pyro channel screw terminal (terminal 3 for the
+		Main charge, terminal 1 for the Apogee charge).
+
+      	=== Using an Active Switch with TeleMini v1.0
+
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground. Again,
+		because TeleMini doesn't have any good ground connection,
+		this is not recommended.
+
+		The positive battery terminal is available on the Right
+		power switch wire, the positive flight computer input is on
+		the left power switch wire. Hook a lead to either of the
+		mounting holes for a ground connection.
-- 
cgit v1.2.3


From adfbccfeb551c9d0315116912e7255a173fc3103 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 29 Oct 2015 16:49:00 +0900
Subject: doc: Lots more conversion from docbook to asciidoc

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                  |   7 +
 doc/altusmetrum.txt           |  14 +
 doc/easymega.inc              | 121 +++++++
 doc/easymini.inc              |  86 +++++
 doc/flight-data-recording.inc |  56 ++++
 doc/installation.inc          |  50 +++
 doc/system-operation.inc      | 730 ++++++++++++++++++++++++++++++++++++++++++
 doc/telemega.inc              | 121 +++++++
 doc/telemini-v1.0.inc         |   1 +
 doc/telemini-v2.0.inc         |  89 +++++
 10 files changed, 1275 insertions(+)
 create mode 100644 doc/easymega.inc
 create mode 100644 doc/easymini.inc
 create mode 100644 doc/flight-data-recording.inc
 create mode 100644 doc/installation.inc
 create mode 100644 doc/system-operation.inc
 create mode 100644 doc/telemega.inc
 create mode 100644 doc/telemini-v2.0.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 8095b5cf..85011cfa 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -68,6 +68,13 @@ INC_FILES=\
 	usage.inc \
 	telemetrum.inc \
 	telemini-v1.0.inc \
+	telemini-v2.0.inc \
+	easymini.inc \
+	telemega.inc \
+	easymega.inc \
+	installation.inc \
+	system-operation.inc \
+	flight-data-recording.inc \
 	handling.inc \
 	specs.inc
 
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index 08baa863..82e456a0 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -40,8 +40,22 @@
 
 	include::telemini-v1.0.raw[]
 
+	include::telemini-v2.0.raw[]
+
+	include::easymini.raw[]
+
+	include::telemega.raw[]
+
+	include::easymega.raw[]
+
+	include::installation.raw[]
+
+	include::system-operation.raw[]
+
 	include::handling.raw[]
 
+	include::flight-data-recording.raw[]
+
 	include::specs.raw[]
 
 	[index]
diff --git a/doc/easymega.inc b/doc/easymega.inc
new file mode 100644
index 00000000..eebece92
--- /dev/null
+++ b/doc/easymega.inc
@@ -0,0 +1,121 @@
+== EasyMega
+
+	image::easymega-v1.0-top.jpg[width="4.5in"]
+
+	EasyMega is a 1¼ inch by 2¼ inch circuit board. It was
+	designed to easily fit in a 38mm coupler. Like TeleMetrum,
+	EasyMega has an accelerometer and so it must be mounted so that
+	the board is aligned with the flight axis. It can be mounted
+	either antenna up or down.
+
+	=== EasyMega Screw Terminals
+
+		EasyMega has two sets of nine screw terminals on the end of
+		the board opposite the telemetry antenna. They are as follows:
+
+		[options="header",grid="all",cols="2,3,10"]
+		|====
+		|Terminal #|Terminal Name|Description
+
+		|Top 1
+		|Switch Input
+		|Switch connection to positive battery terminal
+
+		|Top 2
+		|Switch Output
+		|Switch connection to flight computer
+
+		|Top 3
+		|GND
+		|Ground connection for use with external active switch
+
+		|Top 4
+		|Main -
+		|Main pyro channel connection to pyro circuit
+
+		|Top 5
+		|Main +
+		|Main pyro channel common connection to battery +
+
+		|Top 6
+		|Apogee -
+		|Apogee pyro channel connection to pyro circuit
+
+		|Top 7
+		|Apogee +
+		|Apogee pyro channel common connection to battery +
+
+		|Top 8
+		|D -
+		|D pyro channel connection to pyro circuit
+
+		|Top 9
+		|D +
+		|D pyro channel common connection to battery +
+
+		|Bottom 1
+		|GND
+		|Ground connection for negative pyro battery terminal
+
+		|Bottom 2
+		|Pyro
+		|Positive pyro battery terminal
+
+		|Bottom 3
+		|Lipo
+		|Power switch output. Use to connect main battery to pyro battery input
+
+		|Bottom 4
+		|A -
+		|A pyro channel connection to pyro circuit
+
+		|Bottom 5
+		|A +
+		|A pyro channel common connection to battery +
+
+		|Bottom 6
+		|B -
+		|B pyro channel connection to pyro circuit
+
+		|Bottom 7
+		|B +
+		|B pyro channel common connection to battery +
+
+		|Bottom 8
+		|C -
+		|C pyro channel connection to pyro circuit
+
+		|Bottom 9
+		|C +
+		|C pyro channel common connection to battery +
+		|====
+
+	=== Using a Separate Pyro Battery with EasyMega
+
+		EasyMega provides explicit support for an external pyro
+		battery. All that is required is to remove the jumper
+		between the lipo terminal (Bottom 3) and the pyro terminal
+		(Bottom 2). Then hook the negative pyro battery terminal to ground
+		(Bottom 1) and the positive pyro battery to the pyro battery
+		input (Bottom 2). You can then use the existing pyro screw
+		terminals to hook up all of the pyro charges.
+
+      	=== Using Only One Battery With EasyMega
+
+		Because EasyMega has built-in support for a separate pyro
+		battery, if you want to fly with just one battery running
+		both the computer and firing the charges, you need to
+		connect the flight computer battery to the pyro
+		circuit. EasyMega has two screw terminals for this—hook a
+		wire from the Lipo terminal (Bottom 3) to the Pyro terminal
+		(Bottom 2).
+
+      	=== Using an Active Switch with EasyMega
+
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground.
+
+		The positive battery terminal is available on Top terminal
+		1, the positive flight computer input is on Top terminal
+		2. Ground is on Top terminal 3.
diff --git a/doc/easymini.inc b/doc/easymini.inc
new file mode 100644
index 00000000..40cb3e1a
--- /dev/null
+++ b/doc/easymini.inc
@@ -0,0 +1,86 @@
+== EasyMini
+
+	image::easymini-top.jpg[width="5.5in"]
+
+	EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
+	designed to fit in a 24mm coupler tube. The connectors and
+	screw terminals match TeleMini v2.0, so you can easily swap between
+	EasyMini and TeleMini.
+
+	=== EasyMini Screw Terminals
+	
+		EasyMini has two sets of four screw terminals on the end of the
+		board opposite the telemetry antenna. Using the picture
+		above, the top four have connections for the main pyro
+		circuit and an external battery and the bottom four have
+		connections for the apogee pyro circuit and the power
+		switch. Counting from the left, the connections are as follows:
+
+		[options="header",grid="all",cols="2,3,10"]
+		|====
+		|Terminal #|Terminal Name|Description
+		|Top 1
+		|Main -
+		|Main pyro channel connection to pyro circuit
+	      
+		|Top 2
+		|Main +
+		|Main pyro channel common connection to battery +
+	      
+		|Top 3
+		|Battery +
+		|Positive external battery terminal
+	      
+		|Top 4
+		|Battery -
+		|Negative external battery terminal
+	      
+		|Bottom 1
+		|Apogee -
+		|Apogee pyro channel connection to pyro circuit
+	      
+		|Bottom 2
+		|Apogee +
+		|Apogee pyro channel common connection to battery +
+	      
+		|Bottom 3
+		|Switch Output
+		|Switch connection to flight computer
+	      
+		|Bottom 4
+		|Switch Input
+		|Switch connection to positive battery terminal
+		|====
+
+      	=== Using a Separate Pyro Battery with EasyMini
+	
+		As described above, using an external pyro battery involves
+		connecting the negative battery terminal to the flight
+		computer ground, connecting the positive battery terminal to
+		one of the igniter leads and connecting the other igniter
+		lead to the per-channel pyro circuit connection.
+
+		To connect the negative pyro battery terminal to TeleMini
+		ground, connect it to the negative external battery
+		connection, top terminal 4.
+
+		Connecting the positive battery terminal to the pyro
+		charges must be done separate from EasyMini, by soldering
+		them together or using some other connector.
+
+		The other lead from each pyro charge is then inserted into
+		the appropriate per-pyro channel screw terminal (top
+		terminal 1 for the Main charge, bottom terminal 1 for the
+		Apogee charge).
+
+      	=== Using an Active Switch with EasyMini
+	
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground. Use
+		the negative external battery connection, top terminal 4 for
+		ground.
+
+		The positive battery terminal is available on bottom
+		terminal 4, the positive flight computer input is on the
+		bottom terminal 3.
diff --git a/doc/flight-data-recording.inc b/doc/flight-data-recording.inc
new file mode 100644
index 00000000..ed56b82e
--- /dev/null
+++ b/doc/flight-data-recording.inc
@@ -0,0 +1,56 @@
+[appendix]
+== Flight Data Recording
+      
+	Each flight computer logs data at 100 samples per second
+	during ascent and 10 samples per second during descent, except
+	for TeleMini v1.0, which records ascent at 10 samples per
+	second and descent at 1 sample per second. Data are logged to
+	an on-board flash memory part, which can be partitioned into
+	several equal-sized blocks, one for each flight.
+
+	.Data Storage on Altus Metrum altimeters
+	[options="header",cols="1,1,1,1"]
+	|====
+	|Device			|Bytes per Sample	|Total Storage	|Minutes at Full Rate
+	|TeleMetrum v1.0	|8	|1MB	|20
+	|TeleMetrum v1.1 v1.2	|8	|2MB	|40
+	|TeleMetrum v2.0	|16	|8MB	|80
+	|TeleMini v1.0		|2	|5kB	|4
+	|TeleMini v2.0		|16	|1MB	|10
+	|EasyMini		|16	|1MB	|10
+	|TeleMega		|32	|8MB	|40
+	|EasyMega		|32	|8MB	|40
+	|====
+      
+	The on-board flash is partitioned into separate flight logs,
+	each of a fixed maximum size. Increase the maximum size of
+	each log and you reduce the number of flights that can be
+	stored. Decrease the size and you can store more flights.
+            
+	Configuration data is also stored in the flash memory on
+	TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB
+	of flash space.  This configuration space is not available
+	for storing flight log data. TeleMetrum v2.0, TeleMega and EasyMega
+	store configuration data in a bit of eeprom available within
+	the processor chip, leaving that space available in flash for
+	more flight data.
+            
+	To compute the amount of space needed for a single flight, you
+	can multiply the expected ascent time (in seconds) by 100
+	times bytes-per-sample, multiply the expected descent time (in
+	seconds) by 10 times the bytes per sample and add the two
+	together. That will slightly under-estimate the storage (in
+	bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending
+	20 seconds in ascent and 150 seconds in descent will take
+	about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You
+	could store dozens of these flights in the on-board flash.
+            
+	The default size allows for several flights on each flight
+	computer, except for TeleMini v1.0, which only holds data for a
+	single flight. You can adjust the size.
+            
+	Altus Metrum flight computers will not overwrite existing
+	flight data, so be sure to download flight data and erase it
+	from the flight computer before it fills up. The flight
+	computer will still successfully control the flight even if it
+	cannot log data, so the only thing you will lose is the data.
diff --git a/doc/installation.inc b/doc/installation.inc
new file mode 100644
index 00000000..44433298
--- /dev/null
+++ b/doc/installation.inc
@@ -0,0 +1,50 @@
+== Installation
+
+	A typical installation involves attaching
+	only a suitable battery, a single pole switch for
+	power on/off, and two pairs of wires connecting e-matches for the
+	apogee and main ejection charges.  All Altus Metrum products are
+	designed for use with single-cell batteries with 3.7 volts
+	nominal. TeleMini v2.0 and EasyMini may also be used with other
+	batteries as long as they supply between 4 and 12 volts.
+
+	The battery connectors are a standard 2-pin JST connector and
+	match batteries sold by Spark Fun. These batteries are
+	single-cell Lithium Polymer batteries that nominally provide 3.7
+	volts.  Other vendors sell similar batteries for RC aircraft
+	using mating connectors, however the polarity for those is
+	generally reversed from the batteries used by Altus Metrum
+	products. In particular, the Tenergy batteries supplied for use
+	in Featherweight flight computers are not compatible with Altus
+	Metrum flight computers or battery chargers.
+
+	[WARNING]
+	Check polarity and voltage before connecting any battery not
+	purchased from Altus Metrum or Spark Fun.
+
+	By default, we use the unregulated output of the battery directly
+	to fire ejection charges.  This works marvelously with standard
+	low-current e-matches like the J-Tek from MJG Technologies, and with
+	Quest Q2G2 igniters.  However, if you want or need to use a separate
+	pyro battery, check out the “External Pyro Battery” section in this
+	manual for instructions on how to wire that up. The altimeters are
+	designed to work with an external pyro battery of no more than 15 volts.
+
+	Ejection charges are wired directly to the screw terminal block
+	at the aft end of the altimeter.  You'll need a very small straight
+	blade screwdriver for these screws, such as you might find in a
+	jeweler's screwdriver set.
+
+	Except for TeleMini v1.0, the flight computers also use the
+	screw terminal block for the power switch leads. On TeleMini v1.0,
+	the power switch leads are soldered directly to the board and
+	can be connected directly to a switch.
+
+	For most air-frames, the integrated antennas are more than
+	adequate.   However, if you are installing in a carbon-fiber or
+	metal electronics bay which is opaque to RF signals, you may need to
+	use off-board external antennas instead.  In this case, you can
+	replace the stock UHF antenna wire with an edge-launched SMA connector,
+	and, on TeleMetrum v1, you can unplug the integrated GPS
+	antenna and select an appropriate off-board GPS antenna with
+	cable terminating in a U.FL connector.
diff --git a/doc/system-operation.inc b/doc/system-operation.inc
new file mode 100644
index 00000000..1e57f247
--- /dev/null
+++ b/doc/system-operation.inc
@@ -0,0 +1,730 @@
+== System Operation
+
+	=== Firmware Modes
+
+		The AltOS firmware build for the altimeters has two
+		fundamental modes, “idle” and “flight”.  Which of these modes
+		the firmware operates in is determined at start up time. For
+		TeleMetrum, TeleMega and EasyMega, which have accelerometers, the mode is
+		controlled by the orientation of the
+		rocket (well, actually the board, of course...) at the time
+		power is switched on.  If the rocket is “nose up”, then
+		the flight computer assumes it's on a rail or rod being prepared for
+		launch, so the firmware chooses flight mode.  However, if the
+		rocket is more or less horizontal, the firmware instead enters
+		idle mode.  Since TeleMini v2.0 and EasyMini don't have an
+		accelerometer we can use to determine orientation, “idle” mode
+		is selected if the board is connected via USB to a computer,
+		otherwise the board enters “flight” mode. TeleMini v1.0
+		selects “idle” mode if it receives a command packet within the
+		first five seconds of operation.
+
+		At power on, the altimeter will beep out the battery voltage
+		to the nearest tenth of a volt.  Each digit is represented by
+		a sequence of short “dit” beeps, with a pause between
+		digits. A zero digit is represented with one long “dah”
+		beep. Then there will be a short pause while the altimeter
+		completes initialization and self test, and decides which mode
+		to enter next.
+
+		Here's a short summary of all of the modes and the beeping (or
+		flashing, in the case of TeleMini v1) that accompanies each
+		mode. In the description of the beeping pattern, “dit” means a
+		short beep while "dah" means a long beep (three times as
+		long). “Brap” means a long dissonant tone.
+
+		.AltOS Modes
+		[options="border",cols="1,1,1,1"]
+		|====
+		|Mode Name
+		|Abbreviation
+		|Beeps
+		|Description
+
+		|Startup
+		|S
+		|battery voltage in decivolts
+		|Calibrating sensors, detecting orientation.
+
+		|Idle
+		|I
+		|dit dit
+		|Ready to accept commands over USB or radio link.
+
+		|Pad
+		|P
+		|dit dah dah dit
+		|Waiting for launch. Not listening for commands.
+
+		|Boost
+		|B
+		|dah dit dit dit
+		|Accelerating upwards.
+
+		|Fast
+		|F
+		|dit dit dah dit
+		|Decelerating, but moving faster than 200m/s.
+
+		|Coast
+		|C
+		|dah dit dah dit
+		|Decelerating, moving slower than 200m/s
+
+		|Drogue
+		|D
+		|dah dit dit
+		|Descending after apogee. Above main height.
+
+		|Main
+		|M
+		|dah dah
+		|Descending. Below main height.
+
+		|Landed
+		|L
+		|dit dah dit dit
+		|Stable altitude for at least ten seconds.
+
+
+		|Sensor error
+		|X
+		|dah dit dit dah
+		|Error detected during sensor calibration.
+		|====
+
+		In flight or “pad” mode, the altimeter engages the flight
+		state machine, goes into transmit-only mode to send telemetry,
+		and waits for launch to be detected.  Flight mode is indicated
+		by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights,
+		followed by beeps or flashes indicating the state of the
+		pyrotechnic igniter continuity.  One beep/flash indicates
+		apogee continuity, two beeps/flashes indicate main continuity,
+		three beeps/flashes indicate both apogee and main continuity,
+		and one longer “brap” sound which is made by rapidly
+		alternating between two tones indicates no continuity.  For a
+		dual deploy flight, make sure you're getting three beeps or
+		flashes before launching!  For apogee-only or motor eject
+		flights, do what makes sense.
+
+		If idle mode is entered, you will hear an audible “di-dit” or
+		see two short flashes (“I” for idle), and the flight state
+		machine is disengaged, thus no ejection charges will fire.
+		The altimeters also listen for the radio link when in idle
+		mode for requests sent via TeleDongle.  Commands can be issued
+		in idle mode over either USB or the radio link
+		equivalently. TeleMini v1.0 only has the radio link.  Idle
+		mode is useful for configuring the altimeter, for extracting
+		data from the on-board storage chip after flight, and for
+		ground testing pyro charges.
+
+		In “Idle” and “Pad” modes, once the mode indication
+		beeps/flashes and continuity indication has been sent, if
+		there is no space available to log the flight in on-board
+		memory, the flight computer will emit a warbling tone (much
+		slower than the “no continuity tone”)
+
+		Here's a summary of all of the “pad” and “idle” mode indications.
+
+		.Pad/Idle Indications
+		[options="header",cols="1,1,1"]
+		|====
+		|Name		|Beeps		|Description
+
+		|Neither
+		|brap
+		|No continuity detected on either apogee or main igniters.
+
+		|Apogee
+		|dit
+		|Continuity detected only on apogee igniter.
+
+		|Main
+		|dit dit
+		|Continuity detected only on main igniter.
+
+
+		|Both
+		|dit dit dit
+		|Continuity detected on both igniters.
+
+
+		|Storage Full
+		|warble
+		|On-board data logging storage is full. This will
+		 not prevent the flight computer from safely
+		 controlling the flight or transmitting telemetry
+		 signals, but no record of the flight will be
+		 stored in on-board flash.
+		|====
+
+		Once landed, the flight computer will signal that by emitting
+		the “Landed” sound described above, after which it will beep
+		out the apogee height (in meters). Each digit is represented
+		by a sequence of short “dit” beeps, with a pause between
+		digits. A zero digit is represented with one long “dah”
+		beep. The flight computer will continue to report landed mode
+		and beep out the maximum height until turned off.
+
+		One “neat trick” of particular value when TeleMetrum, TeleMega
+		or EasyMega are used with
+		very large air-frames, is that you can power the board up while the
+		rocket is horizontal, such that it comes up in idle mode.  Then you can
+		raise the air-frame to launch position, and issue a 'reset' command
+		via TeleDongle over the radio link to cause the altimeter to reboot and
+		come up in flight mode.  This is much safer than standing on the top
+		step of a rickety step-ladder or hanging off the side of a launch
+		tower with a screw-driver trying to turn on your avionics before
+		installing igniters!
+
+		TeleMini v1.0 is configured solely via the radio link. Of course, that
+		means you need to know the TeleMini radio configuration values
+		or you won't be able to communicate with it. For situations
+		when you don't have the radio configuration values, TeleMini v1.0
+		offers an 'emergency recovery' mode. In this mode, TeleMini is
+		configured as follows:
+
+
+		 * Sets the radio frequency to 434.550MHz
+		 * Sets the radio calibration back to the factory value.
+		 * Sets the callsign to N0CALL
+		 * Does not go to 'pad' mode after five seconds.
+
+		To get into 'emergency recovery' mode, first find the row of
+		four small holes opposite the switch wiring. Using a short
+		piece of small gauge wire, connect the outer two holes
+		together, then power TeleMini up. Once the red LED is lit,
+		disconnect the wire and the board should signal that it's in
+		'idle' mode after the initial five second startup period.
+
+    	=== GPS
+
+		TeleMetrum and TeleMega include a complete GPS receiver.  A
+		complete explanation of how GPS works is beyond the scope of
+		this manual, but the bottom line is that the GPS receiver
+		needs to lock onto at least four satellites to obtain a solid
+		3 dimensional position fix and know what time it is.
+
+		The flight computers provide backup power to the GPS chip any time a
+		battery is connected.  This allows the receiver to “warm start” on
+		the launch rail much faster than if every power-on were a GPS
+		“cold start”.  In typical operations, powering up
+		on the flight line in idle mode while performing final air-frame
+		preparation will be sufficient to allow the GPS receiver to cold
+		start and acquire lock.  Then the board can be powered down during
+		RSO review and installation on a launch rod or rail.  When the board
+		is turned back on, the GPS system should lock very quickly, typically
+		long before igniter installation and return to the flight line are
+		complete.
+
+    	=== Controlling An Altimeter Over The Radio Link
+
+		One of the unique features of the Altus Metrum system is the
+		ability to create a two way command link between TeleDongle
+		and an altimeter using the digital radio transceivers
+		built into each device. This allows you to interact with the
+		altimeter from afar, as if it were directly connected to the
+		computer.
+
+		Any operation which can be performed with a flight computer can
+		either be done with the device directly connected to the
+		computer via the USB cable, or through the radio
+		link. TeleMini v1.0 doesn't provide a USB connector and so it is
+		always communicated with over radio.  Select the appropriate
+		TeleDongle device when the list of devices is presented and
+		AltosUI will interact with an altimeter over the radio link.
+
+		One oddity in the current interface is how AltosUI selects the
+		frequency for radio communications. Instead of providing
+		an interface to specifically configure the frequency, it uses
+		whatever frequency was most recently selected for the target
+		TeleDongle device in Monitor Flight mode. If you haven't ever
+		used that mode with the TeleDongle in question, select the
+		Monitor Flight button from the top level UI, and pick the
+		appropriate TeleDongle device.  Once the flight monitoring
+		window is open, select the desired frequency and then close it
+		down again. All radio communications will now use that frequency.
+
+		 * Save Flight Data—Recover flight data from the
+	           rocket without opening it up.
+
+		 * Configure altimeter apogee delays, main deploy
+		   heights and additional pyro event conditions to
+		   respond to changing launch conditions. You can also
+		   'reboot' the altimeter. Use this to remotely enable
+		   the flight computer by turning TeleMetrum or
+		   TeleMega on in “idle” mode, then once the air-frame
+		   is oriented for launch, you can reboot the
+		   altimeter and have it restart in pad mode without
+		   having to climb the scary ladder.
+
+		 * Fire Igniters—Test your deployment charges without snaking
+		   wires out through holes in the air-frame. Simply assemble the
+		   rocket as if for flight with the apogee and main charges
+		   loaded, then remotely command the altimeter to fire the
+		   igniters.
+
+		Operation over the radio link for configuring an
+		altimeter, ground testing igniters, and so forth uses
+		the same RF frequencies as flight telemetry.  To
+		configure the desired TeleDongle frequency, select the
+		monitor flight tab, then use the frequency selector
+		and close the window before performing other desired
+		radio operations.
+
+		The flight computers only enable radio commanding in
+		'idle' mode.  TeleMetrum and TeleMega use the
+		accelerometer to detect which orientation they start
+		up in, so make sure you have the flight computer lying
+		horizontally when you turn it on. Otherwise, it will
+		start in 'pad' mode ready for flight, and will not be
+		listening for command packets from TeleDongle.
+
+		TeleMini listens for a command packet for five seconds
+		after first being turned on, if it doesn't hear
+		anything, it enters 'pad' mode, ready for flight and
+		will no longer listen for command packets. The easiest
+		way to connect to TeleMini is to initiate the command
+		and select the TeleDongle device. At this point, the
+		TeleDongle will be attempting to communicate with the
+		TeleMini. Now turn TeleMini on, and it should
+		immediately start communicating with the TeleDongle
+		and the desired operation can be performed.
+
+		You can monitor the operation of the radio link by watching the
+		lights on the devices. The red LED will flash each time a packet
+		is transmitted, while the green LED will light up on TeleDongle when
+		it is waiting to receive a packet from the altimeter.
+
+    	=== Ground Testing
+
+		An important aspect of preparing a rocket using electronic deployment
+		for flight is ground testing the recovery system.  Thanks
+		to the bi-directional radio link central to the Altus Metrum system,
+		this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket
+		with less work than you may be accustomed to with other systems.  It
+		can even be fun!
+
+		Just prep the rocket for flight, then power up the altimeter
+		in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
+		selecting the Configure Altimeter tab for TeleMini).  This will cause
+		the firmware to go into “idle” mode, in which the normal flight
+		state machine is disabled and charges will not fire without
+		manual command.  You can now command the altimeter to fire the apogee
+		or main charges from a safe distance using your computer and
+		TeleDongle and the Fire Igniter tab to complete ejection testing.
+
+    	=== Radio Link
+
+		TeleMetrum, TeleMini and TeleMega all incorporate an RF transceiver, but
+		it's not a full duplex system... each end can only be transmitting or
+		receiving at any given moment.  So we had to decide how to manage the
+		link.
+
+		By design, the altimeter firmware listens for the radio link when
+		it's in “idle mode”, which
+		allows us to use the radio link to configure the rocket, do things like
+		ejection tests, and extract data after a flight without having to
+		crack open the air-frame.  However, when the board is in “flight
+		mode”, the altimeter only
+		transmits and doesn't listen at all.  That's because we want to put
+		ultimate priority on event detection and getting telemetry out of
+		the rocket through
+		the radio in case the rocket crashes and we aren't able to extract
+		data later...
+
+		We don't generally use a 'normal packet radio' mode like APRS
+		because they're just too inefficient.  The GFSK modulation we
+		use is FSK with the base-band pulses passed through a Gaussian
+		filter before they go into the modulator to limit the
+		transmitted bandwidth.  When combined with forward error
+		correction and interleaving, this allows us to have a very
+		robust 19.2 kilobit data link with only 10-40 milliwatts of
+		transmit power, a whip antenna in the rocket, and a hand-held
+		Yagi on the ground.  We've had flights to above 21k feet AGL
+		with great reception, and calculations suggest we should be
+		good to well over 40k feet AGL with a 5-element yagi on the
+		ground with our 10mW units and over 100k feet AGL with the
+		40mW devices.  We hope to fly boards to higher altitudes over
+		time, and would of course appreciate customer feedback on
+		performance in higher altitude flights!
+
+	=== APRS
+
+		TeleMetrum v2.0 and TeleMega can send APRS if desired, and the
+		interval between APRS packets can be configured. As each APRS
+		packet takes a full second to transmit, we recommend an
+		interval of at least 5 seconds to avoid consuming too much
+		battery power or radio channel bandwidth. You can configure
+		the APRS interval using AltosUI; that process is described in
+		the Configure Altimeter section of the AltosUI chapter.
+
+		AltOS uses the APRS compressed position report data format,
+		which provides for higher position precision and shorter
+		packets than the original APRS format. It also includes
+		altitude data, which is invaluable when tracking rockets. We
+		haven't found a receiver which doesn't handle compressed
+		positions, but it's just possible that you have one, so if you
+		have an older device that can receive the raw packets but
+		isn't displaying position information, it's possible that this
+		is the cause.
+
+		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.
+
+		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.
+
+		.Altus Metrum APRS Comments
+		[options="header",cols="1,1,1"]
+		|====
+		|Field	      |Example	      |Description
+
+		|1
+		|L
+		|GPS Status U for unlocked, L for locked
+
+		|2
+		|6
+		|Number of Satellites in View
+
+		|3
+		|B4.0
+		|Altimeter Battery Voltage
+
+		|4
+		|A3.7
+		|Apogee Igniter Voltage
+
+		|5
+		|M3.7
+		|Main Igniter Voltage
+
+		|6
+		|1286
+		|Device Serial Number
+		|====
+
+		Here's an example of an APRS comment showing GPS lock with 6
+		satellites in view, a primary battery at 4.0V, and
+		apogee and main igniters both at 3.7V from device 1286.
+
+		....
+		L6 B4.0 A3.7 M3.7 1286
+		....
+
+		Make sure your primary battery is above 3.8V, any
+		connected igniters are above 3.5V and GPS is locked
+		with at least 5 or 6 satellites in view before
+		flying. If GPS is switching between L and U regularly,
+		then it doesn't have a good lock and you should wait
+		until it becomes stable.
+
+		If the GPS receiver loses lock, the APRS data
+		transmitted will contain the last position for which
+		GPS lock was available. You can tell that this has
+		happened by noticing that the GPS status character
+		switches from 'L' to 'U'. Before GPS has locked, APRS
+		will transmit zero for latitude, longitude and
+		altitude.
+
+    	=== Configurable Parameters
+
+		Configuring an Altus Metrum altimeter for flight is
+		very simple.  Even on our baro-only TeleMini and
+		EasyMini boards, the use of a Kalman filter means
+		there is no need to set a “mach delay”.  The few
+		configurable parameters can all be set using AltosUI
+		over USB or or radio link via TeleDongle. Read the
+		Configure Altimeter section in the AltosUI chapter
+		below for more information.
+
+		==== Radio Frequency
+
+			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 altimeter and TeleDongle
+			must be configured to the same frequency to
+			successfully communicate with each other.
+
+		==== Callsign
+
+			This sets the callsign used for telemetry,
+			APRS and the packet link. For telemetry and
+			APRS, this is used to identify the device. For
+			the packet link, the callsign must match that
+			configured in AltosUI or the link will not
+			work. This is to prevent accidental
+			configuration of another Altus Metrum flight
+			computer operating on the same frequency
+			nearby.
+
+		==== Telemetry/RDF/APRS Enable
+
+			You can completely disable the radio while in
+			flight, if necessary. This doesn't disable the
+			packet link in idle mode.
+
+		==== Telemetry baud rate
+
+			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.
+
+		==== APRS Interval
+
+			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.
+
+		==== APRS SSID
+
+			This selects the SSID reported in APRS
+			packets. By default, it is set to the last
+			digit of the serial number, but you can change
+			this to any value from 0 to 9.
+
+		==== Apogee Delay
+
+			Apogee delay is the number of seconds after
+			the altimeter 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.
+
+			The Altus Metrum apogee detection algorithm
+			fires exactly at 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
+			air-frames this way quite happily, including
+			Keith's successful L3 cert.
+
+		==== Apogee Lockout
+
+			Apogee lockout is the number of seconds after
+			boost where the flight computer will not fire
+			the apogee charge, even if the rocket appears
+			to be at apogee. This is often called 'Mach
+			Delay', as it is intended to prevent a flight
+			computer from unintentionally firing apogee
+			charges due to the pressure spike that occurrs
+			across a mach transition. Altus Metrum flight
+			computers include a Kalman filter which is not
+			fooled by this sharp pressure increase, and so
+			this setting should be left at the default
+			value of zero to disable it.
+
+		==== Main Deployment Altitude
+
+			By default, the altimeter 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
+			air-frames, 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.
+
+		==== Maximum Flight Log
+
+			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.
+
+			Even though our flight computers (except TeleMini v1.0) can store
+			multiple flights, we strongly recommend downloading and saving
+			flight data after each flight.
+
+		==== Ignite Mode
+
+			Instead of firing one charge at apogee and
+			another charge at a fixed height above the
+			ground, you can configure the altimeter to
+			fire both at apogee or both during
+			descent. This was added to support an airframe
+			Bdale designed that had two altimeters, one in
+			the fin can and one in the nose.
+
+			Providing the ability to use both igniters for
+			apogee or main allows some level of redundancy
+			without needing two flight computers.  In
+			Redundant Apogee or Redundant Main mode, the
+			two charges will be fired two seconds apart.
+
+		==== Pad Orientation
+
+			TeleMetrum, TeleMega and EasyMega measure
+			acceleration along the axis of the
+			board. Which way the board is oriented affects
+			the sign of the acceleration value. Instead of
+			trying to guess which way the board is mounted
+			in the air frame, the altimeter must be
+			explicitly configured for either Antenna Up or
+			Antenna Down. The default, Antenna Up, expects
+			the end of the board connected to the 70cm
+			antenna to be nearest the nose of the rocket,
+			with the end containing the screw terminals
+			nearest the tail.
+
+		==== Configurable Pyro Channels
+
+			In addition to the usual Apogee and Main pyro
+			channels, TeleMega and EasyMega have four
+			additional channels that can be configured to
+			activate when various flight conditions are
+			satisfied. You can select as many conditions
+			as necessary; all of them must be met in order
+			to activate the channel. The conditions
+			available are:
+
+			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
+			&gt; 0.
+
+			Descending:: A simple test saying whether the
+			rocket is going down or not. This is exactly
+			equivalent to testing whether the speed is
+			&lt; 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.
diff --git a/doc/telemega.inc b/doc/telemega.inc
new file mode 100644
index 00000000..12db50d6
--- /dev/null
+++ b/doc/telemega.inc
@@ -0,0 +1,121 @@
+== TeleMega
+
+	image::telemega-v1.0-top.jpg[width="5.5in"]
+
+	TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
+	designed to easily fit in a 38mm coupler. Like TeleMetrum,
+	TeleMega has an accelerometer and so it must be mounted so that
+	the board is aligned with the flight axis. It can be mounted
+	either antenna up or down.
+
+	=== TeleMega Screw Terminals
+
+		TeleMega has two sets of nine screw terminals on the end of
+		the board opposite the telemetry antenna. They are as follows:
+
+		[options="header",grid="all",cols="2,3,10"]
+		|====
+		|Terminal #|Terminal Name|Description
+
+		|Top 1
+		|Switch Input
+		|Switch connection to positive battery terminal
+
+		|Top 2
+		|Switch Output
+		|Switch connection to flight computer
+
+		|Top 3
+		|GND
+		|Ground connection for use with external active switch
+
+		|Top 4
+		|Main -
+		|Main pyro channel connection to pyro circuit
+
+		|Top 5
+		|Main +
+		|Main pyro channel common connection to battery +
+
+		|Top 6
+		|Apogee -
+		|Apogee pyro channel connection to pyro circuit
+
+		|Top 7
+		|Apogee +
+		|Apogee pyro channel common connection to battery +
+
+		|Top 8
+		|D -
+		|D pyro channel connection to pyro circuit
+
+		|Top 9
+		|D +
+		|D pyro channel common connection to battery +
+
+		|Bottom 1
+		|GND
+		|Ground connection for negative pyro battery terminal
+
+		|Bottom 2
+		|Pyro
+		|Positive pyro battery terminal
+
+		|Bottom 3
+		|Lipo
+		|Power switch output. Use to connect main battery to pyro battery input
+
+		|Bottom 4
+		|A -
+		|A pyro channel connection to pyro circuit
+
+		|Bottom 5
+		|A +
+		|A pyro channel common connection to battery +
+
+		|Bottom 6
+		|B -
+		|B pyro channel connection to pyro circuit
+
+		|Bottom 7
+		|B +
+		|B pyro channel common connection to battery +
+
+		|Bottom 8
+		|C -
+		|C pyro channel connection to pyro circuit
+
+		|Bottom 9
+		|C +
+		|C pyro channel common connection to battery +
+		|====
+
+      	=== Using a Separate Pyro Battery with TeleMega
+
+		TeleMega provides explicit support for an external pyro
+		battery. All that is required is to remove the jumper
+		between the lipo terminal (Bottom 3) and the pyro terminal
+		(Bottom 2). Then hook the negative pyro battery terminal to ground
+		(Bottom 1) and the positive pyro battery to the pyro battery
+		input (Bottom 2). You can then use the existing pyro screw
+		terminals to hook up all of the pyro charges.
+
+      	=== Using Only One Battery With TeleMega
+
+		Because TeleMega has built-in support for a separate pyro
+		battery, if you want to fly with just one battery running
+		both the computer and firing the charges, you need to
+		connect the flight computer battery to the pyro
+		circuit. TeleMega has two screw terminals for this—hook a
+		wire from the Lipo terminal (Bottom 3) to the Pyro terminal
+		(Bottom 2).
+
+      	=== Using an Active Switch with TeleMega
+
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground.
+
+		The positive battery terminal is available on Top terminal
+		1, the positive flight computer input is on Top terminal
+		2. Ground is on Top terminal 3.
diff --git a/doc/telemini-v1.0.inc b/doc/telemini-v1.0.inc
index 7b9357e8..11a2c9f9 100644
--- a/doc/telemini-v1.0.inc
+++ b/doc/telemini-v1.0.inc
@@ -28,6 +28,7 @@
 		[options="header",grid="all",cols="2,3,10"]
 		|====
 		|Terminal #|Terminal Name|Description
+
 		|1
 		|Apogee -
 		|Apogee pyro channel connection to pyro circuit
diff --git a/doc/telemini-v2.0.inc b/doc/telemini-v2.0.inc
new file mode 100644
index 00000000..63e6db5d
--- /dev/null
+++ b/doc/telemini-v2.0.inc
@@ -0,0 +1,89 @@
+== TeleMini v2.0
+
+	image::telemini-v2-top.jpg[width="5.5in"]
+
+      
+	TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
+	on-board data logging memory, a built-in USB connector and
+	screw terminals for the battery and power switch. The larger
+	board fits in a 24mm coupler. There's also a battery connector
+	for a LiPo battery if you want to use one of those.
+
+	=== TeleMini v2.0 Screw Terminals
+	
+		TeleMini v2.0 has two sets of four screw terminals on the end of the
+		board opposite the telemetry antenna. Using the picture
+		above, the top four have connections for the main pyro
+		circuit and an external battery and the bottom four have
+		connections for the apogee pyro circuit and the power
+		switch. Counting from the left, the connections are as follows:
+
+		[options="header",grid="all",cols="2,3,10"]
+		|====
+		|Terminal #|Terminal Name|Description
+		|Top 1
+		|Main -
+		|Main pyro channel connection to pyro circuit
+	      
+		|Top 2
+		|Main +
+		|Main pyro channel common connection to battery +
+	      
+		|Top 3
+		|Battery +
+		|Positive external battery terminal
+	      
+		|Top 4
+		|Battery -
+		|Negative external battery terminal
+	      
+		|Bottom 1
+		|Apogee -
+		|Apogee pyro channel connection to pyro circuit
+	      
+		|Bottom 2
+		|Apogee +
+		|Apogee pyro channel common connection to battery +
+	      
+		|Bottom 3
+		|Switch Output
+		|Switch connection to flight computer
+	      
+		|Bottom 4
+		|Switch Input
+		|Switch connection to positive battery terminal
+		|====
+
+
+      	=== Using a Separate Pyro Battery with TeleMini v2.0
+	
+		As described above, using an external pyro battery involves
+		connecting the negative battery terminal to the flight
+		computer ground, connecting the positive battery terminal to
+		one of the igniter leads and connecting the other igniter
+		lead to the per-channel pyro circuit connection.
+
+		To connect the negative pyro battery terminal to TeleMini
+		ground, connect it to the negative external battery
+		connection, top terminal 4.
+
+		Connecting the positive battery terminal to the pyro
+		charges must be done separate from TeleMini v2.0, by soldering
+		them together or using some other connector.
+
+		The other lead from each pyro charge is then inserted into
+		the appropriate per-pyro channel screw terminal (top
+		terminal 1 for the Main charge, bottom terminal 1 for the
+		Apogee charge).
+
+      	=== Using an Active Switch with TeleMini v2.0
+	
+	  As explained above, an external active switch requires three
+	  connections, one to the positive battery terminal, one to
+	  the flight computer positive input and one to ground. Use
+	  the negative external battery connection, top terminal 4 for
+	  ground.
+		
+	  The positive battery terminal is available on bottom
+	  terminal 4, the positive flight computer input is on the
+	  bottom terminal 3.
-- 
cgit v1.2.3


From 5ddf9525f94f38c20327d1f2b43917e43519b949 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 29 Oct 2015 18:14:38 -0700
Subject: doc: Add asciidoc version of altosui chapter.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile             |   3 +
 doc/altosui.inc          | 962 +++++++++++++++++++++++++++++++++++++++++++++++
 doc/altusmetrum.txt      |  29 +-
 doc/dedication.inc       |  26 ++
 doc/easymini.inc         |  23 ++
 doc/pyro-channels.inc    | 110 ++++++
 doc/system-operation.inc | 116 +-----
 doc/telemini-v2.0.inc    |  40 +-
 doc/usage.inc            |  13 +-
 9 files changed, 1172 insertions(+), 150 deletions(-)
 create mode 100644 doc/altosui.inc
 create mode 100644 doc/dedication.inc
 create mode 100644 doc/pyro-channels.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 85011cfa..b9f46196 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -63,6 +63,7 @@ PICTURES=\
 
 TXT_FILES=altusmetrum.txt
 INC_FILES=\
+	dedication.inc \
 	intro.inc \
 	getting-started.inc \
 	usage.inc \
@@ -73,7 +74,9 @@ INC_FILES=\
 	telemega.inc \
 	easymega.inc \
 	installation.inc \
+	altosui.inc \
 	system-operation.inc \
+	pyro-channels.inc \
 	flight-data-recording.inc \
 	handling.inc \
 	specs.inc
diff --git a/doc/altosui.inc b/doc/altosui.inc
new file mode 100644
index 00000000..8297c0a0
--- /dev/null
+++ b/doc/altosui.inc
@@ -0,0 +1,962 @@
+== AltosUI
+
+	.AltosUI Main Window
+	image::altosui.png[width="4.6in"]
+
+	The AltosUI program provides a graphical user interface for
+	interacting with the Altus Metrum product family. AltosUI can
+	monitor telemetry data, configure devices and many other
+	tasks. The primary interface window provides a selection of
+	buttons, one for each major activity in the system.  This
+	chapter is split into sections, each of which documents one of
+	the tasks provided from the top-level toolbar.
+
+    	=== Monitor Flight
+	////
+	      <subtitle>Receive, Record and Display Telemetry Data</subtitle>
+	////
+
+		Selecting this item brings up a dialog box listing all
+		of the connected TeleDongle devices. When you choose
+		one of these, AltosUI will create a window to display
+		telemetry data as received by the selected TeleDongle
+		device.
+
+		.Device Selection Dialog
+		image::device-selection.png[width="3.1in"]
+
+		All telemetry data received are automatically recorded
+		in suitable log files. The name of the files includes
+		the current date and rocket serial and flight numbers.
+
+		The radio frequency being monitored by the TeleDongle
+		device is displayed at the top of the window. You can
+		configure the frequency by clicking on the frequency
+		box and selecting the desired frequency. AltosUI
+		remembers the last frequency selected for each
+		TeleDongle and selects that automatically the next
+		time you use that device.
+
+		Below the TeleDongle frequency selector, the window
+		contains a few significant pieces of information about
+		the altimeter providing the telemetry data stream:
+
+		 * The configured call-sign
+
+		 * The device serial number
+
+		 * The flight number. Each altimeter remembers how
+		   many times it has flown.
+
+		 * The rocket flight state. Each flight passes through
+		   several states including Pad, Boost, Fast, Coast,
+		   Drogue, Main and Landed.
+
+		 * The Received Signal Strength Indicator value. This
+		   lets you know how strong a signal TeleDongle is
+		   receiving. At the default data rate, 38400 bps, in
+		   bench testing, the radio inside TeleDongle v0.2
+		   operates down to about -106dBm, while the v3 radio
+		   works down to about -111dBm.  Weaker signals, or an
+		   environment with radio noise may cause the data to
+		   not be received. The packet link uses error
+		   detection and correction techniques which prevent
+		   incorrect data from being reported.
+
+		 * 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.
+
+		Finally, the largest portion of the window contains a
+		set of tabs, each of which contain some information
+		about the rocket.  They're arranged in 'flight order'
+		so that as the flight progresses, the selected tab
+		automatically switches to display data relevant to the
+		current state of the flight. You can select other tabs
+		at any time. The final 'table' tab displays all of the
+		raw telemetry values in one place in a
+		spreadsheet-like format.
+
+		==== Launch Pad
+
+			.Monitor Flight Launch Pad View
+			image::launch-pad.png[width="5.5in"]
+
+			The 'Launch Pad' tab shows information used to decide when the
+			rocket is ready for flight. The first elements include red/green
+			indicators, if any of these is red, you'll want to evaluate
+			whether the rocket is ready to launch:
+
+			Battery Voltage::
+			This indicates whether the Li-Po battery powering the
+			flight computer has sufficient charge to last for
+			the duration of the flight. A value of more than
+			3.8V is required for a 'GO' status.
+
+			Apogee Igniter Voltage::
+			This indicates whether the apogee
+			igniter has continuity. If the igniter has a low
+			resistance, then the voltage measured here will be close
+			to the Li-Po battery voltage. A value greater than 3.2V is
+			required for a 'GO' status.
+
+			Main Igniter Voltage::
+			This indicates whether the main
+			igniter has continuity. If the igniter has a low
+			resistance, then the voltage measured here will be close
+			to the Li-Po battery voltage. A value greater than 3.2V is
+			required for a 'GO' status.
+
+			On-board Data Logging::
+			This indicates whether there is space remaining
+			on-board to store flight data for the upcoming
+			flight. If you've downloaded data, but failed to erase
+			flights, there may not be any space left. Most of our
+			flight computers can store multiple flights, depending
+			on the configured maximum flight log size. TeleMini
+			v1.0 stores only a single flight, so it will need to
+			be downloaded and erased after each flight to capture
+			data. This only affects on-board flight logging; the
+			altimeter will still transmit telemetry and fire
+			ejection charges at the proper times even if the
+			flight data storage is full.
+
+			GPS Locked::
+			For a TeleMetrum or TeleMega device, this indicates
+			whether the GPS receiver is currently able to compute
+			position information. GPS requires at least 4
+			satellites to compute an accurate position.
+
+			GPS Ready::
+
+			For a TeleMetrum or TeleMega device, this indicates
+			whether GPS has reported at least 10 consecutive
+			positions without losing lock. This ensures that the
+			GPS receiver has reliable reception from the
+			satellites.
+
+			The Launchpad tab also shows the computed launch pad
+			position and altitude, averaging many reported
+			positions to improve the accuracy of the fix.
+
+		==== Ascent
+
+			.Monitor Flight Ascent View
+			image::ascent.png[width="5.5in"]
+
+			This tab is shown during Boost, Fast and Coast
+			phases. The information displayed here helps monitor the
+			rocket as it heads towards apogee.
+
+			The height, speed, acceleration and tilt are shown along
+			with the maximum values for each of them. This allows you to
+			quickly answer the most commonly asked questions you'll hear
+			during flight.
+
+			The current latitude and longitude reported by the GPS are
+			also shown. Note that under high acceleration, these values
+			may not get updated as the GPS receiver loses position
+			fix. Once the rocket starts coasting, the receiver should
+			start reporting position again.
+
+			Finally, the current igniter voltages are reported as in the
+			Launch Pad tab. This can help diagnose deployment failures
+			caused by wiring which comes loose under high acceleration.
+
+		==== Descent
+
+			.Monitor Flight Descent View
+			image::descent.png[width="5.5in"]
+
+			Once the rocket has reached apogee and (we hope)
+			activated the apogee charge, attention switches to
+			tracking the rocket on the way back to the ground, and
+			for dual-deploy flights, waiting for the main charge
+			to fire.
+
+			To monitor whether the apogee charge operated
+			correctly, the current descent rate is reported along
+			with the current height. Good descent rates vary based
+			on the choice of recovery components, but generally
+			range from 15-30m/s on drogue and should be below
+			10m/s when under the main parachute in a dual-deploy
+			flight.
+
+			With GPS-equipped flight computers, you can locate the
+			rocket in the sky using the elevation and bearing
+			information to figure out where to look. Elevation is
+			in degrees above the horizon. Bearing is reported in
+			degrees relative to true north. Range can help figure
+			out how big the rocket will appear. Ground Distance
+			shows how far it is to a point directly under the
+			rocket and can help figure out where the rocket is
+			likely to land. Note that all of these values are
+			relative to the pad location. If the elevation is near
+			90°, the rocket is over the pad, not over you.
+
+			Finally, the igniter voltages are reported in this tab
+			as well, both to monitor the main charge as well as to
+			see what the status of the apogee charge is.  Note
+			that some commercial e-matches are designed to retain
+			continuity even after being fired, and will continue
+			to show as green or return from red to green after
+			firing.
+
+		==== Landed
+
+			.Monitor Flight Landed View
+			image::landed.png[width="5.5in"]
+
+			Once the rocket is on the ground, attention switches
+			to recovery. While the radio signal is often lost once
+			the rocket is on the ground, the last reported GPS
+			position is generally within a short distance of the
+			actual landing location.
+
+			The last reported GPS position is reported both by
+			latitude and longitude as well as a bearing and
+			distance from the launch pad. The distance should give
+			you a good idea of whether to walk or hitch a ride.
+			Take the reported latitude and longitude and enter
+			them into your hand-held GPS unit and have that
+			compute a track to the landing location.
+
+			Our flight computers will continue to transmit RDF
+			tones after landing, allowing you to locate the rocket
+			by following the radio signal if necessary. You may
+			need to get away from the clutter of the flight line,
+			or even get up on a hill (or your neighbor's RV roof)
+			to receive the RDF signal.
+
+			The maximum height, speed and acceleration reported
+			during the flight are displayed for your admiring
+			observers.  The accuracy of these immediate values
+			depends on the quality of your radio link and how many
+			packets were received.  Recovering the on-board data
+			after flight may yield more precise results.
+
+			To get more detailed information about the flight, you
+			can click on the 'Graph Flight' button which will
+			bring up a graph window for the current flight.
+
+		==== Table
+
+			.Monitor Flight Table View
+			image::table.png[width="5.5in"]
+
+			The table view shows all of the data available from the
+			flight computer. Probably the most useful data on
+			this tab is the detailed GPS information, which includes
+			horizontal dilution of precision information, and
+			information about the signal being received from the satellites.
+
+		==== Site Map
+
+			.Monitor Flight Site Map View
+			image::site-map.png[width="5.5in"]
+
+			When the TeleMetrum has a GPS fix, the Site Map tab
+			will map the rocket's position to make it easier for
+			you to locate the rocket, both while it is in the air,
+			and when it has landed. The rocket's state is
+			indicated by color: white for pad, red for boost, pink
+			for fast, yellow for coast, light blue for drogue,
+			dark blue for main, and black for landed.
+
+			The map's 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.
+
+			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.
+
+			Images are fetched automatically via the Google Maps
+			Static API, and cached on disk for reuse. If map
+			images cannot be downloaded, the rocket's path will be
+			traced on a dark gray background instead.
+
+			You can pre-load images for your favorite launch sites
+			before you leave home; check out the 'Preload Maps'
+			section below.
+
+		==== Igniter
+
+			.Monitor Flight Additional Igniter View
+			image::ignitor.png[width="5.5in"]
+
+			TeleMega includes four additional programmable pyro
+			channels. The Ignitor tab shows whether each of them has
+			continuity. If an ignitor has a low resistance, then the
+			voltage measured here will be close to the pyro battery
+			voltage. A value greater than 3.2V is required for a 'GO'
+			status.
+
+	=== Save Flight Data
+
+		The altimeter records flight data to its internal
+		flash memory.  TeleMetrum data is recorded at a much
+		higher rate than the telemetry system can handle, and
+		is not subject to radio drop-outs. As such, it
+		provides a more complete and precise record of the
+		flight. The 'Save Flight Data' button allows you to
+		read the flash memory and write it to disk.
+
+		Clicking on the 'Save Flight Data' button brings up a
+		list of connected flight computers and TeleDongle
+		devices. If you select a flight computer, the flight
+		data will be downloaded from that device directly. If
+		you select a TeleDongle device, flight data will be
+		downloaded from a flight computer over radio link via
+		the specified TeleDongle. See the chapter on
+		Controlling An Altimeter Over The Radio Link for more
+		information.
+
+		After the device has been selected, a dialog showing
+		the flight data saved in the device will be shown
+		allowing you to select which flights to download and
+		which to delete. With version 0.9 or newer firmware,
+		you must erase flights in order for the space they
+		consume to be reused by another flight. This prevents
+		accidentally losing flight data if you neglect to
+		download data before flying again. Note that if there
+		is no more space available in the device, then no data
+		will be recorded during the next flight.
+
+		The file name for each flight log is computed
+		automatically from the recorded flight date, altimeter
+		serial number and flight number information.
+
+	=== Replay Flight
+
+		Select this button and you are prompted to select a flight
+		record file, either a .telem file recording telemetry data or a
+		.eeprom file containing flight data saved from the altimeter
+		flash memory.
+
+		Once a flight record is selected, the flight monitor interface
+		is displayed and the flight is re-enacted in real time. Check
+		the Monitor Flight chapter above to learn how this window operates.
+
+	=== Graph Data
+
+		Select this button and you are prompted to select a flight
+		record file, either a .telem file recording telemetry data or a
+		.eeprom file containing flight data saved from
+		flash memory.
+
+		Note that telemetry files will generally produce poor graphs
+		due to the lower sampling rate and missed telemetry packets.
+		Use saved flight data in .eeprom files for graphing where possible.
+
+		Once a flight record is selected, a window with multiple tabs is
+		opened.
+
+		==== Flight Graph
+
+			image::graph.png[width="5.5in"]
+
+			By default, the graph contains acceleration (blue),
+			velocity (green) and altitude (red).
+
+			The graph can be zoomed into a particular area by
+			clicking and dragging down and to the right. Once
+			zoomed, the graph can be reset by clicking and
+			dragging up and to the left. Holding down control and
+			clicking and dragging allows the graph to be panned.
+			The right mouse button causes a pop-up menu to be
+			displayed, giving you the option save or print the
+			plot.
+
+		==== Configure Graph
+
+			image::graph-configure.png[width="5.5in"]
+
+			This selects which graph elements to show, and, at the
+			very bottom, lets you switch between metric and
+			imperial units
+
+		==== Flight Statistics
+
+			image::graph-stats.png[width="5.5in"]
+
+			Shows overall data computed from the flight.
+
+		==== Map
+
+			image::graph-map.png[width="5.5in"]
+
+			Shows a satellite image of the flight area overlaid
+			with the path of the flight. The red concentric
+			circles mark the launch pad, the black concentric
+			circles mark the landing location.
+
+	=== Export Data
+
+		This tool takes the raw data files and makes them
+		available for external analysis. When you select this
+		button, you are prompted to select a flight data file,
+		which can be either a .eeprom or .telem.  The .eeprom
+		files contain higher resolution and more continuous
+		data, while .telem files contain receiver signal
+		strength information.  Next, a second dialog appears
+		which is used to select where to write the resulting
+		file. It has a selector to choose between CSV and KML
+		file formats.
+
+		==== Comma Separated Value Format
+
+			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 the altimeter, 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.
+
+			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.
+
+		==== Keyhole Markup Language (for Google Earth)
+
+			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.
+
+	=== Configure Altimeter
+
+		image::configure-altimeter.png[width="3.6in"]
+
+		Select this button and then select either an altimeter or
+		TeleDongle Device from the list provided. Selecting a TeleDongle
+		device will use the radio link to configure a remote altimeter.
+
+		The first few lines of the dialog provide information about the
+		connected device, including the product name,
+		software version and hardware serial number. Below that are the
+		individual configuration entries.
+
+		At the bottom of the dialog, there are four buttons:
+
+		Save::
+		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.
+
+		Reset::
+		This resets the dialog to the most recently saved
+		values, erasing any changes you have made.
+
+		Reboot::
+
+		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.
+
+		Close::
+
+		This closes the dialog. Any unsaved changes will be
+		lost.
+
+	        The rest of the dialog contains the parameters to be configured.
+
+		==== Main Deploy Altitude
+
+			This sets the altitude (above the recorded pad
+			altitude) at which the 'main' igniter will fire. The
+			drop-down menu shows some common values, but you can
+			edit the text directly and choose whatever you
+			like. If the apogee charge fires below this altitude,
+			then the main charge will fire two seconds after the
+			apogee charge fires.
+
+		==== Apogee Delay
+
+			When flying redundant electronics, it's often
+			important to ensure that multiple apogee charges don't
+			fire at precisely the same time, as that can over
+			pressurize the apogee deployment bay and cause a
+			structural failure of the air-frame. The Apogee Delay
+			parameter tells the flight computer to fire the apogee
+			charge a certain number of seconds after apogee has
+			been detected.
+
+		==== Apogee Lockout
+
+			Apogee lockout is the number of seconds after boost
+			where the flight computer will not fire the apogee
+			charge, even if the rocket appears to be at
+			apogee. This is often called 'Mach Delay', as it is
+			intended to prevent a flight computer from
+			unintentionally firing apogee charges due to the
+			pressure spike that occurrs across a mach
+			transition. Altus Metrum flight computers include a
+			Kalman filter which is not fooled by this sharp
+			pressure increase, and so this setting should be left
+			at the default value of zero to disable it.
+
+		==== Frequency
+
+			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.
+
+		==== RF Calibration
+
+			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.
+
+      		==== Telemetry/RDF/APRS Enable
+
+			Enables the radio for transmission during
+			flight. When disabled, the radio will not
+			transmit anything during flight at all.
+
+      		==== Telemetry baud rate
+
+			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.
+
+      		==== APRS Interval
+
+			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.
+
+      		==== APRS SSID
+
+			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.
+
+		==== Callsign
+
+			This sets the call sign included in each
+			telemetry packet. Set this as needed to
+			conform to your local radio regulations.
+
+      		==== Maximum Flight Log Size
+
+			This sets the space (in kilobytes) allocated
+			for each flight log. The available space will
+			be divided into chunks of this size. A smaller
+			value will allow more flights to be stored, a
+			larger value will record data from longer
+			flights.
+
+      		==== Ignitor Firing Mode
+
+			This configuration parameter allows the two standard ignitor
+			channels (Apogee and Main) to be used in different
+			configurations.
+
+			Dual Deploy::
+			This is the usual mode of operation; the
+			'apogee' channel is fired at apogee and the
+			'main' channel at the height above ground
+			specified by the 'Main Deploy Altitude' during
+			descent.
+
+			Redundant Apogee::
+			This fires both channels at apogee, the
+			'apogee' channel first followed after a two
+			second delay by the 'main' channel.
+
+			Redundant Main::
+			This fires both channels at the height above
+			ground specified by the Main Deploy Altitude
+			setting during descent. The 'apogee' channel
+			is fired first, followed after a two second
+			delay by the 'main' channel.
+
+      		==== Pad Orientation
+
+			Because they include accelerometers,
+			TeleMetrum, TeleMega and EasyMega are
+			sensitive to the orientation of the board. By
+			default, they expect the antenna end to point
+			forward. This parameter allows that default to
+			be changed, permitting the board to be mounted
+			with the antenna pointing aft instead.
+
+			Antenna Up::
+			In this mode, the antenna end of the flight
+			computer must point forward, in line with the
+			expected flight path.
+
+			Antenna Down::
+			In this mode, the antenna end of the flight
+			computer must point aft, in line with the
+			expected flight path.
+
+      		==== Beeper Frequency
+
+			The beeper on all Altus Metrum flight
+			computers works best at 4000Hz, however if you
+			have more than one flight computer in a single
+			airframe, having all of them sound at the same
+			frequency can be confusing. This parameter
+			lets you adjust the base beeper frequency
+			value.
+
+      		==== Configure Pyro Channels
+
+			image::configure-pyro.png[width="5.5in"]
+
+			This opens a separate window to configure the
+			additional pyro channels available on TeleMega
+			and EasyMega.  One column is presented for
+			each channel. Each row represents a single
+			parameter, if enabled the parameter must meet
+			the specified test for the pyro channel to be
+			fired.
+
+			Select conditions and set the related value;
+			the pyro channel will be activated when *all*
+			of the conditions are met. Each pyro channel
+			has a separate set of configuration values, so
+			you can use different values for the same
+			condition with different channels.
+
+			At the bottom of the window, the 'Pyro Firing
+			Time' configuration sets the length of time
+			(in seconds) which each of these pyro channels
+			will fire for.
+
+			Once you have selected the appropriate
+			configuration for all of the necessary pyro
+			channels, you can save the pyro configuration
+			along with the rest of the flight computer
+			configuration by pressing the 'Save' button in
+			the main Configure Flight Computer window.
+
+			include::pyro-channels.raw[]
+
+	=== Configure AltosUI
+
+		image:configure-altosui.png[width="2.4in"]
+
+		This button presents a dialog so that you can
+		configure the AltosUI global settings.
+
+            	==== Voice Settings
+
+			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.
+
+			Enable::
+			Turns all voice announcements on and off
+
+			Test Voice::
+			Plays a short message allowing you to verify
+			that the audio system is working and the volume settings
+			are reasonable
+
+      		==== Log Directory
+
+			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.
+
+			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.
+
+      		==== Callsign
+
+			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.
+
+			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.
+
+		==== Imperial Units
+
+			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.
+
+		==== Font Size
+
+			Selects the set of fonts used in the flight
+			monitor window. Choose between the small,
+			medium and large sets.
+
+      		==== Serial Debug
+
+			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.
+
+		==== Manage Frequencies
+
+			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.
+
+	=== Configure Groundstation
+
+		image:configure-groundstation.png[width="3.1in"]
+
+			Select this button and then select a
+			TeleDongle or TeleBT Device from the list
+			provided.
+
+			The first few lines of the dialog provide
+			information about the connected device,
+			including the product name, software version
+			and hardware serial number. Below that are the
+			individual configuration entries.
+
+			Note that TeleDongle and TeleBT don't save any
+			configuration data, the settings here are
+			recorded on the local machine in the Java
+			preferences database. Moving the device to
+			another machine, or using a different user
+			account on the same machine will cause
+			settings made here to have no effect.
+
+			At the bottom of the dialog, there are three
+			buttons:
+
+			Save::
+			This writes any changes to the local Java
+			preferences file. If you don't press this
+			button, any changes you make will be lost.
+
+			Reset::
+			This resets the dialog to the most recently
+			saved values, erasing any changes you have
+			made.
+
+			Close::
+			This closes the dialog. Any unsaved changes
+			will be lost.
+
+			The rest of the dialog contains the parameters
+			to be configured.
+
+		==== Frequency
+
+			This configures the frequency to use for both
+			telemetry and packet command mode. Set this
+			before starting any operation involving packet
+			command mode so that it will use the right
+			frequency. Telemetry monitoring mode also
+			provides a menu to change the frequency, and
+			that menu also sets the same Java preference
+			value used here.
+
+		==== RF Calibration
+
+			The radios in every Altus Metrum device are
+			calibrated at the factory to ensure that they
+			transmit and receive on the specified
+			frequency.  To change a TeleDongle or TeleBT's
+			calibration, you must reprogram the unit
+			completely, so this entry simply shows the
+			current value and doesn't allow any changes.
+
+	      	==== Telemetry Rate
+
+			This lets you match the telemetry and packet
+			link rate from the transmitter. If they don't
+			match, the device won't receive any data.
+
+	=== Flash Image
+
+		This reprograms Altus Metrum devices with new
+		firmware. TeleMetrum v1.x, TeleDongle v0.2, TeleMini
+		and TeleBT are all reprogrammed by using another
+		similar unit as a programming dongle (pair
+		programming). TeleMega, EasyMega, TeleMetrum v2,
+		EasyMini and TeleDongle v3 are all programmed directly
+		over their USB ports (self programming).  Please read
+		the directions for flashing devices in the Updating
+		Device Firmware chapter below.
+
+	=== Fire Igniter
+
+		image::fire-igniter.png[width="1.2in"]
+
+		This activates the igniter circuits in the flight
+		computer to help test recovery systems
+		deployment. Because this command can operate over the
+		Packet Command Link, you can prepare the rocket as for
+		flight and then test the recovery system without
+		needing to snake wires inside the air-frame.
+
+		Selecting the 'Fire Igniter' button brings up the
+		usual device selection dialog. Pick the desired
+		device. This brings up another window which shows the
+		current continuity test status for all of the pyro
+		channels.
+
+		Next, select the desired igniter to fire. This will
+		enable the 'Arm' button.
+
+		Select the 'Arm' button. This enables the 'Fire'
+		button. The word 'Arm' is replaced by a countdown
+		timer indicating that you have 10 seconds to press the
+		'Fire' button or the system will deactivate, at which
+		point you start over again at selecting the desired
+		igniter.
+
+	=== Scan Channels
+
+		image::scan-channels.png[width="3.2in"]
+
+		This listens for telemetry packets on all of the
+		configured frequencies, displaying information about
+		each device it receives a packet from. You can select
+		which of the baud rates and telemetry formats should
+		be tried; by default, it only listens at 38400 baud
+		with the standard telemetry format used in v1.0 and
+		later firmware.
+
+	=== Load Maps
+
+		image::load-maps.png[width="5.2in"]
+
+		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.
+
+		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
+
+		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:
+
+		Hybrid::
+		A combination of satellite imagery and road data. This
+		is the default view.
+
+		Satellite::
+		Just the satellite imagery without any annotation.
+
+		Roadmap::
+		Roads, political boundaries and a few geographic
+		features.
+
+		Terrain::
+		Contour intervals and shading that show hills and
+		valleys.
+
+		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.
+
+		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.
+
+		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.
+
+	=== Monitor Idle
+
+		image::monitor-idle.png[width="5.2in"]
+
+		This brings up a dialog similar to the Monitor Flight
+		UI, except it works with the altimeter in “idle” mode
+		by sending query commands to discover the current
+		state rather than listening for telemetry
+		packets. Because this uses command mode, it needs to
+		have the TeleDongle and flight computer callsigns
+		match exactly. If you can receive telemetry, but
+		cannot manage to run Monitor Idle, then it's very
+		likely that your callsigns are different in some way.
+
+		You can change the frequency and callsign used to
+		communicate with the flight computer; they must both
+		match the configuration in the flight computer
+		exactly.
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index 82e456a0..f631a31f 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -3,32 +3,7 @@
 :doctype: book
 :numbered:
 
-	[dedication]
-	== Acknowledgments
-
-		Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
-		Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
-		Kit” which formed the basis of the original Getting Started chapter
-		in this manual.  Bob was one of our first customers for a production
-		TeleMetrum, and his continued enthusiasm and contributions
-		are immensely gratifying and highly appreciated!
-
-		And thanks to Anthony (AJ) Towns for major contributions including
-		the AltosUI 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!
-
-		Have fun using these products, and we hope to meet all of you
-		out on the rocket flight line somewhere.
-
-		[verse]
-		Bdale Garbee, KB0G
-		NAR #87103, TRA #12201
-
-		[verse]
-		Keith Packard, KD7SQG
-		NAR #88757, TRA #12200
+	include::dedication.raw[]
 
 	include::intro.raw[]
 
@@ -50,6 +25,8 @@
 
 	include::installation.raw[]
 
+	include::altosui.raw[]
+
 	include::system-operation.raw[]
 
 	include::handling.raw[]
diff --git a/doc/dedication.inc b/doc/dedication.inc
new file mode 100644
index 00000000..6fac8e45
--- /dev/null
+++ b/doc/dedication.inc
@@ -0,0 +1,26 @@
+[dedication]
+== Acknowledgments
+
+	Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
+	Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
+	Kit” which formed the basis of the original Getting Started chapter
+	in this manual.  Bob was one of our first customers for a production
+	TeleMetrum, and his continued enthusiasm and contributions
+	are immensely gratifying and highly appreciated!
+
+	And thanks to Anthony (AJ) Towns for major contributions including
+	the AltosUI 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!
+
+	Have fun using these products, and we hope to meet all of you
+	out on the rocket flight line somewhere.
+
+	[verse]
+	Bdale Garbee, KB0G
+	NAR #87103, TRA #12201
+
+	[verse]
+	Keith Packard, KD7SQG
+	NAR #88757, TRA #12200
diff --git a/doc/easymini.inc b/doc/easymini.inc
index 40cb3e1a..0714d7c3 100644
--- a/doc/easymini.inc
+++ b/doc/easymini.inc
@@ -52,6 +52,29 @@
 		|Switch connection to positive battery terminal
 		|====
 
+	=== Connecting A Battery To TeleMini v2.0
+
+		There are two possible battery connections on
+		EasyMini. You can use either method; both feed
+		through the power switch terminals.
+
+		One battery connection is the standard Altus Metrum
+		white JST plug. This mates with single-cell Lithium
+		Polymer batteries sold by Altus Metrum.
+
+		The other is a pair of screw terminals marked 'Battery
+		+' and 'Battery -'. Connect a battery from 4 to 12
+		volts to these terminals, being careful to match polarity.
+
+	=== Charging Lithium Batteries
+
+		Because EasyMini allows for batteries other than the
+		standard Altus Metrum Lithium Polymer cells, it cannot
+		incorporate a battery charger circuit. Therefore, when
+		using a Litium Polymer cell, you'll need an external
+		charger. These are available from Altus Metrum, or
+		from Spark Fun.
+
       	=== Using a Separate Pyro Battery with EasyMini
 	
 		As described above, using an external pyro battery involves
diff --git a/doc/pyro-channels.inc b/doc/pyro-channels.inc
new file mode 100644
index 00000000..0da7db25
--- /dev/null
+++ b/doc/pyro-channels.inc
@@ -0,0 +1,110 @@
+
+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
+&gt; 0.
+
+Descending:: A simple test saying whether the
+rocket is going down or not. This is exactly
+equivalent to testing whether the speed is
+&lt; 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.
diff --git a/doc/system-operation.inc b/doc/system-operation.inc
index 1e57f247..bca1ee80 100644
--- a/doc/system-operation.inc
+++ b/doc/system-operation.inc
@@ -1,3 +1,4 @@
+[appendix]
 == System Operation
 
 	=== Firmware Modes
@@ -34,7 +35,7 @@
 		long). “Brap” means a long dissonant tone.
 
 		.AltOS Modes
-		[options="border",cols="1,1,1,1"]
+		[options="border",cols="1,1,2,2"]
 		|====
 		|Mode Name
 		|Abbreviation
@@ -127,7 +128,7 @@
 		Here's a summary of all of the “pad” and “idle” mode indications.
 
 		.Pad/Idle Indications
-		[options="header",cols="1,1,1"]
+		[options="header",cols="1,1,3"]
 		|====
 		|Name		|Beeps		|Description
 
@@ -619,112 +620,5 @@
 			to activate the channel. The conditions
 			available are:
 
-			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
-			&gt; 0.
-
-			Descending:: A simple test saying whether the
-			rocket is going down or not. This is exactly
-			equivalent to testing whether the speed is
-			&lt; 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.
+			include::pyro-channels.raw[]
+
diff --git a/doc/telemini-v2.0.inc b/doc/telemini-v2.0.inc
index 63e6db5d..0a6a7b2d 100644
--- a/doc/telemini-v2.0.inc
+++ b/doc/telemini-v2.0.inc
@@ -54,6 +54,28 @@
 		|Switch connection to positive battery terminal
 		|====
 
+	=== Connecting A Battery To TeleMini v2.0
+
+		There are two possible battery connections on TeleMini
+		v2.0. You can use either method; both feed through
+		the power switch terminals.
+
+		One battery connection is the standard Altus Metrum
+		white JST plug. This mates with single-cell Lithium
+		Polymer batteries sold by Altus Metrum.
+
+		The other is a pair of screw terminals marked 'Battery
+		+' and 'Battery -'. Connect a battery from 4 to 12
+		volts to these terminals, being careful to match polarity.
+
+	=== Charging Lithium Batteries
+
+		Because TeleMini v2.0 allows for batteries other than
+		the standard Altus Metrum Lithium Polymer cells, it
+		cannot incorporate a battery charger
+		circuit. Therefore, when using a Litium Polymer cell,
+		you'll need an external charger. These are available
+		from Altus Metrum, or from Spark Fun.
 
       	=== Using a Separate Pyro Battery with TeleMini v2.0
 	
@@ -78,12 +100,12 @@
 
       	=== Using an Active Switch with TeleMini v2.0
 	
-	  As explained above, an external active switch requires three
-	  connections, one to the positive battery terminal, one to
-	  the flight computer positive input and one to ground. Use
-	  the negative external battery connection, top terminal 4 for
-	  ground.
-		
-	  The positive battery terminal is available on bottom
-	  terminal 4, the positive flight computer input is on the
-	  bottom terminal 3.
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground. Use
+		the negative external battery connection, top terminal 4 for
+		ground.
+
+		The positive battery terminal is available on bottom
+		terminal 4, the positive flight computer input is on the
+		bottom terminal 3.
diff --git a/doc/usage.inc b/doc/usage.inc
index b4a93271..cc694dda 100644
--- a/doc/usage.inc
+++ b/doc/usage.inc
@@ -23,6 +23,7 @@
 		attached, which they call a
 		link:https://www.sparkfun.com/products/9914[JST Jumper 2 Wire Assembly]
 
+		[WARNING]
 		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
@@ -84,7 +85,11 @@
 		EasyMini and TeleMini v2 are designed to use either a
 		lithium polymer battery or any other battery producing
 		between 4 and 12 volts, such as a rectangular 9V
-		battery. TeleMega, EasyMega and TeleMetrum are not designed for this,
-		and must only be powered by a lithium polymer battery. Find
-		instructions on how to use other batteries in the EasyMini
-		and TeleMini sections below.
+		battery.
+
+		[WARNING]
+		TeleMega, EasyMega and TeleMetrum are only designed to
+		use a single-cell Lithium Polymer battery and cannot
+		be used with any other kind. Connecting a different
+		kind of battery to any of these will destroy the
+		board.
-- 
cgit v1.2.3


From 41aca78e3f7c17433e3c77cd3c596bbf8acab7cb Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 29 Oct 2015 18:38:46 -0700
Subject: doc: Add asciidoc version of Altos Droid manual

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile        |   1 +
 doc/altosdroid.inc  | 369 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 doc/altusmetrum.txt |   2 +
 3 files changed, 372 insertions(+)
 create mode 100644 doc/altosdroid.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index b9f46196..818bd574 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -75,6 +75,7 @@ INC_FILES=\
 	easymega.inc \
 	installation.inc \
 	altosui.inc \
+	altosdroid.inc \
 	system-operation.inc \
 	pyro-channels.inc \
 	flight-data-recording.inc \
diff --git a/doc/altosdroid.inc b/doc/altosdroid.inc
new file mode 100644
index 00000000..cdf7b96d
--- /dev/null
+++ b/doc/altosdroid.inc
@@ -0,0 +1,369 @@
+== AltosDroid
+
+	AltosDroid provides the same flight monitoring capabilities as
+	AltosUI, but runs on Android devices. AltosDroid is designed
+	to connect to a TeleBT receiver over Bluetooth™ and (on
+	Android devices supporting USB On-the-go) TeleDongle and
+	TeleBT devices over USB. AltosDroid monitors telemetry data,
+	logging it to internal storage in the Android device, and
+	presents that data in a UI similar to the 'Monitor Flight'
+	window in AltosUI.
+
+	This manual will explain how to configure AltosDroid, connect
+	to TeleBT or TeleDongle, operate the flight monitoring
+	interface and describe what the displayed data means.
+    
+	=== Installing AltosDroid
+
+		AltosDroid is available from the Google Play store. To
+		install it on your Android device, open the Google
+		Play Store application and search for
+		“altosdroid”. Make sure you don't have a space between
+		“altos” and “droid” or you probably won't find what
+		you want. That should bring you to the right page from
+		which you can download and install the application.
+      
+    	=== Charging TeleBT Battery
+
+		Before using TeleBT with AltosDroid, make sure the
+		internal TeleBT battery is charged.  To do this,
+		attach a micro USB cable from a computer or other USB
+		power source to TeleBT.  A dual LED on the circuit
+		board should illuminate, showing red while the battery
+		is charging, green when charging is completed, and
+		both red and green on at the same time if there is a
+		battery fault.
+      
+    	=== Connecting to TeleBT over Bluetooth™
+
+		Press the Android 'Menu' button or soft-key to see the
+		configuration options available. Select the 'Connect a
+		device' option and then the 'Scan for devices' entry
+		at the bottom to look for your TeleBT device. Select
+		your device, and when it asks for the code, enter
+		'1234'.
+
+		Subsequent connections will not require you to enter
+		that code, and your 'paired' device will appear in the
+		list without scanning.
+      
+    	=== Connecting to TeleDongle or TeleBT over USB
+
+		Get a special USB On-the-go adapter cable. These
+		cables have a USB micro-B male connector on one end
+		and a standard A female connector on the other
+		end. Plug in your TeleDongle or TeleBT device to the
+		adapter cable and the adapter cable into your phone
+		and AltosDroid should automatically start up. If it
+		doesn't, the most likely reason is that your Android
+		device doesn't support USB On-the-go.
+      
+    	=== Configuring AltosDroid
+
+		There are several configuration and operation
+		parameters available in the AltosDroid menu.
+      
+		Select radio frequency::
+
+		This selects which frequency to listen on by bringing
+		up a menu of pre-set radio frequencies. Pick the one
+		which matches your altimeter.
+	
+		Select data rate::
+
+		Altus Metrum transmitters can be configured to operate
+		at lower data rates to improve transmission range. If
+		you have configured your device to do this, this menu
+		item allows you to change the receiver to match.
+	
+		Change units::
+
+		This toggles between metric and imperial units.
+	
+		Load maps::
+
+		Brings up a dialog allowing you to download offline
+		map tiles so that you can have maps available even if
+		you have no network connectivity at the launch site.
+	
+		Map type::
+
+		Displays a menu of map types and lets you select
+		one. Hybrid maps include satellite images with a
+		roadmap overlaid. Satellite maps dispense with the
+		roadmap overlay. Roadmap shows just the roads. Terrain
+		includes roads along with shadows indicating changes
+		in elevation, and other geographical features.
+	
+		Toggle Online/Offline maps::
+
+		Switches between online and offline maps. Online maps
+		will show a 'move to current position' icon in the
+		upper right corner, while offline maps will have
+		copyright information all over the map. Otherwise,
+		they're pretty similar.
+	
+		Select Tracker::
+
+		Switches the information displays to show data for a
+		different transmitting device. The map will always
+		show all of the devices in view. Trackers are shown
+		and selected by serial number, so make sure you note
+		the serial number of devices in each airframe.
+
+		Delete Track::
+
+		Deletes all information about a transmitting device.
+	
+	=== AltosDroid Flight Monitoring
+
+		AltosDroid is designed to mimic the AltosUI flight
+		monitoring display, providing separate tabs for each
+		stage of your rocket flight along with a tab
+		containing a map of the local area with icons marking
+		the current location of the altimeter and the Android
+		device.
+      
+	=== Pad
+
+		The 'Pad' tab shows information used to decide when
+		the rocket is ready for flight. The first elements
+		include red/green indicators, if any of these is red,
+		you'll want to evaluate whether the rocket is ready to
+		launch.
+
+		When the pad tab is selected, the voice responses will
+		include status changes to the igniters and GPS
+		reception, letting you know if the rocket is still
+		ready for launch.
+	
+		Battery::
+
+		This indicates whether the Li-Po battery powering the
+		transmitter has sufficient charge to last for the
+		duration of the flight. A value of more than 3.8V is
+		required for a 'GO' status.
+	      
+		Receiver Battery::
+
+		This indicates whether the Li-Po battery powering the
+		TeleBT has sufficient charge to last for the duration
+		of the flight. A value of more than 3.8V is required
+		for a 'GO' status.
+	      
+		Data Logging::
+
+		This indicates whether there is space remaining
+		on-board to store flight data for the upcoming
+		flight. If you've downloaded data, but failed to erase
+		flights, there may not be any space left. TeleMetrum
+		and TeleMega can store multiple flights, depending on
+		the configured maximum flight log size. TeleGPS logs
+		data continuously. TeleMini stores only a single
+		flight, so it will need to be downloaded and erased
+		after each flight to capture data. This only affects
+		on-board flight logging; the altimeter will still
+		transmit telemetry and fire ejection charges at the
+		proper times.
+	      
+		GPS Locked::
+	    
+		For a TeleMetrum or TeleMega device, this indicates
+		whether the GPS receiver is currently able to compute
+		position information. GPS requires at least 4
+		satellites to compute an accurate position.
+	      
+		GPS Ready::
+
+		For a TeleMetrum or TeleMega device, this indicates
+		whether GPS has reported at least 10 consecutive
+		positions without losing lock. This ensures that the
+		GPS receiver has reliable reception from the
+		satellites.
+	      
+		Apogee Igniter::
+
+		This indicates whether the apogee igniter has
+		continuity. If the igniter has a low resistance, then
+		the voltage measured here will be close to the Li-Po
+		battery voltage. A value greater than 3.2V is required
+		for a 'GO' status.
+	      
+		Main Igniter::
+
+		This indicates whether the main igniter has
+		continuity. If the igniter has a low resistance, then
+		the voltage measured here will be close to the Li-Po
+		battery voltage. A value greater than 3.2V is required
+		for a 'GO' status.
+	      
+		Igniter A-D::
+
+		This indicates whether the indicated additional pyro
+		channel igniter has continuity. If the igniter has a
+		low resistance, then the voltage measured here will be
+		close to the Li-Po battery voltage. A value greater
+		than 3.2V is required for a 'GO' status.
+
+		The Pad tab also shows the location of the Android
+		device.
+	
+	=== Flight
+
+		The 'Flight' tab shows information used to evaluate
+		and spot a rocket while in flight. It displays speed
+		and height data to monitor the health of the rocket,
+		along with elevation, range and bearing to help locate
+		the rocket in the sky.
+
+		While the Flight tab is displayed, the voice
+		announcements will include current speed, height,
+		elevation and bearing information.
+
+		Speed::
+
+		Shows current vertical speed. During descent, the
+		speed values are averaged over a fairly long time to
+		try and make them steadier.
+	      
+		Height::
+
+		Shows the current height above the launch pad.
+
+		Max Speed::
+
+		Shows the maximum vertical speed seen during the
+		flight.
+
+		Max Height::
+
+		Shows the maximum height above launch pad.
+
+		Elevation::
+
+		This is the angle above the horizon from the android
+		devices current position.
+
+		Range::
+	    
+		The total distance from the android device to the
+		rocket, including both ground distance and difference
+		in altitude. Use this to gauge how large the rocket is
+		likely to appear in the sky.
+
+		Bearing::
+
+		This is the aziumuth from true north for the rocket
+		from the android device. Use this in combination with
+		the Elevation value to help locate the rocket in the
+		sky, or at least to help point the antenna in the
+		general direction. This is provided in both degrees
+		and a compass point (like West South West). You'll
+		want to know which direction is true north before
+		launching your rocket.
+
+		Ground Distance::
+
+		This shows the distance across the ground to the
+		lat/lon where the rocket is located. Use this to
+		estimate what is currently under the rocket.
+
+		Latitude/Longitude::
+	    
+		Displays the last known location of the rocket.
+
+		Apogee Igniter::
+
+		This indicates whether the apogee igniter has
+		continuity. If the igniter has a low resistance, then
+		the voltage measured here will be close to the Li-Po
+		battery voltage. A value greater than 3.2V is required
+		for a 'GO' status.
+
+		Main Igniter::
+
+		This indicates whether the main igniter has
+		continuity. If the igniter has a low resistance, then
+		the voltage measured here will be close to the Li-Po
+		battery voltage. A value greater than 3.2V is required
+		for a 'GO' status.
+
+	=== Recover
+
+		The 'Recover' tab shows information used while
+		recovering the rocket on the ground after flight.
+
+		While the Recover tab is displayed, the voice
+		announcements will include distance along with either
+		bearing or direction, depending on whether you are
+		moving.
+	
+		Bearing::
+	    
+		This is the aziumuth from true north for the rocket
+		from the android device. Use this in combination with
+		the Elevation value to help locate the rocket in the
+		sky, or at least to help point the antenna in the
+		general direction. This is provided in both degrees
+		and a compass point (like West South West). You'll
+		want to know which direction is true north before
+		launching your rocket.
+	      
+		Direction::
+	    
+		When you are in motion, this provides the angle from
+		your current direction of motion towards the rocket.
+
+		Distance::
+
+		Distance over the ground to the rocket.
+	      
+		Tar Lat/Tar Lon::
+
+		Displays the last known location of the rocket.
+	      
+		My Lat/My Lon::
+	    
+		Displays the location of the Android device.
+	      
+		Max Height::
+
+		Shows the maximum height above launch pad.
+	      
+		Max Speed::
+
+		Shows the maximum vertical speed seen during the
+		flight.
+	      
+		Max Accel::
+
+		Shows the maximum vertical acceleration seen during
+		the flight.
+
+	=== Map
+
+		The 'Map' tab shows a map of the area around the
+		rocket being tracked along with information needed to
+		recover it.
+
+		On the map itself, icons showing the location of the
+		android device along with the last known location of
+		each tracker. A blue line is drawn from the android
+		device location to the currently selected tracker.
+
+		Below the map, the distance and either bearing or
+		direction along with the lat/lon of the target and the
+		android device are shown
+
+		The Map tab provides the same voice announcements as
+		the Recover tab.
+	
+	=== Downloading Flight Logs
+
+		AltosDroid always saves every bit of telemetry data it
+		receives. To download that to a computer for use with
+		AltosUI, remove the SD card from your Android device,
+		or connect your device to your computer's USB port and
+		browse the files on that device. You will find
+		'.telem' files in the TeleMetrum directory that will
+		work with AltosUI directly.
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index f631a31f..9f1bbf28 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -27,6 +27,8 @@
 
 	include::altosui.raw[]
 
+	include::altosdroid.raw[]
+
 	include::system-operation.raw[]
 
 	include::handling.raw[]
-- 
cgit v1.2.3


From 7ef958cbb51a04079e2a4833917ccef57ae5a2ee Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 29 Oct 2015 20:32:58 -0700
Subject: doc: Add updating firmware and using am products asciidoc bits

This finishes the asciidoc transition

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile              |   2 +
 doc/altusmetrum.txt       |   4 +
 doc/pyro-channels.inc     |  61 ++++-----
 doc/updating-firmware.inc | 342 ++++++++++++++++++++++++++++++++++++++++++++++
 doc/using-am-products.inc | 148 ++++++++++++++++++++
 5 files changed, 521 insertions(+), 36 deletions(-)
 create mode 100644 doc/updating-firmware.inc
 create mode 100644 doc/using-am-products.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 818bd574..82ece0d5 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -74,6 +74,8 @@ INC_FILES=\
 	telemega.inc \
 	easymega.inc \
 	installation.inc \
+	using-am-products.inc \
+	updating-firmware.inc \
 	altosui.inc \
 	altosdroid.inc \
 	system-operation.inc \
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index 9f1bbf28..8dc18362 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -25,6 +25,8 @@
 
 	include::installation.raw[]
 
+	include::using-am-products.raw[]
+
 	include::altosui.raw[]
 
 	include::altosdroid.raw[]
@@ -33,6 +35,8 @@
 
 	include::handling.raw[]
 
+	include::updating-firmware.raw[]
+
 	include::flight-data-recording.raw[]
 
 	include::specs.raw[]
diff --git a/doc/pyro-channels.inc b/doc/pyro-channels.inc
index 0da7db25..3b918544 100644
--- a/doc/pyro-channels.inc
+++ b/doc/pyro-channels.inc
@@ -47,30 +47,23 @@ pad and initialize the system.
   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
-&gt; 0.
-
-Descending:: A simple test saying whether the
-rocket is going down or not. This is exactly
-equivalent to testing whether the speed is
-&lt; 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
+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
@@ -96,15 +89,11 @@ through a sequence of states:
 
  * 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.
+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.
diff --git a/doc/updating-firmware.inc b/doc/updating-firmware.inc
new file mode 100644
index 00000000..8b29558c
--- /dev/null
+++ b/doc/updating-firmware.inc
@@ -0,0 +1,342 @@
+[appendix]
+== Updating Device Firmware
+
+	TeleMega, TeleMetrum v2, EasyMega, EasyMini and TeleDongle v3
+	are all programmed directly over their USB connectors (self
+	programming). TeleMetrum v1, TeleMini and TeleDongle v0.2 are
+	all programmed by using another device as a programmer (pair
+	programming). It's important to recognize which kind of devices
+	you have before trying to reprogram them.
+
+	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/
+
+	If you need to update the firmware on a TeleDongle v0.2, we
+	recommend updating the altimeter first, before updating
+	TeleDongle.  However, note that TeleDongle rarely need to be
+	updated.  Any firmware version 1.0.1 or later will work,
+	version 1.2.1 may have improved receiver performance slightly.
+
+	Self-programmable devices (TeleMega, TeleMetrum v2, EasyMega
+	and EasyMini) are reprogrammed by connecting them to your
+	computer over USB
+
+	=== Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or TeleDongle v3 Firmware
+
+		. Attach a battery if necessary and power switch to
+		  the target device. Power up the device.
+
+		. Using a Micro USB cable, connect the target device to your
+		  computer's USB socket.
+
+		. Run AltosUI, and select 'Flash Image' from the File menu.
+
+		. Select the target device in the Device Selection dialog.
+
+		. 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 TeleMega-v1.0-1.3.0.ihx.
+
+		. 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.
+
+		. Hit the 'OK' button and the software should proceed
+		  to flash the device with new firmware, showing a
+		  progress bar.
+
+		. Verify that the device is working by using the
+		  'Configure Altimeter' or 'Configure Groundstation'
+		  item to check over the configuration.
+
+		==== Recovering From Self-Flashing Failure
+
+			If the firmware loading fails, it can leave the device
+			unable to boot. Not to worry, you can force the device to
+			start the boot loader instead, which will let you try to
+			flash the device again.
+
+			On each device, connecting two pins from one of the exposed
+			connectors will force the boot loader to start, even if the
+			regular operating system has been corrupted in some way.
+
+			TeleMega::
+
+			Connect pin 6 and pin 1 of the companion
+			connector. Pin 1 can be identified by the square pad
+			around it, and then the pins could sequentially across
+			the board. Be very careful to *not* short pin 8 to
+			anything as that is connected directly to the
+			battery. Pin 7 carries 3.3V and the board will crash
+			if that is connected to pin 1, but shouldn't damage
+			the board.
+
+			EasyMega::
+
+			Connect pin 6 and pin 1 of the companion
+			connector. Pin 1 can be identified by the square pad
+			around it, and then the pins could sequentially across
+			the board. Be very careful to *not* short pin 8 to
+			anything as that is connected directly to the
+			battery. Pin 7 carries 3.3V and the board will crash
+			if that is connected to pin 1, but shouldn't damage
+			the board.
+
+			TeleMetrum v2::
+
+			Connect pin 6 and pin 1 of the companion
+			connector. Pin 1 can be identified by the square pad
+			around it, and then the pins could sequentially across
+			the board. Be very careful to *not* short pin 8 to
+			anything as that is connected directly to the
+			battery. Pin 7 carries 3.3V and the board will crash
+			if that is connected to pin 1, but shouldn't damage
+			the board.
+
+			EasyMini::
+
+			Connect pin 6 and pin 1 of the debug connector, which
+			is the six holes next to the beeper. Pin 1 can be
+			identified by the square pad around it, and then the
+			pins could sequentially across the board, making Pin 6
+			the one on the other end of the row.
+
+			TeleDongle v3::
+
+			Connect pin 32 on the CPU to ground. Pin 32 is closest
+			to the USB wires on the row of pins towards the center
+			of the board. Ground is available on the capacitor
+			next to it, on the end towards the USB wires.
+
+			Once you've located the right pins:
+
+			. Turn the altimeter power off.
+
+			. Connect a battery.
+
+			. Connect the indicated terminals together with a
+			  short piece of wire. Take care not to accidentally
+			  connect anything else.
+
+			. Connect USB
+
+			. Turn the board power on.
+
+			The board should now be visible over USB as
+			'AltosFlash' and be ready to receive firmware.  Once
+			the board has been powered up, you can remove the
+			piece of wire.
+
+	=== Pair Programming
+
+		The big concept to understand is that you have to use
+		a TeleMetrum v1.0, TeleBT v1.0 or TeleDongle v0.2 as a
+		programmer to update a pair programmed device. Due to
+		limited memory resources in the cc1111, we don't
+		support programming directly over USB for these
+		devices.
+
+		==== Updating TeleMetrum v1.x Firmware
+
+			. 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 v0.2
+			  or TeleBT v1.0 case to get access to the
+			  circuit board.
+
+			. Plug the 8-pin end of the programming cable
+			  to the matching connector on the TeleDongle
+			  v0.2 or TeleBT v1.0, and the 4-pin end to
+			  the matching connector on the TeleMetrum.
+			  Note that each MicroMaTch connector has an
+			  alignment pin that goes through a hole in
+			  the PC board when you have the cable
+			  oriented correctly.
+
+			. Attach a battery to the TeleMetrum board.
+
+			. Plug the TeleDongle v0.2 or TeleBT v1.0 into
+			  your computer's USB port, and power up the
+			  TeleMetrum.
+
+			. Run AltosUI, and select 'Flash Image' from
+			  the File menu.
+
+			. Pick the TeleDongle v0.2 or TeleBT v1.0
+			  device from the list, identifying it as the
+			  programming device.
+
+			. Select the image you want put on the
+			  TeleMetrum, which should have a name in the
+			  form telemetrum-v1.2-1.0.0.ihx.  It should
+			  be visible in the default directory, if not
+			  you may have to poke around your system to
+			  find it.
+
+			. 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.
+
+			. Hit the 'OK' button and the software should
+			  proceed to flash the TeleMetrum with new
+			  firmware, showing a progress bar.
+
+			. 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.
+
+			If something goes wrong, give it another try.
+
+		==== Updating TeleMini Firmware
+
+			You'll need a special 'programming cable' to
+			reprogram the TeleMini.  You can make your own
+			using an 8-pin MicroMaTch connector on one end
+			and a set of four pins on the other.
+
+			. Take the 2 screws out of the TeleDongle v0.2
+			  or TeleBT v1.0 case to get access to the
+			  circuit board.
+
+			. Plug the 8-pin end of the programming cable
+			  to the matching connector on the TeleDongle
+			  v0.2 or TeleBT v1.0, and the 4-pins into the
+			  holes in the TeleMini circuit board.  Note
+			  that the MicroMaTch connector has an
+			  alignment pin that goes through a hole in
+			  the PC board when you have the cable
+			  oriented correctly, and that pin 1 on the
+			  TeleMini board is marked with a square pad
+			  while the other pins have round pads.
+
+			. Attach a battery to the TeleMini board.
+
+			. Plug the TeleDongle v0.2 or TeleBT v1.0 into
+			  your computer's USB port, and power up the
+			  TeleMini
+
+			. Run AltosUI, and select 'Flash Image' from
+			  the File menu.
+
+			. Pick the TeleDongle v0.2 or TeleBT v1.0
+			  device from the list, identifying it as the
+			  programming device.
+
+			. Select the image you want put on the
+			  TeleMini, which should have a name in the
+			  form telemini-v1.0-1.0.0.ihx.  It should be
+			  visible in the default directory, if not you
+			  may have to poke around your system to find
+			  it.
+
+			. 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.
+
+			. Hit the 'OK' button and the software should
+			  proceed to flash the TeleMini with new
+			  firmware, showing a progress bar.
+
+			. Confirm that the TeleMini board seems to
+			  have updated OK, which you can do by
+			  configuring it over the radio link through
+			  the TeleDongle, or letting it come up in
+			  “flight” mode and listening for telemetry.
+
+			If something goes wrong, give it another try.
+
+		==== Updating TeleDongle v0.2 Firmware
+
+		Updating TeleDongle v0.2 firmware is just like
+		updating TeleMetrum v1.x or TeleMini firmware, but you
+		use either a TeleMetrum v1.x, TeleDongle v0.2 or
+		TeleBT v1.0 as the programmer.
+
+		. 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.
+
+		. 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 v1.x, TeleDongle v0.2
+		  or TeleBT v1.0.
+
+		. Take the 2 screws out of the TeleDongle v0.2 or
+		  TeleBT v1.0 case to get access to the circuit board.
+
+		. Plug the 8-pin end of the programming cable to the
+		  matching connector on the programmer, and the 4-pin
+		  end to the matching connector on the TeleDongle
+		  v0.2.  Note that each MicroMaTch connector has an
+		  alignment pin that goes through a hole in the PC
+		  board when you have the cable oriented correctly.
+
+		. Attach a battery to the TeleMetrum v1.x board if
+		  you're using one.
+
+		. Plug both the programmer and the TeleDongle into
+		  your computer's USB ports, and power up the
+		  programmer.
+
+		. Run AltosUI, and select 'Flash Image' from the File
+		  menu.
+
+		. Pick the programmer device from the list,
+		  identifying it as the programming device.
+
+
+		. Select the image you want put on the TeleDongle
+		  v0.2, which should have a name in the form
+		  teledongle-v0.2-1.0.0.ihx.  It should be visible in
+		  the default directory, if not you may have to poke
+		  around your system to find it.
+
+		. 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 v0.2 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.
+
+		. Hit the 'OK' button and the software should proceed
+		  to flash the TeleDongle v0.2 with new firmware,
+		  showing a progress bar.
+
+		. Confirm that the TeleDongle v0.2 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 v0.2.
+
+		If something goes wrong, give it another try.
+
+		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.
diff --git a/doc/using-am-products.inc b/doc/using-am-products.inc
new file mode 100644
index 00000000..8d7d005a
--- /dev/null
+++ b/doc/using-am-products.inc
@@ -0,0 +1,148 @@
+== Using Altus Metrum Products
+
+	=== Being Legal
+
+        First off, in the US, you need an
+        link:http://www.altusmetrum.org/Radio/[amateur radio license]
+        or other authorization to legally operate the radio
+        transmitters that are part of our products.
+
+
+	=== In the Rocket
+
+		In the rocket itself, you just need a flight computer
+		and a single-cell, 3.7 volt nominal Li-Po rechargeable
+		battery.  An 850mAh battery weighs less than a 9V
+		alkaline battery, and will run a TeleMetrum, TeleMega
+		or EasyMega for hours.  A 110mAh battery weighs less
+		than a triple A battery and is a good choice for use
+		with TeleMini or EasyMini.
+
+		By default, we ship TeleMini, TeleMetrum and TeleMega
+		flight computers with a simple wire antenna.  If your
+		electronics bay or the air-frame it resides within is
+		made of carbon fiber, which is opaque to RF signals,
+		you may prefer to install an SMA connector so that you
+		can run a coaxial cable to an antenna mounted
+		elsewhere in the rocket.  However, note that the GPS
+		antenna is fixed on all current products, so you
+		really want to install the flight computer in a bay
+		made of RF-transparent materials if at all possible.
+
+	=== On the Ground
+
+		To receive the data stream from the rocket, you need
+		an antenna and short feed-line connected to one of our
+		link:http://www.altusmetrum.org/TeleDongle/[TeleDongle]
+		units.  If possible, use an SMA to BNC adapter instead
+		of feedline between the antenna feedpoint and
+		TeleDongle, as this will give you the best
+		performance.  The TeleDongle in turn plugs directly
+		into the USB port on a notebook computer.  Because
+		TeleDongle looks like a simple serial port, your
+		computer does not require special device
+		drivers... just plug it in.
+
+		The GUI tool, AltosUI, is written in Java and runs
+		across Linux, Mac OS and Windows. There's also a suite
+		of C tools for Linux which can perform most of the
+		same tasks.
+
+		Alternatively, a TeleBT attached with an SMA to BNC
+		adapter at the feed point of a hand-held yagi used in
+		conjunction with an Android device running AltosDroid
+		makes an outstanding ground station.
+
+		After the flight, you can use the radio link to
+		extract the more detailed data logged in either
+		TeleMetrum or TeleMini devices, or you can use a mini
+		USB cable to plug into the TeleMetrum board directly.
+		Pulling out the data without having to open up the
+		rocket is pretty cool!  A USB cable is also how you
+		charge the Li-Po battery, so you'll want one of those
+		anyway... the same cable used by lots of digital
+		cameras and other modern electronic stuff will work
+		fine.
+
+		If your rocket lands out of sight, you may enjoy
+		having a hand-held GPS receiver, so that you can put
+		in a way-point for the last reported rocket position
+		before touch-down.  This makes looking for your rocket
+		a lot like Geo-Caching... just go to the way-point and
+		look around starting from there.  AltosDroid on an
+		Android device with GPS receiver works great for this,
+		too!
+
+		You may also enjoy having a ham radio “HT” that covers
+		the 70cm band... you can use that with your antenna to
+		direction-find the rocket on the ground the same way
+		you can use a Walston or Beeline tracker.  This can be
+		handy if the rocket is hiding in sage brush or a tree,
+		or if the last GPS position doesn't get you close
+		enough because the rocket dropped into a canyon, or
+		the wind is blowing it across a dry lake bed, or
+		something like that...  Keith currently uses a Yaesu
+		FT1D, Bdale has a Yaesu VX-7R, which is a nicer radio
+		in most ways but doesn't support APRS.
+
+		So, to recap, on the ground the hardware you'll need includes:
+
+		. an antenna and feed-line or adapter
+		. a TeleDongle
+		. a notebook computer
+		. optionally, a hand-held GPS receiver
+		. optionally, an HT or receiver covering 435 MHz
+
+		The best hand-held commercial directional antennas we've found for radio
+		direction finding rockets are from
+		link:http://www.arrowantennas.com/[Arrow Antennas].
+
+		The 440-3 and 440-5 are both good choices for finding
+		a TeleMetrum- or TeleMini- equipped rocket when used
+		with a suitable 70cm HT.  TeleDongle and an SMA to BNC
+		adapter fit perfectly between the driven element and
+		reflector of Arrow antennas.
+
+	=== Data Analysis
+
+		Our software makes it easy to log the data from each
+		flight, both the telemetry received during the flight
+		itself, and the more complete data log recorded in the
+		flash memory on the altimeter board.  Once this data
+		is on your computer, our post-flight tools make it
+		easy to quickly get to the numbers everyone wants,
+		like apogee altitude, max acceleration, and max
+		velocity.  You can also generate and view a standard
+		set of plots showing the altitude, acceleration, and
+		velocity of the rocket during flight.  And you can
+		even export a TeleMetrum data file usable with Google
+		Maps and Google Earth for visualizing the flight path
+		in two or three dimensions!
+
+		Our ultimate goal is to emit a set of files for each
+		flight that can be published as a web page per flight,
+		or just viewed on your local disk with a web browser.
+
+	=== Future Plans
+
+		We have designed and prototyped several “companion
+		boards” that can attach to the companion connector on
+		TeleMetrum, TeleMega and EasyMega flight computers to
+		collect more data, provide more pyro channels, and so
+		forth.  We do not yet know if or when any of these
+		boards will be produced in enough quantity to sell.
+		If you have specific interests for data collection or
+		control of events in your rockets beyond the
+		capabilities of our existing productions, please let
+		us know!
+
+		Because all of our work is open, both the hardware
+		designs and the software, if you have some great idea
+		for an addition to the current Altus Metrum family,
+		feel free to dive in and help!  Or let us know what
+		you'd like to see that we aren't already working on,
+		and maybe we'll get excited about it too...
+
+		Watch our link:http://altusmetrum.org/[web site] for
+		more news and information as our family of products
+		evolves!
-- 
cgit v1.2.3


From ce297f14ff54d230d01fb6dedaafca571e8b836b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 31 Oct 2015 21:34:42 -0700
Subject: doc: Finish converting docs to asciidoc format

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                        |  142 ++--
 doc/altusmetrum-docinfo.xml         |   14 +
 doc/altusmetrum.txt                 |    4 +-
 doc/am-fo.xsl                       |    3 +
 doc/easymega-outline.txt            |    9 +
 doc/easymega-outline.xsl            |   23 -
 doc/easymini-outline.txt            |    9 +
 doc/easymini-outline.xsl            |   23 -
 doc/handling.inc                    |    1 +
 doc/micropeak-docinfo.xml           |   68 ++
 doc/micropeak.txt                   |  497 +++++++++++
 doc/micropeak.xsl                   |  736 ----------------
 doc/release-notes-0.7.1-docinfo.xml |   29 +
 doc/release-notes-0.7.1.inc         |   53 ++
 doc/release-notes-0.7.1.xsl         |   71 --
 doc/release-notes-0.8-docinfo.xml   |   29 +
 doc/release-notes-0.8.inc           |   47 ++
 doc/release-notes-0.8.xsl           |   70 --
 doc/release-notes-0.9-docinfo.xml   |   29 +
 doc/release-notes-0.9.2-docinfo.xml |   29 +
 doc/release-notes-0.9.2.inc         |   18 +
 doc/release-notes-0.9.2.xsl         |   26 -
 doc/release-notes-0.9.inc           |   31 +
 doc/release-notes-0.9.xsl           |   37 -
 doc/release-notes-1.0.1-docinfo.xml |   29 +
 doc/release-notes-1.0.1.inc         |  100 +++
 doc/release-notes-1.0.1.xsl         |  127 ---
 doc/release-notes-1.1-docinfo.xml   |   29 +
 doc/release-notes-1.1.1-docinfo.xml |   29 +
 doc/release-notes-1.1.1.inc         |   57 ++
 doc/release-notes-1.1.1.xsl         |   71 --
 doc/release-notes-1.1.inc           |   92 ++
 doc/release-notes-1.1.xsl           |  131 ---
 doc/release-notes-1.2-docinfo.xml   |   29 +
 doc/release-notes-1.2.1-docinfo.xml |   29 +
 doc/release-notes-1.2.1.inc         |   77 ++
 doc/release-notes-1.2.1.xsl         |  107 ---
 doc/release-notes-1.2.inc           |   32 +
 doc/release-notes-1.2.xsl           |   51 --
 doc/release-notes-1.3-docinfo.xml   |   29 +
 doc/release-notes-1.3.1-docinfo.xml |   29 +
 doc/release-notes-1.3.1.inc         |   55 ++
 doc/release-notes-1.3.1.xsl         |   71 --
 doc/release-notes-1.3.2-docinfo.xml |   29 +
 doc/release-notes-1.3.2.inc         |   37 +
 doc/release-notes-1.3.2.xsl         |   54 --
 doc/release-notes-1.3.inc           |   57 ++
 doc/release-notes-1.3.xsl           |   81 --
 doc/release-notes-1.4-docinfo.xml   |   29 +
 doc/release-notes-1.4.1-docinfo.xml |   29 +
 doc/release-notes-1.4.1.inc         |   34 +
 doc/release-notes-1.4.1.xsl         |   54 --
 doc/release-notes-1.4.2-docinfo.xml |   29 +
 doc/release-notes-1.4.2.inc         |   15 +
 doc/release-notes-1.4.inc           |  125 +++
 doc/release-notes-1.4.xsl           |  204 -----
 doc/release-notes-1.5-docinfo.xml   |   29 +
 doc/release-notes-1.5.inc           |   69 ++
 doc/release-notes-1.5.xsl           |  121 ---
 doc/release-notes-1.6-docinfo.xml   |   29 +
 doc/release-notes-1.6.1-docinfo.xml |   29 +
 doc/release-notes-1.6.1.inc         |  101 +++
 doc/release-notes-1.6.1.xsl         |  189 -----
 doc/release-notes-1.6.inc           |   85 ++
 doc/release-notes-1.6.xsl           |  142 ----
 doc/release-notes-docinfo.xml       |   28 +
 doc/release-notes.inc               |   75 ++
 doc/system-operation.inc            |    2 +-
 doc/telegps-application.inc         |  569 +++++++++++++
 doc/telegps-docinfo.xml             |   73 ++
 doc/telegps-quick-start.inc         |   24 +
 doc/telegps-release-notes.inc       |   25 +
 doc/telegps-specs.inc               |   29 +
 doc/telegps-system-operation.inc    |  149 ++++
 doc/telegps-updating-firmware.inc   |   43 +
 doc/telegps-using.inc               |   81 ++
 doc/telegps.txt                     |   21 +
 doc/telegps.xsl                     | 1338 -----------------------------
 doc/telemega-outline.txt            |    9 +
 doc/telemega-outline.xsl            |   23 -
 doc/telemetrum-outline.txt          |    9 +
 doc/telemetrum-outline.xsl          |   23 -
 doc/telemetrum-v2.0-th.jpg          |  Bin 0 -> 2625456 bytes
 doc/telemetrum.inc                  |   12 +
 doc/telemini-outline.txt            |    9 +
 doc/telemini.pdf                    |  Bin 4183 -> 0 bytes
 doc/titlepage.templates.tmpl        | 1583 +++++++++++++++++++++++++++++++++++
 doc/titlepage.templates.xml         | 1580 ----------------------------------
 doc/updating-firmware.inc           |   21 +-
 doc/xorg-fo.xsl                     |  121 ---
 90 files changed, 5045 insertions(+), 5545 deletions(-)
 create mode 100644 doc/easymega-outline.txt
 delete mode 100644 doc/easymega-outline.xsl
 create mode 100644 doc/easymini-outline.txt
 delete mode 100644 doc/easymini-outline.xsl
 create mode 100644 doc/micropeak-docinfo.xml
 create mode 100644 doc/micropeak.txt
 delete mode 100644 doc/micropeak.xsl
 create mode 100644 doc/release-notes-0.7.1-docinfo.xml
 create mode 100644 doc/release-notes-0.7.1.inc
 delete mode 100644 doc/release-notes-0.7.1.xsl
 create mode 100644 doc/release-notes-0.8-docinfo.xml
 create mode 100644 doc/release-notes-0.8.inc
 delete mode 100644 doc/release-notes-0.8.xsl
 create mode 100644 doc/release-notes-0.9-docinfo.xml
 create mode 100644 doc/release-notes-0.9.2-docinfo.xml
 create mode 100644 doc/release-notes-0.9.2.inc
 delete mode 100644 doc/release-notes-0.9.2.xsl
 create mode 100644 doc/release-notes-0.9.inc
 delete mode 100644 doc/release-notes-0.9.xsl
 create mode 100644 doc/release-notes-1.0.1-docinfo.xml
 create mode 100644 doc/release-notes-1.0.1.inc
 delete mode 100644 doc/release-notes-1.0.1.xsl
 create mode 100644 doc/release-notes-1.1-docinfo.xml
 create mode 100644 doc/release-notes-1.1.1-docinfo.xml
 create mode 100644 doc/release-notes-1.1.1.inc
 delete mode 100644 doc/release-notes-1.1.1.xsl
 create mode 100644 doc/release-notes-1.1.inc
 delete mode 100644 doc/release-notes-1.1.xsl
 create mode 100644 doc/release-notes-1.2-docinfo.xml
 create mode 100644 doc/release-notes-1.2.1-docinfo.xml
 create mode 100644 doc/release-notes-1.2.1.inc
 delete mode 100644 doc/release-notes-1.2.1.xsl
 create mode 100644 doc/release-notes-1.2.inc
 delete mode 100644 doc/release-notes-1.2.xsl
 create mode 100644 doc/release-notes-1.3-docinfo.xml
 create mode 100644 doc/release-notes-1.3.1-docinfo.xml
 create mode 100644 doc/release-notes-1.3.1.inc
 delete mode 100644 doc/release-notes-1.3.1.xsl
 create mode 100644 doc/release-notes-1.3.2-docinfo.xml
 create mode 100644 doc/release-notes-1.3.2.inc
 delete mode 100644 doc/release-notes-1.3.2.xsl
 create mode 100644 doc/release-notes-1.3.inc
 delete mode 100644 doc/release-notes-1.3.xsl
 create mode 100644 doc/release-notes-1.4-docinfo.xml
 create mode 100644 doc/release-notes-1.4.1-docinfo.xml
 create mode 100644 doc/release-notes-1.4.1.inc
 delete mode 100644 doc/release-notes-1.4.1.xsl
 create mode 100644 doc/release-notes-1.4.2-docinfo.xml
 create mode 100644 doc/release-notes-1.4.2.inc
 create mode 100644 doc/release-notes-1.4.inc
 delete mode 100644 doc/release-notes-1.4.xsl
 create mode 100644 doc/release-notes-1.5-docinfo.xml
 create mode 100644 doc/release-notes-1.5.inc
 delete mode 100644 doc/release-notes-1.5.xsl
 create mode 100644 doc/release-notes-1.6-docinfo.xml
 create mode 100644 doc/release-notes-1.6.1-docinfo.xml
 create mode 100644 doc/release-notes-1.6.1.inc
 delete mode 100644 doc/release-notes-1.6.1.xsl
 create mode 100644 doc/release-notes-1.6.inc
 delete mode 100644 doc/release-notes-1.6.xsl
 create mode 100644 doc/release-notes-docinfo.xml
 create mode 100644 doc/release-notes.inc
 create mode 100644 doc/telegps-application.inc
 create mode 100644 doc/telegps-docinfo.xml
 create mode 100644 doc/telegps-quick-start.inc
 create mode 100644 doc/telegps-release-notes.inc
 create mode 100644 doc/telegps-specs.inc
 create mode 100644 doc/telegps-system-operation.inc
 create mode 100644 doc/telegps-updating-firmware.inc
 create mode 100644 doc/telegps-using.inc
 create mode 100644 doc/telegps.txt
 delete mode 100644 doc/telegps.xsl
 create mode 100644 doc/telemega-outline.txt
 delete mode 100644 doc/telemega-outline.xsl
 create mode 100644 doc/telemetrum-outline.txt
 delete mode 100644 doc/telemetrum-outline.xsl
 create mode 100644 doc/telemetrum-v2.0-th.jpg
 create mode 100644 doc/telemini-outline.txt
 delete mode 100644 doc/telemini.pdf
 create mode 100644 doc/titlepage.templates.tmpl
 delete mode 100644 doc/titlepage.templates.xml
 delete mode 100644 doc/xorg-fo.xsl

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 82ece0d5..df1a884c 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -2,24 +2,25 @@
 #	http://docbook.sourceforge.net/release/xsl/current/README
 #
 
-RELNOTES=\
-	release-notes-0.7.1.html \
-	release-notes-0.8.html \
-	release-notes-0.9.html \
-	release-notes-0.9.2.html \
-	release-notes-1.0.1.html \
-	release-notes-1.1.html \
-	release-notes-1.1.1.html \
-	release-notes-1.2.html \
-	release-notes-1.2.1.html \
-	release-notes-1.3.html \
-	release-notes-1.3.1.html \
-	release-notes-1.3.2.html \
-	release-notes-1.4.html \
-	release-notes-1.4.1.html \
-	release-notes-1.5.html \
-	release-notes-1.6.html \
-	release-notes-1.6.1.html
+RELNOTES_INC=\
+	release-notes-0.7.1.inc \
+	release-notes-0.8.inc \
+	release-notes-0.9.inc \
+	release-notes-0.9.2.inc \
+	release-notes-1.0.1.inc \
+	release-notes-1.1.inc \
+	release-notes-1.1.1.inc \
+	release-notes-1.2.inc \
+	release-notes-1.2.1.inc \
+	release-notes-1.3.inc \
+	release-notes-1.3.1.inc \
+	release-notes-1.3.2.inc \
+	release-notes-1.4.inc \
+	release-notes-1.4.1.inc \
+	release-notes-1.4.2.inc \
+	release-notes-1.5.inc \
+	release-notes-1.6.inc \
+	release-notes-1.6.1.inc
 
 PICTURES=\
 	altosui.png \
@@ -62,6 +63,7 @@ PICTURES=\
 	telemini-v2-top.jpg
 
 TXT_FILES=altusmetrum.txt
+
 INC_FILES=\
 	dedication.inc \
 	intro.inc \
@@ -82,13 +84,45 @@ INC_FILES=\
 	pyro-channels.inc \
 	flight-data-recording.inc \
 	handling.inc \
-	specs.inc
+	specs.inc \
+	release-notes.inc \
+	$(RELNOTES_INC)
+
+RAW_FILES=$(TXT_FILES:.txt=.raw) $(INC_FILES:.inc=.raw)
+
+TELEGPS_INC_FILES=\
+	dedication.inc \
+	telegps-quick-start.inc \
+	telegps-using.inc \
+	telegps-system-operation.inc \
+	telegps-application.inc \
+	handling.inc \
+	telegps-specs.inc \
+	telegps-updating-firmware.inc \
+	telegps-release-notes.inc
+
+TELEGPS_TXT_FILES=\
+	telegps.txt
+
+TELEGPS_RAW_FILES=$(TELEGPS_TXT_FILES:.txt=.raw) $(TELEGPS_INC_FILES:.inc=.raw)
 
-RAW_FILES=$(TXT_FILES:.txt=.raw)
+MICROPEAK_TXT_FILES=\
+	micropeak.txt
 
-RAW_INC=$(INC_FILES:.inc=.raw)
+MICROPEAK_INC_FILES=
 
-AD_PDF=$(TXT_FILES:.txt=.pdf)
+MICROPEAK_RAW_FILES=$(MICROPEAK_TXT_FILES:.txt=.raw) $(MICROPEAK_INC_FILES:.inc=.raw)
+
+OUTLINE_TXT_FILES=\
+	easymega-outline.txt \
+	easymini-outline.txt \
+	telemega-outline.txt \
+	telemetrum-outline.txt \
+	telemini-outline.txt
+
+OUTLINE_RAW_FILES=$(OUTLINE_TXT_FILES:.txt=.raw)
+
+OUTLINE_PDF_FILES=$(OUTLINE_TXT_FILES:.txt=.pdf)
 
 SVG=\
 	easymini.svg \
@@ -97,19 +131,25 @@ SVG=\
 	telemini.svg \
 	easymega.svg
 
-RELNOTES_XSL=$(RELNOTES:.html=.xsl)
-HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html telegps.html $(RELNOTES)
-PDF=altusmetrum.pdf altos.pdf telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \
-	telemetrum-outline.pdf telemega-outline.pdf easymini-outline.pdf easymega-outline.pdf $(AD_PDF)
-HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl
+RELNOTES_PDF=$(RELNOTES_INC:.inc=.pdf)
+RELNOTES_HTML=$(RELNOTES_INC:.inc=.html)
+
+HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html telegps.html $(RELNOTES_HTML)
+
+PDF=altusmetrum.pdf $(RELNOTES_PDF) altos.pdf telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \
+	$(OUTLINE_PDF_FILES)
+
 FOSTYLE=xorg-fo.xsl
-FOPCFG=fop-cfg.xml
-TEMPLATES=titlepage.templates.xsl
-PDFSTYLE=
+
+TEMPLATES_TMPL=titlepage.templates.tmpl
+
+TEMPLATES_XSL=$(TEMPLATES_TMPL:.tmpl=.xsl)
+
 IMAGES=$(PICTURES) $(SVG)
+
 DOC=$(HTML) $(PDF) $(IMAGES)
 
-.SUFFIXES: .inc .txt .raw .pdf .html
+.SUFFIXES: .tmpl .xsl .inc .txt .raw .pdf .html
 
 XSLTFLAGS=--stringparam section.autolabel 1 --xinclude
 
@@ -120,23 +160,23 @@ XSLTFLAGS=--stringparam section.autolabel 1 --xinclude
 	sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
 
 .raw.pdf:
-	a2x --verbose -k -d book -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file am-fo.xsl --fop --fop-opts="-c fop.xconf" $*.raw
+	a2x --verbose -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file am-fo.xsl --fop --fop-opts="-c fop.xconf" $*.raw
 
 .raw.html:
-	a2x --verbose -k -d book -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=am.css $*.raw
+	a2x --verbose -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=am.css $*.raw
 
-.xsl.html:
-	xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl
+.tmpl.xsl:
+	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.tmpl
 
-.xsl.pdf:
-	xmlto -p '-c $(FOPCFG)' --searchpath `pwd` -x $(FOSTYLE) --with-fop pdf $*.xsl
+all:	$(HTML) $(PDF)
 
-.xml.xsl:
-	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.xml
+$(HTML): $(PDF)
 
-all:	$(HTML) $(PDF)
+altusmetrum.pdf altusmetrum.html: altusmetrum-docinfo.xml $(RAW_FILES) $(RAW_INC) $(IMAGES)
 
-altusmetrum.pdf: altusmetrum-docinfo.xml $(RAW_FILES) $(RAW_INC)
+telegps.html telegps.pdf: telegps-docinfo.xml $(TELEGPS_RAW_FILES) $(IMAGES)
+
+micropeak.pdf micropeak.html: micropeak-docinfo.xml $(MICROPEAK_RAW_FILES) $(IMAGES)
 
 install:	all
 
@@ -149,22 +189,10 @@ publish:	$(DOC)
 	 git push)
 
 clean:
-	rm -f $(HTML) $(PDF) $(TEMPLATES)
+	rm -f $(HTML) $(PDF) $(TEMPLATES_XSL)
 
-distclean:
+distclean: clean
 	rm -f $(HTML) $(PDF)
 
-altusmetrum.html: $(RELNOTES_XSL) $(IMAGES)
-altusmetrum.pdf: $(RELNOTES_XSL) $(IMAGES)
-
-telegps.html: $(RELNOTES_XSL) $(IMAGES)
-telegps.pdf: $(RELNOTES_XSL) $(IMAGES)
-
-$(PDF): $(FOSTYLE) $(TEMPLATES) $(FOPCFG)
-
-indent:		altusmetrum.xsl
-	xmlindent -i 2 < altusmetrum.xsl > altusmetrum.new
-
-$(FOPCFG): Makefile
-	(echo '<fop version="1.0">'; echo '  <base>'"`pwd`"'</base>'; echo '</fop>') > $@
-
+$(PDF): $(FOSTYLE) $(TEMPLATES_XSL)
+$(HTML): $(TEMPLATES_XSL)
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 05815f5a..19c1e5d9 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -2,10 +2,12 @@
 <author>
   <firstname>Bdale</firstname>
   <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
 </author>
 <author>
   <firstname>Keith</firstname>
   <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
 </author>
 <author>
   <firstname>Bob</firstname>
@@ -55,6 +57,13 @@
       Major release adding EasyMega support.
     </revremark>
   </revision>
+  <revision>
+    <revnumber>1.4.2</revnumber>
+    <date>17 August 2014</date>
+    <revremark>
+      Minor release fixing some Windows installation bugs.
+    </revremark>
+  </revision>
   <revision>
     <revnumber>1.4.1</revnumber>
     <date>20 June 2014</date>
@@ -150,4 +159,9 @@
     <date>24 November 2010</date>
     <revremark>Updated for software version 0.8 </revremark>
   </revision>
+  <revision>
+    <revnumber>0.7.1</revnumber>
+    <date>29 September 2010</date>
+    <revremark>Added AltosUI</revremark>
+  </revision>
 </revhistory>
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index 8dc18362..a2f78dda 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -1,5 +1,4 @@
 = The Altus Metrum System
-
 :doctype: book
 :numbered:
 
@@ -41,5 +40,4 @@
 
 	include::specs.raw[]
 
-	[index]
-	== Index
+	include::release-notes.raw[]
diff --git a/doc/am-fo.xsl b/doc/am-fo.xsl
index 2c36bec8..35279f22 100644
--- a/doc/am-fo.xsl
+++ b/doc/am-fo.xsl
@@ -18,6 +18,9 @@
 <xsl:include href="titlepage.templates.xsl"/>
 <xsl:include href="footer.templates.xsl"/>
 
+<xsl:param name="ulink.show" select="0" />
+<xsl:param name="ulink.footnotes" select="1"/>
+
 <xsl:param name="fop1.extensions" select="1" />
 <xsl:param name="variablelist.as.blocks" select="1" />
 
diff --git a/doc/easymega-outline.txt b/doc/easymega-outline.txt
new file mode 100644
index 00000000..f5ca982c
--- /dev/null
+++ b/doc/easymega-outline.txt
@@ -0,0 +1,9 @@
+= EasyMega Outline and Hole Pattern
+:doctype: article
+
+	This image, when printed, provides a precise template for the
+	mounting holes in EasyMega. EasyMega has overall dimensions of
+	1.250 x 2.250 inches, and the mounting holes are sized for use
+	with 4-40 or M3 screws.
+
+	image::easymega.svg[align="center"]
diff --git a/doc/easymega-outline.xsl b/doc/easymega-outline.xsl
deleted file mode 100644
index 5796f9c9..00000000
--- a/doc/easymega-outline.xsl
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE article PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<article>
-    <title>EasyMega Outline and Hole Pattern</title>
-    <para>
-      This image, when printed, provides a precise template for the
-      mounting holes in EasyMega. EasyMega has overall dimensions
-      of 1.250 x 2.250 inches, and the mounting holes are sized for
-      use with 4-40 or M3 screws.
-    </para>
-    <informalfigure>
-      <mediaobject id="EasyMegaTemplate">
-	<imageobject>
-	  <imagedata format="SVG" fileref="easymega.svg"
-		     scalefit="0" scale="100" align="center" />
-	</imageobject>
-      </mediaobject>
-    </informalfigure>
-</article>
-
-<!-- LocalWords: Altusmetrum
--->
diff --git a/doc/easymini-outline.txt b/doc/easymini-outline.txt
new file mode 100644
index 00000000..e031b5ee
--- /dev/null
+++ b/doc/easymini-outline.txt
@@ -0,0 +1,9 @@
+= EasyMini Outline and Hole Pattern
+:doctype: article
+
+	This image, when printed, provides a precise template for the
+	mounting holes in EasyMini.  EasyMini has overall dimensions
+	of 0.800 x 1.500 inches, and the mounting holes are sized for
+	use with 4-40 or M3 screws.
+
+	image::easymini.svg[align="center"]
diff --git a/doc/easymini-outline.xsl b/doc/easymini-outline.xsl
deleted file mode 100644
index 88125322..00000000
--- a/doc/easymini-outline.xsl
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE article PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<article>
-    <title>EasyMini Outline and Hole Pattern</title>
-    <para>
-      This image, when printed, provides a precise template for the
-      mounting holes in EasyMini.  EasyMini has overall dimensions
-      of 0.800 x 1.500 inches, and the mounting holes are sized for
-      use with 4-40 or M3 screws.
-    </para>
-    <informalfigure>
-      <mediaobject id="EasyMiniTemplate">
-	<imageobject>
-	  <imagedata format="SVG" fileref="easymini.svg"
-		     scalefit="0" scale="100" align="center" />
-	</imageobject>
-      </mediaobject>
-    </informalfigure>
-</article>
-
-<!-- LocalWords: Altusmetrum
--->
diff --git a/doc/handling.inc b/doc/handling.inc
index 78d9133a..7565996a 100644
--- a/doc/handling.inc
+++ b/doc/handling.inc
@@ -6,6 +6,7 @@
 	will deliver impressive results.  However, as with all electronic
 	devices, there are some precautions you must take.
 
+	[WARNING]
 	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
diff --git a/doc/micropeak-docinfo.xml b/doc/micropeak-docinfo.xml
new file mode 100644
index 00000000..b401a193
--- /dev/null
+++ b/doc/micropeak-docinfo.xml
@@ -0,0 +1,68 @@
+<subtitle>A recording altimeter for hobby rocketry</subtitle>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<copyright>
+  <year>2014</year>
+  <holder>Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="micropeak-dime.jpg" width="6in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
+<revhistory>
+  <revision>
+    <revnumber>1.3.2</revnumber>
+    <date>12 February 2014</date>
+    <revremark>
+      Add a "Download" button to the main window, which makes it
+      quicker to access the download function. Update the data
+      download documentation to reflect the new MicroPeak USB
+      adapter design. Monitor data during download to let you see
+      if the USB connection is working at all by showing the
+      characters received from the MicroPeak USB adapter.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.2</revnumber>
+    <date>20 January 2013</date>
+    <revremark>
+      Add documentation for the MicroPeak USB adapter board. Note
+      the switch to a Kalman filter for peak altitude
+      determination.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.1</revnumber>
+    <date>12 December 2012</date>
+    <revremark>
+      Add comments about EEPROM storage format and programming jig.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.0</revnumber>
+    <date>18 November 2012</date>
+    <revremark>
+      Updates for version 1.0 release.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>0.1</revnumber>
+    <date>29 October 2012</date>
+    <revremark>
+      Initial release with preliminary hardware.
+    </revremark>
+  </revision>
+</revhistory>
diff --git a/doc/micropeak.txt b/doc/micropeak.txt
new file mode 100644
index 00000000..d62e4633
--- /dev/null
+++ b/doc/micropeak.txt
@@ -0,0 +1,497 @@
+= MicroPeak Owner's Manual
+:doctype: book
+:numbered:
+
+[dedication]
+== Acknowledgements
+
+	Thanks to John Lyngdal for suggesting that we build something
+	like this.
+
+	Have fun using these products, and we hope to meet all of you
+	out on the rocket flight line somewhere.
+
+	[verse]
+	Bdale Garbee, KB0G
+	NAR #87103, TRA #12201
+
+	[verse]
+	Keith Packard, KD7SQG
+	NAR #88757, TRA #12200
+
+== Using MicroPeak
+
+	MicroPeak is designed to be easy to use. Requiring no external
+	components, flying takes just a few steps
+
+	* Install the battery. Fit a CR1025 battery into the plastic
+	  carrier. The positive (\+) terminal should be towards the more
+	  open side of the carrier. Slip the carrier into the battery
+	  holder with the positive (+) terminal facing away from the
+	  circuit board.
+
+		.MicroPeak and Battery
+		image::micropeak-back.jpg[width="4.5in"]
+
+	* Install MicroPeak in your rocket. This can be as simple as
+	  preparing a soft cushion of wadding inside a vented model payload
+	  bay. Wherever you mount it, make sure you protect the
+	  barometric sensor from corrosive ejection gasses as those
+	  will damage the sensor, and shield it from light as that can
+	  cause incorrect sensor readings.
+
+	* Turn MicroPeak on. Slide the switch so that the actuator
+	  covers the '1' printed on the board. MicroPeak will report
+	  the maximum height of the last flight in decimeters using a
+	  sequence of flashes on the LED. A sequence of short flashes
+	  indicates one digit. A single long flash indicates zero. The
+	  height is reported in decimeters, so the last digit will be
+	  tenths of a meter. For example, if MicroPeak reports 5 4 4
+	  3, then the maximum height of the last flight was 544.3m, or
+	  1786 feet.
+
+      	* Finish preparing the rocket for flight. After the
+	  previous flight data have been reported, MicroPeak waits for
+	  one minute before starting to check for launch. This gives
+	  you time to finish assembling the rocket. As those
+	  activities might cause pressure changes inside the airframe,
+	  MicroPeak might accidentally detect boost. If you need to do
+	  anything to the airframe after the one minute window passes,
+	  make sure to be careful not to disturb the altimeter. The
+	  LED will remain dark during the one minute delay, but after
+	  that, it will start blinking once every 3 seconds.
+
+      	* Fly the rocket. Once the rocket passes about 30m in height
+	  (100 feet), the micro-controller will record the ground
+	  pressure and track the pressure seen during the flight. In
+	  this mode, the LED flickers rapidly. When the rocket lands,
+	  and the pressure stabilizes, the micro-controller will record
+	  the minimum pressure pressure experienced during the flight,
+	  compute the height represented by the difference in air
+	  pressure and blink that value out on the LED. After that,
+	  MicroPeak powers down to conserve battery power.
+
+      	* Recover the data. Turn MicroPeak off and then back on. MicroPeak
+	  will blink out the maximum height for the last flight. Turn
+	  MicroPeak back off to conserve battery power.
+
+== The MicroPeak USB adapter
+
+	.MicroPeak USB Adapter
+	image::MicroPeakUSB-2.0.jpg[width="4.5in"]
+
+	MicroPeak stores barometric pressure information for the first
+	48 seconds of the flight in on-board non-volatile memory. The
+	contents of this memory can be downloaded to a computer using
+	the MicroPeak USB adapter.
+
+	=== Installing the MicroPeak software
+
+		The MicroPeak application runs on Linux, Mac OS X and
+		Windows. You can download the latest version from
+		http://altusmetrum.org/MicroPeak
+
+		On Mac OS X and Windows, the FTDI USB device driver
+		needs to be installed. A compatible version of this
+		driver is included with the MicroPeak application, but
+		you may want to download a newer version from
+		http://www.ftdichip.com/FTDrivers.htm
+
+	=== Downloading Micro Peak data
+
+		* Plug the MicroPeak USB adapter in to your computer.
+
+		* Start the MicroPeak application.
+
+		  image::micropeak-nofont.svg[width="0.5in"]
+
+		* Click on the Download button at the top of the
+                  window.
+
+		  .MicroPeak Application
+		  image::micropeak-app.png[width="4.5in"]
+
+		* Select from the listed devices. There will probably
+		  be only one.
+
+		  .MicroPeak Device Dialog
+		  image::micropeak-device-dialog.png[width="2.3in"]
+
+		* The application will now wait until it receives
+		  valid data from the MicroPeak USB adapter.
+
+		  .MicroPeak Download Dialog
+		  image::micropeak-download.png[width="2in"]
+
+		* The MicroPeak USB adapter has a small
+		  phototransistor under the hole in the center of the
+		  box.  Locate this, turn on the MicroPeak and place
+		  the orange LED on the MicroPeak directly inside the
+		  hole, resting the MicroPeak itself on the box. You
+		  should see the blue LED on the MicroPeak USB adapter
+		  blinking in time with the orange LED on the
+		  MicroPeak board itself.
+
+		  .MicroPeak Downloading
+		  image::MicroPeakUSB-2.0-inuse.jpg[width="4.5in"]
+
+		* After the maximum flight height is reported,
+		  MicroPeak will pause for a few seconds, blink the
+		  LED four times rapidly and then send the data in one
+		  long blur on the LED. The MicroPeak application
+		  should receive the data. When it does, it will
+		  present the data in a graph and offer to save the
+		  data to a file. If not, you can power cycle the
+		  MicroPeak board and try again.
+
+		  .MicroPeak Save Dialog
+		  image::micropeak-save-dialog.png[width="2.3in"]
+
+		* Once the data are saved, a graph will be displayed
+		  with height, speed and acceleration values computed
+		  from the recorded barometric pressure data. See the
+		  next section for more details on that.
+
+	=== Analyzing MicroPeak Data
+
+		The MicroPeak application can present flight data in
+		the form of a graph, a collection of computed
+		statistics or in tabular form.
+
+		MicroPeak collects raw barometric pressure data which
+		is then used to compute the remaining data. Altitude
+		is computed through a standard atmospheric
+		model. Absolute error in this data will be affected by
+		local atmospheric conditions. Fortunately, these
+		errors tend to mostly cancel out, so the error in the
+		height computation is much smaller than the error in
+		altitude would be.
+
+		Speed and acceleration are computed by first smoothing
+		the height data with a Gaussian window averaging
+		filter. For speed data, this average uses seven
+		samples. For acceleration data, eleven samples are
+		used. These were chosen to provide reasonably smooth
+		speed and acceleration data, which would otherwise be
+		swamped with noise.
+
+		The File menu has operations to open existing flight
+		logs, Download new data from MicroPeak, Save a copy of
+		the flight log to a new file, Export the tabular data
+		(as seen in the Raw Data tab) to a file, change the
+		application Preferences, Close the current window or
+		close all windows and Exit the application.
+
+		==== MicroPeak Graphs
+
+			.MicroPeak Graph
+			image::micropeak-graph.png[width="4.5in"]
+
+			Under the Graph tab, the height, speed and acceleration values
+			are displayed together. You can zoom in on the graph by
+			clicking and dragging to sweep out an area of
+			interest. Right-click on the plot to bring up a menu that will
+			let you save, copy or print the graph.
+
+		==== MicroPeak Flight Statistics
+
+			.MicroPeak Flight Statistics
+			image::micropeak-statistics.png[width="4.5in"]
+
+			The Statistics tab presents overall data from
+			the flight. Note that the Maximum height value
+			is taken from the minumum pressure captured in
+			flight, and may be different from the apparant
+			apogee value as the on-board data are sampled
+			twice as fast as the recorded values, or
+			because the true apogee occurred after the
+			on-board memory was full. Each value is
+			presented in several units as appropriate.
+
+		==== Raw Flight Data
+
+			.MicroPeak Raw Flight Data
+			image::micropeak-raw-data.png[width="4.5in"]
+
+			A table consisting of the both the raw barometric pressure
+			data and values computed from that for each recorded time.
+
+		==== Configuring the Graph
+
+			.MicroPeak Graph Configuration
+			image::micropeak-graph-configure.png[width="4.5in"]
+
+			This selects which graph elements to show, and lets you
+			switch between metric and imperial units
+
+	=== Setting MicroPeak Preferences
+
+			.MicroPeak Preferences
+			image::micropeak-preferences.png[width="1.8in"]
+
+			The MicroPeak application has a few user settings which are
+			configured through the Preferences dialog, which can be
+			accessed from the File menu.
+
+			Log Directory::
+
+			The Log Directory is where flight data will be
+			saved to and loaded from by default. Of
+			course, you can always navigate to other
+			directories in the file chooser windows, this
+			setting is just the starting point.
+
+			Imperial Units::
+
+			If you prefer to see your graph data in feet
+			and miles per hour instead of meters and
+			meters per second, you can select Imperial
+			Units.
+
+			Serial Debug::
+
+			To see what data is actually arriving over the
+			serial port, start the MicroPeak application
+			from a command prompt and select the Serial
+			Debug option. This can be useful in debugging
+			serial communication problems, but most people
+			need never choose this.
+
+			Font Size::
+
+			You can adjust the size of the text in the
+			Statistics tab by changing the Font size
+			preference. There are three settings, with
+			luck one will both fit on your screen and
+			provide readable values.
+
+			Look & Feel::
+
+			The Look & feel menu shows a list of available
+			application appearance choices. By default,
+			the MicroPeak application tries to blend in
+			with other applications, but you may choose
+			some other appearance if you like.
+
+			Note that MicroPeak shares a subset of the
+			AltosUI preferences, so if you use both of
+			these applications, change in one application
+			will affect the other.
+
+[appendix]
+== Handling Precautions
+
+	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.
+
+	[WARNING]
+
+	The CR1025 Lithium 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 MicroPeak to keep conductive material from coming in
+	contact with the exposed metal elements.
+
+	The barometric sensor used in MicroPeak is sensitive to
+	sunlight. Please consider this when designing an
+	installation. 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.
+
+	The barometric sensor sampling ports 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.
+
+	As with all other rocketry electronics, Altus Metrum
+	altimeters must be protected from exposure to corrosive motor
+	exhaust and ejection charge gasses.
+
+[appendix]
+== Technical Information
+
+	=== Barometric Sensor
+
+		MicroPeak uses the Measurement Specialties MS5607
+		sensor. This has a range of 120kPa to 1kPa with an
+		absolute accuracy of 150Pa and a resolution of 2.4Pa.
+
+		The pressure range corresponds roughly to an altitude
+		range of -1500m (-4900 feet) to 31000m (102000 feet),
+		while the resolution is approximately 20cm (8 inches)
+		near sea level and 60cm (24in) at 10000m (33000 feet).
+
+		Ground pressure is computed from an average of 16
+		samples, taken while the altimeter is at rest. The
+		flight pressure used to report maximum height is
+		computed from a Kalman filter designed to smooth out
+		any minor noise in the sensor values. The flight
+		pressure recorded to non-volatile storage is
+		unfiltered, coming directly from the pressure sensor.
+
+	=== Micro-controller
+
+		MicroPeak uses an Atmel ATtiny85
+		micro-controller. This tiny CPU contains 8kB of flash
+		for the application, 512B of RAM for temporary data
+		storage and 512B of EEPROM for non-volatile storage of
+		previous flight data.
+
+		The ATtiny85 has a low-power mode which turns off all
+		of the clocks and powers down most of the internal
+		components. In this mode, the chip consumes only .1μA
+		of power. MicroPeak uses this mode once the flight has
+		ended to preserve battery power.
+
+	=== Lithium Battery
+
+		The CR1025 battery used by MicroPeak holds 30mAh of
+		power, which is sufficient to run for over 40
+		hours. Because MicroPeak powers down on landing, run
+		time includes only time sitting on the launch pad or
+		during flight.
+
+		The large positive terminal (+) is usually marked,
+		while the smaller negative terminal is not. Make sure
+		you install the battery with the positive terminal
+		facing away from the circuit board where it will be in
+		contact with the metal battery holder. A small pad on
+		the circuit board makes contact with the negative
+		battery terminal.
+
+		Shipping restrictions may prevent us from including a
+		CR1025 battery with MicroPeak. If so, many stores
+		carry CR1025 batteries as they are commonly used in
+		small electronic devices such as flash lights.
+
+	=== Atmospheric Model
+
+		MicroPeak contains a fixed atmospheric model which is
+		used to convert barometric pressure into altitude. The
+		model was converted into a 469-element piece-wise
+		linear approximation which is then used to compute the
+		altitude of the ground and apogee. The difference
+		between these represents the maximum height of the
+		flight.
+
+		The model assumes a particular set of atmospheric
+		conditions, which, while a reasonable average, cannot
+		represent the changing nature of the real
+		atmosphere. Fortunately, for flights reasonably close
+		to the ground, the effect of this global inaccuracy
+		are largely canceled out when the computed ground
+		altitude is subtracted from the computed apogee
+		altitude, so the resulting height is more accurate
+		than either the ground or apogee altitudes.
+
+		Because the raw pressure data is recorded to
+		non-volatile storage, you can use that, along with a
+		more sophisticated atmospheric model, to compute your
+		own altitude values.
+
+	=== Mechanical Considerations
+
+		MicroPeak is designed to be rugged enough for typical
+		rocketry applications. It contains two moving parts,
+		the battery holder and the power switch, which were
+		selected for their ruggedness.
+
+		The MicroPeak battery holder is designed to withstand
+		impact up to 150g without breaking contact (or, worse
+		yet, causing the battery to fall out). That means it
+		should stand up to almost any launch you care to try,
+		and should withstand fairly rough landings.
+
+		The power switch is designed to withstand up to 50g
+		forces in any direction. Because it is a sliding
+		switch, orienting the switch perpendicular to the
+		direction of rocket travel will serve to further
+		protect the switch from launch forces.
+
+	=== MicroPeak Programming Interface
+
+		MicroPeak exposes a standard 6-pin AVR programming
+		interface, but not using the usual 2x3 array of pins
+		on 0.1" centers. Instead, there is a single row of
+		tiny 0.60mm × 0.85mm pads on 1.20mm centers exposed
+		near the edge of the circuit board. We couldn't find
+		any connector that was small enough to include on the
+		circuit board.
+
+		In lieu of an actual connector, the easiest way to
+		connect to the bare pads is through a set of Pogo
+		pins. These spring-loaded contacts are designed to
+		connect in precisely this way. We've designed a
+		programming jig, the MicroPeak Pogo Pin board which
+		provides a standard AVR interface on one end and a
+		recessed slot for MicroPeak to align the board with
+		the Pogo Pins.
+
+		The MicroPeak Pogo Pin board is not a complete AVR
+		programmer, it is an interface board that provides a
+		3.3V regulated power supply to run the MicroPeak via
+		USB and a standard 6-pin AVR programming interface
+		with the usual 2x3 grid of pins on 0.1" centers. This
+		can be connected to any AVR programming dongle.
+
+		The AVR programming interface cannot run faster than ¼
+		of the AVR CPU clock frequency. Because MicroPeak runs
+		at 250kHz to save power, you must configure your AVR
+		programming system to clock the AVR programming
+		interface at no faster than 62.5kHz, or a clock period
+		of 32µS.
+
+[appendix]
+== On-board data storage
+
+	The ATtiny85 has 512 bytes of non-volatile storage, separate
+	from the code storage memory. The MicroPeak firmware uses this
+	to store information about the last completed
+	flight. Barometric measurements from the ground before launch
+	and at apogee are stored, and used at power-on to compute the
+	height of the last flight.
+
+	In addition to the data used to present the height of the last
+	flight, MicroPeak also stores barometric information sampled
+	at regular intervals during the flight. This is the
+	information captured with the MicroPeak USB adapter. It can
+	also be read from MicroPeak through any AVR programming tool.
+
+
+	.MicroPeak EEPROM Data Storage
+	[options="border",cols="2,1,7"]
+	|====
+	|Address	|Size (bytes)	|Description
+	|0x000		|4		|Average ground pressure (Pa)
+	|0x004		|4		|Minimum flight pressure (Pa)
+	|0x008		|2		|Number of in-flight samples
+	|0x00a … 0x1fe	|2		|Instantaneous flight pressure (Pa) low 16 bits
+	|====
+
+	All EEPROM data are stored least-significant byte first. The
+	instantaneous flight pressure data are stored without the
+	upper 16 bits of data. The upper bits can be reconstructed
+	from the previous sample, assuming that pressure doesn't
+	change by more more than 32kPa in a single sample
+	interval. Note that this pressure data is *not* filtered in
+	any way, while both the recorded ground and apogee pressure
+	values are, so you shouldn't expect the minimum instantaneous
+	pressure value to match the recorded minimum pressure value
+	exactly.
+
+	MicroPeak samples pressure every 96ms, but stores only every
+	other sample in the EEPROM. This provides for 251 pressure
+	samples at 192ms intervals, or 48.192s of storage. The clock
+	used for these samples is a factory calibrated RC circuit
+	built into the ATtiny85 and is accurate only to within ±10% at
+	25°C. So, you can count on the pressure data being accurate,
+	but speed or acceleration data computed from this will be
+	limited by the accuracy of this clock.
diff --git a/doc/micropeak.xsl b/doc/micropeak.xsl
deleted file mode 100644
index dafe3682..00000000
--- a/doc/micropeak.xsl
+++ /dev/null
@@ -1,736 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<book>
-  <title>MicroPeak Owner's Manual</title>
-  <subtitle>A recording altimeter for hobby rocketry</subtitle>
-  <bookinfo>
-    <author>
-      <firstname>Keith</firstname>
-      <surname>Packard</surname>
-    </author>
-    <copyright>
-      <year>2014</year>
-      <holder>Bdale Garbee and Keith Packard</holder>
-    </copyright>
-    <mediaobject>
-      <imageobject>
-	<imagedata fileref="micropeak-dime.jpg" width="6in"/>
-      </imageobject>
-    </mediaobject>
-    <legalnotice>
-      <para>
-        This document is released under the terms of the
-        <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
-          Creative Commons ShareAlike 3.0
-        </ulink>
-        license.
-      </para>
-    </legalnotice>
-    <revhistory>
-      <revision>
-	<revnumber>0.1</revnumber>
-	<date>29 October 2012</date>
-	<revremark>
-	  Initial release with preliminary hardware.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.0</revnumber>
-	<date>18 November 2012</date>
-	<revremark>
-	  Updates for version 1.0 release.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.1</revnumber>
-	<date>12 December 2012</date>
-	<revremark>
-	  Add comments about EEPROM storage format and programming jig.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.2</revnumber>
-	<date>20 January 2013</date>
-	<revremark>
-	  Add documentation for the MicroPeak USB adapter board. Note
-	  the switch to a Kalman filter for peak altitude
-	  determination.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.3.2</revnumber>
-	<date>12 February 2014</date>
-	<revremark>
-	  Add a "Download" button to the main window, which makes it
-	  quicker to access the download function. Update the data
-	  download documentation to reflect the new MicroPeak USB
-	  adapter design. Monitor data during download to let you see
-	  if the USB connection is working at all by showing the
-	  characters received from the MicroPeak USB adapter.
-	</revremark>
-      </revision>
-    </revhistory>
-  </bookinfo>
-  <dedication>
-    <title>Acknowledgements</title>
-    <para>
-      Thanks to John Lyngdal for suggesting that we build something like this.
-    </para>
-    <para>
-      Have fun using these products, and we hope to meet all of you
-      out on the rocket flight line somewhere.
-      <literallayout>
-Bdale Garbee, KB0G
-NAR #87103, TRA #12201
-
-Keith Packard, KD7SQG
-NAR #88757, TRA #12200
-      </literallayout>
-    </para>
-  </dedication>
-  <chapter>
-    <title>Quick Start Guide</title>
-    <para>
-      MicroPeak is designed to be easy to use. Requiring no external
-      components, flying takes just a few steps
-    </para>
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Install the battery. Fit a CR1025 battery into the plastic
-	  carrier. The positive (+) terminal should be towards the more
-	  open side of the carrier. Slip the carrier into the battery
-	  holder with the positive (+) terminal facing away from the
-	  circuit board.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="micropeak-back.jpg" width="4.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </listitem>
-      <listitem>
-	<para>
-	  Install MicroPeak in your rocket. This can be as simple as
-	  preparing a soft cushion of wadding inside a vented model payload
-	  bay. Wherever you mount it, make sure you protect the
-	  barometric sensor from corrosive ejection gasses as those
-	  will damage the sensor, and shield it from light as that can
-	  cause incorrect sensor readings.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Turn MicroPeak on. Slide the switch so that the actuator
-	  covers the '1' printed on the board. MicroPeak will report
-	  the maximum height of the last flight in decimeters using a
-	  sequence of flashes on the LED. A sequence of short flashes
-	  indicates one digit. A single long flash indicates zero. The
-	  height is reported in decimeters, so the last digit will be
-	  tenths of a meter. For example, if MicroPeak reports 5 4 4
-	  3, then the maximum height of the last flight was 544.3m, or
-	  1786 feet.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Finish preparing the rocket for flight. After the
-	  previous flight data have been reported, MicroPeak waits for
-	  one minute before starting to check for launch. This gives
-	  you time to finish assembling the rocket. As those
-	  activities might cause pressure changes inside the airframe,
-	  MicroPeak might accidentally detect boost. If you need to do
-	  anything to the airframe after the one minute window passes,
-	  make sure to be careful not to disturb the altimeter. The
-	  LED will remain dark during the one minute delay, but after
-	  that, it will start blinking once every 3 seconds.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Fly the rocket. Once the rocket passes about 30m in height
-	  (100 feet), the micro-controller will record the ground
-	  pressure and track the pressure seen during the flight. In
-	  this mode, the LED flickers rapidly. When the rocket lands,
-	  and the pressure stabilizes, the micro-controller will record
-	  the minimum pressure pressure experienced during the flight,
-	  compute the height represented by the difference in air
-	  pressure and blink that value out on the LED. After that,
-	  MicroPeak powers down to conserve battery power.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Recover the data. Turn MicroPeak off and then back on. MicroPeak
-	  will blink out the maximum height for the last flight. Turn
-	  MicroPeak back off to conserve battery power.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </chapter>
-  <chapter>
-    <title>Handling Precautions</title>
-    <para>
-      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.
-    </para>
-    <para>
-      The CR1025 Lithium 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 MicroPeak
-      to keep conductive material from coming in contact with the exposed metal elements.
-    </para>
-    <para>
-      The barometric sensor used in MicroPeak is sensitive to
-      sunlight. Please consider this when designing an
-      installation. 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.
-    </para>
-    <para>
-      The barometric sensor sampling ports 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.
-    </para>
-    <para>
-      As with all other rocketry electronics, Altus Metrum altimeters must 
-      be protected from exposure to corrosive motor exhaust and ejection 
-      charge gasses.
-    </para>
-  </chapter>
-  <chapter>
-    <title>The MicroPeak USB adapter</title>
-    <informalfigure>
-      <mediaobject>
-	<imageobject>
-	  <imagedata fileref="MicroPeakUSB-2.0.jpg" width="4.5in"/>
-	</imageobject>
-      </mediaobject>
-    </informalfigure>
-    <para>
-      MicroPeak stores barometric pressure information for the first
-      48 seconds of the flight in on-board non-volatile memory. The
-      contents of this memory can be downloaded to a computer using
-      the MicroPeak USB adapter.
-    </para>
-    <section>
-      <title>Installing the MicroPeak software</title>
-      <para>
-	The MicroPeak application runs on Linux, Mac OS X and
-	Windows. You can download the latest version from
-	<ulink url="http://altusmetrum.org/AltOS"/>.
-      </para>
-      <para>
-	On Mac OS X and Windows, the FTDI USB device driver needs to
-	be installed. A compatible version of this driver is included
-	with the MicroPeak application, but you may want to download a
-	newer version from <ulink
-	url="http://www.ftdichip.com/FTDrivers.htm"/>.
-      </para>
-    </section>
-    <section>
-      <title>Downloading Micro Peak data</title>
-      <itemizedlist>
-	<listitem>
-	  <para>
-	    Plug the MicroPeak USB adapter in to your computer.
-	  </para>
-	</listitem>
-	<listitem>
-	  <?dbfo keep-together="always"?>
-	  <para>
-	    Start the MicroPeak application.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="micropeak-nofont.svg" width="0.5in"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</listitem>
-	<listitem>
-	  <?dbfo keep-together="always"?>
-	  <para>
-	     Click on the Download button at the top of the window.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="micropeak-app.png" width="4.5in"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</listitem>
-	<listitem>
-	  <?dbfo keep-together="always"?>
-	  <para>
-	    Select from the listed devices. There will probably be
-	    only one.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="micropeak-device-dialog.png" width="2.3in"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</listitem>
-	<listitem>
-	  <para>
-	    The application will now wait until it receives valid data
-	    from the MicroPeak USB adapter.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="micropeak-download.png" width="2in"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    The MicroPeak USB adapter has a small phototransistor
-	    under the hole in the center of the box.
-	    Locate this, turn on the MicroPeak and place the orange LED on the MicroPeak
-	    directly inside the hole, resting the MicroPeak itself on
-	    the box. You should see the blue LED on the MicroPeak USB
-	    adapter blinking in time with the orange LED on the
-	    MicroPeak board itself.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="MicroPeakUSB-2.0-inuse.jpg" width="4.5in"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</listitem>
-	<listitem>
-	  <?dbfo keep-together="always"?>
-	  <para>
-	    After the maximum flight height is reported, MicroPeak will
-	    pause for a few seconds, blink the LED four times rapidly
-	    and then send the data in one long blur on the LED. The
-	    MicroPeak application should receive the data. When it does,
-	    it will present the data in a graph and offer to save the
-	    data to a file. If not, you can power cycle the MicroPeak
-	    board and try again.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="micropeak-save-dialog.png" width="2.3in"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</listitem>
-	<listitem>
-	  <?dbfo keep-together="always"?>
-	  <para>
-	    Once the data are saved, a graph will be displayed with
-	    height, speed and acceleration values computed from the
-	    recorded barometric pressure data. See the next section
-	    for more details on that.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </section>
-    <section>
-      <title>Analyzing MicroPeak Data</title>
-      <para>
-	The MicroPeak application can present flight data in the form
-	of a graph, a collection of computed statistics or in tabular
-	form.
-      </para>
-      <para>
-	MicroPeak collects raw barometric pressure data which is
-	then used to compute the remaining data. Altitude is computed
-	through a standard atmospheric model. Absolute error in this
-	data will be affected by local atmospheric
-	conditions. Fortunately, these errors tend to mostly cancel
-	out, so the error in the height computation is much smaller
-	than the error in altitude would be.
-      </para>
-      <para>
-	Speed and acceleration are computed by first smoothing the
-	height data with a Gaussian window averaging filter. For speed
-	data, this average uses seven samples. For acceleration data,
-	eleven samples are used. These were chosen to provide
-	reasonably smooth speed and acceleration data, which would
-	otherwise be swamped with noise.
-      </para>
-      <para>
-	The File menu has operations to open existing flight logs,
-	Download new data from MicroPeak, Save a copy of the flight
-	log to a new file, Export the tabular data (as seen in the Raw
-	Data tab) to a file, change the application Preferences, Close
-	the current window or close all windows and Exit the
-	application.
-      </para>
-      <section>
-	<title>MicroPeak Graphs</title>
-	<para>
-	  Under the Graph tab, the height, speed and acceleration values
-	  are displayed together. You can zoom in on the graph by
-	  clicking and dragging to sweep out an area of
-	  interest. Right-click on the plot to bring up a menu that will
-	  let you save, copy or print the graph.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="micropeak-graph.png" width="4.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>MicroPeak Flight Statistics</title>
-	<para>
-	  The Statistics tab presents overall data from the flight. Note
-	  that the Maximum height value is taken from the minumum
-	  pressure captured in flight, and may be different from the
-	  apparant apogee value as the on-board data are sampled twice
-	  as fast as the recorded values, or because the true apogee
-	  occurred after the on-board memory was full. Each value is
-	  presented in several units as appropriate.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="micropeak-statistics.png" width="4.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Raw Data</title>
-	<para>
-	  A table consisting of the both the raw barometric pressure
-	  data and values computed from that for each recorded time.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="micropeak-raw-data.png" width="4.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Configuring the Graph</title>
-	<para>
-	  This selects which graph elements to show, and lets you
-	  switch between metric and imperial units
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="micropeak-graph-configure.png" width="4.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-    </section>
-    <section>
-      <title>Setting MicroPeak Preferences</title>
-      <informalfigure>
-	<mediaobject>
-	  <imageobject>
-	    <imagedata fileref="micropeak-preferences.png" width="1.8in"/>
-	  </imageobject>
-	</mediaobject>
-      </informalfigure>
-      <para>
-	The MicroPeak application has a few user settings which are
-	configured through the Preferences dialog, which can be
-	accessed from the File menu.
-      <itemizedlist>
-	<listitem>
-	  <para>
-	    The Log Directory is where flight data will be saved to
-	    and loaded from by default. Of course, you can always
-	    navigate to other directories in the file chooser windows,
-	    this setting is just the starting point.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    If you prefer to see your graph data in feet and
-	    miles per hour instead of meters and meters per second,
-	    you can select Imperial Units.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    To see what data is actually arriving over the serial
-	    port, start the MicroPeak application from a command
-	    prompt and select the Serial Debug option. This can be
-	    useful in debugging serial communication problems, but
-	    most people need never choose this.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    You can adjust the size of the text in the Statistics tab
-	    by changing the Font size preference. There are three
-	    settings, with luck one will both fit on your screen and
-	    provide readable values.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    The Look &amp; feel menu shows a list of available
-	    application appearance choices. By default, the MicroPeak
-	    application tries to blend in with other applications, but
-	    you may choose some other appearance if you like.
-	  </para>
-	</listitem>
-      </itemizedlist>
-      </para>
-      <para>
-	Note that MicroPeak shares a subset of the AltosUI
-	preferences, so if you use both of these applications, change
-	in one application will affect the other.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Technical Information</title>
-    <section>
-      <title>Barometric Sensor</title>
-      <para>
-	MicroPeak uses the Measurement Specialties MS5607 sensor. This
-	has a range of 120kPa to 1kPa with an absolute accuracy of
-	150Pa and a resolution of 2.4Pa.
-      </para>
-      <para>
-	The pressure range corresponds roughly to an altitude range of
-	-1500m (-4900 feet) to 31000m (102000 feet), while the
-	resolution is approximately 20cm (8 inches) near sea level and
-	60cm (24in) at 10000m (33000 feet).
-      </para>
-      <para>
-	Ground pressure is computed from an average of 16 samples,
-	taken while the altimeter is at rest. The flight pressure used to
-	report maximum height is computed from a Kalman filter
-	designed to smooth out any minor noise in the sensor
-	values. The flight pressure recorded to non-volatile storage
-	is unfiltered, coming directly from the pressure sensor.
-      </para>
-    </section>
-    <section>
-      <title>Micro-controller</title>
-      <para>
-	MicroPeak uses an Atmel ATtiny85 micro-controller. This tiny
-	CPU contains 8kB of flash for the application, 512B of RAM for
-	temporary data storage and 512B of EEPROM for non-volatile
-	storage of previous flight data.
-      </para>
-      <para>
-	The ATtiny85 has a low-power mode which turns off all of the
-	clocks and powers down most of the internal components. In
-	this mode, the chip consumes only .1μA of power. MicroPeak
-	uses this mode once the flight has ended to preserve battery
-	power.
-      </para>
-    </section>
-    <section>
-      <title>Lithium Battery</title>
-      <para>
-	The CR1025 battery used by MicroPeak holds 30mAh of power,
-	which is sufficient to run for over 40 hours. Because
-	MicroPeak powers down on landing, run time includes only time
-	sitting on the launch pad or during flight.
-      </para>
-      <para>
-	The large positive terminal (+) is usually marked, while the
-	smaller negative terminal is not. Make sure you install the
-	battery with the positive terminal facing away from the
-	circuit board where it will be in contact with the metal
-	battery holder. A small pad on the circuit board makes contact
-	with the negative battery terminal.
-      </para>
-      <para>
-	Shipping restrictions may prevent us from including a CR1025
-	battery with MicroPeak. If so, many stores carry CR1025
-	batteries as they are commonly used in small electronic
-	devices such as flash lights.
-      </para>
-    </section>
-    <section>
-      <title>Atmospheric Model</title>
-      <para>
-	MicroPeak contains a fixed atmospheric model which is used to
-	convert barometric pressure into altitude. The model was
-	converted into a 469-element piece-wise linear approximation
-	which is then used to compute the altitude of the ground and
-	apogee. The difference between these represents the maximum
-	height of the flight.
-      </para>
-      <para>
-	The model assumes a particular set of atmospheric conditions,
-	which, while a reasonable average, cannot represent the changing
-	nature of the real atmosphere. Fortunately, for flights
-	reasonably close to the ground, the effect of this global
-	inaccuracy are largely canceled out when the computed ground
-	altitude is subtracted from the computed apogee altitude, so
-	the resulting height is more accurate than either the ground
-	or apogee altitudes.
-      </para>
-      <para>
-	Because the raw pressure data is recorded to non-volatile
-	storage, you can use that, along with a more sophisticated
-	atmospheric model, to compute your own altitude values.
-      </para>
-    </section>
-    <section>
-      <title>Mechanical Considerations</title>
-      <para>
-	MicroPeak is designed to be rugged enough for typical rocketry
-	applications. It contains two moving parts, the battery holder
-	and the power switch, which were selected for their
-	ruggedness.
-      </para>
-      <para>
-	The MicroPeak battery holder is designed to withstand impact
-	up to 150g without breaking contact (or, worse yet, causing
-	the battery to fall out). That means it should stand up to
-	almost any launch you care to try, and should withstand fairly
-	rough landings.
-      </para>
-      <para>
-	The power switch is designed to withstand up to 50g forces in
-	any direction. Because it is a sliding switch, orienting the
-	switch perpendicular to the direction of rocket travel will
-	serve to further protect the switch from launch forces.
-      </para>
-    </section>
-    <section>
-      <title>On-board data storage</title>
-      <para>
-	The ATtiny85 has 512 bytes of non-volatile storage, separate
-	from the code storage memory. The MicroPeak firmware uses this
-	to store information about the last completed
-	flight. Barometric measurements from the ground before launch
-	and at apogee are stored, and used at power-on to compute the
-	height of the last flight.
-      </para>
-      <para>
-	In addition to the data used to present the height of the last
-	flight, MicroPeak also stores barometric information sampled
-	at regular intervals during the flight. This is the
-	information captured with the MicroPeak USB adapter. It can
-	also be read from MicroPeak through any AVR programming
-	tool.
-      </para>
-      <table frame='all'>
-	<title>MicroPeak EEPROM Data Storage</title>
-	<tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='2*' colname='Address'/>
-	  <colspec align='center' colwidth='*' colname='Size (bytes)'/>
-	  <colspec align='left' colwidth='7*' colname='Description'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Address</entry>
-	      <entry align='center'>Size (bytes)</entry>
-	      <entry align='center'>Description</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>0x000</entry>
-	      <entry>4</entry>
-	      <entry>Average ground pressure (Pa)</entry>
-	    </row>
-	    <row>
-	      <entry>0x004</entry>
-	      <entry>4</entry>
-	      <entry>Minimum flight pressure (Pa)</entry>
-	    </row>
-	    <row>
-	      <entry>0x008</entry>
-	      <entry>2</entry>
-	      <entry>Number of in-flight samples</entry>
-	    </row>
-	    <row>
-	      <entry>0x00a … 0x1fe</entry>
-	      <entry>2</entry>
-	      <entry>Instantaneous flight pressure (Pa) low 16 bits</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-      <para>
-	All EEPROM data are stored least-significant byte first. The
-	instantaneous flight pressure data are stored without the
-	upper 16 bits of data. The upper bits can be reconstructed
-	from the previous sample, assuming that pressure doesn't
-	change by more more than 32kPa in a single sample
-	interval. Note that this pressure data is <emphasis>not</emphasis>
-	filtered in any way, while both the recorded ground and apogee
-	pressure values are, so you shouldn't expect the minimum
-	instantaneous pressure value to match the recorded minimum
-	pressure value exactly.
-      </para>
-      <para>
-	MicroPeak samples pressure every 96ms, but stores only every
-	other sample in the EEPROM. This provides for 251 pressure
-	samples at 192ms intervals, or 48.192s of storage. The clock
-	used for these samples is a factory calibrated RC circuit
-	built into the ATtiny85 and is accurate only to within ±10% at
-	25°C. So, you can count on the pressure data being accurate,
-	but speed or acceleration data computed from this will be
-	limited by the accuracy of this clock.
-      </para>
-    </section>
-    <section>
-      <title>MicroPeak Programming Interface</title>
-      <para>
-	MicroPeak exposes a standard 6-pin AVR programming interface,
-	but not using the usual 2x3 array of pins on 0.1"
-	centers. Instead, there is a single row of tiny 0.60mm ×
-	0.85mm pads on 1.20mm centers exposed near the edge of the
-	circuit board. We couldn't find any connector that was
-	small enough to include on the circuit board.
-      </para>
-      <para>
-	In lieu of an actual connector, the easiest way to connect to
-	the bare pads is through a set of Pogo pins. These
-	spring-loaded contacts are designed to connect in precisely
-	this way. We've designed a programming jig, the MicroPeak
-	Pogo Pin board which provides a standard AVR interface on one
-	end and a recessed slot for MicroPeak to align the board with
-	the Pogo Pins.
-      </para>
-      <para>
-	The MicroPeak Pogo Pin board is not a complete AVR programmer,
-	it is an interface board that provides a 3.3V regulated power
-	supply to run the MicroPeak via USB and a standard 6-pin AVR
-	programming interface with the usual 2x3 grid of pins on 0.1"
-	centers. This can be connected to any AVR programming
-	dongle.
-      </para>
-      <para>
-	The AVR programming interface cannot run faster than ¼ of the
-	AVR CPU clock frequency. Because MicroPeak runs at 250kHz to
-	save power, you must configure your AVR programming system to
-	clock the AVR programming interface at no faster than
-	62.5kHz, or a clock period of 32µS.
-      </para>
-    </section>
-  </chapter>
-</book>
-<!--  LocalWords:  Altusmetrum MicroPeak
--->
diff --git a/doc/release-notes-0.7.1-docinfo.xml b/doc/release-notes-0.7.1-docinfo.xml
new file mode 100644
index 00000000..71bc3180
--- /dev/null
+++ b/doc/release-notes-0.7.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>29 September 2010</date>
+<copyright>
+  <year>2010</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-0.7.1.inc b/doc/release-notes-0.7.1.inc
new file mode 100644
index 00000000..8ce49f0a
--- /dev/null
+++ b/doc/release-notes-0.7.1.inc
@@ -0,0 +1,53 @@
+= Release Notes for Version 0.7.1
+:toc!:
+:doctype: article
+
+	Version 0.7.1 is the first release containing our new
+	cross-platform Java-based user interface.
+
+	== AltosUI Application
+
+	* Receive and log telemetry from a connected TeleDongle
+	  device. All data received is saved to log files named with
+	  the current date and the connected rocket serial and flight
+	  numbers. There is no mode in which telemetry data will not
+	  be saved.
+
+
+	* Download logged data from TeleMetrum devices, either through
+	  a direct USB connection or over the air through a TeleDongle
+	  device.
+
+
+	* Configure a TeleMetrum device, setting the radio channel,
+	  callsign, apogee delay and main deploy height. This can be
+	  done through either a USB connection or over a radio link
+	  via a TeleDongle device.
+
+
+	* Replay a flight in real-time. This takes a saved telemetry
+	  log or eeprom download and replays it through the user
+	  interface so you can relive your favorite rocket flights.
+
+
+	* Reprogram Altus Metrum devices. Using an Altus Metrum device
+	  connected via USB, another Altus Metrum device can be
+	  reprogrammed using the supplied programming cable between
+	  the two devices.
+
+
+	* Export Flight data to a comma-separated-values file. This
+	  takes either telemetry or on-board flight data and generates
+	  data suitable for use in external applications. All data is
+	  exported using standard units so that no device-specific
+	  knowledge is needed to handle the data.
+
+
+	* Speak to you during the flight. Instead of spending the
+	  flight hunched over your laptop looking at the screen, enjoy
+	  the view while the computer tells you what’s going on up
+	  there. During ascent, you hear the current flight state and
+	  altitude information. During descent, you get azimuth,
+	  elevation and range information to try and help you find
+	  your rocket in the air. Once on the ground, the direction
+	  and distance are reported.
diff --git a/doc/release-notes-0.7.1.xsl b/doc/release-notes-0.7.1.xsl
deleted file mode 100644
index 1f2feeb0..00000000
--- a/doc/release-notes-0.7.1.xsl
+++ /dev/null
@@ -1,71 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-Version 0.7.1 is the first release containing our new cross-platform Java-based user interface. AltosUI can:
-  </para>
-  <itemizedlist>
-    <listitem>
-<para>
-      Receive and log telemetry from a connected TeleDongle
-      device. All data received is saved to log files named with the
-      current date and the connected rocket serial and flight
-      numbers. There is no mode in which telemetry data will not be
-      saved.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Download logged data from TeleMetrum devices, either through a
-      direct USB connection or over the air through a TeleDongle
-      device.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Configure a TeleMetrum device, setting the radio channel,
-      callsign, apogee delay and main deploy height. This can be done
-      through either a USB connection or over a radio link via a
-      TeleDongle device.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Replay a flight in real-time. This takes a saved telemetry log
-      or eeprom download and replays it through the user interface so
-      you can relive your favorite rocket flights.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Reprogram Altus Metrum devices. Using an Altus Metrum device
-      connected via USB, another Altus Metrum device can be
-      reprogrammed using the supplied programming cable between the
-      two devices.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Export Flight data to a comma-separated-values file. This takes
-      either telemetry or on-board flight data and generates data
-      suitable for use in external applications. All data is exported
-      using standard units so that no device-specific knowledge is
-      needed to handle the data.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Speak to you during the flight. Instead of spending the flight
-      hunched over your laptop looking at the screen, enjoy the view
-      while the computer tells you what’s going on up there. During
-      ascent, you hear the current flight state and altitude
-      information. During descent, you get azimuth, elevation and
-      range information to try and help you find your rocket in the
-      air. Once on the ground, the direction and distance are
-      reported.
-    </para>
-</listitem>
-  </itemizedlist>
-</article>
diff --git a/doc/release-notes-0.8-docinfo.xml b/doc/release-notes-0.8-docinfo.xml
new file mode 100644
index 00000000..d06249f5
--- /dev/null
+++ b/doc/release-notes-0.8-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>24 November 2010</date>
+<copyright>
+  <year>2010</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-0.8.inc b/doc/release-notes-0.8.inc
new file mode 100644
index 00000000..38230593
--- /dev/null
+++ b/doc/release-notes-0.8.inc
@@ -0,0 +1,47 @@
+= Release Notes for Version 0.8
+:toc!:
+:doctype: article
+
+	Version 0.8 offers a major upgrade in the AltosUI
+	interface.
+
+	== AltosUI Application:  
+
+    	* Post-flight graphing tool. This lets you explore the
+	  behaviour of your rocket after flight with a scroll-able and
+	  zoom-able chart showing the altitude, speed and acceleration
+	  of the airframe along with events recorded by the flight
+	  computer. You can export graphs to PNG files, or print them
+	  directly.
+
+    	* Real-time moving map which overlays the in-progress flight
+	  on satellite imagery fetched from Google Maps. This lets you
+	  see in pictures where your rocket has landed, allowing you
+	  to plan recovery activities more accurately.
+    
+    	* Wireless recovery system testing. Prep your rocket for
+	  flight and test fire the deployment charges to make sure
+	  things work as expected. All without threading wires through
+	  holes in your airframe.
+    
+    	* Optimized flight status displays. Each flight state now has
+	  it's own custom 'tab' in the flight monitoring window so you
+	  can focus on the most important details. Pre-flight, the
+	  system shows a set of red/green status indicators for
+	  battery voltage, apogee/main igniter continutity and GPS
+	  reception. Wait until they're all green and your rocket is
+	  ready for flight. There are also tabs for ascent, descent
+	  and landing along with the original tabular view of the
+	  data.
+    
+    	* Monitor multiple flights simultaneously. If you have more
+	  than one TeleDongle, you can monitor a flight with each one
+	  on the same computer.
+    
+    	* Automatic flight monitoring at startup. Plug TeleDongle into
+	  the machine before starting AltosUI and it will
+	  automatically connect to it and prepare to monitor a flight.
+    
+    	* Exports Google Earth flight tracks. Using the Keyhole Markup
+	  Language (.kml) file format, this provides a 3D view of your
+	  rocket flight through the Google Earth program.
diff --git a/doc/release-notes-0.8.xsl b/doc/release-notes-0.8.xsl
deleted file mode 100644
index df7ef32d..00000000
--- a/doc/release-notes-0.8.xsl
+++ /dev/null
@@ -1,70 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 0.8 offers a major upgrade in the AltosUI
-    interface. Significant new features include:
-  </para>
-  <itemizedlist>
-    <listitem>
-<para>
-      Post-flight graphing tool. This lets you explore the behaviour
-      of your rocket after flight with a scroll-able and zoom-able
-      chart showing the altitude, speed and acceleration of the
-      airframe along with events recorded by the flight computer. You
-      can export graphs to PNG files, or print them directly.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Real-time moving map which overlays the in-progress flight on
-      satellite imagery fetched from Google Maps. This lets you see in
-      pictures where your rocket has landed, allowing you to plan
-      recovery activities more accurately.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Wireless recovery system testing. Prep your rocket for flight
-      and test fire the deployment charges to make sure things work as
-      expected. All without threading wires through holes in your
-      airframe.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Optimized flight status displays. Each flight state now has it's
-      own custom 'tab' in the flight monitoring window so you can
-      focus on the most important details. Pre-flight, the system
-      shows a set of red/green status indicators for battery voltage,
-      apogee/main igniter continutity and GPS reception. Wait until
-      they're all green and your rocket is ready for flight. There are
-      also tabs for ascent, descent and landing along with the
-      original tabular view of the data.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Monitor multiple flights simultaneously. If you have more than
-      one TeleDongle, you can monitor a flight with each one on the
-      same computer.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Automatic flight monitoring at startup. Plug TeleDongle into the
-      machine before starting AltosUI and it will automatically
-      connect to it and prepare to monitor a flight.
-    </para>
-</listitem>
-    <listitem>
-<para>
-      Exports Google Earth flight tracks. Using the Keyhole Markup
-      Language (.kml) file format, this provides a 3D view of your
-      rocket flight through the Google Earth program.
-    </para>
-</listitem>
-  </itemizedlist>
-</article>
diff --git a/doc/release-notes-0.9-docinfo.xml b/doc/release-notes-0.9-docinfo.xml
new file mode 100644
index 00000000..0602cb02
--- /dev/null
+++ b/doc/release-notes-0.9-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>18 January 2011</date>
+<copyright>
+  <year>2011</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-0.9.2-docinfo.xml b/doc/release-notes-0.9.2-docinfo.xml
new file mode 100644
index 00000000..ec1e4482
--- /dev/null
+++ b/doc/release-notes-0.9.2-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>19 March 2011</date>
+<copyright>
+  <year>2011</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-0.9.2.inc b/doc/release-notes-0.9.2.inc
new file mode 100644
index 00000000..b7c55bb2
--- /dev/null
+++ b/doc/release-notes-0.9.2.inc
@@ -0,0 +1,18 @@
+= Release Notes for Version 0.9.2
+:toc!:
+:doctype: article
+
+	Version 0.9.2 is an AltosUI bug-fix release, with no firmware
+	changes.
+
+	== AltosUI
+
+		AltosUI fixes:
+
+		* Fix plotting problems due to missing file in the Mac
+                  OS install image.
+
+		* Always read whole eeprom blocks, mark empty records
+                  invalid, display parsing errors to user.
+
+		* Add software version to Configure AltosUI dialog
diff --git a/doc/release-notes-0.9.2.xsl b/doc/release-notes-0.9.2.xsl
deleted file mode 100644
index 16ff989e..00000000
--- a/doc/release-notes-0.9.2.xsl
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 0.9.2 is an AltosUI bug-fix release, with no firmware changes.
-  </para>
-  <itemizedlist>
-    <listitem>
-<para>
-      Fix plotting problems due to missing file in the Mac OS install image.
-</para>
-    </listitem>
-    <listitem>
-<para>
-      Always read whole eeprom blocks, mark empty records invalid, display parsing errors to user.
-</para>
-    </listitem>
-    <listitem>
-      <para>
-      Add software version to Configure AltosUI dialog
-</para>
-    </listitem>
-  </itemizedlist>
-</article>
diff --git a/doc/release-notes-0.9.inc b/doc/release-notes-0.9.inc
new file mode 100644
index 00000000..66810e5d
--- /dev/null
+++ b/doc/release-notes-0.9.inc
@@ -0,0 +1,31 @@
+= Release Notes for Version 0.9
+:toc!:
+:doctype: article
+
+	Version 0.9 adds a few new firmware features and accompanying
+	AltosUI changes, along with new hardware support.
+
+	== AltOS
+
+	* Support for TeleMetrum v1.1 hardware. Sources for the flash
+	  memory part used in v1.0 dried up, so v1.1 uses a different
+	  part which required a new driver and support for explicit
+	  flight log erasing.
+
+	* Multiple flight log support. This stores more than one
+	  flight log in the on-board flash memory. It also requires
+	  the user to explicitly erase flights so that you won't lose
+	  flight logs just because you fly the same board twice in one
+	  day.
+
+	* Telemetry support for devices with serial number >=
+	  256. Previous versions used a telemetry packet format that
+	  provided only 8 bits for the device serial number. This
+	  change requires that both ends of the telemetry link be
+	  running the 0.9 firmware or they will not communicate.
+
+	== AltosUI Application
+
+	* Support for telemetry format changes.
+
+	* Support for multiple flight logs.
diff --git a/doc/release-notes-0.9.xsl b/doc/release-notes-0.9.xsl
deleted file mode 100644
index a5d6b3d7..00000000
--- a/doc/release-notes-0.9.xsl
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 0.9 adds a few new firmware features and accompanying
-    AltosUI changes, along with new hardware support.
-  </para>
-  <itemizedlist>
-    <listitem>
-      <para>
-      Support for TeleMetrum v1.1 hardware. Sources for the flash
-      memory part used in v1.0 dried up, so v1.1 uses a different part
-      which required a new driver and support for explicit flight log
-      erasing.
-</para>
-    </listitem>
-    <listitem>
-      <para>
-      Multiple flight log support. This stores more than one flight
-      log in the on-board flash memory. It also requires the user to
-      explicitly erase flights so that you won't lose flight logs just
-      because you fly the same board twice in one day.
-</para>
-    </listitem>
-    <listitem>
-      <para>
-      Telemetry support for devices with serial number >=
-      256. Previous versions used a telemetry packet format that
-      provided only 8 bits for the device serial number. This change
-      requires that both ends of the telemetry link be running the 0.9
-      firmware or they will not communicate.
-</para>
-    </listitem>
-  </itemizedlist>
-</article>
diff --git a/doc/release-notes-1.0.1-docinfo.xml b/doc/release-notes-1.0.1-docinfo.xml
new file mode 100644
index 00000000..95a7681d
--- /dev/null
+++ b/doc/release-notes-1.0.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>24 August 2011</date>
+<copyright>
+  <year>2011</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.0.1.inc b/doc/release-notes-1.0.1.inc
new file mode 100644
index 00000000..067727e9
--- /dev/null
+++ b/doc/release-notes-1.0.1.inc
@@ -0,0 +1,100 @@
+= Release Notes for Version 1.0.1
+:toc!:
+:doctype: article
+
+	Version 1.0.1 is a major release, adding support for the
+	TeleMini device and lots of new AltosUI features
+  
+	== AltOS
+
+		AltOS New Features
+
+		* Add TeleMini v1.0 support.
+
+		* Support operation of TeleMetrum with the antenna pointing
+		  aft. Previous firmware versions required the antenna to be
+		  pointing upwards, now there is a configuration option
+		  allowing the antenna to point aft, to aid installation in
+		  some airframes.
+
+		* Ability to disable telemetry. For airframes where an antenna
+		  just isn't possible, or where radio transmissions might
+		  cause trouble with other electronics, there's a
+		  configuration option to disable all telemetry. Note that the
+		  board will still enable the radio link in idle mode.
+
+		* Arbitrary frequency selection. The radios in Altus Metrum
+		  devices can be programmed to a wide range of frequencies, so
+		  instead of limiting devices to 10 pre-selected 'channels',
+		  the new firmware allows the user to choose any frequency in
+		  the 70cm band. Note that the RF matching circuit on the
+		  boards is tuned for around 435MHz, so frequencies far from
+		  that may reduce the available range.
+
+
+		AltOS Fixes
+
+		* Change telemetry to be encoded in multiple 32-byte
+		  packets. This enables support for TeleMini and other devices
+		  without requiring further updates to the TeleDongle
+		  firmware.
+
+		* Kalman-filter based flight-tracking. The model based sensor
+		  fusion approach of a Kalman filter means that AltOS now
+		  computes apogee much more accurately than before, generally
+		  within a fraction of a second. In addition, this approach
+		  allows the baro-only TeleMini device to correctly identify
+		  Mach transitions, avoiding the error-prone selection of a
+		  Mach delay.
+
+  
+	== AltosUI Application
+
+		AltosUI New Features
+
+		* Add main/apogee voltage graphs to the data
+		  plot. This provides a visual indication if the
+		  igniters fail before being fired.
+      
+		* Scan for altimeter devices by watching the defined
+		  telemetry frequencies. This avoids the problem of
+		  remembering what frequency a device was configured
+		  to use, which is especially important with TeleMini
+		  which does not include a USB connection.
+
+		 * Monitor altimeter state in "Idle" mode. This
+		   provides much of the information presented in the
+		   "Pad" dialog from the Monitor Flight command,
+		   monitoring the igniters, battery and GPS status
+		   withing requiring the flight computer to be armed
+		   and ready for flight.
+
+
+		 * Pre-load map images from home. For those launch
+		   sites which don't provide free Wi-Fi, this allows
+		   you to download the necessary satellite images
+		   given the location of the launch site. A list of
+		   known launch sites is maintained at altusmetrum.org
+		   which AltosUI downloads to populate a menu; if
+		   you've got a launch site not on that list, please
+		   send the name of it, latitude and longitude along
+		   with a link to the web site of the controlling club
+		   to the altusmetrum mailing list.
+
+		 * Flight statistics are now displayed in the Graph
+		   data window. These include max height/speed/accel,
+		   average descent rates and a few other bits of
+		   information. The Graph Data window can now be
+		   reached from the 'Landed' tab in the Monitor Flight
+		   window so you can immediately see the results of a
+		   flight.
+
+		AltosUI Changes
+
+		* Wait for altimeter when using packet mode. Instead
+		  of quicly timing out when trying to initialize a
+		  packet mode configuration connection, AltosUI now
+		  waits indefinitely for the remote device to appear,
+		  providing a cancel button should the user get
+		  bored. This is necessary as the TeleMini can only be
+		  placed in "Idle" mode if AltosUI is polling it.
diff --git a/doc/release-notes-1.0.1.xsl b/doc/release-notes-1.0.1.xsl
deleted file mode 100644
index 8b66f7e0..00000000
--- a/doc/release-notes-1.0.1.xsl
+++ /dev/null
@@ -1,127 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.0.1 is a major release, adding support for the TeleMini
-    device and lots of new AltosUI features
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Add TeleMini v1.0 support. Firmware images for TeleMini are
-	included in AltOS releases.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Change telemetry to be encoded in multiple 32-byte packets. This
-	enables support for TeleMini and other devices without requiring
-	further updates to the TeleDongle firmware.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Support operation of TeleMetrum with the antenna pointing
-	aft. Previous firmware versions required the antenna to be
-	pointing upwards, now there is a configuration option allowing
-	the antenna to point aft, to aid installation in some airframes.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Ability to disable telemetry. For airframes where an antenna
-	just isn't possible, or where radio transmissions might cause
-	trouble with other electronics, there's a configuration option
-	to disable all telemetry. Note that the board will still
-	enable the radio link in idle mode.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Arbitrary frequency selection. The radios in Altus Metrum
-	devices can be programmed to a wide range of frequencies, so
-	instead of limiting devices to 10 pre-selected 'channels', the
-	new firmware allows the user to choose any frequency in the
-	70cm band. Note that the RF matching circuit on the boards is
-	tuned for around 435MHz, so frequencies far from that may
-	reduce the available range.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Kalman-filter based flight-tracking. The model based sensor
-	fusion approach of a Kalman filter means that AltOS now
-	computes apogee much more accurately than before, generally
-	within a fraction of a second. In addition, this approach
-	allows the baro-only TeleMini device to correctly identify
-	Mach transitions, avoiding the error-prone selection of a Mach
-	delay.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Wait for altimeter when using packet mode. Instead of quicly
-	timing out when trying to initialize a packet mode
-	configuration connection, AltosUI now waits indefinitely for
-	the remote device to appear, providing a cancel button should
-	the user get bored. This is necessary as the TeleMini can only
-	be placed in "Idle" mode if AltosUI is polling it.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add main/apogee voltage graphs to the data plot. This provides
-	a visual indication if the igniters fail before being fired.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Scan for altimeter devices by watching the defined telemetry
-	frequencies. This avoids the problem of remembering what
-	frequency a device was configured to use, which is especially
-	important with TeleMini which does not include a USB connection.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Monitor altimeter state in "Idle" mode. This provides much of
-	the information presented in the "Pad" dialog from the Monitor
-	Flight command, monitoring the igniters, battery and GPS
-	status withing requiring the flight computer to be armed and
-	ready for flight.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Pre-load map images from home. For those launch sites which
-	don't provide free Wi-Fi, this allows you to download the
-	necessary satellite images given the location of the launch
-	site. A list of known launch sites is maintained at
-	altusmetrum.org which AltosUI downloads to populate a menu; if
-	you've got a launch site not on that list, please send the
-	name of it, latitude and longitude along with a link to the
-	web site of the controlling club to the altusmetrum mailing list.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Flight statistics are now displayed in the Graph data
-	window. These include max height/speed/accel, average descent
-	rates and a few other bits of information. The Graph Data
-	window can now be reached from the 'Landed' tab in the Monitor
-	Flight window so you can immediately see the results of a
-	flight.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.1-docinfo.xml b/doc/release-notes-1.1-docinfo.xml
new file mode 100644
index 00000000..032a06c5
--- /dev/null
+++ b/doc/release-notes-1.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>13 September 2012</date>
+<copyright>
+  <year>2013</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.1.1-docinfo.xml b/doc/release-notes-1.1.1-docinfo.xml
new file mode 100644
index 00000000..4c2c8b1c
--- /dev/null
+++ b/doc/release-notes-1.1.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>16 September 2012</date>
+<copyright>
+  <year>2012</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.1.1.inc b/doc/release-notes-1.1.1.inc
new file mode 100644
index 00000000..2e61bfec
--- /dev/null
+++ b/doc/release-notes-1.1.1.inc
@@ -0,0 +1,57 @@
+= Release Notes for Version 1.1
+:toc!:
+:doctype: article
+
+	Version 1.1.1 is a bug-fix release. It fixes a couple of bugs
+	in AltosUI and one firmware bug that affects TeleMetrum
+	version 1.0 boards. Thanks to Bob Brown for help diagnosing
+	the Google Earth file export issue, and for suggesting the
+	addition of the Ground Distance value in the Descent tab.
+
+	== AltOS
+
+		AltOS fixes:
+
+      		* TeleMetrum v1.0 boards use the AT45DB081D flash
+		  memory part to store flight data, which is different
+		  from later TeleMetrum boards. The AltOS v1.1 driver
+		  for this chip couldn't erase memory, leaving it
+		  impossible to delete flight data or update
+		  configuration values. This bug doesn't affect newer
+		  TeleMetrum boards, and it doesn't affect the safety
+		  of rockets flying version 1.1 firmware.
+
+	== AltosUI
+
+		AltosUI new features:
+
+      		* The “Descent” tab displays the range to the rocket,
+		  which is a combination of the over-the-ground
+		  distance to the rockets current latitude/longitude
+		  and the height of the rocket. As such, it's useful
+		  for knowing how far away the rocket is, but
+		  difficult to use when estimating where the rocket
+		  might eventually land. A new “Ground Distance” field
+		  has been added which displays the distance to a spot
+		  right underneath the rocket.
+
+		AltosUI fixes:
+
+      		* Creating a Google Earth file (KML) from on-board
+		  flight data (EEPROM) would generate an empty
+		  file. The code responsible for reading the EEPROM
+		  file wasn't ever setting the GPS valid bits, and so
+		  the KML export code thought there was no GPS data in
+		  the file.
+
+      		* The “Landed” tab was displaying all values in metric
+		  units, even when AltosUI was configured to display
+		  imperial units. Somehow I just missed this tab when
+		  doing the units stuff.
+
+      		* Sensor data wasn't being displayed for TeleMini
+		  flight computers in Monitor Idle mode, including
+		  things like battery voltage. The code that picked
+		  which kinds of data to fetch from the flight
+		  computer was missing a check for TeleMini when
+		  deciding whether to fetch the analog sensor data.
diff --git a/doc/release-notes-1.1.1.xsl b/doc/release-notes-1.1.1.xsl
deleted file mode 100644
index 6f3a925d..00000000
--- a/doc/release-notes-1.1.1.xsl
+++ /dev/null
@@ -1,71 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.1.1 is a bug-fix release. It fixes a couple of bugs in
-    AltosUI and one firmware bug that affects TeleMetrum version 1.0
-    boards. Thanks to Bob Brown for help diagnosing the Google Earth
-    file export issue, and for suggesting the addition of the Ground
-    Distance value in the Descent tab.
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	TeleMetrum v1.0 boards use the AT45DB081D flash memory part to
-	store flight data, which is different from later TeleMetrum
-	boards. The AltOS v1.1 driver for this chip couldn't erase
-	memory, leaving it impossible to delete flight data or update
-	configuration values. This bug doesn't affect newer TeleMetrum
-	boards, and it doesn't affect the safety of rockets flying
-	version 1.1 firmware.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Creating a Google Earth file (KML) from on-board flight data
-	(EEPROM) would generate an empty file. The code responsible
-	for reading the EEPROM file wasn't ever setting the GPS valid
-	bits, and so the KML export code thought there was no GPS data
-	in the file.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	The “Landed” tab was displaying all values in metric units,
-	even when AltosUI was configured to display imperial
-	units. Somehow I just missed this tab when doing the units stuff.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	The “Descent” tab displays the range to the rocket, which is a
-	combination of the over-the-ground distance to the rockets
-	current latitude/longitude and the height of the rocket. As
-	such, it's useful for knowing how far away the rocket is, but
-	difficult to use when estimating where the rocket might
-	eventually land. A new “Ground Distance” field has been added
-	which displays the distance to a spot right underneath the
-	rocket.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Sensor data wasn't being displayed for TeleMini flight
-	computers in Monitor Idle mode, including things like battery
-	voltage. The code that picked which kinds of data to fetch
-	from the flight computer was missing a check for TeleMini when
-	deciding whether to fetch the analog sensor data.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.1.inc b/doc/release-notes-1.1.inc
new file mode 100644
index 00000000..b3ea066d
--- /dev/null
+++ b/doc/release-notes-1.1.inc
@@ -0,0 +1,92 @@
+= Release Notes for Version 1.1
+:toc!:
+:doctype: article
+
+	Version 1.1 is a minor release. It provides a few new features
+	in AltosUI and the AltOS firmware and fixes bugs.
+  
+	== AltOS
+
+		AltOS Firmware New Features:
+
+		* Add apogee-lockout value. Overrides the apogee
+		  detection logic to prevent incorrect apogee charge
+		  firing.
+
+		* Force the radio frequency to 434.550MHz when the
+		  debug clock pin is connected to ground at boot
+		  time. This provides a way to talk to a TeleMini
+		  which is configured to some unknown frequency.
+
+		* Provide RSSI values for Monitor Idle mode. This
+		  makes it easy to check radio range without needing
+		  to go to flight mode.
+
+		AltOS Fixes:
+
+		* Fix a bug where the data reported in telemetry
+		  packets was from 320ms ago.
+
+		* Fix a bug which caused the old received telemetry
+		  packets to be retransmitted over the USB link when
+		  the radio was turned off and back on.
+  
+	== AltosUI
+
+		AltosUI New Features:
+
+		* Make the look-n-feel configurable, providing a choice from
+		  the available options.
+
+		* Add an 'Age' element to mark how long since a
+		  telemetry packet has been received. Useful to
+		  quickly gauge whether communications with the rocket
+		  are still active.
+
+		* Add 'Configure Ground Station' dialog to set the
+		  radio frequency used by a particular TeleDongle
+		  without having to go through the flight monitor UI.
+
+		* Add configuration for the new apogee-lockout
+		  value. A menu provides a list of reasonable values,
+		  or the value can be set by hand.
+
+		* Add Imperial units mode to present data in feet
+		  instead of meters.
+
+		AltosUI Fixes:
+
+		* Fix a bug that caused GPS ready to happen too
+		  quickly. The software was using every telemetry
+		  packet to signal new GPS data, which caused GPS
+		  ready to be signalled after 10 packets instead of 10
+		  GPS updates.
+
+		* Fix Google Earth data export to work with recent
+		  versions. The google earth file loading code got a
+		  lot pickier, requiring some minor white space
+		  changes in the export code.
+
+		* Changed how flight data are downloaded. Now there's
+		  an initial dialog asking which flights to download,
+		  and after that finishes, a second dialog comes up
+		  asking which flights to delete.
+
+		* Re-compute time spent in each state for the flight
+		  graph; this figures out the actual boost and landing
+		  times instead of using the conservative values
+		  provide by the flight electronics. This improves the
+		  accuracy of the boost acceleration and main descent
+		  rate computations.
+
+		* Make AltosUI run on Mac OS Lion. The default Java
+		  heap space was dramatically reduced for this release
+		  causing much of the UI to fail randomly. This most
+		  often affected the satellite mapping download and
+		  displays.
+
+		* Change how data are displayed in the 'table' tab of
+		  the flight monitoring window. This eliminates
+		  entries duplicated from the header and adds both
+		  current altitude and pad altitude, which are useful
+		  in 'Monitor Idle' mode.
diff --git a/doc/release-notes-1.1.xsl b/doc/release-notes-1.1.xsl
deleted file mode 100644
index 0b2cce4e..00000000
--- a/doc/release-notes-1.1.xsl
+++ /dev/null
@@ -1,131 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.1 is a minor release. It provides a few new features in AltosUI
-    and the AltOS firmware and fixes bugs.
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Add apogee-lockout value. Overrides the apogee detection logic to
-	prevent incorrect apogee charge firing.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Fix a bug where the data reported in telemetry packets was
-	from 320ms ago.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Force the radio frequency to 434.550MHz when the debug clock
-	pin is connected to ground at boot time. This provides a way
-	to talk to a TeleMini which is configured to some unknown frequency.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Provide RSSI values for Monitor Idle mode. This makes it easy to check radio
-	range without needing to go to flight mode.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Fix a bug which caused the old received telemetry packets to
-	be retransmitted over the USB link when the radio was turned
-	off and back on.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Fix a bug that caused GPS ready to happen too quickly. The
-	software was using every telemetry packet to signal new GPS
-	data, which caused GPS ready to be signalled after 10 packets
-	instead of 10 GPS updates.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Fix Google Earth data export to work with recent versions. The
-	google earth file loading code got a lot pickier, requiring
-	some minor white space changes in the export code.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Make the look-n-feel configurable, providing a choice from
-	the available options.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add an 'Age' element to mark how long since a telemetry packet
-	has been received. Useful to quickly gauge whether
-	communications with the rocket are still active.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add 'Configure Ground Station' dialog to set the radio
-	frequency used by a particular TeleDongle without having to go
-	through the flight monitor UI.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add configuration for the new apogee-lockout value. A menu provides a list of
-	reasonable values, or the value can be set by hand.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Changed how flight data are downloaded. Now there's an initial
-	dialog asking which flights to download, and after that
-	finishes, a second dialog comes up asking which flights to delete.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Re-compute time spent in each state for the flight graph; this
-	figures out the actual boost and landing times instead of
-	using the conservative values provide by the flight
-	electronics. This improves the accuracy of the boost
-	acceleration and main descent rate computations.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Make AltosUI run on Mac OS Lion. The default Java heap space
-	was dramatically reduced for this release causing much of the
-	UI to fail randomly. This most often affected the satellite
-	mapping download and displays.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Change how data are displayed in the 'table' tab of the flight
-	monitoring window. This eliminates entries duplicated from the
-	header and adds both current altitude and pad altitude, which
-	are useful in 'Monitor Idle' mode.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add Imperial units mode to present data in feet instead of
-	meters.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.2-docinfo.xml b/doc/release-notes-1.2-docinfo.xml
new file mode 100644
index 00000000..f35f033d
--- /dev/null
+++ b/doc/release-notes-1.2-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>18 April 2013</date>
+<copyright>
+  <year>2013</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.2.1-docinfo.xml b/doc/release-notes-1.2.1-docinfo.xml
new file mode 100644
index 00000000..968c0434
--- /dev/null
+++ b/doc/release-notes-1.2.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>21 May 2013</date>
+<copyright>
+  <year>2013</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.2.1.inc b/doc/release-notes-1.2.1.inc
new file mode 100644
index 00000000..18c5d7e2
--- /dev/null
+++ b/doc/release-notes-1.2.1.inc
@@ -0,0 +1,77 @@
+= Release Notes for Version 1.2.1
+:toc!:
+:doctype: article
+
+	Version 1.2.1 is a minor release. It adds support for TeleBT and
+	the AltosDroid application, provides several new features in
+	AltosUI and fixes some bugs in the AltOS firmware.
+
+	== AltOS
+
+		AltOS new features:
+
+		* Add support for TeleBT
+      
+		AltOS fixes:
+
+		* In TeleMini recovery mode (when booted with the
+		  outer two debug pins connected together), the radio
+		  parameters are also set back to defaults
+		  (434.550MHz, N0CALL, factory radio cal).
+      
+		* Correct Kalman filter model error covariance
+		  matrix. The values used previously assumed
+		  continuous measurements instead of discrete
+		  measurements.
+      
+		* Fix some bugs in the USB driver for TeleMetrum and
+		  TeleDongle that affected Windows users.
+      
+		* Adjusted the automatic gain control parameters that
+		  affect receive performance for TeleDongle. Field
+		  tests indicate that this may improve receive
+		  performance somewhat.
+
+	== AltosUI Application
+
+		AltosUI application new features:
+
+		* Make the initial position of the AltosUI top level
+		  window configurable. Along with this change, the
+		  other windows will pop up at 'sensible' places now,
+		  instead of on top of one another.
+      
+		* Add GPS data and a map to the graph window. This
+		  lets you see a complete summary of the flight
+		  without needing to 'replay' the whole thing.
+      
+		AltosUI application fixes:
+
+		* Handle missing GPS lock in 'Descent'
+		  tab. Previously, if the GPS position of the pad was
+		  unknown, an exception would be raised, breaking the
+		  Descent tab contents.
+      
+		* Improve the graph, adding tool-tips to show values
+		  near the cursor and making the displayed set of
+		  values configurable, adding all of the flight data
+		  as options while leaving the default settings alone
+		  so that the graph starts by showing height, speed
+		  and acceleration.
+      
+		* Add callsign to Monitor idle window and connecting
+		  dialogs. This makes it clear which callsign is being
+		  used so that the operator will be aware that it must
+		  match the flight computer value or no communication
+		  will work.
+      
+		* When downloading flight data, display the block
+		  number so that the user has some sense of
+		  progress. Unfortunately, we don't know how many
+		  blocks will need to be downloaded, but at least it
+		  isn't just sitting there doing nothing for a long
+		  time.
+
+	== AltosDroid
+
+		* First version of this application
diff --git a/doc/release-notes-1.2.1.xsl b/doc/release-notes-1.2.1.xsl
deleted file mode 100644
index 0f056954..00000000
--- a/doc/release-notes-1.2.1.xsl
+++ /dev/null
@@ -1,107 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.2.1 is a minor release. It adds support for TeleBT and
-    the AltosDroid application, provides several new features in
-    AltosUI and fixes some bugs in the AltOS firmware.
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Add support for TeleBT
-      </para>
-</listitem>
-      <listitem>
-<para>
-	In TeleMini recovery mode (when booted with the outer two
-	debug pins connected together), the radio parameters are also
-	set back to defaults (434.550MHz, N0CALL, factory radio cal).
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add support for reflashing the SkyTraq GPS chips. This
-	requires special host-side code which currently only exists
-	for Linux.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Correct Kalman filter model error covariance matrix. The
-	values used previously assumed continuous measurements instead
-	of discrete measurements.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Fix some bugs in the USB driver for TeleMetrum and TeleDongle
-	that affected Windows users.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Adjusted the automatic gain control parameters that affect
-	receive performance for TeleDongle. Field tests indicate that this
-	may improve receive performance somewhat.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Handle missing GPS lock in 'Descent' tab. Previously, if the
-	GPS position of the pad was unknown, an exception would be
-	raised, breaking the Descent tab contents.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Improve the graph, adding tool-tips to show values near the
-	cursor and making the displayed set of values configurable,
-	adding all of the flight data as options while leaving the
-	default settings alone so that the graph starts by showing
-	height, speed and acceleration.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Make the initial position of the AltosUI top level window
-	configurable. Along with this change, the other windows will
-	pop up at 'sensible' places now, instead of on top of one
-	another.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add callsign to Monitor idle window and connecting
-	dialogs. This makes it clear which callsign is being used so
-	that the operator will be aware that it must match the flight
-	computer value or no communication will work.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	When downloading flight data, display the block number so that
-	the user has some sense of progress. Unfortunately, we don't
-	know how many blocks will need to be downloaded, but at least
-	it isn't just sitting there doing nothing for a long time.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Add GPS data and a map to the graph window. This lets you see
-	a complete summary of the flight without needing to 'replay'
-	the whole thing.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.2.inc b/doc/release-notes-1.2.inc
new file mode 100644
index 00000000..42afad04
--- /dev/null
+++ b/doc/release-notes-1.2.inc
@@ -0,0 +1,32 @@
+= Release Notes for Version 1.2
+:toc!:
+:doctype: article
+
+	Version 1.2 is a major release. It adds support for MicroPeak
+	and the MicroPeak USB adapter.
+
+	== AltOS
+
+		AltOS New Features:
+
+		* Add MicroPeak support. This includes support for the
+		  ATtiny85 processor and adaptations to the core code
+		  to allow for devices too small to run the
+		  multi-tasking scheduler.
+
+	== AltosUI and MicroPeak Application
+
+		New Features:
+
+		* Added MicroPeak application
+
+		AltosUI and MicroPeak fixes:
+
+		* Distribute Mac OS X packages in disk image ('.dmg')
+		  format to greatly simplify installation.
+
+		* Provide version numbers for the shared Java
+		  libraries to ensure that upgrades work properly, and
+		  to allow for multiple Altus Metrum software packages
+		  to be installed in the same directory at the same
+		  time.
diff --git a/doc/release-notes-1.2.xsl b/doc/release-notes-1.2.xsl
deleted file mode 100644
index f26480a1..00000000
--- a/doc/release-notes-1.2.xsl
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.2 is a major release. It adds support for MicroPeak and
-    the MicroPeak USB adapter.
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Add MicroPeak support. This includes support for the ATtiny85
-	processor and adaptations to the core code to allow for
-	devices too small to run the multi-tasking scheduler.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    MicroPeak UI changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Added this new application
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    Distribution Changes
-    <itemizedlist>
-      <listitem>
-<para>
-	Distribute Mac OS X packages in disk image ('.dmg') format to
-	greatly simplify installation.
-      </para>
-</listitem>
-      <listitem>
-<para>
-	Provide version numbers for the shared Java libraries to
-	ensure that upgrades work properly, and to allow for multiple
-	Altus Metrum software packages to be installed in the same
-	directory at the same time.
-      </para>
-</listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.3-docinfo.xml b/doc/release-notes-1.3-docinfo.xml
new file mode 100644
index 00000000..b10fd9dd
--- /dev/null
+++ b/doc/release-notes-1.3-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>12 November 2013</date>
+<copyright>
+  <year>2013</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.3.1-docinfo.xml b/doc/release-notes-1.3.1-docinfo.xml
new file mode 100644
index 00000000..52264773
--- /dev/null
+++ b/doc/release-notes-1.3.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>21 January 2014</date>
+<copyright>
+  <year>2014</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.3.1.inc b/doc/release-notes-1.3.1.inc
new file mode 100644
index 00000000..ff9c8e52
--- /dev/null
+++ b/doc/release-notes-1.3.1.inc
@@ -0,0 +1,55 @@
+= Release Notes for Version 1.3.1
+:toc!:
+:doctype: article
+
+	Version 1.3.1 is a minor release. It improves support for
+	TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
+
+	== AltOS
+
+		AltOS new features:
+
+      		* Improved APRS mode. Now uses compressed position
+		  format for smaller data size, improved precision and
+		  to include altitude data as well as latitude and
+		  longitude. Also added battery and pyro voltage
+		  reports in the APRS comment field so you can confirm
+		  that the unit is ready for launch.
+
+		AltOS fixes:
+    
+      		* Improve sensor boot code. If sensors fail to
+		  self-test, the device will still boot up and check
+		  for pad/idle modes. If in idle mode, the device will
+		  warn the user with a distinct beep, if in Pad mode,
+		  the unit will operate as best it can. Also, the
+		  Z-axis accelerometer now uses the factory
+		  calibration values instead of re-calibrating on the
+		  pad each time. This avoids accidental boost detect
+		  when moving the device around while in Pad mode.
+      
+      		* Fix antenna-down mode accelerometer
+		  configuration. Antenna down mode wasn't working
+		  because the accelerometer calibration values were
+		  getting re-computed incorrectly in inverted mode.
+      
+	== AltosUI Application
+
+		AltosUI new features:
+    
+      		* Display additional TeleMega sensor values in real
+		  units. Make all of these values available for
+		  plotting. Display TeleMega orientation value in the
+		  Ascent and Table tabs.
+
+      
+      		* Support additional TeleMega pyro channels in the
+		  Fire Igniter dialog. This lets you do remote testing
+		  of all of the channels, rather than just Apogee and
+		  Main.
+
+		AltosUI fixes:
+      
+      		* Limit data rate when downloading satellite images
+		  from Google to make sure we stay within their limits
+		  so that all of the map tiles download successfully.
diff --git a/doc/release-notes-1.3.1.xsl b/doc/release-notes-1.3.1.xsl
deleted file mode 100644
index 1ccbfa10..00000000
--- a/doc/release-notes-1.3.1.xsl
+++ /dev/null
@@ -1,71 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.3.1 is a minor release. It improves support for TeleMega,
-    TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Improve sensor boot code. If sensors fail to self-test, the
-	  device will still boot up and check for pad/idle modes. If
-	  in idle mode, the device will warn the user with a distinct
-	  beep, if in Pad mode, the unit will operate as best it
-	  can. Also, the Z-axis accelerometer now uses the factory
-	  calibration values instead of re-calibrating on the pad each
-	  time. This avoids accidental boost detect when moving the
-	  device around while in Pad mode.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Fix antenna-down mode accelerometer configuration. Antenna
-	  down mode wasn't working because the accelerometer
-	  calibration values were getting re-computed incorrectly in
-	  inverted mode.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Improved APRS mode. Now uses compressed position format for
-	  smaller data size, improved precision and to include
-	  altitude data as well as latitude and longitude. Also added
-	  battery and pyro voltage reports in the APRS comment field
-	  so you can confirm that the unit is ready for launch.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Display additional TeleMega sensor values in real
-	  units. Make all of these values available for
-	  plotting. Display TeleMega orientation value in the Ascent
-	  and Table tabs.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Support additional TeleMega pyro channels in the Fire
-	  Igniter dialog. This lets you do remote testing of all of
-	  the channels, rather than just Apogee and Main.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Limit data rate when downloading satellite images from
-	  Google to make sure we stay within their limits so that all
-	  of the map tiles download successfully.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.3.2-docinfo.xml b/doc/release-notes-1.3.2-docinfo.xml
new file mode 100644
index 00000000..f55aef04
--- /dev/null
+++ b/doc/release-notes-1.3.2-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>24 January 2014</date>
+<copyright>
+  <year>2014</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.3.2.inc b/doc/release-notes-1.3.2.inc
new file mode 100644
index 00000000..dae5dd99
--- /dev/null
+++ b/doc/release-notes-1.3.2.inc
@@ -0,0 +1,37 @@
+= Release Notes for Version 1.3.2
+:toc!:
+:doctype: article
+
+    Version 1.3.2 is a minor release. It includes small bug fixes for
+    the TeleMega flight software and AltosUI ground station
+
+	== AltOS
+
+		AltOS fixes:
+
+      		* On TeleMega, limit number of logged GPS status
+		  information to 12 satellites. That's all there is
+		  room for in the log structure.
+
+      		* Improve APRS behavior. Remembers last known GPS
+		  position and keeps sending that if we lose GPS
+		  lock. Marks locked/unlocked by sending L/U in the
+		  APRS comment field along with the number of sats in
+		  view and voltages.
+
+	== AltosUI Application
+
+		AltosUI fixes:
+
+      		* If the TeleMega flight firmware reports that it has
+		  logged information about more than 12 satellites,
+		  don't believe it as the log only holds 12 satellite
+		  records.
+
+      		* Track the maximum height as computed from GPS
+		  altitude data and report that in the flight summary
+		  data.
+
+      		* Use letters (A, B, C, D) for alternate pyro channel
+		  names instead of numbers (0, 1, 2, 3) in the Fire
+		  Igniter dialog.
diff --git a/doc/release-notes-1.3.2.xsl b/doc/release-notes-1.3.2.xsl
deleted file mode 100644
index 279762c1..00000000
--- a/doc/release-notes-1.3.2.xsl
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.3.2 is a minor release. It includes small bug fixes for
-    the TeleMega flight software and AltosUI ground station
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  On TeleMega, limit number of logged GPS status information
-	  to 12 satellites. That's all there is room for in the log
-	  structure.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Improve APRS behavior. Remembers last known GPS position and
-	  keeps sending that if we lose GPS lock. Marks
-	  locked/unlocked by sending L/U in the APRS comment field
-	  along with the number of sats in view and voltages.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  If the TeleMega flight firmware reports that it has logged
-	  information about more than 12 satellites, don't believe it
-	  as the log only holds 12 satellite records.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Track the maximum height as computed from GPS altitude
-	  data and report that in the flight summary data.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Use letters (A, B, C, D) for alternate pyro channel names
-	  instead of numbers (0, 1, 2, 3) in the Fire Igniter dialog.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.3.inc b/doc/release-notes-1.3.inc
new file mode 100644
index 00000000..ceb677a1
--- /dev/null
+++ b/doc/release-notes-1.3.inc
@@ -0,0 +1,57 @@
+= Release Notes for Version 1.3
+:toc!:
+:doctype: article
+
+	Version 1.3 is a major release. It adds support for TeleMega,
+	TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
+
+	== AltOS
+
+		AltOS new features:
+
+      		* Add STM32L processor support. This includes
+		  enhancements to the scheduler to support products
+		  with many threads.
+
+      		* Add NXP LPC11U14 processor support.
+
+
+      		* Support additional pyro channels. These are
+		  configurable through the UI to handle air starts,
+		  staging, additional recovery events and external
+		  devices such as cameras.
+
+
+      		* Add 3-axis gyro support for orientation
+		  tracking. This integrates the gyros to compute the
+		  angle from vertical during flight, allowing the
+		  additional pyro events to be controlled by this
+		  value.
+
+
+      		* Many more device drivers, including u-Blox Max 7Q
+		  GPS, Freescale MMA6555 digital single-axis
+		  accelerometer, Invensense MPU6000 3-axis
+		  accelerometer + 3 axis gyro, Honeywell HMC5883
+		  3-axis magnetic sensor and the TI CC1120 and CC115L
+		  digital FM transceivers
+
+	== AltosUI Application
+
+		AltosUI new features:
+
+		* Support TeleMega, TeleMetrum v2.0, TeleMini v2.0 and
+                  EasyMini telemetry and log formats.
+
+
+		AltosUI fixes:
+
+		* Use preferred units for main deployment height
+		  configuration, instead of always doing configuration in
+		  meters.
+	== MicroPeak Application
+
+      		* Add 'Download' button to menu bar.
+
+		* Save the last log directory and offer that as the
+		  default for new downloads
diff --git a/doc/release-notes-1.3.xsl b/doc/release-notes-1.3.xsl
deleted file mode 100644
index 3bc4857f..00000000
--- a/doc/release-notes-1.3.xsl
+++ /dev/null
@@ -1,81 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    Version 1.3 is a major release. It adds support for TeleMega,
-    TeleMetrum v2.0, TeleMini v2.0 and EasyMini.
-  </para>
-  <para>
-    AltOS Firmware Changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add STM32L processor support. This includes enhancements to
-	  the scheduler to support products with many threads.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add NXP LPC11U14 processor support.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Support additional pyro channels. These are configurable
-	  through the UI to handle air starts, staging, additional
-	  recovery events and external devices such as cameras.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add 3-axis gyro support for orientation tracking. This
-	  integrates the gyros to compute the angle from vertical during
-	  flight, allowing the additional pyro events to be controlled
-	  by this value.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Many more device drivers, including u-Blox Max 7Q GPS,
-	  Freescale MMA6555 digital single-axis accelerometer,
-	  Invensense MPU6000 3-axis accelerometer + 3 axis gyro,
-	  Honeywell HMC5883 3-axis magnetic sensor and the TI CC1120 and
-	  CC115L digital FM transceivers
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Support TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini telemetry and log formats.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Use preferred units for main deployment height configuration,
-	  instead of always doing configuration in meters.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    MicroPeak UI changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add 'Download' button to menu bar.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Save the last log directory and offer that as the default for new downloads
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.4-docinfo.xml b/doc/release-notes-1.4-docinfo.xml
new file mode 100644
index 00000000..216c0ae3
--- /dev/null
+++ b/doc/release-notes-1.4-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>15 June 2014</date>
+<copyright>
+  <year>2014</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.4.1-docinfo.xml b/doc/release-notes-1.4.1-docinfo.xml
new file mode 100644
index 00000000..d87052f7
--- /dev/null
+++ b/doc/release-notes-1.4.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>20 June 2014</date>
+<copyright>
+  <year>2014</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.4.1.inc b/doc/release-notes-1.4.1.inc
new file mode 100644
index 00000000..5e3e831e
--- /dev/null
+++ b/doc/release-notes-1.4.1.inc
@@ -0,0 +1,34 @@
+= Release Notes for Version 1.4.1
+:toc!:
+:doctype: article
+
+	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.
+  
+	== AltosUI and TeleGPS Applications:
+
+	Windows Install Fixes
+
+      	* Provide signed Windows driver files. This should avoid any need to
+	  disable driver signature checking on Windows 7 or 8.
+	
+      	* 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.
+	
+	Other Fixes
+
+      	* 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.
+	
+      	* 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.
diff --git a/doc/release-notes-1.4.1.xsl b/doc/release-notes-1.4.1.xsl
deleted file mode 100644
index e6c82d60..00000000
--- a/doc/release-notes-1.4.1.xsl
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    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.
-  </para>
-  <para>
-    Windows Install Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Provide signed Windows driver files. This should avoid any need to
-	  disable driver signature checking on Windows 7 or 8.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    Other Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.4.2-docinfo.xml b/doc/release-notes-1.4.2-docinfo.xml
new file mode 100644
index 00000000..4b4f7b21
--- /dev/null
+++ b/doc/release-notes-1.4.2-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>17 August 2014</date>
+<copyright>
+  <year>2014</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.4.2.inc b/doc/release-notes-1.4.2.inc
new file mode 100644
index 00000000..ded6b408
--- /dev/null
+++ b/doc/release-notes-1.4.2.inc
@@ -0,0 +1,15 @@
+= Release Notes for Version 1.4.2
+:toc!:
+:doctype: article
+
+	Version 1.4.2 is a minor release. It fixes Java-related install issues on
+	Windows
+
+	== AltosUI and TeleGPS Applications
+
+	Windows Install Fixes
+
+	* Checks for Java installation data in more registry locations.
+
+	* Allows user to bypass Java installation in case the
+	  detection fails.
diff --git a/doc/release-notes-1.4.inc b/doc/release-notes-1.4.inc
new file mode 100644
index 00000000..f4ab9ad2
--- /dev/null
+++ b/doc/release-notes-1.4.inc
@@ -0,0 +1,125 @@
+= Release Notes for Version 1.4
+:toc!:
+:doctype: article
+
+	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
+
+	== AltOS
+
+		AltOS new features:
+
+		* Add support for TeleGPS boards.
+
+		* Make the beeper tone configurable, making it
+		  possible to distinguish between two Altus Metrum
+		  products in the same ebay.
+
+		* Make the firing time for extra pyro channels
+		  configurable, allowing longer (or shorter) than the
+		  default 50ms.  Only relevant for TeleMega at this
+		  time.
+
+		AltOS fixes:
+
+		* 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.
+
+		* Change state beeping to "Farnsworth spacing", which
+		  means they're quite a bit faster than before, and so
+		  they take less time to send.
+
+		* Fix bug preventing the selection of the 'Flight
+		  State After' mode in pyro configuration.
+
+		* Fix bug where erasing flights would reset the flight
+		  number to 2 on TeleMega and TeleMetrum v2.
+
+		* Fix u-Blox GPS driver to mark course and speed data
+		  as being present.
+
+	== AltosUI Application
+
+		AltosUI new features:
+
+		* 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.
+
+		* 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.
+
+		* Add new 'Ignitor' tab to the flight monitor display
+		  for TeleMega's extra ignitors.
+
+		* Add additional ignitor firing marks and voltages to
+		  the graph so you can see when the ignitors fired,
+		  along with the ignitor voltages.
+
+		* Add GPS course, ground speed and climb rate as
+		  optional graph elements.
+
+		AltosUI fixes:
+
+		* 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.
+
+		* Hide Tilt Angle in ascent tab for devices that don't
+                  have a gyro.
+
+		* Increase the width of data lines in the graphs to
+		  make them easier to read.
+
+		* 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.
+
+		* 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.
+
+		* Display error message when trying to configure
+		  maximum flight log size while the flight computer
+		  still has flight data stored.
+
+		* 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.
+
+	== TeleGPS Application
+
+		* New application designed for use with TeleGPS boards.
+
+		* Shares code with AltosUI, mostly just trimmed down
+		  to focus on TeleGPS-related functions.
+
+	== Documentation
+
+		Documentation changes:
+
+		* 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.
+
+		* Add a description of the 'Apogee Lockout' setting,
+		  which prevents the apogee charge from firing for a
+		  configurable amount of time after boost.
diff --git a/doc/release-notes-1.4.xsl b/doc/release-notes-1.4.xsl
deleted file mode 100644
index 2893f1aa..00000000
--- a/doc/release-notes-1.4.xsl
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    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
-  </para>
-  <para>
-    AltOS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add support for TeleGPS boards.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Change state beeping to "Farnsworth spacing", which means
-	  they're quite a bit faster than before, and so they take
-	  less time to send.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Make the beeper tone configurable, making it possible to
-	  distinguish between two Altus Metrum products in the same ebay.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Make the firing time for extra pyro channels configurable,
-	  allowing longer (or shorter) than the default 50ms.  Only relevant
-	  for TeleMega at this time.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltOS Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Fix bug preventing the selection of the 'Flight State After'
-	  mode in pyro configuration.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Fix bug where erasing flights would reset the flight number
-	  to 2 on TeleMega and TeleMetrum v2.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Fix u-Blox GPS driver to mark course and speed data as being
-	  present.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add new 'Ignitor' tab to the flight monitor display for
-	  TeleMega's extra ignitors.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Increase the width of data lines in the graphs to make them
-	  easier to read.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add additional ignitor firing marks and voltages to the
-	  graph so you can see when the ignitors fired, along with
-	  the ignitor voltages.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add GPS course, ground speed and climb rate as optional
-	  graph elements.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Hide Tilt Angle in ascent tab for devices that don't have a gyro.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Display error message when trying to configure maximum
-	  flight log size while the flight computer still has flight
-	  data stored.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    TeleGPS Application
-    <itemizedlist>
-      <listitem>
-	<para>
-	  New application designed for use with TeleGPS boards.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Shares code with AltosUI, mostly just trimmed down to focus
-	  on TeleGPS-related functions.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    Documentation changes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add a description of the 'Apogee Lockout' setting, which
-	  prevents the apogee charge from firing for a configurable
-	  amount of time after boost.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.5-docinfo.xml b/doc/release-notes-1.5-docinfo.xml
new file mode 100644
index 00000000..3d018630
--- /dev/null
+++ b/doc/release-notes-1.5-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>6 September 2014</date>
+<copyright>
+  <year>2014</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.5.inc b/doc/release-notes-1.5.inc
new file mode 100644
index 00000000..8d72c0e0
--- /dev/null
+++ b/doc/release-notes-1.5.inc
@@ -0,0 +1,69 @@
+= Release Notes for Version 1.5
+:toc!:
+
+	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
+
+	== AltOS
+
+	AltOS New Features
+
+	* Add support for EasyMega boards.
+
+	* Make the APRS SSID be configurable. This lets you track
+	  different rockets on the same receiver without getting
+	  things mixed up.
+
+	* 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.
+
+	* 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.
+
+	* 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.
+
+	AltOS Fixes
+
+	* Increase the maximum range for altitude values from +/-32767m
+	  to +/-2147483647m, allowing the flight computers to function
+	  correctly above the 32km level.
+
+	* 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.
+
+	* Allow negative numbers in pyro configuration values. This
+	  lets you specify things like descending speed or
+	  deceleration.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI and TeleGPS New Features
+
+	* Support telemetry baud rate selection. Adds menus to
+	  the flight monitoring and configuration for baud rate
+	  selection.
+
+	* Support APRS SSID configuration.
+
+	* 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.
+
+	AltosUI Fixes
+
+	* Make the 'Graph' button on the landed tab work again.
+
+	* 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.
diff --git a/doc/release-notes-1.5.xsl b/doc/release-notes-1.5.xsl
deleted file mode 100644
index 50d83f77..00000000
--- a/doc/release-notes-1.5.xsl
+++ /dev/null
@@ -1,121 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    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
-  </para>
-  <para>
-    AltOS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add support for EasyMega boards.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Make the APRS SSID be configurable. This lets you track
-	  different rockets on the same receiver without getting
-	  things mixed up.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltOS Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Increase the maximum range for altitude values from +/-32767m
-	  to +/-2147483647m, allowing the flight computers to function
-	  correctly above the 32km level.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Allow negative numbers in pyro configuration values. This
-	  lets you specify things like descending speed or
-	  deceleration.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI and TeleGPS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Support telemetry baud rate selection. Adds menus to
-	  the flight monitoring and configuration for baud rate
-	  selection.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Support APRS SSID configuration.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Make the 'Graph' button on the landed tab work again.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.6-docinfo.xml b/doc/release-notes-1.6-docinfo.xml
new file mode 100644
index 00000000..760d5e60
--- /dev/null
+++ b/doc/release-notes-1.6-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>8 January 2015</date>
+<copyright>
+  <year>2015</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.6.1-docinfo.xml b/doc/release-notes-1.6.1-docinfo.xml
new file mode 100644
index 00000000..1b27b79a
--- /dev/null
+++ b/doc/release-notes-1.6.1-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>15 July 2015</date>
+<copyright>
+  <year>2015</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.6.1.inc b/doc/release-notes-1.6.1.inc
new file mode 100644
index 00000000..1e03ed4f
--- /dev/null
+++ b/doc/release-notes-1.6.1.inc
@@ -0,0 +1,101 @@
+= Release Notes for Version 1.6.1
+:toc!:
+:doctype: article
+
+	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.
+
+	== AltOS
+
+	AltOS New Features:
+
+	* Add support for TeleBT v3.0 boards.
+
+	* 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.
+
+	AltOS Fixes:
+
+	* Make TeleDongle and TeleBT more tolerant of data rate
+	  variations from transmitting devices.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI and TeleGPS New Features:
+
+	* 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.
+
+	AltosUI and TeleGPS Fixes:
+
+	* Fix frequency configuration to round values instead of
+	  truncate them, avoiding a common 1kHz error in the setting.
+
+	* Turn the Windows stub into a more useful program that can
+	  launch the application with parameters so that file manager
+	  icons work more reliably.
+
+	* Force KML export to use a C locale so that numbers are
+	  formatted with '.' instead of ',' for a decimal separator in
+	  non-US locales.
+
+	* 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.
+
+	* Allow configuration of frequency and callsign in Monitor
+	  Idle mode.
+
+	* Fix layout weirdness when resizing windows on
+	  Windows. Windows shouldn't have giant blank spaces around
+	  the useful content anymore.
+
+	* Fix layout weirdness when resizing windows on
+	  Windows. Windows shouldn't have giant blank spaces around
+	  the useful content anymore.
+
+	* 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.
+
+	* Make Replay Flight run in realtime again. It had been set to
+	  run at 10x speed by mistake.
+
+	== AltosDroid
+
+	AltosDroid New Features:
+
+	* Add offline map support using mapping code from AltosUI.
+
+	* Support TeleDongle (and TeleBT via USB) on devices
+	  supporting USB On-The-Go.
+
+	* Display additional TeleMega pyro channel status in Pad tab.
+
+	* Switch between metric and imperial units.
+
+	* Monitor TeleBT battery voltage.
+
+	* Track multiple devices at the same time, selecting between
+	  them with a menu or using the map.
+
+	* Add hybrid, satellite and terrain map types.
+
+	AltosDroid Fixes:
+
+	* Use standard Android display conventions so that a menu
+	  button is available in the application title bar.
+
+	* Adjust layout to work on large and small screens; shrinking
+	  the go/no-go lights in smaller environments to try and make
+	  everything visible.
+
+	* Make voice announcements depend on current tab.
+
+	* Compute adjustment to current travel direction while in
+	  motion towards rocket.
diff --git a/doc/release-notes-1.6.1.xsl b/doc/release-notes-1.6.1.xsl
deleted file mode 100644
index 058d43fe..00000000
--- a/doc/release-notes-1.6.1.xsl
+++ /dev/null
@@ -1,189 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    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.
-  </para>
-  <para>
-    AltOS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add support for TeleBT v3.0 boards.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltOS Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Make TeleDongle and TeleBT more tolerant of data rate
-	  variations from transmitting devices.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI and TeleGPS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Fix frequency configuration to round values instead of
-	  truncate them, avoiding a common 1kHz error in the setting.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Turn the Windows stub into a more useful program that can
-	  launch the application with parameters so that file manager
-	  icons work more reliably.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Force KML export to use a C locale so that numbers are
-	  formatted with '.' instead of ',' for a decimal separator in
-	  non-US locales. 
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Allow configuration of frequency and callsign in Monitor
-	  Idle mode.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Fix layout weirdness when resizing windows on
-	  Windows. Windows shouldn't have giant blank spaces around
-	  the useful content anymore.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Fix layout weirdness when resizing windows on
-	  Windows. Windows shouldn't have giant blank spaces around
-	  the useful content anymore.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Make Replay Flight run in realtime again. It had been set to
-	  run at 10x speed by mistake.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosDroid New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add offline map support using mapping code from AltosUI.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Support TeleDongle (and TeleBT via USB) on devices
-	  supporting USB On-The-Go.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Display additional TeleMega pyro channel status in Pad tab.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Switch between metric and imperial units.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Monitor TeleBT battery voltage.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Track multiple devices at the same time, selecting between
-	  them with a menu or using the map.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Add hybrid, satellite and terrain map types.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosDroid Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Use standard Android display conventions so that a menu
-	  button is available in the application title bar.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Adjust layout to work on large and small screens; shrinking
-	  the go/no-go lights in smaller environments to try and make
-	  everything visible.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Make voice announcements depend on current tab.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Compute adjustment to current travel direction while in
-	  motion towards rocket.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-1.6.inc b/doc/release-notes-1.6.inc
new file mode 100644
index 00000000..0908dfaf
--- /dev/null
+++ b/doc/release-notes-1.6.inc
@@ -0,0 +1,85 @@
+= Release Notes for Version 1.6
+:toc!:
+:doctype: article
+
+	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.
+
+	== AltOS
+
+	AltOS New Features
+
+	* Add support for TeleDongle v3.0 boards.
+
+	AltOS Fixes
+
+	* 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.
+
+	* Record all 32 bits of gyro calibration data in TeleMega and
+	  EasyMega log files. This fixes computation of the gyro rates
+	  in AltosUI.
+
+	* Change TeleDongle LED usage. Green LED flashes when valid
+	  packet is received. Red LED flashes when invalid packet is
+	  received.
+
+	* 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.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI and TeleGPS New Features
+
+	* 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.
+
+	* 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.
+
+	AltosUI Fixes
+
+	* Show the 'Connecting' dialog when using Monitor Idle. Lets
+	  you cancel the Monitor Idle startup when connecting over the
+	  radio link.
+
+	* Make 'Monitor Idle' work for TeleGPS devices when connected
+	  over USB. It's nice for testing without needing to broadcast
+	  over the radio.
+
+	* 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.
+
+	* 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.
+
+	* 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.
+
+	* When replaying a file, put 'done' in the Age field when we
+	  reach the end of the file, instead of continuing to count forever.
+
+	* 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.
+
+	* 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.
diff --git a/doc/release-notes-1.6.xsl b/doc/release-notes-1.6.xsl
deleted file mode 100644
index 604fe096..00000000
--- a/doc/release-notes-1.6.xsl
+++ /dev/null
@@ -1,142 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <para>
-    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.
-  </para>
-  <para>
-    AltOS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Add support for TeleDongle v3.0 boards.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltOS Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Record all 32 bits of gyro calibration data in TeleMega and
-	  EasyMega log files. This fixes computation of the gyro rates
-	  in AltosUI.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Change TeleDongle LED usage. Green LED flashes when valid
-	  packet is received. Red LED flashes when invalid packet is
-	  received.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI and TeleGPS New Features
-    <itemizedlist>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-  <para>
-    AltosUI Fixes
-    <itemizedlist>
-      <listitem>
-	<para>
-	  Show the 'Connecting' dialog when using Monitor Idle. Lets
-	  you cancel the Monitor Idle startup when connecting over the
-	  radio link.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  Make 'Monitor Idle' work for TeleGPS devices when connected
-	  over USB. It's nice for testing without needing to broadcast
-	  over the radio.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  When replaying a file, put 'done' in the Age field when we
-	  reach the end of the file, instead of continuing to count forever.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-      <listitem>
-	<para>
-	  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.
-	</para>
-      </listitem>
-    </itemizedlist>
-  </para>
-</article>
diff --git a/doc/release-notes-docinfo.xml b/doc/release-notes-docinfo.xml
new file mode 100644
index 00000000..4f842cde
--- /dev/null
+++ b/doc/release-notes-docinfo.xml
@@ -0,0 +1,28 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<copyright>
+  <year>2015</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="../themes/background.png" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes.inc b/doc/release-notes.inc
new file mode 100644
index 00000000..70653ed9
--- /dev/null
+++ b/doc/release-notes.inc
@@ -0,0 +1,75 @@
+[appendix]
+== Release Notes
+
+	:leveloffset: 2
+	include::release-notes-1.6.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.6.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.5.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.4.2.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.4.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.4.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.3.2.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.3.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.3.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.2.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.2.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.1.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.0.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-0.9.2.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-0.9.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-0.8.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-0.7.1.raw[]
+
+	:leveloffset: 0
diff --git a/doc/system-operation.inc b/doc/system-operation.inc
index bca1ee80..d7c56eaa 100644
--- a/doc/system-operation.inc
+++ b/doc/system-operation.inc
@@ -384,7 +384,7 @@
 		shown in the following table.
 
 		.Altus Metrum APRS Comments
-		[options="header",cols="1,1,1"]
+		[options="header",cols="1,1,3"]
 		|====
 		|Field	      |Example	      |Description
 
diff --git a/doc/telegps-application.inc b/doc/telegps-application.inc
new file mode 100644
index 00000000..c5ecc11f
--- /dev/null
+++ b/doc/telegps-application.inc
@@ -0,0 +1,569 @@
+== TeleGPS Application
+
+	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.
+
+	=== Telemetry Monitoring
+
+		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
+
+		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.
+
+		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.
+
+		Below the TeleDongle frequency selector, the window
+		contains a few significant pieces of information about
+		the altimeter providing the telemetry data stream:
+
+		* The configured call-sign
+
+		* The device serial number
+
+		* The flight number. TeleGPS remembers how many times
+                  it has flown.
+
+		* 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.
+
+		* 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.
+
+		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.
+      
+		==== Map
+
+			The Map tab shows the TeleGPS track over time
+			on top of map data making it easy to locate
+			the device.
+        
+			.TeleGPS Map View
+			image::telegps-map.png[width="5.5in"]
+
+			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.
+        
+			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.
+	
+			Images are fetched automatically via the
+			Google Maps Static API, and cached on disk for
+			reuse. If map images cannot be downloaded, the
+			rocket's path will be traced on a dark gray
+			background instead.
+        
+			You can pre-load images for your favorite
+			launch sites before you leave home; check out
+			the 'Preload Maps' section below.
+	
+		==== Location
+
+			The Location tab shows the raw GPS data
+			received from TeleGPS.
+	
+			.TeleGPS Location View
+			image::telegps-location.png[width="5.5in"]
+
+		==== Status
+
+			The Status tab shows data relative to the
+			location of TeleGPS when the application first
+			received telemetry from it.
+	
+			.TeleGPS Status View
+			image::telegps-status.png[width="5.5in"]
+
+		==== Table
+
+			The Table tab shows detailed information about
+			the GPS receiver
+	
+			.TeleGPS Information Table
+			image::telegps-table.png[width="5.5in"]
+
+	=== TeleGPS Menus
+
+		TeleGPS has three or four menus at the top of
+		the window:
+
+		File::
+
+		New Window, Graph Data, Export Data, Load Maps,
+		Preferences, Close and Exit
+	      
+		Monitor::
+
+		Connect Device, Disconnect and Scan Channels
+
+		Device::
+
+		Download Data, Configure Device and Flash Device
+	      
+		Frequency::
+
+		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.
+	      
+      
+		==== New Window
+
+			This creates another telemetry monitoring window, in case
+			you have multiple TeleDongle devices connected to the
+			computer.
+	
+	=== Graph Data
+
+		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.
+	  
+		==== Data Graph
+
+			.TeleGPS Graph
+			image::telegps-graph-graph.png[width="5.5in"]
+
+		==== Graph Configuration
+
+			.TeleGPS Graph Configuration
+			image::telegps-graph-configure.png[width="5.5in"]
+
+			This selects which graph elements to show, and, at the
+			bottom, lets you switch between metric and imperial
+			units
+
+		==== Statistics
+
+			.TeleGPS Statistics
+			image::telegps-graph-stats.png[width="5.5in"]
+
+			Shows overall data computed from the flight.
+		
+		==== Map
+
+			.TeleGPS Map
+			image::telegps-graph-map.png[width="6in"]
+
+			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.
+
+	=== Export Data
+
+		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.
+	
+		==== Comma Separated Value Format
+
+			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.
+
+			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.
+
+		==== Keyhole Markup Language (for Google Earth)
+
+			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.
+
+	=== Load Maps
+
+		.Load Maps Window
+		image::load-maps.png[width="5.2in"]
+
+		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.
+
+		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
+
+		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:
+
+		Hybrid::
+		A combination of satellite imagery and road data. This
+		is the default view.
+
+		Satellite::
+		Just the satellite imagery without any annotation.
+
+		Roadmap::
+		Roads, political boundaries and a few geographic
+		features.
+
+		Terrain::
+		Contour intervals and shading that show hills and
+		valleys.
+
+		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.
+
+		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.
+
+		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.
+
+	=== Preferences
+
+		.TeleGPS Preferences Window
+		image::telegps-preferences.png[width="2.4in"]
+
+			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.
+
+			Enable::
+			Turns all voice announcements on and off
+
+			Test Voice::
+			Plays a short message allowing you to verify
+			that the audio system is working and the volume settings
+			are reasonable
+
+      		==== Log Directory
+
+			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.
+
+			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.
+
+      		==== Callsign
+
+			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.
+
+			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.
+
+		==== Imperial Units
+
+			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.
+
+		==== Font Size
+
+			Selects the set of fonts used in the flight
+			monitor window. Choose between the small,
+			medium and large sets.
+
+      		==== Serial Debug
+
+			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.
+
+		==== Manage Frequencies
+
+			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.
+
+	=== Close
+
+		This closes the current window, leaving any other windows
+		open and the application running.
+	
+	=== Exit
+
+		This closes all TeleGPS windows and terminates the
+		application.
+	
+	=== Connect Device
+
+		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.
+	
+		.Device Selection Dialog
+		image::device-selection.png[width="3.1in"]
+
+	=== Disconnect
+
+		Disconnects the currently connected TeleDongle or
+		TeleBT
+
+	=== Scan Channels
+
+		.Radio Scanning Dialog
+		image::telegps-scan.png[width="3.1in"]
+
+		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.
+
+	=== Download Data
+
+		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.
+
+		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.
+
+		The file name for each data log is computed
+		automatically from the recorded date, altimeter serial
+		number and flight number information.
+	
+	=== Configure Device
+
+		.TeleGPS Configuration Dialog
+		image::telegps-configure.png[width="3.6in"]
+
+		Select this button and then select any connected TeleGPS
+		device from the list provided.
+
+		The first few lines of the dialog provide information
+		about the connected device, including the product
+		name, software version and hardware serial
+		number. Below that are the individual configuration
+		entries.
+
+		At the bottom of the dialog, there are four buttons:
+	
+		Save::
+		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.
+
+		Reset::
+		This resets the dialog to the most recently saved
+		values, erasing any changes you have made.
+
+		Reboot::
+
+		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.
+
+		Close::
+
+		This closes the dialog. Any unsaved changes will be
+		lost.
+
+	        The rest of the dialog contains the parameters to be configured.
+
+          The rest of the dialog contains the parameters to be configured.
+	
+		==== Frequency
+
+			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.
+
+		==== RF Calibration
+
+			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.
+
+      		==== Telemetry/RDF/APRS Enable
+
+			Enables the radio for transmission during
+			flight. When disabled, the radio will not
+			transmit anything during flight at all.
+
+      		==== Telemetry baud rate
+
+			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.
+
+      		==== APRS Interval
+
+			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.
+
+      		==== APRS SSID
+
+			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.
+
+		==== Callsign
+
+			This sets the call sign included in each
+			telemetry packet. Set this as needed to
+			conform to your local radio regulations.
+
+		==== Logging Trigger Motion
+
+			If TeleGPS moves less than this distance over
+			a long period of time, it will not log that
+			location, saving storage space.
+
+		==== Position Reporting Interval
+
+			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.
+
+	=== Flash Device
+
+		This reprograms TeleGPS devices with new
+		firmware. Please read the directions for flashing
+		devices in the Updating Device Firmware chapter below.
diff --git a/doc/telegps-docinfo.xml b/doc/telegps-docinfo.xml
new file mode 100644
index 00000000..fcceae3f
--- /dev/null
+++ b/doc/telegps-docinfo.xml
@@ -0,0 +1,73 @@
+<subtitle>An Owner's Manual for the TeleGPS recording GPS tracker</subtitle>
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<copyright>
+  <year>2015</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="telegps-v1.0-top.jpg" width="4.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
+<revhistory>
+  <revision>
+    <revnumber>1.6.1</revnumber>
+    <date>15 July 2015</date>
+    <revremark>
+      Minor release adding TeleBT v3.0 support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.6</revnumber>
+    <date>8 January 2015</date>
+    <revremark>
+      Major release adding TeleDongle v3.0 support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.5</revnumber>
+    <date>6 September 2014</date>
+    <revremark>
+      Major release adding EasyMega support.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.4.2</revnumber>
+    <date>17 August 2014</date>
+    <revremark>
+      Minor release fixing some Windows installation bugs.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.4.1</revnumber>
+    <date>20 June 2014</date>
+    <revremark>
+      Minor release fixing some installation bugs.
+    </revremark>
+  </revision>
+  <revision>
+    <revnumber>1.4</revnumber>
+    <date>15 June 2014</date>
+    <revremark>
+      Initial version
+    </revremark>
+  </revision>
+</revhistory>
diff --git a/doc/telegps-quick-start.inc b/doc/telegps-quick-start.inc
new file mode 100644
index 00000000..e8db8ac3
--- /dev/null
+++ b/doc/telegps-quick-start.inc
@@ -0,0 +1,24 @@
+== TeleGPS Quick Start Guide
+
+	TeleGPS is designed to be easy to use. Requiring no external
+	components, flying takes just a few steps.
+
+	First, download and install the software from
+	http://altusmetrum.org/AltOS. This will make sure that
+	you have the right device drivers installed.
+
+	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.
+
+	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.
+
+	Unplug TeleGPS when the battery charger light goes green. This
+	will enable the radio and logging portions of the TeleGPS
+	firmware.
+
+	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.
diff --git a/doc/telegps-release-notes.inc b/doc/telegps-release-notes.inc
new file mode 100644
index 00000000..7a53bd2d
--- /dev/null
+++ b/doc/telegps-release-notes.inc
@@ -0,0 +1,25 @@
+[appendix]
+== Release Notes
+
+	:leveloffset: 2
+	include::release-notes-1.6.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.6.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.5.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.4.2.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.4.1.raw[]
+
+	<<<<
+	:leveloffset: 2
+	include::release-notes-1.4.raw[]
diff --git a/doc/telegps-specs.inc b/doc/telegps-specs.inc
new file mode 100644
index 00000000..6ff8c76f
--- /dev/null
+++ b/doc/telegps-specs.inc
@@ -0,0 +1,29 @@
+[appendix]
+== Technical Information
+
+	=== GPS Receiver
+      
+		TeleGPS uses the u-Blox Max-7Q GPS receiver.
+      
+	=== Micro-controller
+      
+		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.
+
+	=== Lithium Polymer Battery
+      
+		Shipping restrictions may prevent us from including a
+		battery battery with TeleGPS.
+      
+	=== Mechanical Considerations
+      
+		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.
+
+	=== On-board data storage
+      
+		TeleGPS has 2MB of non-volatile storage, separate from
+		the code storage memory. The TeleGPS firmware uses
+		this to log information during flight.
diff --git a/doc/telegps-system-operation.inc b/doc/telegps-system-operation.inc
new file mode 100644
index 00000000..e8790db8
--- /dev/null
+++ b/doc/telegps-system-operation.inc
@@ -0,0 +1,149 @@
+[appendix]
+== TeleGPS System Operation
+
+	=== GFSK Telemetry
+
+		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.
+      
+	=== APRS
+
+		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; that
+		process is described in the Configure TeleGPS
+		section of the TeleGPS Application chapter.
+
+		AltOS uses the APRS compressed position report data
+		format, which provides for higher position precision
+		and shorter packets than the original APRS format. It
+		also includes altitude data, which is invaluable when
+		tracking rockets. We haven't found a receiver which
+		doesn't handle compressed positions, but it's just
+		possible that you have one, so if you have an older
+		device that can receive the raw packets but isn't
+		displaying position information, it's possible that
+		this is the cause.
+
+		The APRS packet format includes a comment field that
+		can have arbitrary text in it. AltOS uses this to send
+		status information about the flight computer. It sends
+		four fields as shown in the following table.
+      
+		.TeleGPS APRS Comments
+		[options="header",cols="1,1,3"]
+		|====
+		|Field	      |Example	      |Description
+
+		|1
+		|L
+		|GPS Status U for unlocked, L for locked
+
+		|2
+		|6
+		|Number of Satellites in View
+
+		|3
+		|B4.0
+		|Altimeter Battery Voltage
+
+		|4
+		|1286
+		|Device Serial Number
+		|====
+
+		Here's an example of an APRS comment showing GPS lock with 6
+		satellites in view and a battery at 4.0V from device 1286.
+
+		....
+		L6 B4.0 1286
+		....
+
+		Make sure your battery is above 3.8V GPS is locked
+		with at least 5 or 6 satellites in view before
+		flying. If GPS is switching between L and U regularly,
+		then it doesn't have a good lock and you should wait
+		until it becomes stable.
+
+		If the GPS receiver loses lock, the APRS data
+		transmitted will contain the last position for which
+		GPS lock was available. You can tell that this has
+		happened by noticing that the GPS status character
+		switches from 'L' to 'U'. Before GPS has locked, APRS
+		will transmit zero for latitude, longitude and
+		altitude.
+
+	=== Configurable Parameters
+
+        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.
+      
+		==== Radio Frequency
+
+			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.
+
+		==== Callsign
+
+			This sets the callsign used for telemetry and APRS to
+			identify the device.
+
+		==== Telemetry/RDF/APRS Enable
+
+			You can completely disable the radio, if necessary, leaving
+			TeleGPS only logging data to internal memory.
+
+		==== APRS Interval
+
+			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.
+
+		==== Maximum Flight Log
+
+			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.
+
+		==== Logging Trigger Motion
+
+			If TeleGPS moves less than this distance over a long period
+			of time, it will not log that location, saving storage space.
+
+		==== Position Reporting Interval
+
+			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.
diff --git a/doc/telegps-updating-firmware.inc b/doc/telegps-updating-firmware.inc
new file mode 100644
index 00000000..568c4343
--- /dev/null
+++ b/doc/telegps-updating-firmware.inc
@@ -0,0 +1,43 @@
+[appendix]
+== Updating Device Firmware
+
+	TeleGPS is programmed directly over its USB connectors.
+
+	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 http://www.altusmetrum.org/AltOS/
+    
+	=== Updating TeleGPS Firmware
+
+		. Attach a battery and power switch to the target
+		  device. Power up the device.
+
+		. Using a Micro USB cable, connect the target device to
+		  your computer's USB socket.
+
+		. Run TeleGPS, and select 'Flash Device' from the
+		  Device menu.
+
+		. Select the target device in the Device Selection
+		  dialog.
+
+		. 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.
+
+		. 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.
+
+		. Hit the 'OK' button and the software should proceed
+		  to flash the device with new firmware, showing a
+		  progress bar.
+
+		. Verify that the device is working by using the
+		  'Configure Device item to check over the
+		  configuration.
diff --git a/doc/telegps-using.inc b/doc/telegps-using.inc
new file mode 100644
index 00000000..1dd889cd
--- /dev/null
+++ b/doc/telegps-using.inc
@@ -0,0 +1,81 @@
+== Using TeleGPS Hardware
+
+	=== Hooking Up Lithium Polymer Batteries
+
+		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
+		link:https://www.sparkfun.com/products/9914[JST Jumper 2 Wire Assembly]
+
+
+		[WARNING]
+		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.
+
+	=== On-board Data Recording
+
+		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.
+
+		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.
+
+		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.
+
+		The default size allows for four flights of 496kB
+		each, which provides over four hours of logging at 1
+		sample per second.
+
+		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.
+      
+	=== Installation
+
+		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.
+
+		[WARNING]
+		Check polarity and voltage before connecting any
+		battery not purchased from Altus Metrum or Spark
+		Fun.
+
+		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.
diff --git a/doc/telegps.txt b/doc/telegps.txt
new file mode 100644
index 00000000..059036ec
--- /dev/null
+++ b/doc/telegps.txt
@@ -0,0 +1,21 @@
+= TeleGPS Owner's Manual
+:doctype: book
+:numbered:
+
+	include::dedication.raw[]
+
+	include::telegps-quick-start.raw[]
+
+	include::telegps-using.raw[]
+
+	include::telegps-application.raw[]
+
+	include::telegps-system-operation.raw[]
+
+	include::handling.raw[]
+
+	include::telegps-specs.raw[]
+
+	include::telegps-updating-firmware.raw[]
+
+	include::telegps-release-notes.raw[]
diff --git a/doc/telegps.xsl b/doc/telegps.xsl
deleted file mode 100644
index 8de5c56d..00000000
--- a/doc/telegps.xsl
+++ /dev/null
@@ -1,1338 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<book>
-  <title>TeleGPS Owner's Manual</title>
-  <subtitle>A recording GPS tracker</subtitle>
-  <bookinfo>
-    <author>
-      <firstname>Keith</firstname>
-      <surname>Packard</surname>
-    </author>
-    <copyright>
-      <year>2015</year>
-      <holder>Bdale Garbee and Keith Packard</holder>
-    </copyright>
-    <mediaobject>
-      <imageobject>
-	<imagedata fileref="telegps-v1.0-top.jpg" width="4in"/>
-      </imageobject>
-    </mediaobject>
-    <legalnotice>
-      <para>
-        This document is released under the terms of the
-        <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
-          Creative Commons ShareAlike 3.0
-        </ulink>
-        license.
-      </para>
-    </legalnotice>
-    <revhistory>
-      <revision>
-	<revnumber>1.6</revnumber>
-	<date>8 January 2015</date>
-	<revremark>
-	  Major release adding TeleDongle v3.0 support.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.4.1</revnumber>
-	<date>20 June 2014</date>
-	<revremark>
-	  Minor release fixing some installation bugs.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.4</revnumber>
-	<date>13 June 2014</date>
-	<revremark>
-	  Initial release
-	</revremark>
-      </revision>
-    </revhistory>
-  </bookinfo>
-  <dedication>
-    <title>Acknowledgements</title>
-    <para>
-      Have fun using these products, and we hope to meet all of you
-      out on the rocket flight line somewhere.
-      <literallayout>
-Bdale Garbee, KB0G
-NAR #87103, TRA #12201
-
-Keith Packard, KD7SQG
-NAR #88757, TRA #12200
-      </literallayout>
-    </para>
-  </dedication>
-  <chapter>
-    <title>Quick Start Guide</title>
-    <para>
-      TeleGPS is designed to be easy to use. Requiring no external
-      components, flying takes just a few steps.
-    </para>
-    <para>
-      First, download and install the software from <ulink
-      url="http://altusmetrum.org/AltOS"/>. This will make sure that
-      you have the right device drivers installed.
-    </para>
-    <para>
-      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.
-    </para>
-    <para>
-      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.
-    </para>
-    <para>
-      Unplug TeleGPS when the battery charger light goes green. This
-      will enable the radio and logging portions of the TeleGPS
-      firmware.
-    </para>
-    <para>
-      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.
-    </para>
-  </chapter>
-  <chapter>
-    <title>Handling Precautions</title>
-    <para>
-      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.
-    </para>
-    <para>
-      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.
-    </para>
-    <para>
-      As with all other rocketry electronics, Altus Metrum devices must 
-      be protected from exposure to corrosive motor exhaust and ejection 
-      charge gasses.
-    </para>
-  </chapter>
-  <chapter>
-    <title>TeleGPS Hardware</title>
-    <section>
-      <title>Hooking Up Lithium Polymer Batteries</title>
-      <para>
-	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 <ulink
-	url="https://www.sparkfun.com/products/9914">JST Jumper 2
-	Wire Assembly</ulink>.
-      </para>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>On-board Data Recording</title>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	The default size allows for four flights of 496kB each, which
-	provides over four hours of logging at 1 sample per second.
-      </para>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>Installation</title>
-      <para>
-	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. <emphasis>Check
-	polarity and voltage before connecting any battery not purchased
-	from Altus Metrum or Spark Fun.</emphasis>
-      </para>
-      <para>
-	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.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>System Operation</title>
-    <section>
-      <title>GFSK Telemetry</title>
-      <para>
-        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.
-      </para>
-    </section>
-    <section>
-      <title>APRS</title>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-      <table frame='all'>
-	<title>Altus Metrum APRS Comments</title>
-	<?dbfo keep-together="always"?>
-	<tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='*' colname='Field'/>
-	  <colspec align='center' colwidth='*' colname='Example'/>
-	  <colspec align='center' colwidth='4*' colname='Description'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Field</entry>
-	      <entry align='center'>Example</entry>
-	      <entry align='center'>Description</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>1</entry>
-	      <entry>L</entry>
-	      <entry>GPS Status U for unlocked, L for locked</entry>
-	    </row>
-	    <row>
-	      <entry>2</entry>
-	      <entry>6</entry>
-	      <entry>Number of Satellites in View</entry>
-	    </row>
-	    <row>
-	      <entry>3</entry>
-	      <entry>B4.0</entry>
-	      <entry>Battery Voltage</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-      <para>
-	Here's an example of an APRS comment showing GPS lock with 6
-	satellites in view and a battery at 4.0V.
-	<screen>
-	  L6 B4.0
-	</screen>
-      </para>
-      <para>
-	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.
-      </para>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>Configurable Parameters</title>
-      <para>
-        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.
-      </para>
-      <section>
-        <title>Radio Frequency</title>
-        <para>
-	  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.
-        </para>
-      </section>
-      <section>
-	<title>Callsign</title>
-	<para>
-	  This sets the callsign used for telemetry and APRS to
-	  identify the device.
-	</para>
-      </section>
-      <section>
-	<title>Telemetry/RDF/APRS Enable</title>
-	<para>
-	  You can completely disable the radio, if necessary, leaving
-	  TeleGPS only logging data to internal memory.
-	</para>
-      </section>
-      <section>
-	<title>APRS Interval</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>Maximum Flight Log</title>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>Logging Trigger Motion</title>
-	<para>
-	  If TeleGPS moves less than this distance over a long period
-	  of time, it will not log that location, saving storage space.
-	</para>
-      </section>
-      <section>
-	<title>Position Reporting Interval</title>
-	<para>
-	  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.
-	</para>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>TeleGPS Application</title>
-    <para>
-      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.
-    </para>
-    <section>
-      <title>Telemetry Monitoring</title>
-      <para>
-	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
-      </para>
-      <para>
-        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.
-      </para>
-      <para>
-        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.
-      </para>
-      <para>
-        Below the TeleDongle frequency selector, the window contains a few
-        significant pieces of information about the altimeter providing
-        the telemetry data stream:
-      </para>
-      <itemizedlist>
-        <listitem>
-          <para>The configured call-sign</para>
-        </listitem>
-        <listitem>
-          <para>The device serial number</para>
-        </listitem>
-        <listitem>
-          <para>The flight number. TeleGPS remembers how many
-          times it has flown.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            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.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            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.
-          </para>
-        </listitem>
-      </itemizedlist>
-      <para>
-        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.
-      </para>
-      <section>
-        <title>Map</title>
-        <para>
-          The Map tab shows the TeleGPS track over time on top of map
-	  data making it easy to locate the device.
-        </para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-map.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          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.
-        </para>
-	<para>
-	  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.
-	</para>
-        <para>
-          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.
-        </para>
-	<para>
-	  You can pre-load images for your favorite launch sites
-	  before you leave home; check out the 'Preload Maps' section below.
-	</para>
-      </section>
-      <section>
-	<title>Location</title>
-	<para>
-	  The Location tab shows the raw GPS data received from TeleGPS.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-location.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Status</title>
-	<para>
-	  The Status tab shows data relative to the location of
-	  TeleGPS when the application first received telemetry from
-	  it.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-status.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Table</title>
-	<para>
-	  The Table tab shows detailed information about the GPS
-	  receiver
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-table.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-    </section>
-    <!--
-	<variablelist>
-	  <varlistentry>
-	    <term></term>
-	    <listitem>
-	      <para>
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-    -->
-    <section>
-      <title>TeleGPS Menus</title>
-      <para>
-	TeleGPS has three or four menus at the top of the window:
-	<variablelist>
-	  <varlistentry>
-	    <term>File</term>
-	    <listitem>
-	      <para>
-		New Window, Graph Data, Export Data, Load Maps, Preferences, Close and Exit
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Monitor</term>
-	    <listitem>
-	      <para>
-		Connect Device, Disconnect and Scan Channels
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Device</term>
-	    <listitem>
-	      <para>
-		Download Data, Configure Device and Flash Device
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Frequency</term>
-	    <listitem>
-	      <para>
-		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.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </para>
-      <section>
-	<title>New Window</title>
-	<para>
-	  This creates another telemetry monitoring window, in case
-	  you have multiple TeleDongle devices connected to the
-	  computer.
-	</para>
-      </section>
-      <section>
-	<title>Graph Data</title>
-	<para>
-	  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.
-	</para>
-	<section>
-	  <title>Graph</title>
-	  <para>
-	    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.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-graph.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</section>
-	<section>
-	  <title>Configure Graph</title>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-configure.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    This selects which graph elements to show, and, at the
-	    bottom, lets you switch between metric and imperial units
-	  </para>
-	</section>
-	<section>
-	  <title>Statistics</title>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-stats.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    Shows overall data computed from the flight.
-	  </para>
-	</section>
-	<section>
-	  <title>Map</title>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-map.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    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.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Export Data</title>
-	<para>
-          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.
-	</para>
-	<section>
-          <title>Comma Separated Value Format</title>
-          <para>
-            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.
-          </para>
-          <para>
-            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.
-          </para>
-	</section>
-	<section>
-          <title>Keyhole Markup Language (for Google Earth)</title>
-          <para>
-            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.
-          </para>
-	</section>
-      </section>
-      <section>
-	<title>Load Maps</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="load-maps.png" width="5.2in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  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.
-	</para>
-	<para>
-	  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
-	</para>
-	<para>
-	  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:
-	  <variablelist>
-	    <varlistentry>
-	      <term>Hybrid</term>
-	      <listitem>
-		<para>
-		  A combination of satellite imagery and road data. This
-		  is the default view.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Satellite</term>
-	      <listitem>
-		<para>
-		  Just the satellite imagery without any annotation.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Roadmap</term>
-	      <listitem>
-		<para>
-		  Roads, political boundaries and a few geographic features.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Terrain</term>
-	      <listitem>
-		<para>
-		  Contour intervals and shading that show hills and
-		  valleys.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	  </variablelist>
-	</para>
-	<para>
-	  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.
-	</para>
-	<para>
-	  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.
-	</para>
-	<para>
-	  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.
-	</para>
-      </section>
-      <section>
-	<title>Preferences</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-preferences.png" width="2.4in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<section>
-          <title>Voice Settings</title>
-          <para>
-            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.
-          </para>
-          <variablelist>
-	    <varlistentry>
-	      <term>Enable</term>
-	      <listitem>
-		<para>Turns all voice announcements on and off</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Test Voice</term>
-	      <listitem>
-		<para>
-		  Plays a short message allowing you to verify
-		  that the audio system is working and the volume settings
-		  are reasonable
-		</para>
-	      </listitem>
-	    </varlistentry>
-          </variablelist>
-	</section>
-	<section>
-          <title>Log Directory</title>
-          <para>
-            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.
-          </para>
-          <para>
-            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.
-          </para>
-	</section>
-	<section>
-          <title>Callsign</title>
-          <para>
-            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.
-          </para>
-          <para>
-	    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.
-          </para>
-	</section>
-	<section>
-	  <title>Imperial Units</title>
-	  <para>
-	    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.
-	  </para>
-	</section>
-	<section>
-          <title>Serial Debug</title>
-          <para>
-            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.
-          </para>
-	</section>
-	<section>
-	  <title>Font Size</title>
-	  <para>
-	    Selects the set of fonts used in the flight monitor
-	    window. Choose between the small, medium and large sets.
-	  </para>
-	</section>
-	<section>
-	  <title>Look &amp; Feel</title>
-	  <para>
-	    Adjust the style of the windows. By default, the TeleGPS
-	    application attempts to blend in with the native style.
-	  </para>
-	</section>
-	<section>
-	  <title>Manage Frequencies</title>
-	  <para>
-	    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.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Close</title>
-	<para>
-	  This closes the current window, leaving any other windows
-	  open and the application running.
-	</para>
-      </section>
-      <section>
-	<title>Exit</title>
-	<para>
-	  This closes all TeleGPS windows and terminates the application.
-	</para>
-      </section>
-      <section>
-	<title>Connect Device</title>
-	<para>
-          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.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="device-selection.png" width="3.1in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Disconnect</title>
-	<para>
-	  Disconnects the currently connected TeleDongle or TeleBT
-	</para>
-      </section>
-      <section>
-	<title>Scan Channels</title>
-	<para>
-	  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.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-scan.png" width="3.1in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Download Data</title>
-	<para>
-          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. 
-	</para>
-	<para>
-          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.
-	</para>
-	<para>
-          The file name for each data log is computed automatically
-          from the recorded date, altimeter serial number and flight
-          number information.
-	</para>
-      </section>
-      <section>
-	<title>Configure Device</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-configure.png" width="3.6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-          Select this button and then select any connected TeleGPS
-          device from the list provided.
-	</para>
-	<para>
-          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.
-	</para>
-	<para>
-          At the bottom of the dialog, there are four buttons:
-	</para>
-	<variablelist>
-	  <varlistentry>
-	    <term>Save</term>
-	    <listitem>
-	      <para>
-		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.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Reset</term>
-	    <listitem>
-	      <para>
-		This resets the dialog to the most recently saved values,
-		erasing any changes you have made.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Reboot</term>
-	    <listitem>
-	      <para>
-		This reboots the device. This will restart logging for
-		a new flight number, if any log information has been
-		saved for the current flight.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Close</term>
-	    <listitem>
-	      <para>
-		This closes the dialog. Any unsaved changes will be
-		lost.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-	<para>
-          The rest of the dialog contains the parameters to be configured.
-	</para>
-	<section>
-          <title>Frequency</title>
-          <para>
-            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.
-          </para>
-	</section>
-	<section>
-          <title>RF Calibration</title>
-          <para>
-            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.
-          </para>
-	</section>
-	<section>
-	  <title>Telemetry/RDF/APRS Enable</title>
-	  <para>
-	    Enables the radio for transmission during flight. When
-	    disabled, the radio will not transmit anything during flight
-	    at all.
-	  </para>
-	</section>
-	<section>
-	  <title>APRS Interval</title>
-	  <para>
-	    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.
-	  </para>
-	</section>
-	<section>
-          <title>Callsign</title>
-          <para>
-            This sets the call sign included in each telemetry packet. Set this
-            as needed to conform to your local radio regulations.
-          </para>
-	</section>
-	<section>
-          <title>Maximum Log Size</title>
-          <para>
-            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.
-	  </para>
-	</section>
-	<section>
-	  <title>Logging Trigger Motion</title>
-	  <para>
-	    If TeleGPS moves less than this distance over a long period
-	    of time, it will not log that location, saving storage space.
-	  </para>
-	</section>
-	<section>
-	  <title>Position Reporting Interval</title>
-	  <para>
-	    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.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Flash Device</title>
-	<para>
-          This reprograms TeleGPS devices with new firmware. Please
-          read the directions for flashing devices in the Updating
-          Device Firmware chapter below.
-	</para>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Updating Device Firmware</title>
-    <para>
-      TeleGPS is programmed directly over its USB connectors.
-    </para>
-    <para>
-      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 <ulink url="http://www.altusmetrum.org/AltOS/"/>.
-    </para>
-    <section>
-      <title>
-	Updating TeleGPS Firmware
-      </title>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-	<listitem>
-	  <para>
-	    Attach a battery and power switch to the target
-	    device. Power up the device.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Using a Micro USB cable, connect the target device to your
-	    computer's USB socket.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Run TeleGPS, and select 'Flash Device' from the Device menu.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Select the target device in the Device Selection dialog.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Select the image you want to flash to the device, which
-	    should have a name in the form
-	    &lt;product&gt;-v&lt;product-version&gt;-&lt;software-version&gt;.ihx, such
-	    as TeleGPS-v1.0-1.4.0.ihx.
-	  </para>
-	</listitem>
-        <listitem>
-	  <para>
-	    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.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-	    Hit the 'OK' button and the software should proceed to flash
-	    the device with new firmware, showing a progress bar.
-	  </para>
-        </listitem>
-	<listitem>
-	  <para>
-	    Verify that the device is working by using the 'Configure
-	    Altimeter' item to check over the configuration.
-	  </para>
-	</listitem>
-      </orderedlist>
-<!--
-      <section>
-	<title>Recovering From Self-Flashing Failure</title>
-	<para>
-	  If the firmware loading fails, it can leave the device
-	  unable to boot. Not to worry, you can force the device to
-	  start the boot loader instead, which will let you try to
-	  flash the device again.
-	</para>
-	<para>
-	  On each device, connecting two pins from one of the exposed
-	  connectors will force the boot loader to start, even if the
-	  regular operating system has been corrupted in some way.
-	</para>
-	<variablelist>
-	  <varlistentry>
-	    <term>TeleMega</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>TeleMetrum v2</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>EasyMini</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the debug connector, which is
-		the six holes next to the beeper. Pin 1 can be identified
-		by the square pad around it, and then the pins could
-		sequentially across the board, making Pin 6 the one on the
-		other end of the row.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </section>
-    -->
-    </section>
-  </chapter>
-  <chapter>
-    <title>Technical Information</title>
-    <section>
-      <title>GPS Receiver</title>
-      <para>
-	TeleGPS uses the u-Blox Max-7Q GPS receiver.
-      </para>
-    </section>
-    <section>
-      <title>Micro-controller</title>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>Lithium Polymer Battery</title>
-      <para>
-	Shipping restrictions may prevent us from including a battery
-	battery with TeleGPS.
-      </para>
-    </section>
-    <section>
-      <title>Mechanical Considerations</title>
-      <para>
-	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.
-      </para>
-    </section>
-    <section>
-      <title>On-board data storage</title>
-      <para>
-	TeleGPS has 2MB of non-volatile storage, separate from the
-	code storage memory. The TeleGPS firmware uses this to log
-	information during flight.
-      </para>
-    </section>
-  </chapter>
-  <appendix>
-    <title>Release Notes</title>
-    <simplesect>
-      <title>Version 1.6</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.6.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.4.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.4.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.4</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.4.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-  </appendix>
-</book>
-<!--  LocalWords:  Altusmetrum TeleGPS
--->
diff --git a/doc/telemega-outline.txt b/doc/telemega-outline.txt
new file mode 100644
index 00000000..1af91894
--- /dev/null
+++ b/doc/telemega-outline.txt
@@ -0,0 +1,9 @@
+= TeleMega Outline and Hole Pattern
+:doctype: article
+
+	This image, when printed, provides a precise template for the
+	mounting holes in TeleMega. TeleMega has overall dimensions of
+	1.250 x 3.250 inches, and the mounting holes are sized for use
+	with 4-40 or M3 screws.
+
+	image::telemega.svg[align="center"]
diff --git a/doc/telemega-outline.xsl b/doc/telemega-outline.xsl
deleted file mode 100644
index 5d3411e9..00000000
--- a/doc/telemega-outline.xsl
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE article PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<article>
-    <title>TeleMega Outline and Hole Pattern</title>
-    <para>
-      This image, when printed, provides a precise template for the
-      mounting holes in TeleMega.  TeleMega has overall dimensions
-      of 1.250 x 3.250 inches, and the mounting holes are sized for
-      use with 4-40 or M3 screws.
-    </para>
-    <informalfigure>
-      <mediaobject id="TeleMegaTemplate">
-	<imageobject>
-	  <imagedata format="SVG" fileref="telemega.svg"
-		     scalefit="0" scale="100" align="center" />
-	</imageobject>
-      </mediaobject>
-    </informalfigure>
-</article>
-
-<!-- LocalWords: Altusmetrum
--->
diff --git a/doc/telemetrum-outline.txt b/doc/telemetrum-outline.txt
new file mode 100644
index 00000000..ab6871f9
--- /dev/null
+++ b/doc/telemetrum-outline.txt
@@ -0,0 +1,9 @@
+= TeleMetrum Outline and Hole Pattern
+:doctype: article
+
+	This image, when printed, provides a precise template for the
+	mounting holes in TeleMetrum. TeleMetrum has overall dimensions of
+	1.000 x 2.750 inches, and the mounting holes are sized for use
+	with 4-40 or M3 screws.
+
+	image::telemetrum.svg[align="center"]
diff --git a/doc/telemetrum-outline.xsl b/doc/telemetrum-outline.xsl
deleted file mode 100644
index 4a0ade47..00000000
--- a/doc/telemetrum-outline.xsl
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE article PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<article>
-    <title>TeleMetrum Outline and Hole Pattern</title>
-    <para>
-      This image, when printed, provides a precise template for the
-      mounting holes in TeleMetrum.  TeleMetrum has overall dimensions
-      of 1.000 x 2.750 inches, and the mounting holes are sized for
-      use with 4-40 or M3 screws.
-    </para>
-    <informalfigure>
-      <mediaobject id="TeleMetrumTemplate">
-	<imageobject>
-	  <imagedata format="SVG" fileref="telemetrum.svg"
-		     scalefit="0" scale="100" align="center" />
-	</imageobject>
-      </mediaobject>
-    </informalfigure>
-</article>
-
-<!-- LocalWords: Altusmetrum
--->
diff --git a/doc/telemetrum-v2.0-th.jpg b/doc/telemetrum-v2.0-th.jpg
new file mode 100644
index 00000000..ceec699d
Binary files /dev/null and b/doc/telemetrum-v2.0-th.jpg differ
diff --git a/doc/telemetrum.inc b/doc/telemetrum.inc
index 54185bff..fa7d202c 100644
--- a/doc/telemetrum.inc
+++ b/doc/telemetrum.inc
@@ -17,6 +17,18 @@
 	fin can end of the board, meaning an ideal “simple” avionics
 	bay for TeleMetrum should have at least 10 inches of interior length.
 
+	There are two generations of the TeleMetrum design. The
+	major changes in the v2 generation are:
+
+	* uBlox GPS chip certified for altitude records
+
+	* Higher power radio (40mW vs 10mW)
+
+	* APRS support
+
+	Otherwise, they're the same size, with mounting holes and
+	screw terminals in the same position.
+
 	=== TeleMetrum Screw Terminals
 
 		TeleMetrum has six screw terminals on the end of the board
diff --git a/doc/telemini-outline.txt b/doc/telemini-outline.txt
new file mode 100644
index 00000000..1992adf0
--- /dev/null
+++ b/doc/telemini-outline.txt
@@ -0,0 +1,9 @@
+= TeleMini Outline and Hole Pattern
+:doctype: article
+
+	This image, when printed, provides a precise template for the
+	mounting holes in TeleMini. TeleMini has overall dimensions of
+	0.500 x 1.500 inches, and the mounting holes are sized for use
+	with 2-56 or M2 screws.
+
+	image::telemini.svg[align="center"]
diff --git a/doc/telemini.pdf b/doc/telemini.pdf
deleted file mode 100644
index 9d7f0237..00000000
Binary files a/doc/telemini.pdf and /dev/null differ
diff --git a/doc/titlepage.templates.tmpl b/doc/titlepage.templates.tmpl
new file mode 100644
index 00000000..9de1b31f
--- /dev/null
+++ b/doc/titlepage.templates.tmpl
@@ -0,0 +1,1583 @@
+<!DOCTYPE t:templates [
+<!ENTITY hsize0 "10pt">
+<!ENTITY hsize1 "12pt">
+<!ENTITY hsize2 "14.4pt">
+<!ENTITY hsize3 "17.28pt">
+<!ENTITY hsize4 "20.736pt">
+<!ENTITY hsize5 "24.8832pt">
+<!ENTITY hsize0space "7.5pt"> <!-- 0.75 * hsize0 -->
+<!ENTITY hsize1space "9pt"> <!-- 0.75 * hsize1 -->
+<!ENTITY hsize2space "10.8pt"> <!-- 0.75 * hsize2 -->
+<!ENTITY hsize3space "12.96pt"> <!-- 0.75 * hsize3 -->
+<!ENTITY hsize4space "15.552pt"> <!-- 0.75 * hsize4 -->
+<!ENTITY hsize5space "18.6624pt"> <!-- 0.75 * hsize5 -->
+]>
+<t:templates xmlns:t="http://nwalsh.com/docbook/xsl/template/1.0"
+	     xmlns:param="http://nwalsh.com/docbook/xsl/template/1.0/param"
+             xmlns:fo="http://www.w3.org/1999/XSL/Format"
+             xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
+
+<!-- ********************************************************************
+     $Id: titlepage.templates.xml 9722 2013-02-01 19:44:13Z bobstayton $
+     ********************************************************************
+
+     This file is part of the DocBook XSL Stylesheet distribution.
+     See ../README or http://docbook.sf.net/ for copyright
+     copyright and other information.
+
+     ******************************************************************** -->
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="article" t:wrapper="fo:block"
+             font-family="{$title.fontset}">
+
+  <t:titlepage-content t:side="recto"
+	     start-indent="0pt"
+             text-align="center">
+
+    <title t:named-template="component.title"
+	   param:node="ancestor-or-self::article[1]"
+	   keep-with-next.within-column="always"
+	   font-size="&hsize5;"
+	   font-weight="bold"/>
+
+    <subtitle/>
+
+    <date/>
+
+    <corpauthor space-before="0.5em"
+                font-size="&hsize2;"/>
+    <authorgroup space-before="0.5em"
+                 font-size="&hsize2;"/>
+    <author space-before="0.5em"
+            font-size="&hsize2;"/>
+
+    <!-- If you add editor, include this t:predicate attribute
+         because only the first editor generates the list of editors.
+    <editor t:predicate="[position() = 1]"/>
+    -->
+    <othercredit space-before="0.5em"/>
+    <releaseinfo space-before="0.5em"/>
+    <copyright space-before="0.5em"/>
+    <legalnotice text-align="start"
+                 margin-left="0.5in"
+                 margin-right="0.5in"
+                 font-family="{$body.fontset}"/>
+    <pubdate space-before="0.5em"/>
+    <revision space-before="0.5em"/>
+    <revhistory space-before="0.5em"/>
+    <abstract space-before="0.5em"
+	      text-align="start"
+	      margin-left="0.5in"
+              margin-right="0.5in"
+              font-family="{$body.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="set" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+      <title
+	     t:named-template="division.title"
+	     param:node="ancestor-or-self::set[1]"
+	     text-align="center"
+	     font-size="&hsize5;"
+	     space-before="&hsize5space;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"
+	      text-align="center"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="book" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:named-template="division.title"
+	     param:node="ancestor-or-self::book[1]"
+	     text-align="center"
+	     font-size="&hsize5;"
+	     space-before="&hsize5space;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+      <subtitle
+		text-align="center"
+		font-size="&hsize4;"
+		space-before="&hsize4space;"
+		font-family="{$title.fontset}"/>
+      <corpauthor font-size="&hsize3;"
+		  keep-with-next.within-column="always"
+		  space-before="2in"/>
+      <authorgroup space-before="2in"/>
+      <author font-size="&hsize3;"
+	      space-before="&hsize2space;"
+	      keep-with-next.within-column="always"/>
+      <!-- If you add editor, include this t:predicate attribute
+           because only the first editor generates the list of editors.
+      <editor t:predicate="[position() = 1]"/>
+      -->
+      <mediaobject space-before="1.5in"/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+      <title
+	     t:named-template="book.verso.title"
+	     font-size="&hsize2;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+      <corpauthor/>
+      <authorgroup t:named-template="verso.authorgroup"/>
+      <author/>
+      <!-- If you add editor, include this t:predicate attribute
+           because only the first editor generates the list of editors.
+      <editor t:predicate="[position() = 1]"/>
+      -->
+      <othercredit/>
+      <releaseinfo space-before="0.5em"/>
+      <pubdate space-before="1em"/>
+      <copyright/>
+      <abstract/>
+      <legalnotice font-size="8pt"/>
+      <revhistory space-before="0.5in"/>
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+      <fo:block break-after="page"/>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+      <fo:block break-after="page"/>
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="part" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+      <title
+	     t:named-template="division.title"
+	     param:node="ancestor-or-self::part[1]"
+	     text-align="center"
+	     font-size="&hsize5;"
+	     space-before="&hsize5space;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    <subtitle
+	      text-align="center"
+	      font-size="&hsize4;"
+	      space-before="&hsize4space;"
+	      font-weight='bold'
+	      font-style='italic'
+	      font-family="{$title.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="partintro" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   text-align="center"
+	   font-size="&hsize5;"
+	   font-weight="bold"
+	   space-before="1em"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      text-align="center"
+	      font-size="&hsize2;"
+	      font-weight="bold"
+	      font-style="italic"
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="reference" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+      <title
+	     t:named-template="division.title"
+	     param:node="ancestor-or-self::reference[1]"
+	     text-align="center"
+	     font-size="&hsize5;"
+	     space-before="&hsize5space;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"
+	      text-align="center"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="refsynopsisdiv" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   font-family="{$title.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="refsection" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   font-family="{$title.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="refsect1" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   font-family="{$title.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="refsect2" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   font-family="{$title.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="refsect3" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   font-family="{$title.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="dedication" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::dedication[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<!-- Same formatting as dedication -->
+ <t:titlepage t:element="acknowledgements" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::acknowledgements[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="preface" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::preface[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <corpauthor/>
+      <authorgroup/>
+      <author/>
+      <othercredit/>
+      <releaseinfo/>
+      <copyright/>
+      <legalnotice/>
+      <pubdate/>
+      <revision/>
+      <revhistory/>
+      <abstract/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="chapter" t:wrapper="fo:block"
+               font-family="{$title.fontset}">
+    <t:titlepage-content t:side="recto" margin-left="{$title.margin.left}">
+      <title t:named-template="component.title"
+	     param:node="ancestor-or-self::chapter[1]"
+	     font-size="&hsize5;"
+	     font-weight="bold"/>
+
+      <subtitle space-before="0.5em"
+		font-style="italic"
+		font-size="&hsize2;"
+		font-weight="bold"/>
+
+      <corpauthor  space-before="0.5em"
+	           space-after="0.5em"
+                   font-size="&hsize2;"/>
+
+      <authorgroup space-before="0.5em"
+	           space-after="0.5em"
+                   font-size="&hsize2;"/>
+
+      <author      space-before="0.5em"
+	           space-after="0.5em"
+                   font-size="&hsize2;"/>
+
+      <othercredit/>
+      <releaseinfo/>
+      <copyright/>
+      <legalnotice/>
+      <pubdate/>
+      <revision/>
+      <revhistory/>
+      <abstract/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="appendix" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::appendix[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <corpauthor/>
+      <authorgroup/>
+      <author/>
+      <othercredit/>
+      <releaseinfo/>
+      <copyright/>
+      <legalnotice/>
+      <pubdate/>
+      <revision/>
+      <revhistory/>
+      <abstract/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+<t:titlepage t:element="section" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="sect1" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="sect2" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="sect3" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="sect4" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="sect5" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="simplesect" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   margin-left="{$title.margin.left}"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+    <corpauthor/>
+    <authorgroup/>
+    <author/>
+    <othercredit/>
+    <releaseinfo/>
+    <copyright/>
+    <legalnotice/>
+    <pubdate/>
+    <revision/>
+    <revhistory/>
+    <abstract/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<t:titlepage t:element="topic" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+	   font-weight="bold"
+           font-size="&hsize3;"
+           space-before="1em"
+           space-after="1em"
+	   font-family="{$title.fontset}"/>
+    <subtitle
+	      font-family="{$title.fontset}"/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="bibliography" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::bibliography[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="bibliodiv" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title t:named-template="component.title"
+	     param:node="ancestor-or-self::bibliodiv[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize4;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="glossary" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::glossary[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="glossdiv" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title t:named-template="component.title"
+	     param:node="ancestor-or-self::glossdiv[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize4;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="index" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::index[1]"
+             param:pagewide="1"
+	     margin-left="0pt"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <!-- The indexdiv.title template is used so that manual and -->
+  <!-- automatically generated indexdiv titles get the same -->
+  <!-- formatting. -->
+
+  <t:titlepage t:element="indexdiv" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title t:force="1"
+	     t:named-template="indexdiv.title"
+	     param:title="title"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="setindex" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::setindex[1]"
+             param:pagewide="1"
+	     margin-left="0pt"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="colophon" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="component.title"
+	     param:node="ancestor-or-self::colophon[1]"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize5;"
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="sidebar" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title 
+	     font-family="{$title.fontset}"
+	     font-weight="bold"/>
+      <subtitle
+		font-family="{$title.fontset}"/>
+      <itermset/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+<t:titlepage t:element="qandaset" t:wrapper="fo:block"
+             font-family="{$title.fontset}">
+
+  <t:titlepage-content t:side="recto"
+	     start-indent="0pt"
+             text-align="center">
+
+    <title t:named-template="component.title"
+	   param:node="ancestor-or-self::qandaset[1]"
+	   keep-with-next.within-column="always"
+	   font-size="&hsize5;"
+	   font-weight="bold"/>
+
+    <subtitle/>
+
+    <corpauthor space-before="0.5em"
+                font-size="&hsize2;"/>
+    <authorgroup space-before="0.5em"
+                 font-size="&hsize2;"/>
+    <author space-before="0.5em"
+            font-size="&hsize2;"/>
+
+    <othercredit space-before="0.5em"/>
+    <releaseinfo space-before="0.5em"/>
+    <copyright space-before="0.5em"/>
+    <legalnotice text-align="start"
+                 margin-left="0.5in"
+                 margin-right="0.5in"
+                 font-family="{$body.fontset}"/>
+    <pubdate space-before="0.5em"/>
+    <revision space-before="0.5em"/>
+    <revhistory space-before="0.5em"/>
+    <abstract space-before="0.5em"
+	      text-align="start"
+	      margin-left="0.5in"
+              margin-right="0.5in"
+              font-family="{$body.fontset}"/>
+    <itermset/>
+  </t:titlepage-content>
+
+  <t:titlepage-content t:side="verso">
+  </t:titlepage-content>
+
+  <t:titlepage-separator>
+  </t:titlepage-separator>
+
+  <t:titlepage-before t:side="recto">
+  </t:titlepage-before>
+
+  <t:titlepage-before t:side="verso">
+  </t:titlepage-before>
+</t:titlepage>
+
+<!-- ==================================================================== -->
+
+  <t:titlepage t:element="table.of.contents" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'TableofContents'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="list.of.tables" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofTables'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="list.of.figures" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofFigures'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="list.of.examples" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofExamples'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="list.of.equations" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofEquations'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="list.of.procedures" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofProcedures'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="list.of.unknowns" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofUnknown'"
+             space-before.minimum="1em"
+             space-before.optimum="1.5em"
+             space-before.maximum="2em"
+	     space-after="0.5em"
+	     start-indent="0pt"
+	     font-size="&hsize3;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="component.list.of.tables" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofTables'"
+             space-before.minimum="1em"
+             space-before.optimum="1em"
+             space-before.maximum="1em"
+	     space-after="0.5em"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize1;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="component.list.of.figures" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofFigures'"
+             space-before.minimum="1em"
+             space-before.optimum="1em"
+             space-before.maximum="1em"
+	     space-after="0.5em"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize1;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="component.list.of.examples" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofExamples'"
+             space-before.minimum="1em"
+             space-before.optimum="1em"
+             space-before.maximum="1em"
+	     space-after="0.5em"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize1;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="component.list.of.equations" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofEquations'"
+             space-before.minimum="1em"
+             space-before.optimum="1em"
+             space-before.maximum="1em"
+	     space-after="0.5em"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize1;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="component.list.of.procedures" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofProcedures'"
+             space-before.minimum="1em"
+             space-before.optimum="1em"
+             space-before.maximum="1em"
+	     space-after="0.5em"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize1;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+  <t:titlepage t:element="component.list.of.unknowns" t:wrapper="fo:block">
+    <t:titlepage-content t:side="recto">
+      <title
+	     t:force="1"
+	     t:named-template="gentext"
+	     param:key="'ListofUnknown'"
+             space-before.minimum="1em"
+             space-before.optimum="1em"
+             space-before.maximum="1em"
+	     space-after="0.5em"
+	     margin-left="{$title.margin.left}"
+	     font-size="&hsize1;"
+	     font-weight="bold"
+	     font-family="{$title.fontset}"/>
+    </t:titlepage-content>
+
+    <t:titlepage-content t:side="verso">
+    </t:titlepage-content>
+
+    <t:titlepage-separator>
+    </t:titlepage-separator>
+
+    <t:titlepage-before t:side="recto">
+    </t:titlepage-before>
+
+    <t:titlepage-before t:side="verso">
+    </t:titlepage-before>
+  </t:titlepage>
+
+<!-- ==================================================================== -->
+
+</t:templates>
diff --git a/doc/titlepage.templates.xml b/doc/titlepage.templates.xml
deleted file mode 100644
index 59fa5ba1..00000000
--- a/doc/titlepage.templates.xml
+++ /dev/null
@@ -1,1580 +0,0 @@
-<!DOCTYPE t:templates [
-<!ENTITY hsize0 "10pt">
-<!ENTITY hsize1 "12pt">
-<!ENTITY hsize2 "14.4pt">
-<!ENTITY hsize3 "17.28pt">
-<!ENTITY hsize4 "20.736pt">
-<!ENTITY hsize5 "24.8832pt">
-<!ENTITY hsize0space "7.5pt"> <!-- 0.75 * hsize0 -->
-<!ENTITY hsize1space "9pt"> <!-- 0.75 * hsize1 -->
-<!ENTITY hsize2space "10.8pt"> <!-- 0.75 * hsize2 -->
-<!ENTITY hsize3space "12.96pt"> <!-- 0.75 * hsize3 -->
-<!ENTITY hsize4space "15.552pt"> <!-- 0.75 * hsize4 -->
-<!ENTITY hsize5space "18.6624pt"> <!-- 0.75 * hsize5 -->
-]>
-<t:templates xmlns:t="http://nwalsh.com/docbook/xsl/template/1.0"
-	     xmlns:param="http://nwalsh.com/docbook/xsl/template/1.0/param"
-             xmlns:fo="http://www.w3.org/1999/XSL/Format"
-             xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
-
-<!-- ********************************************************************
-     $Id: titlepage.templates.xml 9722 2013-02-01 19:44:13Z bobstayton $
-     ********************************************************************
-
-     This file is part of the DocBook XSL Stylesheet distribution.
-     See ../README or http://docbook.sf.net/ for copyright
-     copyright and other information.
-
-     ******************************************************************** -->
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="article" t:wrapper="fo:block"
-             font-family="{$title.fontset}">
-
-  <t:titlepage-content t:side="recto"
-	     start-indent="0pt"
-             text-align="center">
-
-    <title t:named-template="component.title"
-	   param:node="ancestor-or-self::article[1]"
-	   keep-with-next.within-column="always"
-	   font-size="&hsize5;"
-	   font-weight="bold"/>
-
-    <subtitle/>
-
-    <corpauthor space-before="0.5em"
-                font-size="&hsize2;"/>
-    <authorgroup space-before="0.5em"
-                 font-size="&hsize2;"/>
-    <author space-before="0.5em"
-            font-size="&hsize2;"/>
-
-    <!-- If you add editor, include this t:predicate attribute
-         because only the first editor generates the list of editors.
-    <editor t:predicate="[position() = 1]"/>
-    -->
-    <othercredit space-before="0.5em"/>
-    <releaseinfo space-before="0.5em"/>
-    <copyright space-before="0.5em"/>
-    <legalnotice text-align="start"
-                 margin-left="0.5in"
-                 margin-right="0.5in"
-                 font-family="{$body.fontset}"/>
-    <pubdate space-before="0.5em"/>
-    <revision space-before="0.5em"/>
-    <revhistory space-before="0.5em"/>
-    <abstract space-before="0.5em"
-	      text-align="start"
-	      margin-left="0.5in"
-              margin-right="0.5in"
-              font-family="{$body.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="set" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-      <title
-	     t:named-template="division.title"
-	     param:node="ancestor-or-self::set[1]"
-	     text-align="center"
-	     font-size="&hsize5;"
-	     space-before="&hsize5space;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"
-	      text-align="center"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="book" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:named-template="division.title"
-	     param:node="ancestor-or-self::book[1]"
-	     text-align="center"
-	     font-size="&hsize5;"
-	     space-before="&hsize5space;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-      <subtitle
-		text-align="center"
-		font-size="&hsize4;"
-		space-before="&hsize4space;"
-		font-family="{$title.fontset}"/>
-      <corpauthor font-size="&hsize3;"
-		  keep-with-next.within-column="always"
-		  space-before="2in"/>
-      <authorgroup space-before="2in"/>
-      <author font-size="&hsize3;"
-	      space-before="&hsize2space;"
-	      keep-with-next.within-column="always"/>
-      <!-- If you add editor, include this t:predicate attribute
-           because only the first editor generates the list of editors.
-      <editor t:predicate="[position() = 1]"/>
-      -->
-      <mediaobject space-before="1.5in"/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-      <title
-	     t:named-template="book.verso.title"
-	     font-size="&hsize2;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-      <corpauthor/>
-      <authorgroup t:named-template="verso.authorgroup"/>
-      <author/>
-      <!-- If you add editor, include this t:predicate attribute
-           because only the first editor generates the list of editors.
-      <editor t:predicate="[position() = 1]"/>
-      -->
-      <othercredit/>
-      <releaseinfo space-before="0.5em"/>
-      <pubdate space-before="1em"/>
-      <copyright/>
-      <abstract/>
-      <legalnotice font-size="8pt"/>
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-      <fo:block break-after="page"/>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-      <fo:block break-after="page"/>
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="part" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-      <title
-	     t:named-template="division.title"
-	     param:node="ancestor-or-self::part[1]"
-	     text-align="center"
-	     font-size="&hsize5;"
-	     space-before="&hsize5space;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    <subtitle
-	      text-align="center"
-	      font-size="&hsize4;"
-	      space-before="&hsize4space;"
-	      font-weight='bold'
-	      font-style='italic'
-	      font-family="{$title.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="partintro" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   text-align="center"
-	   font-size="&hsize5;"
-	   font-weight="bold"
-	   space-before="1em"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      text-align="center"
-	      font-size="&hsize2;"
-	      font-weight="bold"
-	      font-style="italic"
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="reference" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-      <title
-	     t:named-template="division.title"
-	     param:node="ancestor-or-self::reference[1]"
-	     text-align="center"
-	     font-size="&hsize5;"
-	     space-before="&hsize5space;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"
-	      text-align="center"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="refsynopsisdiv" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   font-family="{$title.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="refsection" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   font-family="{$title.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="refsect1" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   font-family="{$title.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="refsect2" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   font-family="{$title.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="refsect3" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   font-family="{$title.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="dedication" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::dedication[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<!-- Same formatting as dedication -->
- <t:titlepage t:element="acknowledgements" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::acknowledgements[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="preface" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::preface[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <corpauthor/>
-      <authorgroup/>
-      <author/>
-      <othercredit/>
-      <releaseinfo/>
-      <copyright/>
-      <legalnotice/>
-      <pubdate/>
-      <revision/>
-      <revhistory/>
-      <abstract/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="chapter" t:wrapper="fo:block"
-               font-family="{$title.fontset}">
-    <t:titlepage-content t:side="recto" margin-left="{$title.margin.left}">
-      <title t:named-template="component.title"
-	     param:node="ancestor-or-self::chapter[1]"
-	     font-size="&hsize5;"
-	     font-weight="bold"/>
-
-      <subtitle space-before="0.5em"
-		font-style="italic"
-		font-size="&hsize2;"
-		font-weight="bold"/>
-
-      <corpauthor  space-before="0.5em"
-	           space-after="0.5em"
-                   font-size="&hsize2;"/>
-
-      <authorgroup space-before="0.5em"
-	           space-after="0.5em"
-                   font-size="&hsize2;"/>
-
-      <author      space-before="0.5em"
-	           space-after="0.5em"
-                   font-size="&hsize2;"/>
-
-      <othercredit/>
-      <releaseinfo/>
-      <copyright/>
-      <legalnotice/>
-      <pubdate/>
-      <revision/>
-      <revhistory/>
-      <abstract/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="appendix" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::appendix[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <corpauthor/>
-      <authorgroup/>
-      <author/>
-      <othercredit/>
-      <releaseinfo/>
-      <copyright/>
-      <legalnotice/>
-      <pubdate/>
-      <revision/>
-      <revhistory/>
-      <abstract/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-<t:titlepage t:element="section" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="sect1" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="sect2" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="sect3" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="sect4" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="sect5" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="simplesect" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   margin-left="{$title.margin.left}"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-    <corpauthor/>
-    <authorgroup/>
-    <author/>
-    <othercredit/>
-    <releaseinfo/>
-    <copyright/>
-    <legalnotice/>
-    <pubdate/>
-    <revision/>
-    <revhistory/>
-    <abstract/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<t:titlepage t:element="topic" t:wrapper="fo:block">
-  <t:titlepage-content t:side="recto">
-    <title
-	   font-weight="bold"
-           font-size="&hsize3;"
-           space-before="1em"
-           space-after="1em"
-	   font-family="{$title.fontset}"/>
-    <subtitle
-	      font-family="{$title.fontset}"/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="bibliography" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::bibliography[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="bibliodiv" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title t:named-template="component.title"
-	     param:node="ancestor-or-self::bibliodiv[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize4;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="glossary" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::glossary[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="glossdiv" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title t:named-template="component.title"
-	     param:node="ancestor-or-self::glossdiv[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize4;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="index" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::index[1]"
-             param:pagewide="1"
-	     margin-left="0pt"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <!-- The indexdiv.title template is used so that manual and -->
-  <!-- automatically generated indexdiv titles get the same -->
-  <!-- formatting. -->
-
-  <t:titlepage t:element="indexdiv" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title t:force="1"
-	     t:named-template="indexdiv.title"
-	     param:title="title"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="setindex" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::setindex[1]"
-             param:pagewide="1"
-	     margin-left="0pt"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="colophon" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="component.title"
-	     param:node="ancestor-or-self::colophon[1]"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize5;"
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="sidebar" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title 
-	     font-family="{$title.fontset}"
-	     font-weight="bold"/>
-      <subtitle
-		font-family="{$title.fontset}"/>
-      <itermset/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-<t:titlepage t:element="qandaset" t:wrapper="fo:block"
-             font-family="{$title.fontset}">
-
-  <t:titlepage-content t:side="recto"
-	     start-indent="0pt"
-             text-align="center">
-
-    <title t:named-template="component.title"
-	   param:node="ancestor-or-self::qandaset[1]"
-	   keep-with-next.within-column="always"
-	   font-size="&hsize5;"
-	   font-weight="bold"/>
-
-    <subtitle/>
-
-    <corpauthor space-before="0.5em"
-                font-size="&hsize2;"/>
-    <authorgroup space-before="0.5em"
-                 font-size="&hsize2;"/>
-    <author space-before="0.5em"
-            font-size="&hsize2;"/>
-
-    <othercredit space-before="0.5em"/>
-    <releaseinfo space-before="0.5em"/>
-    <copyright space-before="0.5em"/>
-    <legalnotice text-align="start"
-                 margin-left="0.5in"
-                 margin-right="0.5in"
-                 font-family="{$body.fontset}"/>
-    <pubdate space-before="0.5em"/>
-    <revision space-before="0.5em"/>
-    <revhistory space-before="0.5em"/>
-    <abstract space-before="0.5em"
-	      text-align="start"
-	      margin-left="0.5in"
-              margin-right="0.5in"
-              font-family="{$body.fontset}"/>
-    <itermset/>
-  </t:titlepage-content>
-
-  <t:titlepage-content t:side="verso">
-  </t:titlepage-content>
-
-  <t:titlepage-separator>
-  </t:titlepage-separator>
-
-  <t:titlepage-before t:side="recto">
-  </t:titlepage-before>
-
-  <t:titlepage-before t:side="verso">
-  </t:titlepage-before>
-</t:titlepage>
-
-<!-- ==================================================================== -->
-
-  <t:titlepage t:element="table.of.contents" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'TableofContents'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="list.of.tables" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofTables'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="list.of.figures" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofFigures'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="list.of.examples" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofExamples'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="list.of.equations" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofEquations'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="list.of.procedures" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofProcedures'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="list.of.unknowns" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofUnknown'"
-             space-before.minimum="1em"
-             space-before.optimum="1.5em"
-             space-before.maximum="2em"
-	     space-after="0.5em"
-	     start-indent="0pt"
-	     font-size="&hsize3;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="component.list.of.tables" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofTables'"
-             space-before.minimum="1em"
-             space-before.optimum="1em"
-             space-before.maximum="1em"
-	     space-after="0.5em"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize1;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="component.list.of.figures" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofFigures'"
-             space-before.minimum="1em"
-             space-before.optimum="1em"
-             space-before.maximum="1em"
-	     space-after="0.5em"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize1;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="component.list.of.examples" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofExamples'"
-             space-before.minimum="1em"
-             space-before.optimum="1em"
-             space-before.maximum="1em"
-	     space-after="0.5em"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize1;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="component.list.of.equations" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofEquations'"
-             space-before.minimum="1em"
-             space-before.optimum="1em"
-             space-before.maximum="1em"
-	     space-after="0.5em"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize1;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="component.list.of.procedures" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofProcedures'"
-             space-before.minimum="1em"
-             space-before.optimum="1em"
-             space-before.maximum="1em"
-	     space-after="0.5em"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize1;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-  <t:titlepage t:element="component.list.of.unknowns" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:force="1"
-	     t:named-template="gentext"
-	     param:key="'ListofUnknown'"
-             space-before.minimum="1em"
-             space-before.optimum="1em"
-             space-before.maximum="1em"
-	     space-after="0.5em"
-	     margin-left="{$title.margin.left}"
-	     font-size="&hsize1;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-    </t:titlepage-content>
-
-    <t:titlepage-content t:side="verso">
-    </t:titlepage-content>
-
-    <t:titlepage-separator>
-    </t:titlepage-separator>
-
-    <t:titlepage-before t:side="recto">
-    </t:titlepage-before>
-
-    <t:titlepage-before t:side="verso">
-    </t:titlepage-before>
-  </t:titlepage>
-
-<!-- ==================================================================== -->
-
-</t:templates>
diff --git a/doc/updating-firmware.inc b/doc/updating-firmware.inc
index 8b29558c..d22fdb18 100644
--- a/doc/updating-firmware.inc
+++ b/doc/updating-firmware.inc
@@ -17,18 +17,12 @@
 	download the most recent version from
 	http://www.altusmetrum.org/AltOS/
 
-	If you need to update the firmware on a TeleDongle v0.2, we
-	recommend updating the altimeter first, before updating
-	TeleDongle.  However, note that TeleDongle rarely need to be
-	updated.  Any firmware version 1.0.1 or later will work,
-	version 1.2.1 may have improved receiver performance slightly.
-
-	Self-programmable devices (TeleMega, TeleMetrum v2, EasyMega
-	and EasyMini) are reprogrammed by connecting them to your
-	computer over USB
-
 	=== Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or TeleDongle v3 Firmware
 
+		Self-programmable devices (TeleMega, TeleMetrum v2,
+		EasyMega and EasyMini) are reprogrammed by connecting
+		them to your computer over USB
+
 		. Attach a battery if necessary and power switch to
 		  the target device. Power up the device.
 
@@ -144,6 +138,13 @@
 		support programming directly over USB for these
 		devices.
 
+		If you need to update the firmware on a TeleDongle
+		v0.2, we recommend updating the altimeter first,
+		before updating TeleDongle.  However, note that
+		TeleDongle rarely need to be updated.  Any firmware
+		version 1.0.1 or later will work, version 1.2.1 may
+		have improved receiver performance slightly.
+
 		==== Updating TeleMetrum v1.x Firmware
 
 			. Find the 'programming cable' that you got as
diff --git a/doc/xorg-fo.xsl b/doc/xorg-fo.xsl
deleted file mode 100644
index 4b8c619f..00000000
--- a/doc/xorg-fo.xsl
+++ /dev/null
@@ -1,121 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-
-<!--
-			X.Org DocBook/XML customization
-
-	DocBook XSL Stylesheets FO Parameters
-	http://docbook.sourceforge.net/release/xsl/current/doc/fo/
--->
-
-<xsl:stylesheet
-    version='1.0'
-    xmlns:xsl="http://www.w3.org/1999/XSL/Transform" 
-    xmlns:fo="http://www.w3.org/1999/XSL/Format" 
-    >
-<xsl:import href="file:///usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl"/>
-<xsl:include href="titlepage.templates.xsl"/>
-
-
-			<!-- Reference Pages HTML/FO Parameters -->
-
-
-  <xsl:param name="function.parens" select="1"/>
-
-  <!-- ANSI-style function synopses are generated for a funcsynopsis element -->
-  <xsl:param name="funcsynopsis.style" select="ansi"/>
-
-			<!-- Linking HTML/FO Parameters -->
-
-  <!-- open new PDF documents in new tab, don't replace doc in current window -->
-  <xsl:attribute-set name="olink.properties">
-    <xsl:attribute name="show-destination">new</xsl:attribute>
-  </xsl:attribute-set>
-
-			<!-- Miscellaneous HTML/FO Parameters-->
-
-  <!-- SVG will be considered an acceptable image format -->
-  <xsl:param name="use.svg" select="1"/>
-
-                        <!-- ToC/LoT/Index Generation -->
-  <!-- put page breaks before and after the Table of Contents,
-       so that the ToC is on a page by itself
-       Reference: http://www.sagehill.net/docbookxsl/PrintToc.html
-  -->
-  <xsl:attribute-set name="toc.margin.properties">
-    <xsl:attribute name="break-before">page</xsl:attribute>
-    <xsl:attribute name="break-after">page</xsl:attribute>
-  </xsl:attribute-set>
-
-			<!-- Pagination and General Styles FO Parameters -->
-  <!--
-     Speed up ps & pdf creation by not creating pages with "draft" image,
-     thus not needing to wait for http fetch of draft.png from docbook website.
-    -->
-  <xsl:param name="draft.mode" select="no"/>
-
-			<!-- Processor Extensions FO Parameters-->
-
-  <!-- PDF bookmarks extensions for FOP version 0.90 and later will be used. -->
-  <xsl:param name="fop.extensions" select="0"></xsl:param>
-  <xsl:param name="fop1.extensions" select="1"></xsl:param>
-
-			<!-- Cross Refrences FO Parameters-->
-
-  <!-- Make links in pdf output blue so it's easier to tell they're internal
-       links
-   -->
-  <xsl:attribute-set name="xref.properties">
-    <xsl:attribute name="color">blue</xsl:attribute>
-  </xsl:attribute-set>
-
-  <!-- Make links in pdf output green so it's easier to tell they're external
-       links
-  -->
-  <xsl:attribute-set name="olink.properties">
-    <xsl:attribute name="color">green</xsl:attribute>
-  </xsl:attribute-set>
-
-  <!-- Linking to a target inside a pdf document.
-       This feature is only available as of docbook-xsl-1.76.1.
-       When set to zero, the link will point to the document -->
-  <xsl:param name="insert.olink.pdf.frag" select="0"></xsl:param>
-
-
-			<!-- Font Families FO Parameters -->
-
-  <!--
-     Since a number of documents, especially the credits section in the
-     ReleaseNotes, use characters not found in the fop default base-14
-     PostScript fonts, set the fonts for the fop generated documents to
-     use the free DejaVu and GNU Unifont fonts which cover a much wider
-     range of characters.
-
-     DejaVu is available from http://dejavu-fonts.org/
-     GNU Unifont is available from http://unifoundry.com/unifont.html
-
-     To set fop font paths to find them after installing, see
-     http://xmlgraphics.apache.org/fop/1.0/fonts.html#basics
-    -->
-  <xsl:param name="body.font.family">DejaVu Serif</xsl:param>
-  <xsl:param name="symbol.font.family">serif,Symbol,AR PL UMing CN,AR PL ShanHeiSun Uni,GNU Unifont</xsl:param>
-
-			<!-- Paragraph template bits -->
-
-  <!--  make it possible to turn off hyphenation when it's giving us probs -->
-  <xsl:template match="para[@hyphenate='false']">
-    <fo:block hyphenate="false" xsl:use-attribute-sets="normal.para.spacing">
-      <xsl:call-template name="anchor"/>
-      <xsl:apply-templates/>
-    </fo:block>
-  </xsl:template>
-
-  <!-- force line break -->
-  <xsl:template match="processing-instruction('linebreak')">
-    <fo:block/>
-  </xsl:template>
-
-  <xsl:attribute-set name="informalfigure.properties">
-    <xsl:attribute name="text-align">center</xsl:attribute>
-  </xsl:attribute-set>
-
-</xsl:stylesheet>
-- 
cgit v1.2.3


From 14ad137fd14707bc7b45a3512a4a6f81915ca1c1 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 31 Oct 2015 22:40:13 -0700
Subject: doc: Convert AltOS doc to asciidoc

It's still pretty stale, but at least it isn't in docbook?

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile          |   12 +-
 doc/altos-docinfo.xml |   32 +
 doc/altos.txt         | 1400 ++++++++++++++++++++++++++++++++++++++++++
 doc/altos.xsl         | 1612 -------------------------------------------------
 4 files changed, 1441 insertions(+), 1615 deletions(-)
 create mode 100644 doc/altos-docinfo.xml
 create mode 100644 doc/altos.txt
 delete mode 100644 doc/altos.xsl

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index df1a884c..04402c88 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -134,12 +134,18 @@ SVG=\
 RELNOTES_PDF=$(RELNOTES_INC:.inc=.pdf)
 RELNOTES_HTML=$(RELNOTES_INC:.inc=.html)
 
+ALTOS_TXT_FILES=\
+	altos.txt
+
+ALTOS_RAW_FILES=$(ALTOS_TXT_FILES:.txt=.raw)
+ALTOS_PDF_FILES=$(ALTOS_TXT_FILES:.txt=.pdf)
+
 HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html telegps.html $(RELNOTES_HTML)
 
-PDF=altusmetrum.pdf $(RELNOTES_PDF) altos.pdf telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \
+PDF=altusmetrum.pdf $(RELNOTES_PDF) $(ALTOS_PDF_FILES) telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \
 	$(OUTLINE_PDF_FILES)
 
-FOSTYLE=xorg-fo.xsl
+FOSTYLE=am-fo.xsl
 
 TEMPLATES_TMPL=titlepage.templates.tmpl
 
@@ -189,7 +195,7 @@ publish:	$(DOC)
 	 git push)
 
 clean:
-	rm -f $(HTML) $(PDF) $(TEMPLATES_XSL)
+	rm -f $(HTML) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
 
 distclean: clean
 	rm -f $(HTML) $(PDF)
diff --git a/doc/altos-docinfo.xml b/doc/altos-docinfo.xml
new file mode 100644
index 00000000..1b6ad648
--- /dev/null
+++ b/doc/altos-docinfo.xml
@@ -0,0 +1,32 @@
+<subtitle>Altos Metrum Operating System</subtitle>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>05 November 2012</date>
+<copyright>
+  <year>2012</year>
+  <holder>Keith Packard</holder>
+</copyright>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
+<revhistory>
+  <revision>
+    <revnumber>1.1</revnumber>
+    <date>05 November 2012</date>
+    <revremark>Portable version</revremark>
+  </revision>
+  <revision>
+    <revnumber>0.1</revnumber>
+    <date>22 November 2010</date>
+    <revremark>Initial content</revremark>
+  </revision>
+</revhistory>
diff --git a/doc/altos.txt b/doc/altos.txt
new file mode 100644
index 00000000..f2b1ee59
--- /dev/null
+++ b/doc/altos.txt
@@ -0,0 +1,1400 @@
+= AltOS
+:doctype: book
+:toc:
+:numbered:
+
+== Overview
+
+	AltOS is a operating system built for a variety of
+	microcontrollers used in Altus Metrum devices. It has a simple
+	porting layer for each CPU while providing a convenient
+	operating enviroment for the developer. AltOS currently
+	supports three different CPUs:
+
+	* STM32L series from ST Microelectronics. This ARM Cortex-M3
+	  based microcontroller offers low power consumption and a
+	  wide variety of built-in peripherals. Altus Metrum uses this
+	  in the TeleMega, MegaDongle and TeleLCO projects.
+
+	* CC1111 from Texas Instruments. This device includes a
+	  fabulous 10mW digital RF transceiver along with an
+	  8051-compatible processor core and a range of
+	  peripherals. This is used in the TeleMetrum, TeleMini,
+	  TeleDongle and TeleFire projects which share the need for a
+	  small microcontroller and an RF interface.
+
+	* ATmega32U4 from Atmel. This 8-bit AVR microcontroller is one
+	  of the many used to create Arduino boards. The 32U4 includes
+	  a USB interface, making it easy to connect to other
+	  computers. Altus Metrum used this in prototypes of the
+	  TeleScience and TelePyro boards; those have been switched to
+	  the STM32L which is more capable and cheaper.
+
+	Among the features of AltOS are:
+
+	* Multi-tasking. While microcontrollers often don't
+	  provide separate address spaces, it's often easier to write
+	  code that operates in separate threads instead of tying
+	  everything into one giant event loop.
+
+	* Non-preemptive. This increases latency for thread
+	  switching but reduces the number of places where context
+	  switching can occur. It also simplifies the operating system
+	  design somewhat. Nothing in the target system (rocket flight
+	  control) has tight timing requirements, and so this seems like
+	  a reasonable compromise.
+
+	* Sleep/wakeup scheduling. Taken directly from ancient
+	  Unix designs, these two provide the fundemental scheduling
+	  primitive within AltOS.
+
+	* Mutexes. As a locking primitive, mutexes are easier to
+	  use than semaphores, at least in my experience.
+
+	* Timers. Tasks can set an alarm which will abort any
+	  pending sleep, allowing operations to time-out instead of
+	  blocking forever.
+
+	The device drivers and other subsystems in AltOS are
+	conventionally enabled by invoking their _init() function from
+	the 'main' function before that calls
+	ao_start_scheduler(). These functions initialize the pin
+	assignments, add various commands to the command processor and
+	may add tasks to the scheduler to handle the device. A typical
+	main program, thus, looks like:
+
+	....
+	\void
+	\main(void)
+	\{
+	\	ao_clock_init();
+
+	\	/* Turn on the LED until the system is stable */
+	\	ao_led_init(LEDS_AVAILABLE);
+	\	ao_led_on(AO_LED_RED);
+	\	ao_timer_init();
+	\	ao_cmd_init();
+	\	ao_usb_init();
+	\	ao_monitor_init(AO_LED_GREEN, TRUE);
+	\	ao_rssi_init(AO_LED_RED);
+	\	ao_radio_init();
+	\	ao_packet_slave_init();
+	\	ao_packet_master_init();
+	\#if HAS_DBG
+	\	ao_dbg_init();
+	\#endif
+	\	ao_config_init();
+	\	ao_start_scheduler();
+	\}
+	....
+
+	As you can see, a long sequence of subsystems are initialized
+	and then the scheduler is started.
+
+== AltOS Porting Layer
+
+	AltOS provides a CPU-independent interface to various common
+	microcontroller subsystems, including GPIO pins, interrupts,
+	SPI, I2C, USB and asynchronous serial interfaces. By making
+	these CPU-independent, device drivers, generic OS and
+	application code can all be written that work on any supported
+	CPU. Many of the architecture abstraction interfaces are
+	prefixed with ao_arch.
+
+	=== Low-level CPU operations
+
+		These primitive operations provide the abstraction needed to
+		run the multi-tasking framework while providing reliable
+		interrupt delivery.
+
+		==== ao_arch_block_interrupts/ao_arch_release_interrupts
+
+			....
+			static inline void
+			ao_arch_block_interrupts(void);
+
+			static inline void
+			ao_arch_release_interrupts(void);
+			....
+
+			These disable/enable interrupt delivery, they may not
+			discard any interrupts. Use these for sections of code that
+			must be atomic with respect to any code run from an
+			interrupt handler.
+
+		==== ao_arch_save_regs, ao_arch_save_stack, ao_arch_restore_stack
+
+			....
+			static inline void
+			ao_arch_save_regs(void);
+
+			static inline void
+			ao_arch_save_stack(void);
+
+			static inline void
+			ao_arch_restore_stack(void);
+			....
+
+			These provide all of the support needed to switch
+			between tasks.. ao_arch_save_regs must save all CPU
+			registers to the current stack, including the
+			interrupt enable state. ao_arch_save_stack records the
+			current stack location in the current ao_task
+			structure. ao_arch_restore_stack switches back to the
+			saved stack, restores all registers and branches to
+			the saved return address.
+
+		==== ao_arch_wait_interupt
+
+			....
+			#define ao_arch_wait_interrupt()
+			....
+
+			This stops the CPU, leaving clocks and interrupts
+			enabled. When an interrupt is received, this must wake up
+			and handle the interrupt. ao_arch_wait_interrupt is entered
+			with interrupts disabled to ensure that there is no gap
+			between determining that no task wants to run and idling the
+			CPU. It must sleep the CPU, process interrupts and then
+			disable interrupts again. If the CPU doesn't have any
+			reduced power mode, this must at the least allow pending
+			interrupts to be processed.
+
+	=== GPIO operations
+
+	These functions provide an abstract interface to configure and
+	manipulate GPIO pins.
+
+		==== GPIO setup
+
+			These macros may be invoked at system
+			initialization time to configure pins as
+			needed for system operation. One tricky aspect
+			is that some chips provide direct access to
+			specific GPIO pins while others only provide
+			access to a whole register full of pins. To
+			support this, the GPIO macros provide both
+			port+bit and pin arguments. Simply define the
+			arguments needed for the target platform and
+			leave the others undefined.
+
+			===== ao_enable_output
+
+				....
+				#define ao_enable_output(port, bit, pin, value)
+				....
+
+				Set the specified port+bit (also called 'pin')
+				for output, initializing to the specified
+				value. The macro must avoid driving the pin
+				with the opposite value if at all possible.
+
+			===== ao_enable_input
+
+				....
+				#define ao_enable_input(port, bit, mode)
+				....
+
+				Sets the specified port/bit to be an input
+				pin. 'mode' is a combination of one or more of
+				the following. Note that some platforms may
+				not support the desired mode. In that case,
+				the value will not be defined so that the
+				program will fail to compile.
+
+				* AO_EXTI_MODE_PULL_UP. Apply a pull-up to the
+				  pin; a disconnected pin will read as 1.
+
+				* AO_EXTI_MODE_PULL_DOWN. Apply a pull-down to
+				  the pin; a disconnected pin will read as 0.
+
+				* 0. Don't apply either a pull-up or
+				  pull-down. A disconnected pin will read an
+				  undetermined value.
+
+		==== Reading and writing GPIO pins
+
+			These macros read and write individual GPIO pins.
+
+			===== ao_gpio_set
+
+				....
+				#define ao_gpio_set(port, bit, pin, value)
+				....
+
+				Sets the specified port/bit or pin to
+				the indicated value
+
+			===== ao_gpio_get
+
+				....
+				#define ao_gpio_get(port, bit, pin)
+				....
+
+				Returns either 1 or 0 depending on
+				whether the input to the pin is high
+				or low.
+== Programming the 8051 with SDCC
+
+	The 8051 is a primitive 8-bit processor, designed in the mists
+	of time in as few transistors as possible. The architecture is
+	highly irregular and includes several separate memory
+	spaces. Furthermore, accessing stack variables is slow, and
+	the stack itself is of limited size. While SDCC papers over
+	the instruction set, it is not completely able to hide the
+	memory architecture from the application designer.
+
+	When built on other architectures, the various SDCC-specific
+	symbols are #defined as empty strings so they don't affect the
+	compiler.
+
+	=== 8051 memory spaces
+
+		The __data/__xdata/__code memory spaces below were completely
+		separate in the original 8051 design. In the cc1111, this
+		isn't true—they all live in a single unified 64kB address
+		space, and so it's possible to convert any address into a
+		unique 16-bit address. SDCC doesn't know this, and so a
+		'global' address to SDCC consumes 3 bytes of memory, 1 byte as
+		a tag indicating the memory space and 2 bytes of offset within
+		that space. AltOS avoids these 3-byte addresses as much as
+		possible; using them involves a function call per byte
+		access. The result is that nearly every variable declaration
+		is decorated with a memory space identifier which clutters the
+		code but makes the resulting code far smaller and more
+		efficient.
+
+		==== __data
+
+			The 8051 can directly address these 128 bytes of
+			memory. This makes them precious so they should be
+			reserved for frequently addressed values. Oh, just to
+			confuse things further, the 8 general registers in the
+			CPU are actually stored in this memory space. There are
+			magic instructions to 'bank switch' among 4 banks of
+			these registers located at 0x00 - 0x1F. AltOS uses only
+			the first bank at 0x00 - 0x07, leaving the other 24
+			bytes available for other data.
+
+		==== __idata
+
+			There are an additional 128 bytes of internal memory
+			that share the same address space as __data but which
+			cannot be directly addressed. The stack normally
+			occupies this space and so AltOS doesn't place any
+			static storage here.
+
+		==== __xdata
+
+			This is additional general memory accessed through a
+			single 16-bit address register. The CC1111F32 has 32kB
+			of memory available here. Most program data should live
+			in this memory space.
+
+		==== __pdata
+
+			This is an alias for the first 256 bytes of __xdata
+			memory, but uses a shorter addressing mode with
+			single global 8-bit value for the high 8 bits of the
+			address and any of several 8-bit registers for the low 8
+			bits. AltOS uses a few bits of this memory, it should
+			probably use more.
+
+		==== __code
+
+			All executable code must live in this address space, but
+			you can stick read-only data here too. It is addressed
+			using the 16-bit address register and special 'code'
+			access opcodes. Anything read-only should live in this space.
+
+		==== __bit
+
+			The 8051 has 128 bits of bit-addressible memory that
+			lives in the __data segment from 0x20 through
+			0x2f. Special instructions access these bits
+			in a single atomic operation. This isn't so much a
+			separate address space as a special addressing mode for
+			a few bytes in the __data segment.
+
+		==== __sfr, __sfr16, __sfr32, __sbit
+
+			Access to physical registers in the device use this mode
+			which declares the variable name, its type and the
+			address it lives at. No memory is allocated for these
+			variables.
+
+	=== Function calls on the 8051
+
+		Because stack addressing is expensive, and stack space
+		limited, the default function call declaration in SDCC
+		allocates all parameters and local variables in static global
+		memory. Just like fortran. This makes these functions
+		non-reentrant, and also consume space for parameters and
+		locals even when they are not running. The benefit is smaller
+		code and faster execution.
+
+		==== __reentrant functions
+
+			All functions which are re-entrant, either due to recursion
+			or due to a potential context switch while executing, should
+			be marked as __reentrant so that their parameters and local
+			variables get allocated on the stack. This ensures that
+			these values are not overwritten by another invocation of
+			the function.
+
+			Functions which use significant amounts of space for
+			arguments and/or local variables and which are not often
+			invoked can also be marked as __reentrant. The resulting
+			code will be larger, but the savings in memory are
+			frequently worthwhile.
+
+		==== Non __reentrant functions
+
+			All parameters and locals in non-reentrant functions can
+			have data space decoration so that they are allocated in
+			__xdata, __pdata or __data space as desired. This can avoid
+			consuming __data space for infrequently used variables in
+			frequently used functions.
+
+			All library functions called by SDCC, including functions
+			for multiplying and dividing large data types, are
+			non-reentrant. Because of this, interrupt handlers must not
+			invoke any library functions, including the multiply and
+			divide code.
+
+		==== __interrupt functions
+
+			Interrupt functions are declared with with an __interrupt
+			decoration that includes the interrupt number. SDCC saves
+			and restores all of the registers in these functions and
+			uses the 'reti' instruction at the end so that they operate
+			as stand-alone interrupt handlers. Interrupt functions may
+			call the ao_wakeup function to wake AltOS tasks.
+
+		==== __critical functions and statements
+
+			SDCC has built-in support for suspending interrupts during
+			critical code. Functions marked as __critical will have
+			interrupts suspended for the whole period of
+			execution. Individual statements may also be marked as
+			__critical which blocks interrupts during the execution of
+			that statement. Keeping critical sections as short as
+			possible is key to ensuring that interrupts are handled as
+			quickly as possible. AltOS doesn't use this form in shared
+			code as other compilers wouldn't know what to do. Use
+			ao_arch_block_interrupts and ao_arch_release_interrupts instead.
+
+== Task functions
+
+	This chapter documents how to create, destroy and schedule
+	AltOS tasks.
+
+	=== ao_add_task
+
+		....
+		\void
+		\ao_add_task(__xdata struct ao_task * task,
+		\	    void (*start)(void),
+		\	    __code char *name);
+		....
+
+		This initializes the statically allocated task structure,
+		assigns a name to it (not used for anything but the task
+		display), and the start address. It does not switch to the
+		new task. 'start' must not ever return; there is no place
+		to return to.
+
+	=== ao_exit
+
+		....
+		void
+		ao_exit(void)
+		....
+
+		This terminates the current task.
+
+	=== ao_sleep
+
+		....
+		void
+		ao_sleep(__xdata void *wchan)
+		....
+
+		This suspends the current task until 'wchan' is signaled
+		by ao_wakeup, or until the timeout, set by ao_alarm,
+		fires. If 'wchan' is signaled, ao_sleep returns 0, otherwise
+		it returns 1. This is the only way to switch to another task.
+
+		Because ao_wakeup wakes every task waiting on a particular
+		location, ao_sleep should be used in a loop that first checks
+		the desired condition, blocks in ao_sleep and then rechecks
+		until the condition is satisfied. If the location may be
+		signaled from an interrupt handler, the code will need to
+		block interrupts around the block of code. Here's a complete
+		example:
+
+		....
+		\ao_arch_block_interrupts();
+		\while (!ao_radio_done)
+		\	ao_sleep(&amp;ao_radio_done);
+		\ao_arch_release_interrupts();
+		....
+
+	=== ao_wakeup
+
+		....
+		void
+		ao_wakeup(__xdata void *wchan)
+		....
+
+		Wake all tasks blocked on 'wchan'. This makes them
+		available to be run again, but does not actually switch
+		to another task. Here's an example of using this:
+
+		....
+		\if (RFIF &amp; RFIF_IM_DONE) {
+		\	ao_radio_done = 1;
+		\	ao_wakeup(&amp;ao_radio_done);
+		\	RFIF &amp;= ~RFIF_IM_DONE;
+		\}
+		....
+
+		Note that this need not block interrupts as the
+		ao_sleep block can only be run from normal mode, and
+		so this sequence can never be interrupted with
+		execution of the other sequence.
+
+	=== ao_alarm
+
+		....
+		void
+		ao_alarm(uint16_t delay);
+
+		void
+		ao_clear_alarm(void);
+		....
+
+		Schedules an alarm to fire in at least 'delay'
+		ticks. If the task is asleep when the alarm fires, it
+		will wakeup and ao_sleep will return 1. ao_clear_alarm
+		resets any pending alarm so that it doesn't fire at
+		some arbitrary point in the future.
+
+		....
+		ao_alarm(ao_packet_master_delay);
+		ao_arch_block_interrupts();
+		while (!ao_radio_dma_done)
+			if (ao_sleep(&amp;ao_radio_dma_done) != 0)
+				ao_radio_abort();
+		ao_arch_release_interrupts();
+		ao_clear_alarm();
+		....
+
+		In this example, a timeout is set before waiting for
+		incoming radio data. If no data is received before the
+		timeout fires, ao_sleep will return 1 and then this
+		code will abort the radio receive operation.
+
+	=== ao_start_scheduler
+
+		....
+		void
+		ao_start_scheduler(void);
+		....
+
+		This is called from 'main' when the system is all
+		initialized and ready to run. It will not return.
+
+	=== ao_clock_init
+
+		....
+		void
+		ao_clock_init(void);
+		....
+
+		This initializes the main CPU clock and switches to it.
+
+== Timer Functions
+
+	AltOS sets up one of the CPU timers to run at 100Hz and
+	exposes this tick as the fundemental unit of time. At each
+	interrupt, AltOS increments the counter, and schedules any tasks
+	waiting for that time to pass, then fires off the sensors to
+	collect current data readings. Doing this from the ISR ensures
+	that the values are sampled at a regular rate, independent
+	of any scheduling jitter.
+
+	=== ao_time
+
+		....
+		uint16_t
+		ao_time(void)
+		....
+
+		Returns the current system tick count. Note that this is
+		only a 16 bit value, and so it wraps every 655.36 seconds.
+
+	=== ao_delay
+
+		....
+		void
+		ao_delay(uint16_t ticks);
+		....
+
+		Suspend the current task for at least 'ticks' clock units.
+
+	=== ao_timer_set_adc_interval
+
+		....
+		void
+		ao_timer_set_adc_interval(uint8_t interval);
+		....
+
+		This sets the number of ticks between ADC samples. If set
+		to 0, no ADC samples are generated. AltOS uses this to
+		slow down the ADC sampling rate to save power.
+
+	=== ao_timer_init
+
+		....
+		void
+		ao_timer_init(void)
+		....
+
+		This turns on the 100Hz tick. It is required for any of the
+		time-based functions to work. It should be called by 'main'
+		before ao_start_scheduler.
+
+== AltOS Mutexes
+
+	AltOS provides mutexes as a basic synchronization primitive. Each
+	mutexes is simply a byte of memory which holds 0 when the mutex
+	is free or the task id of the owning task when the mutex is
+	owned. Mutex calls are checked—attempting to acquire a mutex
+	already held by the current task or releasing a mutex not held
+	by the current task will both cause a panic.
+
+	=== ao_mutex_get
+
+		....
+		void
+		ao_mutex_get(__xdata uint8_t *mutex);
+		....
+
+		Acquires the specified mutex, blocking if the mutex is
+		owned by another task.
+
+	=== ao_mutex_put
+
+		....
+		void
+		ao_mutex_put(__xdata uint8_t *mutex);
+		....
+
+		Releases the specified mutex, waking up all tasks waiting
+		for it.
+
+== DMA engine
+
+	The CC1111 and STM32L both contain a useful bit of extra
+	hardware in the form of a number of programmable DMA
+	engines. They can be configured to copy data in memory, or
+	between memory and devices (or even between two devices). AltOS
+	exposes a general interface to this hardware and uses it to
+	handle both internal and external devices.
+
+	Because the CC1111 and STM32L DMA engines are different, the
+	interface to them is also different. As the DMA engines are
+	currently used to implement platform-specific drivers, this
+	isn't yet a problem.
+
+	Code using a DMA engine should allocate one at startup
+	time. There is no provision to free them, and if you run out,
+	AltOS will simply panic.
+
+	During operation, the DMA engine is initialized with the
+	transfer parameters. Then it is started, at which point it
+	awaits a suitable event to start copying data. When copying data
+	from hardware to memory, that trigger event is supplied by the
+	hardware device. When copying data from memory to hardware, the
+	transfer is usually initiated by software.
+
+	=== CC1111 DMA Engine
+
+		==== ao_dma_alloc
+
+			....
+			uint8_t
+			ao_dma_alloc(__xdata uint8_t *done)
+			....
+
+			Allocate a DMA engine, returning the
+			identifier.  'done' is cleared when the DMA is
+			started, and then receives the AO_DMA_DONE bit
+			on a successful transfer or the AO_DMA_ABORTED
+			bit if ao_dma_abort was called. Note that it
+			is possible to get both bits if the transfer
+			was aborted after it had finished.
+
+		==== ao_dma_set_transfer
+
+			....
+			void
+			ao_dma_set_transfer(uint8_t id,
+			void __xdata *srcaddr,
+			void __xdata *dstaddr,
+			uint16_t count,
+			uint8_t cfg0,
+			uint8_t cfg1)
+			....
+
+			Initializes the specified dma engine to copy
+			data from 'srcaddr' to 'dstaddr' for 'count'
+			units. cfg0 and cfg1 are values directly out
+			of the CC1111 documentation and tell the DMA
+			engine what the transfer unit size, direction
+			and step are.
+
+		==== ao_dma_start
+
+			....
+			void
+			ao_dma_start(uint8_t id);
+			....
+
+			Arm the specified DMA engine and await a
+			signal from either hardware or software to
+			start transferring data.
+
+		==== ao_dma_trigger
+
+			....
+			void
+			ao_dma_trigger(uint8_t id)
+			....
+
+			Trigger the specified DMA engine to start
+			copying data.
+
+		==== ao_dma_abort
+
+			....
+			void
+			ao_dma_abort(uint8_t id)
+			....
+
+			Terminate any in-progress DMA transaction,
+			marking its 'done' variable with the
+			AO_DMA_ABORTED bit.
+
+	=== STM32L DMA Engine
+
+		==== ao_dma_alloc
+
+			....
+			uint8_t ao_dma_done[];
+
+			void
+			ao_dma_alloc(uint8_t index);
+			....
+
+			Reserve a DMA engine for exclusive use by one
+			driver.
+
+		==== ao_dma_set_transfer
+
+			....
+			void
+			ao_dma_set_transfer(uint8_t id,
+			void *peripheral,
+			void *memory,
+			uint16_t count,
+			uint32_t ccr);
+			....
+
+			Initializes the specified dma engine to copy
+			data between 'peripheral' and 'memory' for
+			'count' units. 'ccr' is a value directly out
+			of the STM32L documentation and tells the DMA
+			engine what the transfer unit size, direction
+			and step are.
+
+		==== ao_dma_set_isr
+
+			....
+			void
+			ao_dma_set_isr(uint8_t index, void (*isr)(int))
+			....
+
+			This sets a function to be called when the DMA
+			transfer completes in lieu of setting the
+			ao_dma_done bits. Use this when some work
+			needs to be done when the DMA finishes that
+			cannot wait until user space resumes.
+
+		==== ao_dma_start
+
+			....
+			void
+			ao_dma_start(uint8_t id);
+			....
+
+			Arm the specified DMA engine and await a
+			signal from either hardware or software to
+			start transferring data.  'ao_dma_done[index]'
+			is cleared when the DMA is started, and then
+			receives the AO_DMA_DONE bit on a successful
+			transfer or the AO_DMA_ABORTED bit if
+			ao_dma_abort was called. Note that it is
+			possible to get both bits if the transfer was
+			aborted after it had finished.
+
+		==== ao_dma_done_transfer
+
+			....
+			void
+			ao_dma_done_transfer(uint8_t id);
+			....
+
+			Signals that a specific DMA engine is done
+			being used. This allows multiple drivers to
+			use the same DMA engine safely.
+
+		==== ao_dma_abort
+
+			....
+			void
+			ao_dma_abort(uint8_t id)
+			....
+
+			Terminate any in-progress DMA transaction,
+			marking its 'done' variable with the
+			AO_DMA_ABORTED bit.
+
+== Stdio interface
+
+	AltOS offers a stdio interface over USB, serial and the RF
+	packet link. This provides for control of the device locally or
+	remotely. This is hooked up to the stdio functions by providing
+	the standard putchar/getchar/flush functions. These
+	automatically multiplex the available communication channels;
+	output is always delivered to the channel which provided the
+	most recent input.
+
+	=== putchar
+
+		....
+		void
+		putchar(char c)
+		....
+
+		Delivers a single character to the current console
+		device.
+
+	=== getchar
+
+		....
+		char
+		getchar(void)
+		....
+
+		Reads a single character from any of the available
+		console devices. The current console device is set to
+		that which delivered this character. This blocks until
+		a character is available.
+
+	=== flush
+
+		....
+		void
+		flush(void)
+		....
+
+		Flushes the current console device output buffer. Any
+		pending characters will be delivered to the target device.
+
+	=== ao_add_stdio
+
+		....
+		void
+		ao_add_stdio(char (*pollchar)(void),
+				   void (*putchar)(char),
+				   void (*flush)(void))
+		....
+
+		This adds another console device to the available
+		list.
+
+		'pollchar' returns either an available character or
+		AO_READ_AGAIN if none is available. Significantly, it does
+		not block. The device driver must set 'ao_stdin_ready' to
+		1 and call ao_wakeup(&amp;ao_stdin_ready) when it receives
+		input to tell getchar that more data is available, at
+		which point 'pollchar' will be called again.
+
+		'putchar' queues a character for output, flushing if the output buffer is
+		full. It may block in this case.
+
+		'flush' forces the output buffer to be flushed. It may
+		block until the buffer is delivered, but it is not
+		required to do so.
+
+== Command line interface
+
+	AltOS includes a simple command line parser which is hooked up
+	to the stdio interfaces permitting remote control of the
+	device over USB, serial or the RF link as desired. Each
+	command uses a single character to invoke it, the remaining
+	characters on the line are available as parameters to the
+	command.
+
+	=== ao_cmd_register
+
+		....
+		void
+		ao_cmd_register(__code struct ao_cmds *cmds)
+		....
+
+		This registers a set of commands with the command
+		parser. There is a fixed limit on the number of command
+		sets, the system will panic if too many are registered.
+		Each command is defined by a struct ao_cmds entry:
+
+		....
+		\struct ao_cmds {
+		\	char		cmd;
+		\	void		(*func)(void);
+		\	const char	*help;
+		\};
+		....
+		'cmd' is the character naming the command. 'func' is the
+		function to invoke and 'help' is a string displayed by the
+		'?' command. Syntax errors found while executing 'func'
+		should be indicated by modifying the global ao_cmd_status
+		variable with one of the following values:
+
+		ao_cmd_success::
+
+		The command was parsed successfully. There is no need
+		to assign this value, it is the default.
+
+		ao_cmd_lex_error::
+
+		A token in the line was invalid, such as a number
+		containing invalid characters. The low-level lexing
+		functions already assign this value as needed.
+
+		ao_syntax_error::
+
+		The command line is invalid for some reason other than
+		invalid tokens.
+
+	=== ao_cmd_lex
+
+		....
+		void
+		ao_cmd_lex(void);
+		....
+
+		This gets the next character out of the command line
+		buffer and sticks it into ao_cmd_lex_c. At the end of
+		the line, ao_cmd_lex_c will get a newline ('\n')
+		character.
+
+	=== ao_cmd_put16
+
+		....
+		void
+		ao_cmd_put16(uint16_t v);
+		....
+
+		Writes 'v' as four hexadecimal characters.
+
+	=== ao_cmd_put8
+
+		....
+		void
+		ao_cmd_put8(uint8_t v);
+		....
+
+		Writes 'v' as two hexadecimal characters.
+
+	=== ao_cmd_white
+
+		....
+		void
+		ao_cmd_white(void)
+		....
+
+		This skips whitespace by calling ao_cmd_lex while
+		ao_cmd_lex_c is either a space or tab. It does not
+		skip any characters if ao_cmd_lex_c already non-white.
+
+	=== ao_cmd_hex
+
+		....
+		void
+		ao_cmd_hex(void)
+		....
+
+		This reads a 16-bit hexadecimal value from the command
+		line with optional leading whitespace. The resulting
+		value is stored in ao_cmd_lex_i;
+
+	=== ao_cmd_decimal
+
+		....
+		void
+		ao_cmd_decimal(void)
+		....
+
+		This reads a 32-bit decimal value from the command
+		line with optional leading whitespace. The resulting
+		value is stored in ao_cmd_lex_u32 and the low 16 bits
+		are stored in ao_cmd_lex_i;
+
+	=== ao_match_word
+
+		....
+		uint8_t
+		ao_match_word(__code char *word)
+		....
+
+		This checks to make sure that 'word' occurs on the
+		command line. It does not skip leading white space. If
+		'word' is found, then 1 is returned. Otherwise,
+		ao_cmd_status is set to ao_cmd_syntax_error and 0 is
+		returned.
+
+	=== ao_cmd_init
+
+		....
+		void
+		ao_cmd_init(void
+		....
+
+		Initializes the command system, setting up the
+		built-in commands and adding a task to run the command
+		processing loop. It should be called by 'main' before
+		ao_start_scheduler.
+
+== USB target device
+
+	AltOS contains a full-speed USB target device driver. It can
+	be programmed to offer any kind of USB target, but to simplify
+	interactions with a variety of operating systems, AltOS
+	provides only a single target device profile, that of a USB
+	modem which has native drivers for Linux, Windows and Mac OS
+	X. It would be easy to change the code to provide an alternate
+	target device if necessary.
+
+	To the rest of the system, the USB device looks like a simple
+	two-way byte stream. It can be hooked into the command line
+	interface if desired, offering control of the device over the
+	USB link. Alternatively, the functions can be accessed
+	directly to provide for USB-specific I/O.
+
+	=== ao_usb_flush
+
+		....
+		void
+		ao_usb_flush(void);
+		....
+
+		Flushes any pending USB output. This queues an 'IN'
+		packet to be delivered to the USB host if there is
+		pending data, or if the last IN packet was full to
+		indicate to the host that there isn't any more pending
+		data available.
+
+	=== ao_usb_putchar
+
+		....
+		void
+		ao_usb_putchar(char c);
+		....
+
+		If there is a pending 'IN' packet awaiting delivery to
+		the host, this blocks until that has been
+		fetched. Then, this adds a byte to the pending IN
+		packet for delivery to the USB host. If the USB packet
+		is full, this queues the 'IN' packet for delivery.
+
+	=== ao_usb_pollchar
+
+		....
+		char
+		ao_usb_pollchar(void);
+		....
+
+		If there are no characters remaining in the last 'OUT'
+		packet received, this returns
+		AO_READ_AGAIN. Otherwise, it returns the next
+		character, reporting to the host that it is ready for
+		more data when the last character is gone.
+
+	=== ao_usb_getchar
+
+		....
+		char
+		ao_usb_getchar(void);
+		....
+
+		This uses ao_pollchar to receive the next character,
+		blocking while ao_pollchar returns AO_READ_AGAIN.
+
+	=== ao_usb_disable
+
+		....
+		void
+		ao_usb_disable(void);
+		....
+
+		This turns off the USB controller. It will no longer
+		respond to host requests, nor return
+		characters. Calling any of the i/o routines while the
+		USB device is disabled is undefined, and likely to
+		break things. Disabling the USB device when not needed
+		saves power.
+
+		Note that neither TeleDongle v0.2 nor TeleMetrum v1
+		are able to signal to the USB host that they have
+		disconnected, so after disabling the USB device, it's
+		likely that the cable will need to be disconnected and
+		reconnected before it will work again.
+
+	=== ao_usb_enable
+
+		....
+		void
+		ao_usb_enable(void);
+		....
+
+		This turns the USB controller on again after it has
+		been disabled. See the note above about needing to
+		physically remove and re-insert the cable to get the
+		host to re-initialize the USB link.
+
+	=== ao_usb_init
+
+		....
+		void
+		ao_usb_init(void);
+		....
+
+		This turns the USB controller on, adds a task to
+		handle the control end point and adds the usb I/O
+		functions to the stdio system. Call this from main
+		before ao_start_scheduler.
+
+== Serial peripherals
+
+	The CC1111 provides two USART peripherals. AltOS uses one for
+	asynch serial data, generally to communicate with a GPS
+	device, and the other for a SPI bus. The UART is configured to
+	operate in 8-bits, no parity, 1 stop bit framing. The default
+	configuration has clock settings for 4800, 9600 and 57600 baud
+	operation. Additional speeds can be added by computing
+	appropriate clock values.
+
+	To prevent loss of data, AltOS provides receive and transmit
+	fifos of 32 characters each.
+
+	=== ao_serial_getchar
+
+		....
+		char
+		ao_serial_getchar(void);
+		....
+
+		Returns the next character from the receive fifo, blocking
+		until a character is received if the fifo is empty.
+
+	=== ao_serial_putchar
+
+		....
+		void
+		ao_serial_putchar(char c);
+		....
+
+		Adds a character to the transmit fifo, blocking if the
+		fifo is full. Starts transmitting characters.
+
+	=== ao_serial_drain
+
+		....
+		void
+		ao_serial_drain(void);
+		....
+
+		Blocks until the transmit fifo is empty. Used internally
+		when changing serial speeds.
+
+	=== ao_serial_set_speed
+
+		....
+		void
+		ao_serial_set_speed(uint8_t speed);
+		....
+
+		Changes the serial baud rate to one of
+		AO_SERIAL_SPEED_4800, AO_SERIAL_SPEED_9600 or
+		AO_SERIAL_SPEED_57600. This first flushes the transmit
+		fifo using ao_serial_drain.
+
+	=== ao_serial_init
+
+		....
+		void
+		ao_serial_init(void)
+		....
+
+		Initializes the serial peripheral. Call this from 'main'
+		before jumping to ao_start_scheduler. The default speed
+		setting is AO_SERIAL_SPEED_4800.
+
+== CC1111/CC1120/CC1200 Radio peripheral
+
+	=== Radio Introduction
+
+		The CC1111, CC1120 and CC1200 radio transceiver sends
+		and receives digital packets with forward error
+		correction and detection. The AltOS driver is fairly
+		specific to the needs of the TeleMetrum and TeleDongle
+		devices, using it for other tasks may require
+		customization of the driver itself. There are three
+		basic modes of operation:
+
+		. Telemetry mode. In this mode, TeleMetrum transmits telemetry
+		  frames at a fixed rate. The frames are of fixed size. This
+		  is strictly a one-way communication from TeleMetrum to
+		  TeleDongle.
+
+		. Packet mode. In this mode, the radio is used to create a
+		  reliable duplex byte stream between TeleDongle and
+		  TeleMetrum. This is an asymmetrical protocol with
+		  TeleMetrum only transmitting in response to a packet sent
+		  from TeleDongle. Thus getting data from TeleMetrum to
+		  TeleDongle requires polling. The polling rate is adaptive,
+		  when no data has been received for a while, the rate slows
+		  down. The packets are checked at both ends and invalid data
+		  are ignored.
+
+		  On the TeleMetrum side, the packet link is hooked into the
+		  stdio mechanism, providing an alternate data path for the
+		  command processor. It is enabled when the unit boots up in
+		  'idle' mode.
+
+		  On the TeleDongle side, the packet link is enabled with a
+		  command; data from the stdio package is forwarded over the
+		  packet link providing a connection from the USB command
+		  stream to the remote TeleMetrum device.
+
+		. Radio Direction Finding mode. In this mode, TeleMetrum
+		  constructs a special packet that sounds like an audio tone
+		  when received by a conventional narrow-band FM
+		  receiver. This is designed to provide a beacon to track the
+		  device when other location mechanisms fail.
+
+	=== ao_radio_set_telemetry
+
+		....
+		void
+		ao_radio_set_telemetry(void);
+		....
+
+		Configures the radio to send or receive telemetry
+		packets. This includes packet length, modulation scheme and
+		other RF parameters. It does not include the base frequency
+		or channel though. Those are set at the time of transmission
+		or reception, in case the values are changed by the user.
+
+	=== ao_radio_set_packet
+
+		....
+		void
+		ao_radio_set_packet(void);
+		....
+
+		Configures the radio to send or receive packet data.  This
+		includes packet length, modulation scheme and other RF
+		parameters. It does not include the base frequency or
+		channel though. Those are set at the time of transmission or
+		reception, in case the values are changed by the user.
+
+	=== ao_radio_set_rdf
+
+		....
+		void
+		ao_radio_set_rdf(void);
+		....
+
+		Configures the radio to send RDF 'packets'. An RDF 'packet'
+		is a sequence of hex 0x55 bytes sent at a base bit rate of
+		2kbps using a 5kHz deviation. All of the error correction
+		and data whitening logic is turned off so that the resulting
+		modulation is received as a 1kHz tone by a conventional 70cm
+		FM audio receiver.
+
+	=== ao_radio_idle
+
+		....
+		void
+		ao_radio_idle(void);
+		....
+
+		Sets the radio device to idle mode, waiting until it reaches
+		that state. This will terminate any in-progress transmit or
+		receive operation.
+
+	=== ao_radio_get
+
+		....
+		void
+		ao_radio_get(void);
+		....
+
+		Acquires the radio mutex and then configures the radio
+		frequency using the global radio calibration and channel
+		values.
+
+	=== ao_radio_put
+
+		....
+		void
+		ao_radio_put(void);
+		....
+
+		Releases the radio mutex.
+
+	=== ao_radio_abort
+
+		....
+		void
+		ao_radio_abort(void);
+		....
+
+		Aborts any transmission or reception process by aborting the
+		associated DMA object and calling ao_radio_idle to terminate
+		the radio operation.
+
+	=== Radio Telemetry
+
+		In telemetry mode, you can send or receive a telemetry
+		packet. The data from receiving a packet also includes the RSSI
+		and status values supplied by the receiver. These are added
+		after the telemetry data.
+
+		==== ao_radio_send
+
+		....
+		void
+		ao_radio_send(__xdata struct ao_telemetry *telemetry);
+		....
+
+		This sends the specific telemetry packet, waiting for the
+		transmission to complete. The radio must have been set to
+		telemetry mode. This function calls ao_radio_get() before
+		sending, and ao_radio_put() afterwards, to correctly
+		serialize access to the radio device.
+
+		==== ao_radio_recv
+
+		....
+		void
+		ao_radio_recv(__xdata struct ao_radio_recv *radio);
+		....
+
+		This blocks waiting for a telemetry packet to be received.
+		The radio must have been set to telemetry mode. This
+		function calls ao_radio_get() before receiving, and
+		ao_radio_put() afterwards, to correctly serialize access
+		to the radio device. This returns non-zero if a packet was
+		received, or zero if the operation was aborted (from some
+		other task calling ao_radio_abort()).
+
+	=== Radio Direction Finding
+
+		In radio direction finding mode, there's just one function to
+		use
+
+		==== ao_radio_rdf
+
+		....
+		void
+		ao_radio_rdf(int ms);
+		....
+
+		This sends an RDF packet lasting for the specified amount
+		of time. The maximum length is 1020 ms.
+
+	=== Radio Packet Mode
+
+		Packet mode is asymmetrical and is configured at compile time
+		for either master or slave mode (but not both). The basic I/O
+		functions look the same at both ends, but the internals are
+		different, along with the initialization steps.
+
+		==== ao_packet_putchar
+
+			....
+			void
+			ao_packet_putchar(char c);
+			....
+
+			If the output queue is full, this first blocks waiting for
+			that data to be delivered. Then, queues a character for
+			packet transmission. On the master side, this will
+			transmit a packet if the output buffer is full. On the
+			slave side, any pending data will be sent the next time
+			the master polls for data.
+
+		==== ao_packet_pollchar
+
+			....
+			char
+			ao_packet_pollchar(void);
+			....
+
+			This returns a pending input character if available,
+			otherwise returns AO_READ_AGAIN. On the master side, if
+			this empties the buffer, it triggers a poll for more data.
+
+		==== ao_packet_slave_start
+
+			....
+			void
+			ao_packet_slave_start(void);
+			....
+
+			This is available only on the slave side and starts a task
+			to listen for packet data.
+
+		==== ao_packet_slave_stop
+
+			....
+			void
+			ao_packet_slave_stop(void);
+			....
+
+			Disables the packet slave task, stopping the radio receiver.
+
+		==== ao_packet_slave_init
+
+			....
+			void
+			ao_packet_slave_init(void);
+			....
+
+			Adds the packet stdio functions to the stdio package so
+			that when packet slave mode is enabled, characters will
+			get send and received through the stdio functions.
+
+		==== ao_packet_master_init
+
+			....
+			void
+			ao_packet_master_init(void);
+			....
+
+			Adds the 'p' packet forward command to start packet mode.
diff --git a/doc/altos.xsl b/doc/altos.xsl
deleted file mode 100644
index 6092dfcb..00000000
--- a/doc/altos.xsl
+++ /dev/null
@@ -1,1612 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<book>
-  <title>AltOS</title>
-  <subtitle>Altos Metrum Operating System</subtitle>
-  <bookinfo>
-    <author>
-      <firstname>Keith</firstname>
-      <surname>Packard</surname>
-    </author>
-    <copyright>
-      <year>2010</year>
-      <holder>Keith Packard</holder>
-    </copyright>
-    <legalnotice>
-      <para>
-        This document is released under the terms of the
-        <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
-          Creative Commons ShareAlike 3.0
-        </ulink>
-        license.
-      </para>
-    </legalnotice>
-    <revhistory>
-      <revision>
-        <revnumber>1.1</revnumber>
-        <date>05 November 2012</date>
-        <revremark>Portable version</revremark>
-      </revision>
-      <revision>
-        <revnumber>0.1</revnumber>
-        <date>22 November 2010</date>
-        <revremark>Initial content</revremark>
-      </revision>
-    </revhistory>
-  </bookinfo>
-  <chapter>
-    <title>Overview</title>
-    <para>
-      AltOS is a operating system built for a variety of
-      microcontrollers used in Altus Metrum devices. It has a simple
-      porting layer for each CPU while providing a convenient
-      operating enviroment for the developer. AltOS currently
-      supports three different CPUs:
-      <itemizedlist>
-	<listitem>
-	  <para>
-	    STM32L series from ST Microelectronics. This ARM Cortex-M3
-	    based microcontroller offers low power consumption and a
-	    wide variety of built-in peripherals. Altus Metrum uses
-	    this in the TeleMega, MegaDongle and TeleLCO projects.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    CC1111 from Texas Instruments. This device includes a
-	    fabulous 10mW digital RF transceiver along with an
-	    8051-compatible processor core and a range of
-	    peripherals. This is used in the TeleMetrum, TeleMini,
-	    TeleDongle and TeleFire projects which share the need for
-	    a small microcontroller and an RF interface.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    ATmega32U4 from Atmel. This 8-bit AVR microcontroller is
-	    one of the many used to create Arduino boards. The 32U4
-	    includes a USB interface, making it easy to connect to
-	    other computers. Altus Metrum used this in prototypes of
-	    the TeleScience and TelePyro boards; those have been
-	    switched to the STM32L which is more capable and cheaper.
-	  </para>
-	</listitem>
-      </itemizedlist>
-      Among the features of AltOS are:
-      <itemizedlist>
-	<listitem>
-	  <para>Multi-tasking. While microcontrollers often don't
-	  provide separate address spaces, it's often easier to write
-	  code that operates in separate threads instead of tying
-	  everything into one giant event loop.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>Non-preemptive. This increases latency for thread
-	  switching but reduces the number of places where context
-	  switching can occur. It also simplifies the operating system
-	  design somewhat. Nothing in the target system (rocket flight
-	  control) has tight timing requirements, and so this seems like
-	  a reasonable compromise.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>Sleep/wakeup scheduling. Taken directly from ancient
-	  Unix designs, these two provide the fundemental scheduling
-	  primitive within AltOS.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>Mutexes. As a locking primitive, mutexes are easier to
-	  use than semaphores, at least in my experience.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>Timers. Tasks can set an alarm which will abort any
-	  pending sleep, allowing operations to time-out instead of
-	  blocking forever.
-	  </para>
-	</listitem>
-      </itemizedlist>
-    </para>
-    <para>
-      The device drivers and other subsystems in AltOS are
-      conventionally enabled by invoking their _init() function from
-      the 'main' function before that calls
-      ao_start_scheduler(). These functions initialize the pin
-      assignments, add various commands to the command processor and
-      may add tasks to the scheduler to handle the device. A typical
-      main program, thus, looks like:
-      <programlisting>
-	void
-	main(void)
-	{
-	        ao_clock_init();
-
-	        /* Turn on the LED until the system is stable */
-	        ao_led_init(LEDS_AVAILABLE);
-	        ao_led_on(AO_LED_RED);
-	        ao_timer_init();
-	        ao_cmd_init();
-	        ao_usb_init();
-	        ao_monitor_init(AO_LED_GREEN, TRUE);
-	        ao_rssi_init(AO_LED_RED);
-	        ao_radio_init();
-	        ao_packet_slave_init();
-	        ao_packet_master_init();
-	        #if HAS_DBG
-	        ao_dbg_init();
-	        #endif
-	        ao_config_init();
-	        ao_start_scheduler();
-	}
-      </programlisting>
-      As you can see, a long sequence of subsystems are initialized
-      and then the scheduler is started.
-    </para>
-  </chapter>
-  <chapter>
-    <title>AltOS Porting Layer</title>
-    <para>
-      AltOS provides a CPU-independent interface to various common
-      microcontroller subsystems, including GPIO pins, interrupts,
-      SPI, I2C, USB and asynchronous serial interfaces. By making
-      these CPU-independent, device drivers, generic OS and
-      application code can all be written that work on any supported
-      CPU. Many of the architecture abstraction interfaces are
-      prefixed with ao_arch.
-    </para>
-    <section>
-      <title>Low-level CPU operations</title>
-      <para>
-	These primitive operations provide the abstraction needed to
-	run the multi-tasking framework while providing reliable
-	interrupt delivery.
-      </para>
-      <section>
-	<title>ao_arch_block_interrupts/ao_arch_release_interrupts</title>
-	<programlisting>
-	  static inline void
-	  ao_arch_block_interrupts(void);
-	  
-	  static inline void
-	  ao_arch_release_interrupts(void);
-	</programlisting>
-	<para>
-	  These disable/enable interrupt delivery, they may not
-	  discard any interrupts. Use these for sections of code that
-	  must be atomic with respect to any code run from an
-	  interrupt handler.
-	</para>
-      </section>
-      <section>
-	<title>ao_arch_save_regs, ao_arch_save_stack,
-	ao_arch_restore_stack</title>
-	<programlisting>
-	  static inline void
-	  ao_arch_save_regs(void);
-
-	  static inline void
-	  ao_arch_save_stack(void);
-
-	  static inline void
-	  ao_arch_restore_stack(void);
-	</programlisting>
-	<para>
-	  These provide all of the support needed to switch between
-	  tasks.. ao_arch_save_regs must save all CPU registers to the
-	  current stack, including the interrupt enable
-	  state. ao_arch_save_stack records the current stack location
-	  in the current ao_task structure. ao_arch_restore_stack
-	  switches back to the saved stack, restores all registers and
-	  branches to the saved return address.
-	</para>
-      </section>
-      <section>
-	<title>ao_arch_wait_interupt</title>
-	<programlisting>
-	  #define ao_arch_wait_interrupt()
-	</programlisting>
-	<para>
-	  This stops the CPU, leaving clocks and interrupts
-	  enabled. When an interrupt is received, this must wake up
-	  and handle the interrupt. ao_arch_wait_interrupt is entered
-	  with interrupts disabled to ensure that there is no gap
-	  between determining that no task wants to run and idling the
-	  CPU. It must sleep the CPU, process interrupts and then
-	  disable interrupts again. If the CPU doesn't have any
-	  reduced power mode, this must at the least allow pending
-	  interrupts to be processed.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>GPIO operations</title>
-      <para>
-	These functions provide an abstract interface to configure and
-	manipulate GPIO pins.
-      </para>
-      <section>
-	<title>GPIO setup</title>
-	<para>
-	  These macros may be invoked at system initialization time to
-	  configure pins as needed for system operation. One tricky
-	  aspect is that some chips provide direct access to specific
-	  GPIO pins while others only provide access to a whole
-	  register full of pins. To support this, the GPIO macros
-	  provide both port+bit and pin arguments. Simply define the
-	  arguments needed for the target platform and leave the
-	  others undefined.
-	</para>
-	<section>
-	  <title>ao_enable_output</title>
-	  <programlisting>
-	    #define ao_enable_output(port, bit, pin, value)
-	  </programlisting>
-	  <para>
-	    Set the specified port+bit (also called 'pin') for output,
-	    initializing to the specified value. The macro must avoid
-	    driving the pin with the opposite value if at all
-	    possible.
-	  </para>
-	</section>
-	<section>
-	  <title>ao_enable_input</title>
-	  <programlisting>
-	    #define ao_enable_input(port, bit, mode)
-	  </programlisting>
-	  <para>
-	    Sets the specified port/bit to be an input pin. 'mode' is
-	    a combination of one or more of the following. Note that
-	    some platforms may not support the desired mode. In that
-	    case, the value will not be defined so that the program
-	    will fail to compile.
-	    <itemizedlist>
-	      <listitem>
-<para>
-		AO_EXTI_MODE_PULL_UP. Apply a pull-up to the pin; a
-		disconnected pin will read as 1.
-</para>
-	      </listitem>
-	      <listitem>
-<para>
-		AO_EXTI_MODE_PULL_DOWN. Apply a pull-down to the pin;
-		a disconnected pin will read as 0.
-</para>
-	      </listitem>
-	      <listitem>
-<para>
-		0. Don't apply either a pull-up or pull-down. A
-		disconnected pin will read an undetermined value.
-</para>
-	      </listitem>
-	    </itemizedlist>
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Reading and writing GPIO pins</title>
-	<para>
-	  These macros read and write individual GPIO pins.
-	</para>
-	<section>
-	  <title>ao_gpio_set</title>
-	  <programlisting>
-	    #define ao_gpio_set(port, bit, pin, value)
-	  </programlisting>
-	  <para>
-	    Sets the specified port/bit or pin to the indicated value
-	  </para>
-	</section>
-	<section>
-	  <title>ao_gpio_get</title>
-	  <programlisting>
-	    #define ao_gpio_get(port, bit, pin)
-	  </programlisting>
-	  <para>
-	    Returns either 1 or 0 depending on whether the input to
-	    the pin is high or low.
-	  </para>
-	</section>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Programming the 8051 with SDCC</title>
-    <para>
-      The 8051 is a primitive 8-bit processor, designed in the mists
-      of time in as few transistors as possible. The architecture is
-      highly irregular and includes several separate memory
-      spaces. Furthermore, accessing stack variables is slow, and the
-      stack itself is of limited size. While SDCC papers over the
-      instruction set, it is not completely able to hide the memory
-      architecture from the application designer.
-    </para>
-    <para>
-      When built on other architectures, the various SDCC-specific
-      symbols are #defined as empty strings so they don't affect the compiler.
-    </para>
-    <section>
-      <title>8051 memory spaces</title>
-      <para>
-	The __data/__xdata/__code memory spaces below were completely
-	separate in the original 8051 design. In the cc1111, this
-	isn't true—they all live in a single unified 64kB address
-	space, and so it's possible to convert any address into a
-	unique 16-bit address. SDCC doesn't know this, and so a
-	'global' address to SDCC consumes 3 bytes of memory, 1 byte as
-	a tag indicating the memory space and 2 bytes of offset within
-	that space. AltOS avoids these 3-byte addresses as much as
-	possible; using them involves a function call per byte
-	access. The result is that nearly every variable declaration
-	is decorated with a memory space identifier which clutters the
-	code but makes the resulting code far smaller and more
-	efficient.
-      </para>
-      <section>
-	<title>__data</title>
-	<para>
-	  The 8051 can directly address these 128 bytes of
-	  memory. This makes them precious so they should be
-	  reserved for frequently addressed values. Oh, just to
-	  confuse things further, the 8 general registers in the
-	  CPU are actually stored in this memory space. There are
-	  magic instructions to 'bank switch' among 4 banks of
-	  these registers located at 0x00 - 0x1F. AltOS uses only
-	  the first bank at 0x00 - 0x07, leaving the other 24
-	  bytes available for other data.
-	</para>
-      </section>
-      <section>
-	<title>__idata</title>
-	<para>
-	  There are an additional 128 bytes of internal memory
-	  that share the same address space as __data but which
-	  cannot be directly addressed. The stack normally
-	  occupies this space and so AltOS doesn't place any
-	  static storage here.
-	</para>
-      </section>
-      <section>
-	<title>__xdata</title>
-	<para>
-	  This is additional general memory accessed through a
-	  single 16-bit address register. The CC1111F32 has 32kB
-	  of memory available here. Most program data should live
-	  in this memory space.
-	</para>
-      </section>
-      <section>
-	<title>__pdata</title>
-	<para>
-	  This is an alias for the first 256 bytes of __xdata
-	  memory, but uses a shorter addressing mode with
-	  single global 8-bit value for the high 8 bits of the
-	  address and any of several 8-bit registers for the low 8
-	  bits. AltOS uses a few bits of this memory, it should
-	  probably use more.
-	</para>
-      </section>
-      <section>
-	<title>__code</title>
-	<para>
-	  All executable code must live in this address space, but
-	  you can stick read-only data here too. It is addressed
-	  using the 16-bit address register and special 'code'
-	  access opcodes. Anything read-only should live in this space.
-	</para>
-      </section>
-      <section>
-	<title>__bit</title>
-	<para>
-	  The 8051 has 128 bits of bit-addressible memory that
-	  lives in the __data segment from 0x20 through
-	  0x2f. Special instructions access these bits
-	  in a single atomic operation. This isn't so much a
-	  separate address space as a special addressing mode for
-	  a few bytes in the __data segment.
-	</para>
-      </section>
-      <section>
-	<title>__sfr, __sfr16, __sfr32, __sbit</title>
-	<para>
-	  Access to physical registers in the device use this mode
-	  which declares the variable name, its type and the
-	  address it lives at. No memory is allocated for these
-	  variables.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Function calls on the 8051</title>
-      <para>
-	Because stack addressing is expensive, and stack space
-	limited, the default function call declaration in SDCC
-	allocates all parameters and local variables in static global
-	memory. Just like fortran. This makes these functions
-	non-reentrant, and also consume space for parameters and
-	locals even when they are not running. The benefit is smaller
-	code and faster execution.
-      </para>
-      <section>
-	<title>__reentrant functions</title>
-	<para>
-	  All functions which are re-entrant, either due to recursion
-	  or due to a potential context switch while executing, should
-	  be marked as __reentrant so that their parameters and local
-	  variables get allocated on the stack. This ensures that
-	  these values are not overwritten by another invocation of
-	  the function.
-	</para>
-	<para>
-	  Functions which use significant amounts of space for
-	  arguments and/or local variables and which are not often
-	  invoked can also be marked as __reentrant. The resulting
-	  code will be larger, but the savings in memory are
-	  frequently worthwhile.
-	</para>
-      </section>
-      <section>
-	<title>Non __reentrant functions</title>
-	<para>
-	  All parameters and locals in non-reentrant functions can
-	  have data space decoration so that they are allocated in
-	  __xdata, __pdata or __data space as desired. This can avoid
-	  consuming __data space for infrequently used variables in
-	  frequently used functions.
-	</para>
-	<para>
-	  All library functions called by SDCC, including functions
-	  for multiplying and dividing large data types, are
-	  non-reentrant. Because of this, interrupt handlers must not
-	  invoke any library functions, including the multiply and
-	  divide code.
-	</para>
-      </section>
-      <section>
-	<title>__interrupt functions</title>
-	<para>
-	  Interrupt functions are declared with with an __interrupt
-	  decoration that includes the interrupt number. SDCC saves
-	  and restores all of the registers in these functions and
-	  uses the 'reti' instruction at the end so that they operate
-	  as stand-alone interrupt handlers. Interrupt functions may
-	  call the ao_wakeup function to wake AltOS tasks.
-	</para>
-      </section>
-      <section>
-	<title>__critical functions and statements</title>
-	<para>
-	  SDCC has built-in support for suspending interrupts during
-	  critical code. Functions marked as __critical will have
-	  interrupts suspended for the whole period of
-	  execution. Individual statements may also be marked as
-	  __critical which blocks interrupts during the execution of
-	  that statement. Keeping critical sections as short as
-	  possible is key to ensuring that interrupts are handled as
-	  quickly as possible. AltOS doesn't use this form in shared
-	  code as other compilers wouldn't know what to do. Use
-	  ao_arch_block_interrupts and ao_arch_release_interrupts instead.
-	</para>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Task functions</title>
-    <para>
-      This chapter documents how to create, destroy and schedule AltOS tasks.
-    </para>
-    <section>
-      <title>ao_add_task</title>
-      <programlisting>
-	void
-	ao_add_task(__xdata struct ao_task * task,
-	            void (*start)(void),
-	            __code char *name);
-      </programlisting>
-      <para>
-	This initializes the statically allocated task structure,
-	assigns a name to it (not used for anything but the task
-	display), and the start address. It does not switch to the
-	new task. 'start' must not ever return; there is no place
-	to return to.
-      </para>
-    </section>
-    <section>
-      <title>ao_exit</title>
-      <programlisting>
-	void
-	ao_exit(void)
-      </programlisting>
-      <para>
-	This terminates the current task.
-      </para>
-    </section>
-    <section>
-      <title>ao_sleep</title>
-      <programlisting>
-	void
-	ao_sleep(__xdata void *wchan)
-      </programlisting>
-      <para>
-	This suspends the current task until 'wchan' is signaled
-	by ao_wakeup, or until the timeout, set by ao_alarm,
-	fires. If 'wchan' is signaled, ao_sleep returns 0, otherwise
-	it returns 1. This is the only way to switch to another task.
-      </para>
-      <para>
-	Because ao_wakeup wakes every task waiting on a particular
-	location, ao_sleep should be used in a loop that first checks
-	the desired condition, blocks in ao_sleep and then rechecks
-	until the condition is satisfied. If the location may be
-	signaled from an interrupt handler, the code will need to
-	block interrupts around the block of code. Here's a complete
-	example:
-	<programlisting>
-	  ao_arch_block_interrupts();
-	  while (!ao_radio_done)
-	          ao_sleep(&amp;ao_radio_done);
-	  ao_arch_release_interrupts();
-	</programlisting>
-      </para>
-    </section>
-    <section>
-      <title>ao_wakeup</title>
-      <programlisting>
-	void
-	ao_wakeup(__xdata void *wchan)
-      </programlisting>
-      <para>
-	Wake all tasks blocked on 'wchan'. This makes them
-	available to be run again, but does not actually switch
-	to another task. Here's an example of using this:
-	<programlisting>
-	  if (RFIF &amp; RFIF_IM_DONE) {
-	          ao_radio_done = 1;
-	          ao_wakeup(&amp;ao_radio_done);
-	          RFIF &amp;= ~RFIF_IM_DONE;
-	  }
-	</programlisting>
-	Note that this need not block interrupts as the ao_sleep block
-	can only be run from normal mode, and so this sequence can
-	never be interrupted with execution of the other sequence.
-      </para>
-    </section>
-    <section>
-      <title>ao_alarm</title>
-      <programlisting>
-	void
-	ao_alarm(uint16_t delay);
-
-	void
-	ao_clear_alarm(void);
-      </programlisting>
-      <para>
-	Schedules an alarm to fire in at least 'delay' ticks. If the
-	task is asleep when the alarm fires, it will wakeup and
-	ao_sleep will return 1. ao_clear_alarm resets any pending
-	alarm so that it doesn't fire at some arbitrary point in the
-	future.
-	<programlisting>
-	  ao_alarm(ao_packet_master_delay);
-	  ao_arch_block_interrupts();
-	  while (!ao_radio_dma_done)
-	          if (ao_sleep(&amp;ao_radio_dma_done) != 0)
-	                  ao_radio_abort();
-	  ao_arch_release_interrupts();
-	  ao_clear_alarm();
-	</programlisting>
-	In this example, a timeout is set before waiting for
-	incoming radio data. If no data is received before the
-	timeout fires, ao_sleep will return 1 and then this code
-	will abort the radio receive operation.
-      </para>
-    </section>
-    <section>
-      <title>ao_start_scheduler</title>
-      <programlisting>
-	void
-	ao_start_scheduler(void);
-      </programlisting>
-      <para>
-	This is called from 'main' when the system is all
-	initialized and ready to run. It will not return.
-      </para>
-    </section>
-    <section>
-      <title>ao_clock_init</title>
-      <programlisting>
-	void
-	ao_clock_init(void);
-      </programlisting>
-      <para>
-	This initializes the main CPU clock and switches to it.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Timer Functions</title>
-    <para>
-      AltOS sets up one of the CPU timers to run at 100Hz and
-      exposes this tick as the fundemental unit of time. At each
-      interrupt, AltOS increments the counter, and schedules any tasks
-      waiting for that time to pass, then fires off the sensors to
-      collect current data readings. Doing this from the ISR ensures
-      that the values are sampled at a regular rate, independent
-      of any scheduling jitter.
-    </para>
-    <section>
-      <title>ao_time</title>
-      <programlisting>
-	uint16_t
-	ao_time(void)
-      </programlisting>
-      <para>
-	Returns the current system tick count. Note that this is
-	only a 16 bit value, and so it wraps every 655.36 seconds.
-      </para>
-    </section>
-    <section>
-      <title>ao_delay</title>
-      <programlisting>
-	void
-	ao_delay(uint16_t ticks);
-      </programlisting>
-      <para>
-	Suspend the current task for at least 'ticks' clock units.
-      </para>
-    </section>
-    <section>
-      <title>ao_timer_set_adc_interval</title>
-      <programlisting>
-	void
-	ao_timer_set_adc_interval(uint8_t interval);
-      </programlisting>
-      <para>
-	This sets the number of ticks between ADC samples. If set
-	to 0, no ADC samples are generated. AltOS uses this to
-	slow down the ADC sampling rate to save power.
-      </para>
-    </section>
-    <section>
-      <title>ao_timer_init</title>
-      <programlisting>
-	void
-	ao_timer_init(void)
-      </programlisting>
-      <para>
-	This turns on the 100Hz tick. It is required for any of the
-	time-based functions to work. It should be called by 'main'
-	before ao_start_scheduler.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>AltOS Mutexes</title>
-    <para>
-      AltOS provides mutexes as a basic synchronization primitive. Each
-      mutexes is simply a byte of memory which holds 0 when the mutex
-      is free or the task id of the owning task when the mutex is
-      owned. Mutex calls are checked—attempting to acquire a mutex
-      already held by the current task or releasing a mutex not held
-      by the current task will both cause a panic.
-    </para>
-    <section>
-      <title>ao_mutex_get</title>
-      <programlisting>
-	void
-	ao_mutex_get(__xdata uint8_t *mutex);
-      </programlisting>
-      <para>
-	Acquires the specified mutex, blocking if the mutex is
-	owned by another task.
-      </para>
-    </section>
-    <section>
-      <title>ao_mutex_put</title>
-      <programlisting>
-	void
-	ao_mutex_put(__xdata uint8_t *mutex);
-      </programlisting>
-      <para>
-	Releases the specified mutex, waking up all tasks waiting
-	for it.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>DMA engine</title>
-    <para>
-      The CC1111 and STM32L both contain a useful bit of extra
-      hardware in the form of a number of programmable DMA
-      engines. They can be configured to copy data in memory, or
-      between memory and devices (or even between two devices). AltOS
-      exposes a general interface to this hardware and uses it to
-      handle both internal and external devices.
-    </para>
-    <para>
-      Because the CC1111 and STM32L DMA engines are different, the
-      interface to them is also different. As the DMA engines are
-      currently used to implement platform-specific drivers, this
-      isn't yet a problem.
-    </para>
-    <para>
-      Code using a DMA engine should allocate one at startup
-      time. There is no provision to free them, and if you run out,
-      AltOS will simply panic.
-    </para>
-    <para>
-      During operation, the DMA engine is initialized with the
-      transfer parameters. Then it is started, at which point it
-      awaits a suitable event to start copying data. When copying data
-      from hardware to memory, that trigger event is supplied by the
-      hardware device. When copying data from memory to hardware, the
-      transfer is usually initiated by software.
-    </para>
-    <section>
-      <title>CC1111 DMA Engine</title>
-      <section>
-	<title>ao_dma_alloc</title>
-	<programlisting>
-	  uint8_t
-	  ao_dma_alloc(__xdata uint8_t *done)
-	</programlisting>
-	<para>
-	  Allocate a DMA engine, returning the identifier.  'done' is
-	  cleared when the DMA is started, and then receives the
-	  AO_DMA_DONE bit on a successful transfer or the
-	  AO_DMA_ABORTED bit if ao_dma_abort was called. Note that it
-	  is possible to get both bits if the transfer was aborted
-	  after it had finished.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_set_transfer</title>
-	<programlisting>
-	  void
-	  ao_dma_set_transfer(uint8_t id,
-	  void __xdata *srcaddr,
-	  void __xdata *dstaddr,
-	  uint16_t count,
-	  uint8_t cfg0,
-	  uint8_t cfg1)
-	</programlisting>
-	<para>
-	  Initializes the specified dma engine to copy data
-	  from 'srcaddr' to 'dstaddr' for 'count' units. cfg0 and
-	  cfg1 are values directly out of the CC1111 documentation
-	  and tell the DMA engine what the transfer unit size,
-	  direction and step are.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_start</title>
-	<programlisting>
-	  void
-	  ao_dma_start(uint8_t id);
-	</programlisting>
-	<para>
-	  Arm the specified DMA engine and await a signal from
-	  either hardware or software to start transferring data.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_trigger</title>
-	<programlisting>
-	  void
-	  ao_dma_trigger(uint8_t id)
-	</programlisting>
-	<para>
-	  Trigger the specified DMA engine to start copying data.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_abort</title>
-	<programlisting>
-	  void
-	  ao_dma_abort(uint8_t id)
-	</programlisting>
-	<para>
-	  Terminate any in-progress DMA transaction, marking its
-	  'done' variable with the AO_DMA_ABORTED bit.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>STM32L DMA Engine</title>
-      <section>
-	<title>ao_dma_alloc</title>
-	<programlisting>
-	  uint8_t ao_dma_done[];
-
-	  void
-	  ao_dma_alloc(uint8_t index);
-	</programlisting>
-	<para>
-	  Reserve a DMA engine for exclusive use by one
-	  driver.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_set_transfer</title>
-	<programlisting>
-	  void
-	  ao_dma_set_transfer(uint8_t id,
-	  void *peripheral,
-	  void *memory,
-	  uint16_t count,
-	  uint32_t ccr);
-	</programlisting>
-	<para>
-	  Initializes the specified dma engine to copy data between
-	  'peripheral' and 'memory' for 'count' units. 'ccr' is a
-	  value directly out of the STM32L documentation and tells the
-	  DMA engine what the transfer unit size, direction and step
-	  are.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_set_isr</title>
-	<programlisting>
-	  void
-	  ao_dma_set_isr(uint8_t index, void (*isr)(int))
-	</programlisting>
-	<para>
-	  This sets a function to be called when the DMA transfer
-	  completes in lieu of setting the ao_dma_done bits. Use this
-	  when some work needs to be done when the DMA finishes that
-	  cannot wait until user space resumes.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_start</title>
-	<programlisting>
-	  void
-	  ao_dma_start(uint8_t id);
-	</programlisting>
-	<para>
-	  Arm the specified DMA engine and await a signal from either
-	  hardware or software to start transferring data.
-	  'ao_dma_done[index]' is cleared when the DMA is started, and
-	  then receives the AO_DMA_DONE bit on a successful transfer
-	  or the AO_DMA_ABORTED bit if ao_dma_abort was called. Note
-	  that it is possible to get both bits if the transfer was
-	  aborted after it had finished.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_done_transfer</title>
-	<programlisting>
-	  void
-	  ao_dma_done_transfer(uint8_t id);
-	</programlisting>
-	<para>
-	  Signals that a specific DMA engine is done being used. This
-	  allows multiple drivers to use the same DMA engine safely.
-	</para>
-      </section>
-      <section>
-	<title>ao_dma_abort</title>
-	<programlisting>
-	  void
-	  ao_dma_abort(uint8_t id)
-	</programlisting>
-	<para>
-	  Terminate any in-progress DMA transaction, marking its
-	  'done' variable with the AO_DMA_ABORTED bit.
-	</para>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Stdio interface</title>
-    <para>
-      AltOS offers a stdio interface over USB, serial and the RF
-      packet link. This provides for control of the device locally or
-      remotely. This is hooked up to the stdio functions by providing
-      the standard putchar/getchar/flush functions. These
-      automatically multiplex the available communication channels;
-      output is always delivered to the channel which provided the
-      most recent input.
-    </para>
-    <section>
-      <title>putchar</title>
-      <programlisting>
-	void
-	putchar(char c)
-      </programlisting>
-      <para>
-	Delivers a single character to the current console
-	device.
-      </para>
-    </section>
-    <section>
-      <title>getchar</title>
-      <programlisting>
-	char
-	getchar(void)
-      </programlisting>
-      <para>
-	Reads a single character from any of the available
-	console devices. The current console device is set to
-	that which delivered this character. This blocks until
-	a character is available.
-      </para>
-    </section>
-    <section>
-      <title>flush</title>
-      <programlisting>
-	void
-	flush(void)
-      </programlisting>
-      <para>
-	Flushes the current console device output buffer. Any
-	pending characters will be delivered to the target device.
-      </para>
-    </section>
-    <section>
-      <title>ao_add_stdio</title>
-      <programlisting>
-	void
-	ao_add_stdio(char (*pollchar)(void),
-	                   void (*putchar)(char),
-	                   void (*flush)(void))
-      </programlisting>
-      <para>
-	This adds another console device to the available
-	list.
-      </para>
-      <para>
-	'pollchar' returns either an available character or
-	AO_READ_AGAIN if none is available. Significantly, it does
-	not block. The device driver must set 'ao_stdin_ready' to
-	1 and call ao_wakeup(&amp;ao_stdin_ready) when it receives
-	input to tell getchar that more data is available, at
-	which point 'pollchar' will be called again.
-      </para>
-      <para>
-	'putchar' queues a character for output, flushing if the output buffer is
-	full. It may block in this case.
-      </para>
-      <para>
-	'flush' forces the output buffer to be flushed. It may
-	block until the buffer is delivered, but it is not
-	required to do so.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Command line interface</title>
-    <para>
-      AltOS includes a simple command line parser which is hooked up
-      to the stdio interfaces permitting remote control of the device
-      over USB, serial or the RF link as desired. Each command uses a
-      single character to invoke it, the remaining characters on the
-      line are available as parameters to the command.
-    </para>
-    <section>
-      <title>ao_cmd_register</title>
-      <programlisting>
-	void
-	ao_cmd_register(__code struct ao_cmds *cmds)
-      </programlisting>
-      <para>
-	This registers a set of commands with the command
-	parser. There is a fixed limit on the number of command
-	sets, the system will panic if too many are registered.
-	Each command is defined by a struct ao_cmds entry:
-	<programlisting>
-	  struct ao_cmds {
-	          char		cmd;
-	          void		(*func)(void);
-	          const char	*help;
-	  };
-	</programlisting>
-	'cmd' is the character naming the command. 'func' is the
-	function to invoke and 'help' is a string displayed by the
-	'?' command. Syntax errors found while executing 'func'
-	should be indicated by modifying the global ao_cmd_status
-	variable with one of the following values:
-	<variablelist>
-	  <varlistentry>
-	    <term>ao_cmd_success</term>
-	    <listitem>
-	      <para>
-		The command was parsed successfully. There is no
-		need to assign this value, it is the default.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>ao_cmd_lex_error</term>
-	    <listitem>
-	      <para>
-		A token in the line was invalid, such as a number
-		containing invalid characters. The low-level
-		lexing functions already assign this value as needed.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>ao_syntax_error</term>
-	    <listitem>
-	      <para>
-		The command line is invalid for some reason other
-		than invalid tokens.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_lex</title>
-      <programlisting>
-	void
-	ao_cmd_lex(void);
-      </programlisting>
-      <para>
-	This gets the next character out of the command line
-	buffer and sticks it into ao_cmd_lex_c. At the end of the
-	line, ao_cmd_lex_c will get a newline ('\n') character.
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_put16</title>
-      <programlisting>
-	void
-	ao_cmd_put16(uint16_t v);
-      </programlisting>
-      <para>
-	Writes 'v' as four hexadecimal characters.
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_put8</title>
-      <programlisting>
-	void
-	ao_cmd_put8(uint8_t v);
-      </programlisting>
-      <para>
-	Writes 'v' as two hexadecimal characters.
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_white</title>
-      <programlisting>
-	void
-	ao_cmd_white(void)
-      </programlisting>
-      <para>
-	This skips whitespace by calling ao_cmd_lex while
-	ao_cmd_lex_c is either a space or tab. It does not skip
-	any characters if ao_cmd_lex_c already non-white.
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_hex</title>
-      <programlisting>
-	void
-	ao_cmd_hex(void)
-      </programlisting>
-      <para>
-	This reads a 16-bit hexadecimal value from the command
-	line with optional leading whitespace. The resulting value
-	is stored in ao_cmd_lex_i;
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_decimal</title>
-      <programlisting>
-	void
-	ao_cmd_decimal(void)
-      </programlisting>
-      <para>
-	This reads a 32-bit decimal value from the command
-	line with optional leading whitespace. The resulting value
-	is stored in ao_cmd_lex_u32 and the low 16 bits are stored
-	in ao_cmd_lex_i;
-      </para>
-    </section>
-    <section>
-      <title>ao_match_word</title>
-      <programlisting>
-	uint8_t
-	ao_match_word(__code char *word)
-      </programlisting>
-      <para>
-	This checks to make sure that 'word' occurs on the command
-	line. It does not skip leading white space. If 'word' is
-	found, then 1 is returned. Otherwise, ao_cmd_status is set to
-	ao_cmd_syntax_error and 0 is returned.
-      </para>
-    </section>
-    <section>
-      <title>ao_cmd_init</title>
-      <programlisting>
-	void
-	ao_cmd_init(void
-      </programlisting>
-      <para>
-	Initializes the command system, setting up the built-in
-	commands and adding a task to run the command processing
-	loop. It should be called by 'main' before ao_start_scheduler.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>USB target device</title>
-    <para>
-      AltOS contains a full-speed USB target device driver. It can be
-      programmed to offer any kind of USB target, but to simplify
-      interactions with a variety of operating systems, AltOS provides
-      only a single target device profile, that of a USB modem which
-      has native drivers for Linux, Windows and Mac OS X. It would be
-      easy to change the code to provide an alternate target device if
-      necessary.
-    </para>
-    <para>
-      To the rest of the system, the USB device looks like a simple
-      two-way byte stream. It can be hooked into the command line
-      interface if desired, offering control of the device over the
-      USB link. Alternatively, the functions can be accessed directly
-      to provide for USB-specific I/O.
-    </para>
-    <section>
-      <title>ao_usb_flush</title>
-      <programlisting>
-	void
-	ao_usb_flush(void);
-      </programlisting>
-      <para>
-	Flushes any pending USB output. This queues an 'IN' packet
-	to be delivered to the USB host if there is pending data,
-	or if the last IN packet was full to indicate to the host
-	that there isn't any more pending data available.
-      </para>
-    </section>
-    <section>
-      <title>ao_usb_putchar</title>
-      <programlisting>
-	void
-	ao_usb_putchar(char c);
-      </programlisting>
-      <para>
-	If there is a pending 'IN' packet awaiting delivery to the
-	host, this blocks until that has been fetched. Then, this
-	adds a byte to the pending IN packet for delivery to the
-	USB host. If the USB packet is full, this queues the 'IN'
-	packet for delivery.
-      </para>
-    </section>
-    <section>
-      <title>ao_usb_pollchar</title>
-      <programlisting>
-	char
-	ao_usb_pollchar(void);
-      </programlisting>
-      <para>
-	If there are no characters remaining in the last 'OUT'
-	packet received, this returns AO_READ_AGAIN. Otherwise, it
-	returns the next character, reporting to the host that it
-	is ready for more data when the last character is gone.
-      </para>
-    </section>
-    <section>
-      <title>ao_usb_getchar</title>
-      <programlisting>
-	char
-	ao_usb_getchar(void);
-      </programlisting>
-      <para>
-	This uses ao_pollchar to receive the next character,
-	blocking while ao_pollchar returns AO_READ_AGAIN.
-      </para>
-    </section>
-    <section>
-      <title>ao_usb_disable</title>
-      <programlisting>
-	void
-	ao_usb_disable(void);
-      </programlisting>
-      <para>
-	This turns off the USB controller. It will no longer
-	respond to host requests, nor return characters. Calling
-	any of the i/o routines while the USB device is disabled
-	is undefined, and likely to break things. Disabling the
-	USB device when not needed saves power.
-      </para>
-      <para>
-	Note that neither TeleDongle nor TeleMetrum are able to
-	signal to the USB host that they have disconnected, so
-	after disabling the USB device, it's likely that the cable
-	will need to be disconnected and reconnected before it
-	will work again.
-      </para>
-    </section>
-    <section>
-      <title>ao_usb_enable</title>
-      <programlisting>
-	void
-	ao_usb_enable(void);
-      </programlisting>
-      <para>
-	This turns the USB controller on again after it has been
-	disabled. See the note above about needing to physically
-	remove and re-insert the cable to get the host to
-	re-initialize the USB link.
-      </para>
-    </section>
-    <section>
-      <title>ao_usb_init</title>
-      <programlisting>
-	void
-	ao_usb_init(void);
-      </programlisting>
-      <para>
-	This turns the USB controller on, adds a task to handle
-	the control end point and adds the usb I/O functions to
-	the stdio system. Call this from main before
-	ao_start_scheduler.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Serial peripherals</title>
-    <para>
-      The CC1111 provides two USART peripherals. AltOS uses one for
-      asynch serial data, generally to communicate with a GPS device,
-      and the other for a SPI bus. The UART is configured to operate
-      in 8-bits, no parity, 1 stop bit framing. The default
-      configuration has clock settings for 4800, 9600 and 57600 baud
-      operation. Additional speeds can be added by computing
-      appropriate clock values.
-    </para>
-    <para>
-      To prevent loss of data, AltOS provides receive and transmit
-      fifos of 32 characters each.
-    </para>
-    <section>
-      <title>ao_serial_getchar</title>
-      <programlisting>
-	char
-	ao_serial_getchar(void);
-      </programlisting>
-      <para>
-	Returns the next character from the receive fifo, blocking
-	until a character is received if the fifo is empty.
-      </para>
-    </section>
-    <section>
-      <title>ao_serial_putchar</title>
-      <programlisting>
-	void
-	ao_serial_putchar(char c);
-      </programlisting>
-      <para>
-	Adds a character to the transmit fifo, blocking if the
-	fifo is full. Starts transmitting characters.
-      </para>
-    </section>
-    <section>
-      <title>ao_serial_drain</title>
-      <programlisting>
-	void
-	ao_serial_drain(void);
-      </programlisting>
-      <para>
-	Blocks until the transmit fifo is empty. Used internally
-	when changing serial speeds.
-      </para>
-    </section>
-    <section>
-      <title>ao_serial_set_speed</title>
-      <programlisting>
-	void
-	ao_serial_set_speed(uint8_t speed);
-      </programlisting>
-      <para>
-	Changes the serial baud rate to one of
-	AO_SERIAL_SPEED_4800, AO_SERIAL_SPEED_9600 or
-	AO_SERIAL_SPEED_57600. This first flushes the transmit
-	fifo using ao_serial_drain.
-      </para>
-    </section>
-    <section>
-      <title>ao_serial_init</title>
-      <programlisting>
-	void
-	ao_serial_init(void)
-      </programlisting>
-      <para>
-	Initializes the serial peripheral. Call this from 'main'
-	before jumping to ao_start_scheduler. The default speed
-	setting is AO_SERIAL_SPEED_4800.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>CC1111 Radio peripheral</title>
-    <section>
-      <title>Radio Introduction</title>
-      <para>
-	The CC1111 radio transceiver sends and receives digital packets
-	with forward error correction and detection. The AltOS driver is
-	fairly specific to the needs of the TeleMetrum and TeleDongle
-	devices, using it for other tasks may require customization of
-	the driver itself. There are three basic modes of operation:
-	<orderedlist>
-	  <listitem>
-	    <para>
-	      Telemetry mode. In this mode, TeleMetrum transmits telemetry
-	      frames at a fixed rate. The frames are of fixed size. This
-	      is strictly a one-way communication from TeleMetrum to
-	      TeleDongle.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Packet mode. In this mode, the radio is used to create a
-	      reliable duplex byte stream between TeleDongle and
-	      TeleMetrum. This is an asymmetrical protocol with
-	      TeleMetrum only transmitting in response to a packet sent
-	      from TeleDongle. Thus getting data from TeleMetrum to
-	      TeleDongle requires polling. The polling rate is adaptive,
-	      when no data has been received for a while, the rate slows
-	      down. The packets are checked at both ends and invalid
-	      data are ignored.
-	    </para>
-	    <para>
-	      On the TeleMetrum side, the packet link is hooked into the
-	      stdio mechanism, providing an alternate data path for the
-	      command processor. It is enabled when the unit boots up in
-	      'idle' mode.
-	    </para>
-	    <para>
-	      On the TeleDongle side, the packet link is enabled with a
-	      command; data from the stdio package is forwarded over the
-	      packet link providing a connection from the USB command
-	      stream to the remote TeleMetrum device.
-	    </para>
-	  </listitem>
-	  <listitem>
-	    <para>
-	      Radio Direction Finding mode. In this mode, TeleMetrum
-	      constructs a special packet that sounds like an audio tone
-	      when received by a conventional narrow-band FM
-	      receiver. This is designed to provide a beacon to track
-	      the device when other location mechanisms fail.
-	    </para>
-	  </listitem>
-	</orderedlist>
-      </para>
-    </section>
-    <section>
-      <title>ao_radio_set_telemetry</title>
-	<programlisting>
-	  void
-	  ao_radio_set_telemetry(void);
-	</programlisting>
-	<para>
-	  Configures the radio to send or receive telemetry
-	  packets. This includes packet length, modulation scheme and
-	  other RF parameters. It does not include the base frequency
-	  or channel though. Those are set at the time of transmission
-	  or reception, in case the values are changed by the user.
-	</para>
-    </section>
-    <section>
-      <title>ao_radio_set_packet</title>
-	<programlisting>
-	  void
-	  ao_radio_set_packet(void);
-	</programlisting>
-	<para>
-	  Configures the radio to send or receive packet data.  This
-	  includes packet length, modulation scheme and other RF
-	  parameters. It does not include the base frequency or
-	  channel though. Those are set at the time of transmission or
-	  reception, in case the values are changed by the user.
-	</para>
-    </section>
-    <section>
-      <title>ao_radio_set_rdf</title>
-	<programlisting>
-	  void
-	  ao_radio_set_rdf(void);
-	</programlisting>
-	<para>
-	  Configures the radio to send RDF 'packets'. An RDF 'packet'
-	  is a sequence of hex 0x55 bytes sent at a base bit rate of
-	  2kbps using a 5kHz deviation. All of the error correction
-	  and data whitening logic is turned off so that the resulting
-	  modulation is received as a 1kHz tone by a conventional 70cm
-	  FM audio receiver.
-	</para>
-    </section>
-    <section>
-      <title>ao_radio_idle</title>
-	<programlisting>
-	  void
-	  ao_radio_idle(void);
-	</programlisting>
-	<para>
-	  Sets the radio device to idle mode, waiting until it reaches
-	  that state. This will terminate any in-progress transmit or
-	  receive operation.
-	</para>
-    </section>
-    <section>
-      <title>ao_radio_get</title>
-	<programlisting>
-	  void
-	  ao_radio_get(void);
-	</programlisting>
-	<para>
-	  Acquires the radio mutex and then configures the radio
-	  frequency using the global radio calibration and channel
-	  values.
-	</para>
-    </section>
-    <section>
-      <title>ao_radio_put</title>
-	<programlisting>
-	  void
-	  ao_radio_put(void);
-	</programlisting>
-	<para>
-	  Releases the radio mutex.
-	</para>
-    </section>
-    <section>
-      <title>ao_radio_abort</title>
-	<programlisting>
-	  void
-	  ao_radio_abort(void);
-	</programlisting>
-	<para>
-	  Aborts any transmission or reception process by aborting the
-	  associated DMA object and calling ao_radio_idle to terminate
-	  the radio operation.
-	</para>
-    </section>
-    <section>
-      <title>Radio Telemetry</title>
-      <para>
-	In telemetry mode, you can send or receive a telemetry
-	packet. The data from receiving a packet also includes the RSSI
-	and status values supplied by the receiver. These are added
-	after the telemetry data.
-      </para>
-      <section>
-	<title>ao_radio_send</title>
-	<programlisting>
-	  void
-	  ao_radio_send(__xdata struct ao_telemetry *telemetry);
-	</programlisting>
-	<para>
-	  This sends the specific telemetry packet, waiting for the
-	  transmission to complete. The radio must have been set to
-	  telemetry mode. This function calls ao_radio_get() before
-	  sending, and ao_radio_put() afterwards, to correctly
-	  serialize access to the radio device.
-	</para>
-      </section>
-      <section>
-	<title>ao_radio_recv</title>
-	<programlisting>
-	  void
-	  ao_radio_recv(__xdata struct ao_radio_recv *radio);
-	</programlisting>
-	<para>
-	  This blocks waiting for a telemetry packet to be received.
-	  The radio must have been set to telemetry mode. This
-	  function calls ao_radio_get() before receiving, and
-	  ao_radio_put() afterwards, to correctly serialize access
-	  to the radio device. This returns non-zero if a packet was
-	  received, or zero if the operation was aborted (from some
-	  other task calling ao_radio_abort()).
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Radio Direction Finding</title>
-      <para>
-	In radio direction finding mode, there's just one function to
-	use
-      </para>
-      <section>
-	<title>ao_radio_rdf</title>
-	<programlisting>
-	  void
-	  ao_radio_rdf(int ms);
-	</programlisting>
-	<para>
-	  This sends an RDF packet lasting for the specified amount
-	  of time. The maximum length is 1020 ms.
-	</para>
-      </section>
-    </section>
-    <section>
-      <title>Radio Packet Mode</title>
-      <para>
-	Packet mode is asymmetrical and is configured at compile time
-	for either master or slave mode (but not both). The basic I/O
-	functions look the same at both ends, but the internals are
-	different, along with the initialization steps.
-      </para>
-      <section>
-	<title>ao_packet_putchar</title>
-	<programlisting>
-	  void
-	  ao_packet_putchar(char c);
-	</programlisting>
-	<para>
-	  If the output queue is full, this first blocks waiting for
-	  that data to be delivered. Then, queues a character for
-	  packet transmission. On the master side, this will
-	  transmit a packet if the output buffer is full. On the
-	  slave side, any pending data will be sent the next time
-	  the master polls for data.
-	</para>
-      </section>
-      <section>
-	<title>ao_packet_pollchar</title>
-	<programlisting>
-	  char
-	  ao_packet_pollchar(void);
-	</programlisting>
-	<para>
-	  This returns a pending input character if available,
-	  otherwise returns AO_READ_AGAIN. On the master side, if
-	  this empties the buffer, it triggers a poll for more data.
-	</para>
-      </section>
-      <section>
-	<title>ao_packet_slave_start</title>
-	<programlisting>
-	  void
-	  ao_packet_slave_start(void);
-	</programlisting>
-	<para>
-	  This is available only on the slave side and starts a task
-	  to listen for packet data.
-	</para>
-      </section>
-      <section>
-	<title>ao_packet_slave_stop</title>
-	<programlisting>
-	  void
-	  ao_packet_slave_stop(void);
-	</programlisting>
-	<para>
-	  Disables the packet slave task, stopping the radio receiver.
-	</para>
-      </section>
-      <section>
-	<title>ao_packet_slave_init</title>
-	<programlisting>
-	  void
-	  ao_packet_slave_init(void);
-	</programlisting>
-	<para>
-	  Adds the packet stdio functions to the stdio package so
-	  that when packet slave mode is enabled, characters will
-	  get send and received through the stdio functions.
-	</para>
-      </section>
-      <section>
-	<title>ao_packet_master_init</title>
-	<programlisting>
-	  void
-	  ao_packet_master_init(void);
-	</programlisting>
-	<para>
-	  Adds the 'p' packet forward command to start packet mode.
-	</para>
-      </section>
-    </section>
-  </chapter>
-</book>
-- 
cgit v1.2.3


From 5b782c8f45ed6c34ed0e7f1aff6ac298c9a879ff Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 31 Oct 2015 23:54:26 -0700
Subject: doc: Minor makefile cleanups

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile | 65 +++++++++++++++++++++++++++++++++++++++++++-----------------
 1 file changed, 47 insertions(+), 18 deletions(-)

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 04402c88..29d3c428 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -22,7 +22,7 @@ RELNOTES_INC=\
 	release-notes-1.6.inc \
 	release-notes-1.6.1.inc
 
-PICTURES=\
+IMAGES=\
 	altosui.png \
 	ascent.png \
 	configure-altimeter.png \
@@ -31,12 +31,17 @@ PICTURES=\
 	configure-pyro.png \
 	descent.png \
 	device-selection.png \
+	easymega.svg \
+	easymega-v1.0-bottom.jpg \
+	easymega-v1.0-top.jpg \
+	easymini.svg \
 	easymini-top.jpg \
 	fire-igniter.png \
 	graph-configure.png \
 	graph-map.png \
 	graph.png \
 	graph-stats.png \
+	ignitor.png \
 	landed.png \
 	launch-pad.png \
 	load-maps.png \
@@ -47,6 +52,7 @@ PICTURES=\
 	micropeak-download.png \
 	micropeak-graph-configure.png \
 	micropeak-graph.png \
+	micropeak-nofont.svg \
 	micropeak-preferences.png \
 	micropeak-raw-data.png \
 	micropeak-save-dialog.png \
@@ -57,8 +63,25 @@ PICTURES=\
 	scan-channels.png \
 	site-map.png \
 	table.png \
+	telegps-configure.png \
+	telegps-graph-configure.png \
+	telegps-graph-graph.png \
+	telegps-graph-map.png \
+	telegps-graph-stats.png \
+	telegps-info.png \
+	telegps-location.png \
+	telegps-map.png \
+	telegps-preferences.png \
+	telegps-scan.png \
+	telegps-status.png \
+	telegps-table.png \
+	telegps-v1.0-top.jpg \
+	telemega.svg \
 	telemega-v1.0-top.jpg \
+	telemetrum.svg \
 	telemetrum-v1.1-thside.jpg \
+	telemetrum-v2.0-th.jpg \
+	telemini.svg \
 	telemini-v1-top.jpg \
 	telemini-v2-top.jpg
 
@@ -134,42 +157,45 @@ SVG=\
 RELNOTES_PDF=$(RELNOTES_INC:.inc=.pdf)
 RELNOTES_HTML=$(RELNOTES_INC:.inc=.html)
 
-ALTOS_TXT_FILES=\
-	altos.txt
+ONEFILE_TXT_FILES=\
+	altos.txt \
+	companion.txt \
+	telemetry.txt
 
-ALTOS_RAW_FILES=$(ALTOS_TXT_FILES:.txt=.raw)
-ALTOS_PDF_FILES=$(ALTOS_TXT_FILES:.txt=.pdf)
+ONEFILE_RAW_FILES=$(ONEFILE_TXT_FILES:.txt=.raw)
+ONEFILE_PDF_FILES=$(ONEFILE_TXT_FILES:.txt=.pdf)
 
-HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html telegps.html $(RELNOTES_HTML)
+HTML=altusmetrum.html micropeak.html telegps.html $(RELNOTES_HTML) $(ONEFILE_HTML_FILES)
 
-PDF=altusmetrum.pdf $(RELNOTES_PDF) $(ALTOS_PDF_FILES) telemetry.pdf companion.pdf micropeak.pdf telegps.pdf \
+PDF=altusmetrum.pdf micropeak.pdf telegps.pdf $(RELNOTES_PDF) $(ONEFILE_PDF_FILES) \
 	$(OUTLINE_PDF_FILES)
 
-FOSTYLE=am-fo.xsl
+FOP_STYLE=am-fo.xsl
+FOP_XCONF=fop.xconf
+STYLESHEET=am.css
 
 TEMPLATES_TMPL=titlepage.templates.tmpl
 
 TEMPLATES_XSL=$(TEMPLATES_TMPL:.tmpl=.xsl)
 
-IMAGES=$(PICTURES) $(SVG)
+PDF_CONFIG_FILES=$(FOP_STYLE) $(FOP_XCONF) $(TEMPLATES_XSL)
+HTML_CONFIG_FILES=$(TEMPLATES_XSL) $(STYLESHEET)
 
-DOC=$(HTML) $(PDF) $(IMAGES)
+DOC=$(HTML) $(PDF) $(IMAGES) $(STYLESHEET)
 
 .SUFFIXES: .tmpl .xsl .inc .txt .raw .pdf .html
 
-XSLTFLAGS=--stringparam section.autolabel 1 --xinclude
-
 .txt.raw:
-	sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ 	]*//' -e 's/^\\//' $*.txt > $@
+	sed -e 's/^[ 	]*//' -e 's/^\\//' $*.txt > $@
 
 .inc.raw:
-	sed -e 's/@@VERSION@@/$(VERSION)/' -e 's/@@DATE@@/$(DATE)/' -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
+	sed -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
 
 .raw.pdf:
-	a2x --verbose -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file am-fo.xsl --fop --fop-opts="-c fop.xconf" $*.raw
+	a2x -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
 
 .raw.html:
-	a2x --verbose -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=am.css $*.raw
+	a2x -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=$(STYLESHEET) $*.raw
 
 .tmpl.xsl:
 	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.tmpl
@@ -194,11 +220,14 @@ publish:	$(DOC)
 	 git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* ; \
 	 git push)
 
+publish-keithp:	$(DOC)
+	scp -p $(DOC) keithp.com:~keithp/public_html/altos
+
 clean:
 	rm -f $(HTML) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
 
 distclean: clean
 	rm -f $(HTML) $(PDF)
 
-$(PDF): $(FOSTYLE) $(TEMPLATES_XSL)
-$(HTML): $(TEMPLATES_XSL)
+$(PDF): $(PDF_CONFIG_FILES)
+$(HTML): $(HTML_CONFIG_FILES)
-- 
cgit v1.2.3


From f2816b305fc9e18a1190e392d43ff489936f10f0 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 1 Nov 2015 04:18:34 -0800
Subject: doc: Switch to free fonts. Publish fonts with docs.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                            |  20 +++++++--
 doc/am-fo.xsl                           |  20 ++++-----
 doc/am.css                              |  69 ++++++++++++++++++++++++++++----
 doc/fonts/FrutigerLTStd-Italic.otf      | Bin 27736 -> 0 bytes
 doc/fonts/FrutigerLTStd-Light.otf       | Bin 27440 -> 0 bytes
 doc/fonts/FrutigerLTStd-LightItalic.otf | Bin 27888 -> 0 bytes
 doc/fonts/FrutigerLTStd-Roman.otf       | Bin 27328 -> 0 bytes
 doc/fonts/OpenSans-Bold.ttf             | Bin 0 -> 224592 bytes
 doc/fonts/OpenSans-BoldItalic.ttf       | Bin 0 -> 213292 bytes
 doc/fonts/OpenSans-ExtraBold.ttf        | Bin 0 -> 222584 bytes
 doc/fonts/OpenSans-ExtraBoldItalic.ttf  | Bin 0 -> 213420 bytes
 doc/fonts/OpenSans-Italic.ttf           | Bin 0 -> 212896 bytes
 doc/fonts/OpenSans-Light.ttf            | Bin 0 -> 222412 bytes
 doc/fonts/OpenSans-LightItalic.ttf      | Bin 0 -> 213128 bytes
 doc/fonts/OpenSans-Regular.ttf          | Bin 0 -> 217360 bytes
 doc/fonts/OpenSans-Semibold.ttf         | Bin 0 -> 221328 bytes
 doc/fonts/OpenSans-SemiboldItalic.ttf   | Bin 0 -> 212820 bytes
 doc/fop.xconf                           |  16 ++++----
 18 files changed, 98 insertions(+), 27 deletions(-)
 delete mode 100644 doc/fonts/FrutigerLTStd-Italic.otf
 delete mode 100644 doc/fonts/FrutigerLTStd-Light.otf
 delete mode 100644 doc/fonts/FrutigerLTStd-LightItalic.otf
 delete mode 100644 doc/fonts/FrutigerLTStd-Roman.otf
 create mode 100644 doc/fonts/OpenSans-Bold.ttf
 create mode 100644 doc/fonts/OpenSans-BoldItalic.ttf
 create mode 100644 doc/fonts/OpenSans-ExtraBold.ttf
 create mode 100644 doc/fonts/OpenSans-ExtraBoldItalic.ttf
 create mode 100644 doc/fonts/OpenSans-Italic.ttf
 create mode 100644 doc/fonts/OpenSans-Light.ttf
 create mode 100644 doc/fonts/OpenSans-LightItalic.ttf
 create mode 100644 doc/fonts/OpenSans-Regular.ttf
 create mode 100644 doc/fonts/OpenSans-Semibold.ttf
 create mode 100644 doc/fonts/OpenSans-SemiboldItalic.ttf

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 29d3c428..0b66a1d1 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -174,6 +174,16 @@ FOP_STYLE=am-fo.xsl
 FOP_XCONF=fop.xconf
 STYLESHEET=am.css
 
+FONTS=\
+	fonts/DejaVuSansMono-BoldOblique.ttf \
+	fonts/DejaVuSansMono-Bold.ttf \
+	fonts/DejaVuSansMono-Oblique.ttf \
+	fonts/DejaVuSansMono.ttf \
+	fonts/OpenSans-Light.ttf \
+	fonts/OpenSans-LightItalic.ttf \
+	fonts/OpenSans-Semibold.ttf \
+	fonts/OpenSans-SemiboldItalic.ttf
+
 TEMPLATES_TMPL=titlepage.templates.tmpl
 
 TEMPLATES_XSL=$(TEMPLATES_TMPL:.tmpl=.xsl)
@@ -212,16 +222,20 @@ micropeak.pdf micropeak.html: micropeak-docinfo.xml $(MICROPEAK_RAW_FILES) $(IMA
 
 install:	all
 
-publish:	$(DOC)
+publish:	$(DOC) $(FONTS)
 	cp $(DOC) /home/bdale/web/altusmetrum/AltOS/doc/
+	mkdir -p /home/bdale/web/altusmetrum/AltOS/doc/fonts/
+	cp $(FONTS) /home/bdale/web/altusmetrum/AltOS/doc/fonts/
 	(cd /home/bdale/web/altusmetrum ; \
 	 git add /home/bdale/web/altusmetrum/AltOS/doc/* ; \
+	 git add /home/bdale/web/altusmetrum/AltOS/doc/fonts/* ; \
 	 echo "update docs" | \
-	 git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* ; \
+	 git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* /home/bdale/web/altusmetrum/AltOS/doc/fonts/* ; \
 	 git push)
 
-publish-keithp:	$(DOC)
+publish-keithp:	$(DOC) $(FONTS)
 	scp -p $(DOC) keithp.com:~keithp/public_html/altos
+	scp -p $(FONTS) keithp.com:~keithp/public_html/altos/fonts
 
 clean:
 	rm -f $(HTML) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
diff --git a/doc/am-fo.xsl b/doc/am-fo.xsl
index 35279f22..2166afd4 100644
--- a/doc/am-fo.xsl
+++ b/doc/am-fo.xsl
@@ -30,8 +30,8 @@
 <!-- justify, left or right -->
 <xsl:param name="alignment">left</xsl:param>
 
-<xsl:param name="body.font.family" select="'Frutiger LT Std,sans-serif'"/>
-<xsl:param name="title.font.family" select="'Frutiger LT Std,sans-serif'"/>
+<xsl:param name="body.font.family" select="'Open Sans Light,sans-serif'"/>
+<xsl:param name="title.font.family" select="'Open Sans Light,sans-serif'"/>
 <xsl:param name="monospace.font.family" select="'DejaVu Sans Mono,monospace'"/>
 <xsl:param name="body.font.master">12</xsl:param>
 <xsl:param name="body.font.size">
@@ -43,9 +43,6 @@
 <xsl:param name="bridgehead.in.toc" select="0"/>
 <xsl:param name="footer.column.widths">10 1 1</xsl:param>
 
-<!-- overide setting in common.xsl -->
-<xsl:param name="table.frame.border.thickness" select="'2px'"/>
-
 <!-- Default fetches image from Internet (long timeouts) -->
 <xsl:param name="draft.watermark.image" select="''"/>
 
@@ -108,6 +105,12 @@
   </xsl:choose>
 </xsl:param>
 
+<xsl:param name="table.frame.border.thickness">0.5pt</xsl:param>
+<xsl:param name="table.frame.border.color">#0080ff</xsl:param>
+<xsl:param name="table.frame.border.thickness">0.5pt</xsl:param>
+<xsl:param name="table.cell.border.thickness">0.5pt</xsl:param>
+<xsl:param name="table.cell.border.color">#0080ff</xsl:param>
+<xsl:param name="table.cell.border.with.css" select="1"/>
 
 <xsl:attribute-set name="copyright.title.properties">
   <xsl:attribute name="font-size">12pt</xsl:attribute>
@@ -122,15 +125,14 @@
 </xsl:attribute-set>
 
 <xsl:attribute-set name="revhistory.table.properties">
-  <xsl:attribute name="border">0.5pt solid black</xsl:attribute>
-  <xsl:attribute name="background-color">#EEEEEE</xsl:attribute>
+  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
   <xsl:attribute name="width">50%</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="revhistory.table.cell.properties">
-  <xsl:attribute name="border">0.5pt solid black</xsl:attribute>
+  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
   <xsl:attribute name="font-size">12pt</xsl:attribute>
-  <xsl:attribute name="padding">4pt</xsl:attribute>
+  <xsl:attribute name="padding">2pt</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="monospace.properties">
diff --git a/doc/am.css b/doc/am.css
index 2461e111..e939245c 100644
--- a/doc/am.css
+++ b/doc/am.css
@@ -2,9 +2,65 @@
   CSS stylesheet for XHTML produced by DocBook XSL stylesheets.
 */
 
+@font-face {
+    font-family: 'Open Sans';
+    src: url('fonts/OpenSans-Regular.ttf');
+    font-weight: normal;
+    font-style: normal;
+}
+
+@font-face {
+    font-family: 'Open Sans';
+    src: url('fonts/OpenSans-Italic.ttf');
+    font-weight: normal;
+    font-style: italic;
+}
+
+@font-face {
+    font-family: 'Open Sans';
+    src: url('fonts/OpenSans-Semibold.ttf');
+    font-weight: bold;
+    font-style: normal;
+}
+
+@font-face {
+    font-family: 'Open Sans';
+    src: url('fonts/OpenSans-SemiboldItalic.ttf');
+    font-weight: bold;
+    font-style: italic;
+}
+
+@font-face {
+    font-family: 'DejaVu Sans Mono';
+    src: url('fonts/DejaVuSansMono.ttf');
+    font-weight: normal;
+    font-style: normal;
+}
+
+@font-face {
+    font-family: 'DejaVu Sans Mono';
+    src: url('fonts/DejaVuSansMono-Oblique.ttf');
+    font-weight: normal;
+    font-style: oblique;
+}
+
+@font-face {
+    font-family: 'DejaVu Sans Mono';
+    src: url('fonts/DejaVuSansMono-Bold.ttf');
+    font-weight: bold;
+    font-style: normal;
+}
+
+@font-face {
+    font-family: 'DejaVu Sans Mono';
+    src: url('fonts/DejaVuSansMono-BoldOblique.ttf');
+    font-weight: bold;
+    font-style: oblique;
+}
+
 body {
-    font-family: "Frutiger LT Std 45 Light",sans-serif;
-    font-size: 14pt;
+    font-family: "Open Sans",sans-serif;
+    font-size: 12pt;
 }
 
 code, pre {
@@ -41,7 +97,7 @@ a:visited {
 h1, h2, h3, h4, h5, h6
 {
   color: #0080ff;
-  font-family: "Frutiger LT Std 45 Light",sans-serif;
+  font-family: "Open Sans",sans-serif;
 }
 
 div.revhistory table {
@@ -63,7 +119,7 @@ div.sidebar p.title
 {
   font-weight: normal;
   color: #0080ff;
-  font-family: "Frutiger LT Std 45 Light",sans-serif;
+  font-family: "Open Sans",sans-serif;
   margin-bottom: 0.2em;
 }
 
@@ -108,8 +164,8 @@ div.footnotes hr {
 }
 
 div.navheader th, div.navheader td, div.navfooter td {
-    font-family: "Frutiger LT Std 45 Light",sans-serif;
-    font-size: 14pt;
+    font-family: "Open Sans",sans-serif;
+    font-size: 12pt;
     font-weight: normal;
     color: #0080ff;
 }
@@ -244,7 +300,6 @@ div.revhistory table, th, td, tr {
 }
 div.revhistory th {
   color: #0080ff;
-  font-family: "Frutiger LT Std 45 Light",sans-serif;
 }
 
 /* Keep TOC and index lines close together. */
diff --git a/doc/fonts/FrutigerLTStd-Italic.otf b/doc/fonts/FrutigerLTStd-Italic.otf
deleted file mode 100644
index c02ecd00..00000000
Binary files a/doc/fonts/FrutigerLTStd-Italic.otf and /dev/null differ
diff --git a/doc/fonts/FrutigerLTStd-Light.otf b/doc/fonts/FrutigerLTStd-Light.otf
deleted file mode 100644
index 6d013a61..00000000
Binary files a/doc/fonts/FrutigerLTStd-Light.otf and /dev/null differ
diff --git a/doc/fonts/FrutigerLTStd-LightItalic.otf b/doc/fonts/FrutigerLTStd-LightItalic.otf
deleted file mode 100644
index 70237778..00000000
Binary files a/doc/fonts/FrutigerLTStd-LightItalic.otf and /dev/null differ
diff --git a/doc/fonts/FrutigerLTStd-Roman.otf b/doc/fonts/FrutigerLTStd-Roman.otf
deleted file mode 100644
index a6d6edbc..00000000
Binary files a/doc/fonts/FrutigerLTStd-Roman.otf and /dev/null differ
diff --git a/doc/fonts/OpenSans-Bold.ttf b/doc/fonts/OpenSans-Bold.ttf
new file mode 100644
index 00000000..fd79d43b
Binary files /dev/null and b/doc/fonts/OpenSans-Bold.ttf differ
diff --git a/doc/fonts/OpenSans-BoldItalic.ttf b/doc/fonts/OpenSans-BoldItalic.ttf
new file mode 100644
index 00000000..9bc80095
Binary files /dev/null and b/doc/fonts/OpenSans-BoldItalic.ttf differ
diff --git a/doc/fonts/OpenSans-ExtraBold.ttf b/doc/fonts/OpenSans-ExtraBold.ttf
new file mode 100644
index 00000000..21f6f84a
Binary files /dev/null and b/doc/fonts/OpenSans-ExtraBold.ttf differ
diff --git a/doc/fonts/OpenSans-ExtraBoldItalic.ttf b/doc/fonts/OpenSans-ExtraBoldItalic.ttf
new file mode 100644
index 00000000..31cb6883
Binary files /dev/null and b/doc/fonts/OpenSans-ExtraBoldItalic.ttf differ
diff --git a/doc/fonts/OpenSans-Italic.ttf b/doc/fonts/OpenSans-Italic.ttf
new file mode 100644
index 00000000..c90da48f
Binary files /dev/null and b/doc/fonts/OpenSans-Italic.ttf differ
diff --git a/doc/fonts/OpenSans-Light.ttf b/doc/fonts/OpenSans-Light.ttf
new file mode 100644
index 00000000..0d381897
Binary files /dev/null and b/doc/fonts/OpenSans-Light.ttf differ
diff --git a/doc/fonts/OpenSans-LightItalic.ttf b/doc/fonts/OpenSans-LightItalic.ttf
new file mode 100644
index 00000000..68299c4b
Binary files /dev/null and b/doc/fonts/OpenSans-LightItalic.ttf differ
diff --git a/doc/fonts/OpenSans-Regular.ttf b/doc/fonts/OpenSans-Regular.ttf
new file mode 100644
index 00000000..db433349
Binary files /dev/null and b/doc/fonts/OpenSans-Regular.ttf differ
diff --git a/doc/fonts/OpenSans-Semibold.ttf b/doc/fonts/OpenSans-Semibold.ttf
new file mode 100644
index 00000000..1a7679e3
Binary files /dev/null and b/doc/fonts/OpenSans-Semibold.ttf differ
diff --git a/doc/fonts/OpenSans-SemiboldItalic.ttf b/doc/fonts/OpenSans-SemiboldItalic.ttf
new file mode 100644
index 00000000..59b6d16b
Binary files /dev/null and b/doc/fonts/OpenSans-SemiboldItalic.ttf differ
diff --git a/doc/fop.xconf b/doc/fop.xconf
index 0f470ffd..9ac42820 100644
--- a/doc/fop.xconf
+++ b/doc/fop.xconf
@@ -38,20 +38,20 @@ the location of this file.
 
       <fonts>
         <!-- embedded fonts -->
-	<font embed-url="fonts/FrutigerLTStd-Light.otf">
-	  <font-triplet name="Frutiger LT Std" style="normal"
+	<font embed-url="fonts/OpenSans-Light.ttf">
+	  <font-triplet name="Open Sans Light" style="normal"
 			weight="normal"/>
 	</font>
-	<font embed-url="fonts/FrutigerLTStd-LightItalic.otf">
-	  <font-triplet name="Frutiger LT Std" style="italic"
+	<font embed-url="fonts/OpenSans-LightItalic.ttf">
+	  <font-triplet name="Open Sans Light" style="italic"
 			weight="normal"/>
 	</font>
-	<font embed-url="fonts/FrutigerLTStd-Roman.otf">
-	  <font-triplet name="Frutiger LT Std" style="normal"
+	<font embed-url="fonts/OpenSans-Semibold.ttf">
+	  <font-triplet name="Open Sans Light" style="normal"
 			weight="bold"/>
 	</font>
-	<font embed-url="fonts/FrutigerLTStd-Italic.otf">
-	  <font-triplet name="Frutiger LT Std" style="italic"
+	<font embed-url="fonts/OpenSans-SemiboldItalic.ttf">
+	  <font-triplet name="Open Sans Light" style="italic"
 			weight="bold"/>
 	</font>
 
-- 
cgit v1.2.3


From edcb80f25875200a73269045db71c1579b0c2c82 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 1 Nov 2015 04:22:27 -0800
Subject: doc: Split revhistory to separate file for html docs

This avoids having the revhistory clutter the top of the document.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                | 20 ++++++++++++++++----
 doc/altos-docinfo.xml       |  1 +
 doc/altusmetrum-docinfo.xml |  1 +
 doc/am-html.xsl             | 14 ++++++++++++++
 doc/am.css                  | 36 ++++++++++++++++++++----------------
 doc/common.xsl              | 26 ++++++++++++++++++++++----
 doc/companion-docinfo.xml   |  1 +
 doc/micropeak-docinfo.xml   |  1 +
 doc/telegps-docinfo.xml     |  1 +
 doc/telemetry-docinfo.xml   |  1 +
 10 files changed, 78 insertions(+), 24 deletions(-)
 create mode 100644 doc/am-html.xsl

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 0b66a1d1..d3c88b37 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -167,10 +167,16 @@ ONEFILE_PDF_FILES=$(ONEFILE_TXT_FILES:.txt=.pdf)
 
 HTML=altusmetrum.html micropeak.html telegps.html $(RELNOTES_HTML) $(ONEFILE_HTML_FILES)
 
+HTML_REVHISTORY=\
+	altusmetrum-revhistory.html \
+	micropeak-revhistory.html \
+	telegps-revhistory.html
+
 PDF=altusmetrum.pdf micropeak.pdf telegps.pdf $(RELNOTES_PDF) $(ONEFILE_PDF_FILES) \
 	$(OUTLINE_PDF_FILES)
 
 FOP_STYLE=am-fo.xsl
+HTML_STYLE=am-html.xsl
 FOP_XCONF=fop.xconf
 STYLESHEET=am.css
 
@@ -189,9 +195,9 @@ TEMPLATES_TMPL=titlepage.templates.tmpl
 TEMPLATES_XSL=$(TEMPLATES_TMPL:.tmpl=.xsl)
 
 PDF_CONFIG_FILES=$(FOP_STYLE) $(FOP_XCONF) $(TEMPLATES_XSL)
-HTML_CONFIG_FILES=$(TEMPLATES_XSL) $(STYLESHEET)
+HTML_CONFIG_FILES=$(TEMPLATES_XSL)
 
-DOC=$(HTML) $(PDF) $(IMAGES) $(STYLESHEET)
+DOC=$(HTML) $(HTML_REVHISTORY) $(PDF) $(IMAGES) $(STYLESHEET)
 
 .SUFFIXES: .tmpl .xsl .inc .txt .raw .pdf .html
 
@@ -205,7 +211,7 @@ DOC=$(HTML) $(PDF) $(IMAGES) $(STYLESHEET)
 	a2x -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
 
 .raw.html:
-	a2x -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --stylesheet=$(STYLESHEET) $*.raw
+	a2x -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
 
 .tmpl.xsl:
 	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.tmpl
@@ -214,6 +220,12 @@ all:	$(HTML) $(PDF)
 
 $(HTML): $(PDF)
 
+altusmetrum-revhistory.html: altusmetrum.html
+
+micropeak-revhistory.html: micropeak.html
+
+telegps-revhistory.html: telegps.html
+
 altusmetrum.pdf altusmetrum.html: altusmetrum-docinfo.xml $(RAW_FILES) $(RAW_INC) $(IMAGES)
 
 telegps.html telegps.pdf: telegps-docinfo.xml $(TELEGPS_RAW_FILES) $(IMAGES)
@@ -238,7 +250,7 @@ publish-keithp:	$(DOC) $(FONTS)
 	scp -p $(FONTS) keithp.com:~keithp/public_html/altos/fonts
 
 clean:
-	rm -f $(HTML) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
+	rm -f $(HTML) $(HTML_REVHISTORY) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
 
 distclean: clean
 	rm -f $(HTML) $(PDF)
diff --git a/doc/altos-docinfo.xml b/doc/altos-docinfo.xml
index 1b6ad648..b9193a8f 100644
--- a/doc/altos-docinfo.xml
+++ b/doc/altos-docinfo.xml
@@ -19,6 +19,7 @@
   </para>
 </legalnotice>
 <revhistory>
+  <?dbhtml filename="altos-revhistory.html"?>
   <revision>
     <revnumber>1.1</revnumber>
     <date>05 November 2012</date>
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 19c1e5d9..11df900c 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -36,6 +36,7 @@
   </para>
 </legalnotice>
 <revhistory>
+  <?dbhtml filename="altusmetrum-revhistory.html"?>
   <revision>
     <revnumber>1.6.1</revnumber>
     <date>15 July 2015</date>
diff --git a/doc/am-html.xsl b/doc/am-html.xsl
new file mode 100644
index 00000000..cdfe27f8
--- /dev/null
+++ b/doc/am-html.xsl
@@ -0,0 +1,14 @@
+<!--
+  Generates single XHTML document from DocBook XML source using DocBook XSL
+  stylesheets.
+
+  NOTE: The URL reference to the current DocBook XSL stylesheets is
+  rewritten to point to the copy on the local disk drive by the XML catalog
+  rewrite directives so it doesn't need to go out to the Internet for the
+  stylesheets. This means you don't need to edit the <xsl:import> elements on
+  a machine by machine basis.
+-->
+<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform" version="1.0">
+<xsl:import href="http://docbook.sourceforge.net/release/xsl/current/xhtml/docbook.xsl"/>
+<xsl:import href="common.xsl"/>
+</xsl:stylesheet>
diff --git a/doc/am.css b/doc/am.css
index c2faa015..7723b14a 100644
--- a/doc/am.css
+++ b/doc/am.css
@@ -348,24 +348,16 @@ div.variablelist p.title
   margin-bottom: -0.8em;
 }
 
-table {
-    border: none;
-}
-
 div.revhistory {
     border-style: none;
 }
 
-div.revhistory table, th, td, tr {
-    margin-top: 1em;
-    border-width: 1px;
+div.revhistory table, div.revhistory th, div.revhistory td {
     border-collapse: collapse;
-    border-top: 1px;
-    border-bottom: 1px;
-    border-left: 1px;
-    border-right: 1px;
-    border: 1px solid black;
+    border: 1px solid #0080ff;
+    padding: 0.25em;
 }
+
 div.revhistory th {
   color: #0080ff;
 }
@@ -385,12 +377,18 @@ div.indexdiv dl, div.indexdiv dt
   Table styling does not work because of overriding attributes in
   generated HTML.
 */
+div.table-contents p,
+div.informaltable p
+{
+    margin: 0px;
+}
+/*
 div.table table,
 div.informaltable table
 {
     margin-left: 0;
-    margin-right: 5%;
-    margin-bottom: 0.8em;
+    margin-right: 0.25em;
+    margin-bottom: 0.25em;
 }
 div.informaltable table
 {
@@ -404,9 +402,15 @@ div.informaltable tfoot,
 div.informaltable tbody
 {
     /* No effect in IE6. */
-    border-top: 3px solid #527bbd;
-    border-bottom: 3px solid #527bbd;
+    border-top: 1px solid #0080ff;
+    border-bottom: 1px solid #0080ff;
+    border-left: 1px solid #0080ff;
+    border-right: 1px solid #0080ff !important;
+    border-width: 1px !important;
 }
+*/
+
+
 div.table thead, div.table tfoot,
 div.informaltable thead, div.informaltable tfoot
 {
diff --git a/doc/common.xsl b/doc/common.xsl
index 2e5cbc23..1bb323c0 100644
--- a/doc/common.xsl
+++ b/doc/common.xsl
@@ -56,17 +56,35 @@
 <xsl:param name="html.cellspacing" select="''"/>
 
 <xsl:param name="table.borders.with.css" select="1"/>
-<xsl:param name="table.cell.border.color" select="'#527bbd'"/>
-
+<xsl:param name="table.cell.border.color" select="'#0080ff'"/>
 <xsl:param name="table.cell.border.style" select="'solid'"/>
 <xsl:param name="table.cell.border.thickness" select="'1px'"/>
 <xsl:param name="table.footnote.number.format" select="'a'"/>
 <xsl:param name="table.footnote.number.symbols" select="''"/>
-<xsl:param name="table.frame.border.color" select="'#527bbd'"/>
+<xsl:param name="table.frame.border.color" select="'#0080ff'"/>
 <xsl:param name="table.frame.border.style" select="'solid'"/>
-<xsl:param name="table.frame.border.thickness" select="'3px'"/>
+<xsl:param name="table.frame.border.thickness" select="'1px'"/>
 <xsl:param name="tablecolumns.extension" select="'1'"/>
 
+<xsl:attribute-set name="revhistory.title.properties">
+  <xsl:attribute name="font-size">12pt</xsl:attribute>
+  <xsl:attribute name="font-weight">bold</xsl:attribute>
+  <xsl:attribute name="text-align">center</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="revhistory.table.properties">
+  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
+  <xsl:attribute name="width">50%</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:attribute-set name="revhistory.table.cell.properties">
+  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
+  <xsl:attribute name="font-size">12pt</xsl:attribute>
+  <xsl:attribute name="padding">2pt</xsl:attribute>
+</xsl:attribute-set>
+
+<xsl:param name="generate.revhistory.link" select="1"/>
+
 <xsl:param name="highlight.source" select="1"/>
 
 <xsl:param name="section.label.includes.component.label" select="1"/>
diff --git a/doc/companion-docinfo.xml b/doc/companion-docinfo.xml
index 2e0bc567..243bded0 100644
--- a/doc/companion-docinfo.xml
+++ b/doc/companion-docinfo.xml
@@ -19,6 +19,7 @@
   </para>
 </legalnotice>
 <revhistory>
+  <?dbhtml filename="companion-revhistory.html"?>
   <revision>
     <revnumber>0.1</revnumber>
     <date>13 January 2012</date>
diff --git a/doc/micropeak-docinfo.xml b/doc/micropeak-docinfo.xml
index b401a193..4b33e0be 100644
--- a/doc/micropeak-docinfo.xml
+++ b/doc/micropeak-docinfo.xml
@@ -23,6 +23,7 @@
   </para>
 </legalnotice>
 <revhistory>
+  <?dbhtml filename="micropeak-revhistory.html"?>
   <revision>
     <revnumber>1.3.2</revnumber>
     <date>12 February 2014</date>
diff --git a/doc/telegps-docinfo.xml b/doc/telegps-docinfo.xml
index fcceae3f..633e56cc 100644
--- a/doc/telegps-docinfo.xml
+++ b/doc/telegps-docinfo.xml
@@ -28,6 +28,7 @@
   </para>
 </legalnotice>
 <revhistory>
+  <?dbhtml filename="telegps-revhistory.html"?>
   <revision>
     <revnumber>1.6.1</revnumber>
     <date>15 July 2015</date>
diff --git a/doc/telemetry-docinfo.xml b/doc/telemetry-docinfo.xml
index c7b1f060..19f90ca4 100644
--- a/doc/telemetry-docinfo.xml
+++ b/doc/telemetry-docinfo.xml
@@ -19,6 +19,7 @@
   </para>
 </legalnotice>
 <revhistory>
+  <?dbhtml filename="telemetry-revhistory.html"?>
   <revision>
     <revnumber>0.1</revnumber>
     <date>1 July 2011</date>
-- 
cgit v1.2.3


From c877ecce7b67272eb6dcba50a58b59cd1cbfa5ab Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 1 Nov 2015 05:43:59 -0800
Subject: doc: verbose mode for a2x

---
 doc/Makefile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index d3c88b37..2aecc230 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -208,10 +208,10 @@ DOC=$(HTML) $(HTML_REVHISTORY) $(PDF) $(IMAGES) $(STYLESHEET)
 	sed -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
 
 .raw.pdf:
-	a2x -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
+	a2x --verbose -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
 
 .raw.html:
-	a2x -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
+	a2x --verbose -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
 
 .tmpl.xsl:
 	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.tmpl
-- 
cgit v1.2.3


From ef2ba847ca53a8ddfcddd4e51a0dd43c45161c85 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 1 Nov 2015 21:05:20 -0800
Subject: doc: Add product logos to books

This places the product logo on the title verso in pdf form, and above
the TOC in html form.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                   |  12 +-
 doc/altusmetrum-docinfo.xml    |   9 ++
 doc/altusmetrum-oneline.svg    | 354 +++++++++++++++++++++++++++++++++++++++++
 doc/am-fo.xsl                  |  14 +-
 doc/am.css                     |  40 +++--
 doc/common.xsl                 |   8 +-
 doc/micropeak-docinfo.xml      |   7 +
 doc/micropeak-oneline-font.svg | 199 +++++++++++++++++++++++
 doc/micropeak-oneline.svg      | 239 ++++++++++++++++++++++++++++
 doc/telegps-docinfo.xml        |   8 +
 doc/telegps-oneline-font.svg   | 304 +++++++++++++++++++++++++++++++++++
 doc/telegps-oneline.svg        | 332 ++++++++++++++++++++++++++++++++++++++
 doc/titlepage.templates.tmpl   |  62 ++++----
 13 files changed, 1529 insertions(+), 59 deletions(-)
 create mode 100644 doc/altusmetrum-oneline.svg
 create mode 100644 doc/micropeak-oneline-font.svg
 create mode 100644 doc/micropeak-oneline.svg
 create mode 100644 doc/telegps-oneline-font.svg
 create mode 100644 doc/telegps-oneline.svg

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 2aecc230..89a302ff 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -83,7 +83,10 @@ IMAGES=\
 	telemetrum-v2.0-th.jpg \
 	telemini.svg \
 	telemini-v1-top.jpg \
-	telemini-v2-top.jpg
+	telemini-v2-top.jpg \
+	altusmetrum-oneline.svg \
+	telegps-oneline.svg \
+	micropeak-oneline.svg
 
 TXT_FILES=altusmetrum.txt
 
@@ -177,6 +180,7 @@ PDF=altusmetrum.pdf micropeak.pdf telegps.pdf $(RELNOTES_PDF) $(ONEFILE_PDF_FILE
 
 FOP_STYLE=am-fo.xsl
 HTML_STYLE=am-html.xsl
+COMMON_STYLE=common.xsl
 FOP_XCONF=fop.xconf
 STYLESHEET=am.css
 
@@ -187,6 +191,8 @@ FONTS=\
 	fonts/DejaVuSansMono.ttf \
 	fonts/OpenSans-Light.ttf \
 	fonts/OpenSans-LightItalic.ttf \
+	fonts/OpenSans-Regular.ttf \
+	fonts/OpenSans-Italic.ttf \
 	fonts/OpenSans-Semibold.ttf \
 	fonts/OpenSans-SemiboldItalic.ttf
 
@@ -194,8 +200,8 @@ TEMPLATES_TMPL=titlepage.templates.tmpl
 
 TEMPLATES_XSL=$(TEMPLATES_TMPL:.tmpl=.xsl)
 
-PDF_CONFIG_FILES=$(FOP_STYLE) $(FOP_XCONF) $(TEMPLATES_XSL)
-HTML_CONFIG_FILES=$(TEMPLATES_XSL)
+PDF_CONFIG_FILES=$(FOP_STYLE) $(COMMON_STYLE) $(FOP_XCONF) $(TEMPLATES_XSL)
+HTML_CONFIG_FILES=$(HTML_STYLE) $(COMMON_STYLE) $(TEMPLATES_XSL)
 
 DOC=$(HTML) $(HTML_REVHISTORY) $(PDF) $(IMAGES) $(STYLESHEET)
 
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 11df900c..69a769b6 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -26,6 +26,15 @@
     <imagedata fileref="../themes/background.png" width="6.0in"/>
   </imageobject>
 </mediaobject>
+
+<corpauthor>
+  <inlinemediaobject>
+    <imageobject>
+      <imagedata fileref="altusmetrum-oneline.svg" width="3in"/>
+    </imageobject>
+  </inlinemediaobject>
+</corpauthor>
+
 <legalnotice>
   <para>
     This document is released under the terms of the
diff --git a/doc/altusmetrum-oneline.svg b/doc/altusmetrum-oneline.svg
new file mode 100644
index 00000000..0ed7b6cd
--- /dev/null
+++ b/doc/altusmetrum-oneline.svg
@@ -0,0 +1,354 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   id="svg2"
+   width="444"
+   height="98"
+   version="1.0"
+   sodipodi:version="0.32"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="altusmetrum-oneline.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape"
+   inkscape:export-filename="/home/keithp/src/cc1111/altus-logo/bottom.png"
+   inkscape:export-xdpi="119.89881"
+   inkscape:export-ydpi="119.89881">
+  <metadata
+     id="metadata14">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs12">
+    <linearGradient
+       id="linearGradient4171">
+      <stop
+         id="stop4173"
+         offset="0"
+         style="stop-color:#da7000;stop-opacity:1;" />
+      <stop
+         style="stop-color:#a63852;stop-opacity:1;"
+         offset="0.24528302"
+         id="stop4175" />
+      <stop
+         id="stop4177"
+         offset="1"
+         style="stop-color:#7200a4;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3165">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3167" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3169" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3177">
+      <stop
+         style="stop-color:#da7000;stop-opacity:1;"
+         offset="0"
+         id="stop3179" />
+      <stop
+         id="stop3447"
+         offset="0.24528302"
+         style="stop-color:#a63852;stop-opacity:1;" />
+      <stop
+         style="stop-color:#7200a4;stop-opacity:1;"
+         offset="1"
+         id="stop3181" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3169">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3171" />
+      <stop
+         id="stop3445"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3173" />
+    </linearGradient>
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 121 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="191 : 121 : 1"
+       inkscape:persp3d-origin="95.5 : 80.666667 : 1"
+       id="perspective16" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient3175"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3177"
+       id="linearGradient3183"
+       x1="170.6575"
+       y1="110.17125"
+       x2="614.24878"
+       y2="110.17125"
+       gradientUnits="userSpaceOnUse" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient3171"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3177"
+       id="linearGradient3781"
+       x1="193.16029"
+       y1="121.50799"
+       x2="589.83154"
+       y2="121.50799"
+       gradientUnits="userSpaceOnUse" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient3008"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient3010"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient3012"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient3014"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient3016"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient3018"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4171"
+       id="linearGradient4229"
+       x1="47.299"
+       y1="31.709364"
+       x2="129.17451"
+       y2="31.709364"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4171"
+       id="linearGradient4176"
+       gradientUnits="userSpaceOnUse"
+       x1="47.299"
+       y1="31.709364"
+       x2="129.17451"
+       y2="31.709364" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4171"
+       id="linearGradient4178"
+       gradientUnits="userSpaceOnUse"
+       x1="47.299"
+       y1="31.709364"
+       x2="129.17451"
+       y2="31.709364" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4171"
+       id="linearGradient4180"
+       gradientUnits="userSpaceOnUse"
+       x1="47.299"
+       y1="31.709364"
+       x2="129.17451"
+       y2="31.709364" />
+  </defs>
+  <sodipodi:namedview
+     inkscape:cy="-41.854765"
+     inkscape:cx="115.51489"
+     inkscape:zoom="1.7366335"
+     inkscape:window-height="1404"
+     inkscape:window-width="1799"
+     inkscape:pageshadow="2"
+     inkscape:pageopacity="0.0"
+     guidetolerance="10.0"
+     gridtolerance="10.0"
+     objecttolerance="10.0"
+     borderopacity="1.0"
+     bordercolor="#666666"
+     pagecolor="#ffffff"
+     id="base"
+     showgrid="false"
+     inkscape:window-x="343"
+     inkscape:window-y="171"
+     inkscape:current-layer="svg2"
+     inkscape:window-maximized="0"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     units="px" />
+  <g
+     id="g4218"
+     style="fill:url(#linearGradient4229);fill-opacity:1"
+     transform="translate(20.153936,16.360317)">
+    <path
+       d="m 59.744607,35.548307 c 6.934865,0 15.789201,4.210453 17.399081,13.126708 0.619184,3.343596 1.362205,5.139231 4.458127,5.139231 2.167146,0 3.715107,-1.733717 3.715107,-4.953475 0,-1.919472 -1.671798,-13.064791 -9.783114,-28.358645 -3.529351,-6.687191 -5.634578,-9.845031 -9.225847,-9.845031 -4.334291,0 -6.315681,3.15784 -9.845032,9.845031 -8.111315,15.293854 -9.163928,26.439173 -9.163928,28.358645 0,2.972085 0.681102,4.953475 4.024698,4.953475 2.229064,0 3.529351,-1.362206 3.777025,-3.653188 0.433429,-4.148535 1.362205,-10.092705 3.034003,-14.612751 l 1.60988,0 z m 0.247673,-6.191844 c 1.60988,-3.838943 3.653188,-7.55405 6.129926,-11.269156 3.034003,4.829638 5.386904,10.030787 7.244457,15.355773 l -0.123837,0.123837 C 69.156209,30.223321 63.831224,29.356463 60.79722,29.356463 l -0.80494,0 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:url(#linearGradient4176);fill-opacity:1;stroke:none"
+       id="path3362"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 99.370471,13.62918 c 0,-2.229064 -1.17645,-4.0246989 -3.715106,-4.0246989 -2.538656,0 -3.715106,1.7956349 -3.715106,4.0246989 l 0,36.160367 c 0,2.229064 1.17645,4.024699 3.715106,4.024699 2.538656,0 3.715106,-1.795635 3.715106,-4.024699 l 0,-36.160367 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:url(#linearGradient4178);fill-opacity:1;stroke:none"
+       id="path3364"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 123.29227,28.861115 c 1.98139,0 3.59127,-1.052613 3.59127,-3.343595 0,-2.290983 -1.60988,-3.343596 -3.59127,-3.343596 l -5.44882,0 0,-5.263067 c 0,-2.229064 -1.17645,-4.024699 -3.71511,-4.024699 -2.53865,0 -3.7151,1.795635 -3.7151,4.024699 l 0,5.263067 -2.10523,0 c -2.04331,0 -3.65319,1.052613 -3.65319,3.343596 0,2.290982 1.60988,3.343595 3.65319,3.343595 l 2.10523,0 0,13.374383 c 0,11.392992 4.33429,11.392992 13.74589,11.392992 3.3436,0 5.01539,-1.114531 5.01539,-3.529351 0,-2.414819 -1.67179,-3.52935 -3.77702,-3.52935 l -3.96278,0 c -2.84825,0 -3.59127,-1.733717 -3.59127,-5.448823 l 0,-12.259851 5.44882,0 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:url(#linearGradient4180);fill-opacity:1;stroke:none"
+       id="path3366"
+       inkscape:connector-curvature="0" />
+  </g>
+  <g
+     id="g4231"
+     style="fill:#78079a;fill-opacity:1"
+     transform="translate(20.153936,16.360317)">
+    <path
+       d="m 158.87506,25.827112 c 0,-2.229064 -1.17645,-4.024699 -3.71511,-4.024699 -2.53865,0 -3.7151,1.795635 -3.7151,4.024699 l 0,12.817116 c 0,5.758415 -2.72442,8.668582 -6.93487,8.668582 -3.3436,0 -5.01539,-2.105227 -5.01539,-6.439518 l 0,-15.04618 c 0,-2.229064 -1.17645,-4.024699 -3.71511,-4.024699 -2.53866,0 -3.71511,1.795635 -3.71511,4.024699 l 0,17.02757 c 0,6.315681 4.3343,11.145319 11.02149,11.145319 3.40551,0 5.88225,-0.990695 8.35899,-3.343596 0,1.547961 1.17645,3.343596 3.7151,3.343596 2.53866,0 3.71511,-1.795635 3.71511,-4.024698 l 0,-24.148191 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3368"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 179.78124,53.62849 c 6.99678,0 12.19793,-3.15784 12.19793,-10.649971 0,-13.06479 -19.50431,-8.297071 -19.50431,-12.569443 0,-1.486042 1.54796,-1.547961 2.66249,-1.547961 l 10.83573,0 c 1.98139,0 3.59127,-1.052613 3.59127,-3.343595 0,-2.290983 -1.60988,-3.343596 -3.59127,-3.343596 l -10.4023,0 c -6.81103,0 -10.52613,2.538656 -10.52613,8.173234 0,12.940953 19.50431,6.191844 19.50431,12.569443 0,3.343595 -2.3529,4.024698 -5.32499,4.024698 l -11.14532,0 c -2.04331,0 -3.65319,1.052614 -3.65319,3.343596 0,2.290982 1.60988,3.343595 3.65319,3.343595 l 11.70259,0 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3370"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 216.06544,26.446296 c -2.53866,-3.095922 -4.0247,-7.058702 -6.12993,-12.197932 -0.9907,-2.414819 -2.47674,-3.405514 -4.95348,-3.405514 -4.76771,0 -4.95347,3.653188 -5.94417,9.597358 -1.17645,6.996783 -2.22906,19.132797 -2.22906,26.191499 0,4.334291 0.30959,7.182539 3.83894,7.182539 3.46744,0 3.96278,-2.352901 3.96278,-5.263067 l 0,-9.783114 c 0,-5.386904 0.61919,-10.959563 1.48605,-16.656059 l 0.12383,0 c 0.9907,3.15784 5.51074,13.498219 9.84504,13.498219 4.33429,0 8.85433,-10.340379 9.84503,-13.498219 l 0.12383,0 c 0.86686,5.696496 1.48605,11.269155 1.48605,16.656059 l 0,9.783114 c 0,2.910166 0.49534,5.263067 3.96278,5.263067 3.52935,0 3.83894,-2.848248 3.83894,-7.182539 0,-7.058702 -1.05261,-19.194716 -2.22906,-26.191499 -0.9907,-5.94417 -1.17645,-9.597358 -5.94417,-9.597358 -2.47674,0 -3.96278,0.990695 -4.95348,3.405514 -2.10523,5.13923 -3.59127,9.10201 -6.12992,12.197932 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3372"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 266.81728,53.62849 c 1.98139,0 3.59127,-1.052613 3.59127,-3.343595 0,-2.290982 -1.60988,-3.343596 -3.59127,-3.343596 l -7.98748,0 c -5.20115,0 -9.59735,-1.547961 -10.0927,-7.368294 l 18.94704,0 c 2.60057,0 3.034,-1.547961 3.034,-3.653188 0,-7.244457 -4.27237,-14.117404 -14.61275,-14.117404 -9.47352,0 -15.54153,7.244458 -15.54153,16.532223 0,9.225848 6.19185,15.293854 17.21333,15.293854 l 9.04009,0 z M 249.23245,34.000346 c 0.86685,-3.715107 3.96278,-6.006089 6.87294,-6.006089 2.91017,0 6.00609,2.290982 6.81103,6.006089 l -13.68397,0 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3374"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 291.99582,28.861115 c 1.98139,0 3.59127,-1.052613 3.59127,-3.343595 0,-2.290983 -1.60988,-3.343596 -3.59127,-3.343596 l -5.44882,0 0,-5.263067 c 0,-2.229064 -1.17645,-4.024699 -3.7151,-4.024699 -2.53866,0 -3.71511,1.795635 -3.71511,4.024699 l 0,5.263067 -2.10523,0 c -2.04331,0 -3.65319,1.052613 -3.65319,3.343596 0,2.290982 1.60988,3.343595 3.65319,3.343595 l 2.10523,0 0,13.374383 c 0,11.392992 4.33429,11.392992 13.74589,11.392992 3.3436,0 5.0154,-1.114531 5.0154,-3.529351 0,-2.414819 -1.6718,-3.52935 -3.77703,-3.52935 l -3.96278,0 c -2.84825,0 -3.59127,-1.733717 -3.59127,-5.448823 l 0,-12.259851 5.44882,0 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3376"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 301.26328,49.603792 c 0,2.414819 1.36221,4.210454 3.71511,4.210454 2.3529,0 3.7151,-1.795635 3.7151,-4.210454 l 0,-13.560138 c 0,-5.696496 1.79564,-7.182539 5.44883,-7.182539 2.66249,0 4.27237,-1.114532 4.27237,-3.467432 0,-2.105227 -1.11453,-3.59127 -3.83894,-3.59127 -3.46744,0 -5.82034,1.486043 -6.31568,4.891557 l -0.12384,0 -0.12384,-1.919472 c -0.24767,-2.786329 -1.98139,-2.972085 -3.34359,-2.972085 -2.16715,0 -3.40552,1.238369 -3.40552,3.777025 l 0,24.024354 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3378"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 348.2584,25.827112 c 0,-2.229064 -1.17645,-4.024699 -3.71511,-4.024699 -2.53866,0 -3.71511,1.795635 -3.71511,4.024699 l 0,12.817116 c 0,5.758415 -2.72441,8.668582 -6.93486,8.668582 -3.3436,0 -5.01539,-2.105227 -5.01539,-6.439518 l 0,-15.04618 c 0,-2.229064 -1.17645,-4.024699 -3.71511,-4.024699 -2.53866,0 -3.71511,1.795635 -3.71511,4.024699 l 0,17.02757 c 0,6.315681 4.33429,11.145319 11.02149,11.145319 3.40551,0 5.88225,-0.990695 8.35898,-3.343596 0,1.547961 1.17645,3.343596 3.71511,3.343596 2.53866,0 3.71511,-1.795635 3.71511,-4.024698 l 0,-24.148191 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3380"
+       inkscape:connector-curvature="0" />
+    <path
+       d="m 355.79019,49.789547 c 0,2.229064 1.17645,4.024699 3.7151,4.024699 2.53866,0 3.71511,-1.795635 3.71511,-4.024699 l 0,-12.631361 c 0,-5.820333 2.66249,-8.668581 5.94417,-8.668581 4.14853,0 5.01539,3.281677 5.01539,7.554049 l 0,13.745893 c 0,2.229064 1.17645,4.024699 3.71511,4.024699 2.53865,0 3.7151,-1.795635 3.7151,-4.024699 l 0,-12.631361 c 0,-5.820333 2.6625,-8.668581 5.94417,-8.668581 4.14854,0 5.0154,3.281677 5.0154,7.554049 l 0,13.745893 c 0,2.229064 1.17645,4.024699 3.7151,4.024699 2.53866,0 3.71511,-1.795635 3.71511,-4.024699 l 0,-16.841815 c 0,-6.315681 -4.33429,-11.145319 -11.02148,-11.145319 -4.08662,0 -7.30638,2.167146 -9.96887,4.643883 -2.84825,-3.529351 -5.07731,-4.643883 -8.66858,-4.643883 -3.03401,0 -5.6965,1.238369 -7.86364,3.343596 0,-1.733716 -1.05262,-3.343596 -3.3436,-3.343596 -2.29098,0 -3.34359,1.60988 -3.34359,3.59127 l 0,24.395864 z"
+       style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:61.91843796px;line-height:100%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Bold';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       id="path3382"
+       inkscape:connector-curvature="0" />
+  </g>
+  <g
+     transform="matrix(0.02211373,0,0,0.02211373,20.216433,16.77932)"
+     id="g3"
+     style="fill:url(#radialGradient3175);fill-opacity:1;stroke:url(#radialGradient3171);stroke-width:1;stroke-miterlimit:4;stroke-dasharray:none">
+    <g
+       transform="translate(20.61545,-27.69425)"
+       style="fill:url(#radialGradient3016);fill-opacity:1;fill-rule:evenodd;stroke:url(#radialGradient3018);stroke-width:1;stroke-miterlimit:4;stroke-dasharray:none"
+       id="g5">
+      <path
+         d="m 931.07168,1164.597 248.86992,-331.80265 416.1687,1338.32935 286.6484,267.1042 -520.4224,0 -270.2797,-262.2181 0,-1033.0627 -160.98492,106.6818 -160.98492,-106.6818 0,1033.0627 -270.2797,262.2181 -520.4224,0 286.6484,-267.1042 416.1687,-1338.32935 248.86992,331.80265 z"
+         id="path7"
+         style="fill:url(#radialGradient3008);fill-opacity:1;stroke:url(#radialGradient3010);stroke-width:1;stroke-miterlimit:4;stroke-dasharray:none"
+         inkscape:connector-curvature="0" />
+      <path
+         d="m 931.07168,27.69425 224.03682,720.46517 -63.341,76.00913 L 931.07168,486.3269 770.37586,824.16855 707.03486,748.15942 931.07168,27.69425 Z"
+         id="path9"
+         style="fill:url(#radialGradient3012);fill-opacity:1;stroke:url(#radialGradient3014);stroke-width:1;stroke-miterlimit:4;stroke-dasharray:none"
+         inkscape:connector-curvature="0" />
+    </g>
+  </g>
+</svg>
diff --git a/doc/am-fo.xsl b/doc/am-fo.xsl
index 5743a24c..605339d4 100644
--- a/doc/am-fo.xsl
+++ b/doc/am-fo.xsl
@@ -106,10 +106,10 @@
 </xsl:param>
 
 <xsl:param name="table.frame.border.thickness">0.5pt</xsl:param>
-<xsl:param name="table.frame.border.color">#0080ff</xsl:param>
+<xsl:param name="table.frame.border.color">#78079a</xsl:param>
 <xsl:param name="table.frame.border.thickness">0.5pt</xsl:param>
 <xsl:param name="table.cell.border.thickness">0.5pt</xsl:param>
-<xsl:param name="table.cell.border.color">#0080ff</xsl:param>
+<xsl:param name="table.cell.border.color">#78079a</xsl:param>
 <xsl:param name="table.cell.border.with.css" select="1"/>
 
 <xsl:attribute-set name="component.title.properties">
@@ -160,12 +160,12 @@
 </xsl:attribute-set>
 
 <xsl:attribute-set name="revhistory.table.properties">
-  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
+  <xsl:attribute name="border">0.5pt solid #78079a</xsl:attribute>
   <xsl:attribute name="width">50%</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="revhistory.table.cell.properties">
-  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
+  <xsl:attribute name="border">0.5pt solid #78079a</xsl:attribute>
   <xsl:attribute name="font-size">11pt</xsl:attribute>
   <xsl:attribute name="padding">2pt</xsl:attribute>
 </xsl:attribute-set>
@@ -176,12 +176,12 @@
 
 <xsl:attribute-set name="component.title.properties">
   <xsl:attribute name="font-weight">normal</xsl:attribute>
-  <xsl:attribute name="color">#0080ff</xsl:attribute>
+  <xsl:attribute name="color">#78079a</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="section.title.properties">
   <xsl:attribute name="font-weight">normal</xsl:attribute>
-  <xsl:attribute name="color">#0080ff</xsl:attribute>
+  <xsl:attribute name="color">#78079a</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="admonition.title.properties">
@@ -191,7 +191,7 @@
 
 <xsl:attribute-set name="formal.title.properties">
   <xsl:attribute name="font-weight">normal</xsl:attribute>
-  <xsl:attribute name="color">#0080ff</xsl:attribute>
+  <xsl:attribute name="color">#78079a</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="sidebar.properties" use-attribute-sets="formal.object.properties">
diff --git a/doc/am.css b/doc/am.css
index 7723b14a..1dee27ea 100644
--- a/doc/am.css
+++ b/doc/am.css
@@ -87,16 +87,16 @@ body div {
 }
 
 a:link {
-    color: #0080ff;
+    color: #78079a;
 }
 
 a:visited {
-    color: #0080ff;
+    color: #78079a;
 }
 
 h1, h2, h3, h4, h5, h6
 {
-  color: #0080ff;
+  color: #78079a;
   font-family: "Open Sans",sans-serif;
 }
 
@@ -119,16 +119,26 @@ div.warning p, div.note p, div.error p {
     margin-left: 5%;
 }
 
-div.toc {
+h3.corpauthor img {
     position: fixed;
     left: 0px;
     top: 0px;
-    height: 100%;
-    width: 25em;
+    width: 410px;
+    height: 90px;
+    border-right: 2px solid #78079a;
+    border-bottom: 2px solid #78079a;
+}
+
+div.toc {
+    position: fixed;
+    left: 0px;
+    top: 92px;
+    bottom: 0;
+    width: 410px;
     margin-right: 5ex;
     margin-left: 0px;
     float: left;
-    border-right: 2px solid #0080ff;
+    border-right: 2px solid #78079a;
     border-collapse: collapse;
     overflow: auto;
 }
@@ -186,7 +196,7 @@ div.example p.title,
 div.sidebar p.title
 {
   font-weight: normal;
-  color: #0080ff;
+  color: #78079a;
   font-family: "Open Sans",sans-serif;
   margin-bottom: 0.2em;
 }
@@ -235,7 +245,7 @@ div.navheader th, div.navheader td, div.navfooter td {
     font-family: "Open Sans",sans-serif;
     font-size: 12pt;
     font-weight: normal;
-    color: #0080ff;
+    color: #78079a;
 }
 div.navheader img, div.navfooter img {
   border-style: none;
@@ -354,12 +364,12 @@ div.revhistory {
 
 div.revhistory table, div.revhistory th, div.revhistory td {
     border-collapse: collapse;
-    border: 1px solid #0080ff;
+    border: 1px solid #78079a;
     padding: 0.25em;
 }
 
 div.revhistory th {
-  color: #0080ff;
+  color: #78079a;
 }
 
 /* Keep TOC and index lines close together. */
@@ -402,10 +412,10 @@ div.informaltable tfoot,
 div.informaltable tbody
 {
     /* No effect in IE6. */
-    border-top: 1px solid #0080ff;
-    border-bottom: 1px solid #0080ff;
-    border-left: 1px solid #0080ff;
-    border-right: 1px solid #0080ff !important;
+    border-top: 1px solid #78079a;
+    border-bottom: 1px solid #78079a;
+    border-left: 1px solid #78079a;
+    border-right: 1px solid #78079a !important;
     border-width: 1px !important;
 }
 */
diff --git a/doc/common.xsl b/doc/common.xsl
index 1bb323c0..94b120af 100644
--- a/doc/common.xsl
+++ b/doc/common.xsl
@@ -56,12 +56,12 @@
 <xsl:param name="html.cellspacing" select="''"/>
 
 <xsl:param name="table.borders.with.css" select="1"/>
-<xsl:param name="table.cell.border.color" select="'#0080ff'"/>
+<xsl:param name="table.cell.border.color" select="'#78079a'"/>
 <xsl:param name="table.cell.border.style" select="'solid'"/>
 <xsl:param name="table.cell.border.thickness" select="'1px'"/>
 <xsl:param name="table.footnote.number.format" select="'a'"/>
 <xsl:param name="table.footnote.number.symbols" select="''"/>
-<xsl:param name="table.frame.border.color" select="'#0080ff'"/>
+<xsl:param name="table.frame.border.color" select="'#78079a'"/>
 <xsl:param name="table.frame.border.style" select="'solid'"/>
 <xsl:param name="table.frame.border.thickness" select="'1px'"/>
 <xsl:param name="tablecolumns.extension" select="'1'"/>
@@ -73,12 +73,12 @@
 </xsl:attribute-set>
 
 <xsl:attribute-set name="revhistory.table.properties">
-  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
+  <xsl:attribute name="border">0.5pt solid #78079a</xsl:attribute>
   <xsl:attribute name="width">50%</xsl:attribute>
 </xsl:attribute-set>
 
 <xsl:attribute-set name="revhistory.table.cell.properties">
-  <xsl:attribute name="border">0.5pt solid #0080ff</xsl:attribute>
+  <xsl:attribute name="border">0.5pt solid #78079a</xsl:attribute>
   <xsl:attribute name="font-size">12pt</xsl:attribute>
   <xsl:attribute name="padding">2pt</xsl:attribute>
 </xsl:attribute-set>
diff --git a/doc/micropeak-docinfo.xml b/doc/micropeak-docinfo.xml
index 4b33e0be..37c6e770 100644
--- a/doc/micropeak-docinfo.xml
+++ b/doc/micropeak-docinfo.xml
@@ -13,6 +13,13 @@
     <imagedata fileref="micropeak-dime.jpg" width="6in"/>
   </imageobject>
 </mediaobject>
+<corpauthor>
+  <inlinemediaobject>
+    <imageobject>
+      <imagedata fileref="micropeak-oneline.svg" width="3in"/>
+    </imageobject>
+  </inlinemediaobject>
+</corpauthor>
 <legalnotice>
   <para>
     This document is released under the terms of the
diff --git a/doc/micropeak-oneline-font.svg b/doc/micropeak-oneline-font.svg
new file mode 100644
index 00000000..f6b23aa3
--- /dev/null
+++ b/doc/micropeak-oneline-font.svg
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="400"
+   height="54"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="micropeak-oneline-font.svg">
+  <defs
+     id="defs4">
+    <linearGradient
+       id="linearGradient5343">
+      <stop
+         style="stop-color:#7200a4;stop-opacity:1;"
+         offset="0"
+         id="stop5345" />
+      <stop
+         style="stop-color:#da7000;stop-opacity:1;"
+         offset="1"
+         id="stop5347" />
+    </linearGradient>
+    <marker
+       inkscape:stockid="Arrow2Send"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Send"
+       style="overflow:visible">
+      <path
+         id="path3798"
+         style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="matrix(-0.3,0,0,-0.3,0.69,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Send"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Send"
+       style="overflow:visible">
+      <path
+         id="path3780"
+         d="M 0,0 5,-5 -12.5,0 5,5 0,0 Z"
+         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
+         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow2Mend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Mend"
+       style="overflow:visible">
+      <path
+         id="path3792"
+         style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="scale(-0.6,-0.6)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Lend"
+       style="overflow:visible">
+      <path
+         id="path3768"
+         d="M 0,0 5,-5 -12.5,0 5,5 0,0 Z"
+         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow2Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Lend"
+       style="overflow:visible">
+      <path
+         id="path3786"
+         style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5343"
+       id="linearGradient5349"
+       x1="255.48561"
+       y1="275.90405"
+       x2="280.61411"
+       y2="275.90405"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.9246394,0,0,1.9246394,-223.70579,-247.62056)" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="2.8852983"
+     inkscape:cx="103.59377"
+     inkscape:cy="27.872251"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="2560"
+     inkscape:window-height="1582"
+     inkscape:window-x="0"
+     inkscape:window-y="0"
+     inkscape:window-maximized="1"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-241.93841,-249.0196)">
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:30.79423141px;line-height:125%;font-family:'Minion Pro';-inkscape-font-specification:'Minion Pro';letter-spacing:0px;word-spacing:0px;fill:#7200a4;fill-opacity:1;stroke:none"
+       x="237.36546"
+       y="300.57535"
+       id="text2985"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan2989"
+         x="237.36546"
+         y="300.57535"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:69.28701782px;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;writing-mode:lr-tb;text-anchor:start;fill:#7200a4;fill-opacity:1">μ</tspan></text>
+    <path
+       style="fill:none;stroke:url(#linearGradient5349);stroke-width:5.58145428;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:none"
+       d="m 270.8026,311.8784 c 5.85134,-0.46986 8.28205,-5.13748 10.35972,-10.71262 3.23453,-8.67942 7.06755,-30.54218 16.59477,-39.56149 7.82712,-7.40985 15.82735,-6.67187 15.82735,-6.67187"
+       id="path2991"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cssc" />
+    <path
+       sodipodi:type="star"
+       style="fill:none;stroke:#da7000;stroke-width:2.11710358;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="path5341"
+       sodipodi:sides="5"
+       sodipodi:cx="313.82785"
+       sodipodi:cy="254.81477"
+       sodipodi:r1="13.956471"
+       sodipodi:r2="6.9782352"
+       sodipodi:arg1="1.0731354"
+       sodipodi:arg2="1.7014539"
+       inkscape:flatsided="false"
+       inkscape:rounded="0"
+       inkscape:randomized="0"
+       d="m 320.49027,267.07835 -7.57159,-5.34482 -8.69538,3.20724 2.74347,-8.85265 -5.73728,-7.27871 9.26715,-0.12642 5.14955,-7.70573 2.98393,8.77452 8.91988,2.51631 -7.42297,5.54937 z"
+       inkscape:transform-center-x="-0.56191834"
+       inkscape:transform-center-y="-0.78695059" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:70.16494751px;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#7200a4;fill-opacity:1;stroke:none"
+       x="331.6398"
+       y="300.51898"
+       id="text5351"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan5353"
+         x="331.6398"
+         y="300.51898">MicroPeak</tspan></text>
+  </g>
+</svg>
diff --git a/doc/micropeak-oneline.svg b/doc/micropeak-oneline.svg
new file mode 100644
index 00000000..4b695827
--- /dev/null
+++ b/doc/micropeak-oneline.svg
@@ -0,0 +1,239 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="444"
+   height="98"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="micropeak-oneline.svg">
+  <defs
+     id="defs4">
+    <linearGradient
+       id="linearGradient5343">
+      <stop
+         style="stop-color:#7200a4;stop-opacity:1;"
+         offset="0"
+         id="stop5345" />
+      <stop
+         style="stop-color:#da7000;stop-opacity:1;"
+         offset="1"
+         id="stop5347" />
+    </linearGradient>
+    <marker
+       inkscape:stockid="Arrow2Send"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Send"
+       style="overflow:visible">
+      <path
+         id="path3798"
+         style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="matrix(-0.3,0,0,-0.3,0.69,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Send"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Send"
+       style="overflow:visible">
+      <path
+         id="path3780"
+         d="M 0,0 5,-5 -12.5,0 5,5 0,0 Z"
+         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
+         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow2Mend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Mend"
+       style="overflow:visible">
+      <path
+         id="path3792"
+         style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="scale(-0.6,-0.6)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Lend"
+       style="overflow:visible">
+      <path
+         id="path3768"
+         d="M 0,0 5,-5 -12.5,0 5,5 0,0 Z"
+         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow2Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Lend"
+       style="overflow:visible">
+      <path
+         id="path3786"
+         style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5343"
+       id="linearGradient5349"
+       x1="255.48561"
+       y1="275.90405"
+       x2="280.61411"
+       y2="275.90405"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.9246394,0,0,1.9246394,-200.29778,-270.16721)" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="2.8852983"
+     inkscape:cx="243.9235"
+     inkscape:cy="27.872251"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1871"
+     inkscape:window-height="1383"
+     inkscape:window-x="119"
+     inkscape:window-y="125"
+     inkscape:window-maximized="0"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-241.93841,-205.0196)">
+    <g
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:30.79423141px;line-height:125%;font-family:'Minion Pro';-inkscape-font-specification:'Minion Pro';letter-spacing:0px;word-spacing:0px;fill:#7200a4;fill-opacity:1;stroke:none"
+       id="text2985"
+       transform="translate(23.408014,-22.546654)" />
+    <path
+       style="fill:none;stroke:url(#linearGradient5349);stroke-width:5.58145428;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:none"
+       d="m 294.21061,289.33175 c 5.85134,-0.46986 8.28205,-5.13748 10.35972,-10.71262 3.23453,-8.67942 7.06755,-30.54218 16.59477,-39.56149 7.82712,-7.40985 15.82735,-6.67187 15.82735,-6.67187"
+       id="path2991"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cssc" />
+    <path
+       sodipodi:type="star"
+       style="fill:none;stroke:#da7000;stroke-width:2.11710358;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="path5341"
+       sodipodi:sides="5"
+       sodipodi:cx="337.23586"
+       sodipodi:cy="232.26813"
+       sodipodi:r1="13.956471"
+       sodipodi:r2="6.9782352"
+       sodipodi:arg1="1.0731354"
+       sodipodi:arg2="1.7014539"
+       inkscape:flatsided="false"
+       inkscape:rounded="0"
+       inkscape:randomized="0"
+       d="m 343.89829,244.5317 -7.57159,-5.34482 -8.69538,3.20724 2.74347,-8.85265 -5.73728,-7.27871 9.26715,-0.12642 5.14955,-7.70573 2.98393,8.77452 8.91988,2.51631 -7.42297,5.54937 z"
+       inkscape:transform-center-x="-0.56191834"
+       inkscape:transform-center-y="-0.78695059" />
+    <g
+       id="g4212"
+       style="fill:#78079a;fill-opacity:1">
+      <path
+         inkscape:connector-curvature="0"
+         id="path4233"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:69.28701782px;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';letter-spacing:0px;word-spacing:0px;fill:#78079a;fill-opacity:1;stroke:none;text-align:start;writing-mode:lr-tb;text-anchor:start"
+         d="m 271.3161,268.77261 c 0,-2.07861 -0.76216,-3.60293 -3.04863,-3.60293 -2.28647,0 -3.04863,1.52432 -3.04863,3.60293 l 0,16.69817 c 0,5.54296 -3.94936,9.83875 -9.28446,9.83875 -5.88939,0 -7.89872,-3.60292 -7.89872,-9.76946 l 0,-16.76746 c 0,-2.07861 -0.76215,-3.60293 -3.04862,-3.60293 -2.28648,0 -3.04863,1.52432 -3.04863,3.60293 l 0,42.19579 c 0,2.07861 0.76215,3.60293 3.04863,3.60293 2.28647,0 3.04862,-1.52432 3.04862,-3.60293 l 0,-11.84808 c 1.52432,1.17788 4.01865,1.87075 6.85942,1.87075 4.43437,0 8.5223,-1.52431 10.87806,-5.75082 l 0.13857,0.13857 0,2.42505 c 0,1.66289 1.03931,2.77148 2.7022,2.77148 1.66289,0 2.70219,-1.10859 2.70219,-2.77148 l 0,-29.03126 z"
+         transform="translate(23.40801,-22.54665)" />
+      <g
+         style="fill:#78079a;fill-opacity:1"
+         id="g4200">
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4236"
+           d="m 380.37736,256.92285 c 4.28006,0 10.5949,-13.68217 12.13853,-17.05008 l 0.14033,0 c 2.10495,11.50705 2.38561,23.15443 2.38561,34.02999 0,2.73644 0.77182,4.28007 3.08726,4.28007 2.10495,0 3.08726,-1.68396 3.08726,-4.28007 0,-9.54243 -1.82429,-30.31125 -3.71875,-38.94154 -0.49115,-2.38561 -1.75412,-5.47287 -4.06956,-5.47287 -3.92924,0 -5.54303,9.19161 -13.05068,19.71635 -7.50765,-10.52474 -9.12145,-19.71635 -13.05068,-19.71635 -2.31545,0 -3.57842,3.08726 -4.06957,5.47287 -1.89445,8.63029 -3.71874,29.39911 -3.71874,38.94154 0,2.59611 0.98231,4.28007 3.08726,4.28007 2.31544,0 3.08725,-1.54363 3.08725,-4.28007 0,-10.87556 0.28066,-22.52294 2.31545,-34.02999 l 0.14033,0 c 1.61379,3.36791 7.92864,17.05008 12.2087,17.05008 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4238"
+           d="m 416.62852,245.76662 c 0,-2.10495 -0.77182,-3.64858 -3.08726,-3.64858 -2.31544,0 -3.08726,1.54363 -3.08726,3.64858 l 0,28.76763 c 0,2.10495 0.77182,3.64858 3.08726,3.64858 2.31544,0 3.08726,-1.54363 3.08726,-3.64858 l 0,-28.76763 z m -3.08726,-15.64678 c -2.24528,0 -3.29775,1.96462 -3.29775,4.06956 0,2.10495 1.05247,4.06957 3.29775,4.06957 2.24528,0 3.29775,-1.96462 3.29775,-4.06957 0,-2.10494 -1.05247,-4.06956 -3.29775,-4.06956 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4240"
+           d="m 446.07368,272.21881 c -8.56013,0 -15.36613,-5.33254 -15.36613,-14.73464 0,-6.52534 3.57842,-9.8231 12.27887,-9.8231 l 7.9988,0 c 1.89446,0 3.15743,-0.84197 3.15743,-2.66626 0,-1.82429 -1.26297,-2.66627 -3.15743,-2.66627 l -11.92804,0 c -9.19161,0 -14.94513,6.45517 -14.94513,14.94513 0,12.77002 10.59491,20.69866 20.13734,20.69866 l 8.34963,0 c 1.96462,0 3.36791,-0.91214 3.36791,-2.87676 0,-1.96462 -1.40329,-2.87676 -3.36791,-2.87676 l -6.52534,0 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4242"
+           d="m 461.22931,274.53425 c 0,2.10495 0.77181,3.64858 3.08725,3.64858 2.31545,0 3.08726,-1.54363 3.08726,-3.64858 l 0,-18.59371 c 0,-5.47287 4.35023,-8.27947 9.47227,-8.27947 2.24528,0 3.15742,-1.05247 3.15742,-3.01709 0,-2.03478 -1.33313,-2.73643 -3.64858,-2.73643 -4.49055,0 -7.50764,1.68396 -8.84078,6.10435 l -0.14033,0 0,-2.03478 c 0,-2.10495 -0.77181,-3.64858 -3.08726,-3.64858 -2.31544,0 -3.08725,1.54363 -3.08725,3.64858 l 0,28.55713 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4244"
+           d="m 498.09441,273.06079 c -6.38501,0 -10.66507,-6.10435 -10.66507,-12.91035 0,-6.806 4.28006,-12.91036 10.66507,-12.91036 6.45518,0 10.73524,6.10436 10.73524,12.91036 0,6.806 -4.28006,12.91035 -10.73524,12.91035 z m 0,5.33253 c 9.54243,0 16.90975,-7.92864 16.90975,-18.31305 0,-9.68276 -7.36732,-18.17272 -16.90975,-18.17272 -9.54243,0 -16.83959,8.48996 -16.83959,18.17272 0,10.38441 7.29716,18.31305 16.83959,18.31305 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4246"
+           d="m 529.43293,256.78252 c 8.63029,-3.08726 27.15383,-6.45518 27.15383,-18.73404 0,-5.6132 -4.49055,-8.34963 -10.03358,-8.34963 l -20.418,0 c -2.17512,0 -2.87677,1.4033 -2.87677,3.36792 l 0,41.46748 c 0,2.17511 0.98231,3.64858 3.08726,3.64858 2.10495,0 3.08726,-1.47347 3.08726,-3.64858 l 0,-17.75173 z m 15.99761,-21.33015 c 2.45577,0 4.28006,0.84198 4.28006,3.57842 0,6.31484 -13.19101,8.48995 -20.27767,11.43688 l 0,-15.0153 15.99761,0 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4248"
+           d="m 566.52497,255.80021 c 0.91214,-4.49056 4.13973,-8.56013 10.87556,-8.56013 5.68336,0 9.26178,3.64858 9.54244,8.56013 l -20.418,0 z m 23.15443,4.77121 c 3.36792,0 3.43808,-0.77181 3.43808,-3.71874 0,-8.84078 -6.94633,-14.94513 -15.64678,-14.94513 -10.45458,0 -17.8219,7.15682 -17.8219,17.68157 0,12.34903 7.78831,18.38321 17.05008,18.38321 l 13.47167,0 c 1.89446,0 3.15743,-0.84198 3.15743,-2.66627 0,-1.82428 -1.26297,-2.66626 -3.15743,-2.66626 l -13.33134,0 c -5.75352,0 -11.08606,-3.92924 -10.5949,-12.06838 l 23.43509,0 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4250"
+           d="m 620.52676,265.34264 c 0,6.10435 -3.43809,8.27947 -9.26178,8.27947 -5.26237,0 -8.27946,-1.89446 -8.27946,-6.10436 0,-6.5955 9.47227,-8.56012 17.54124,-8.56012 l 0,6.38501 z m -5.68336,-17.26058 c 4.28006,0 5.68336,0.98231 5.68336,3.99941 l 0,2.10494 c -9.05128,0.56132 -23.71576,1.4033 -23.71576,13.612 0,6.66567 5.68336,10.59491 13.47167,10.59491 4.77122,0 7.0165,-1.26297 10.66508,-3.9994 0,2.24528 0.91214,3.57841 2.87676,3.57841 1.96462,0 2.87676,-1.33313 2.87676,-3.57841 l 0,-19.43569 c 0,-6.24468 -1.68396,-12.62969 -10.94573,-12.62969 l -12.98052,0 c -2.03478,0 -3.36791,0.91214 -3.36791,2.87676 0,1.96462 1.33313,2.87676 3.36791,2.87676 l 12.06838,0 z" />
+        <path
+           style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+           inkscape:connector-curvature="0"
+           id="path4252"
+           d="m 635.47191,274.53425 c 0,2.10495 0.77181,3.64858 3.08725,3.64858 2.31545,0 3.08726,-1.54363 3.08726,-3.64858 l 0,-17.19041 c 11.71755,1.61379 15.50645,5.33253 17.19041,17.26057 0.28066,1.96462 0.56132,3.57842 3.0171,3.57842 2.03478,0 3.15742,-1.05248 3.15742,-3.29776 0,-7.9988 -4.13973,-17.19041 -12.27887,-19.64618 l 0,-0.14033 c 3.92924,-1.33313 9.6126,-5.89386 9.6126,-10.45458 0,-1.54363 -1.05247,-2.8066 -2.24528,-2.8066 -2.31544,0 -2.8066,1.6138 -5.05187,4.77122 -2.52594,3.71874 -7.29716,6.24468 -11.92805,6.24468 l -1.47346,0 0,-19.71635 c 0,-2.10495 -0.77181,-3.64858 -3.08726,-3.64858 -2.31544,0 -3.08725,1.54363 -3.08725,3.64858 l 0,41.39732 z" />
+      </g>
+    </g>
+  </g>
+</svg>
diff --git a/doc/telegps-docinfo.xml b/doc/telegps-docinfo.xml
index 633e56cc..4ba3f73c 100644
--- a/doc/telegps-docinfo.xml
+++ b/doc/telegps-docinfo.xml
@@ -18,6 +18,14 @@
     <imagedata fileref="telegps-v1.0-top.jpg" width="4.0in"/>
   </imageobject>
 </mediaobject>
+<corpauthor>
+  <inlinemediaobject>
+    <imageobject>
+      <imagedata fileref="telegps-oneline.svg" width="3in"/>
+    </imageobject>
+  </inlinemediaobject>
+</corpauthor>
+
 <legalnotice>
   <para>
     This document is released under the terms of the
diff --git a/doc/telegps-oneline-font.svg b/doc/telegps-oneline-font.svg
new file mode 100644
index 00000000..a2cf540b
--- /dev/null
+++ b/doc/telegps-oneline-font.svg
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="849.46857"
+   height="136.09171"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="telegps-oneline-font.svg">
+  <defs
+     id="defs4">
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient3175"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       id="linearGradient3169">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3171" />
+      <stop
+         id="stop3445"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3173" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient3171"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       id="linearGradient3165">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3167" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3169" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient2838"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3181">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3183" />
+      <stop
+         id="stop3185"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3187" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient2840"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3190">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3192" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3194" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient2830"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3197">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3199" />
+      <stop
+         id="stop3201"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3203" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient2832"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3206">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3208" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3210" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient2834"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3213">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3215" />
+      <stop
+         id="stop3217"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3219" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient2836"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3222">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3224" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3226" />
+    </linearGradient>
+    <radialGradient
+       r="951.68701"
+       fy="2305.2668"
+       fx="951.68713"
+       cy="2305.2668"
+       cx="951.68713"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse"
+       id="radialGradient3232"
+       xlink:href="#linearGradient3169"
+       inkscape:collect="always" />
+    <radialGradient
+       r="951.68701"
+       fy="1205.2668"
+       fx="951.68713"
+       cy="1205.2668"
+       cx="951.68713"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse"
+       id="radialGradient3234"
+       xlink:href="#linearGradient3165"
+       inkscape:collect="always" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient4101"
+       cx="194.54575"
+       cy="361.16367"
+       fx="194.54575"
+       fy="361.16367"
+       r="70.597672"
+       gradientTransform="matrix(1,0,0,0.95908583,137.14286,74.776711)"
+       gradientUnits="userSpaceOnUse" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.979899"
+     inkscape:cx="157.24908"
+     inkscape:cy="-0.91832278"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:window-width="1617"
+     inkscape:window-height="1038"
+     inkscape:window-x="729"
+     inkscape:window-y="416"
+     inkscape:window-maximized="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-261.09094,-353.45446)">
+    <path
+       style="fill:url(#radialGradient4101);fill-opacity:1"
+       d="m 261.09094,466.61035 1.9122,-1.69399 39.0721,-36.4688 20.74158,22.05252 -40.71991,38.37279 z m 36.24983,1.34654 -14.08636,-15.38433 -15.33887,14.40857 14.50759,15.23741 z m 18.98704,-17.58715 -14.47613,-15.53942 -14.95191,14.42099 14.19976,15.37575 z m 43.2565,3.24033 -5.69326,-6.00917 -2.76929,1.85727 c -5.01515,3.36349 -10.61773,4.75193 -13.55344,3.35884 -0.90785,-0.4308 -11.20677,-10.85557 -16.46128,-16.61505 -6.3177,-6.92484 -17.77225,-18.68338 -18.08204,-21.53696 l -0.25491,-2.34789 -6.68224,-3.00173 -6.68224,-3.00173 -0.12416,-2.54849 c -0.24316,-4.99109 2.61694,-11.66135 7.10652,-16.57368 6.51922,-7.13306 14.23173,-10.81215 21.4071,-10.21178 l 2.49577,0.20881 2.34108,7.3087 2.34109,7.3087 2.0542,0.21626 c 1.12981,0.11895 2.29245,0.36702 2.58364,0.55127 0.29119,0.18424 11.17756,11.55849 16.63562,17.46044 5.67391,6.13537 16.35301,17.71615 16.74619,18.65715 1.36492,3.26672 -0.56522,9.34479 -4.44838,14.00803 -0.92939,1.1161 -1.6875,2.14976 -1.6847,2.29703 0.003,0.14726 2.44601,2.88431 5.42933,6.08233 2.98332,3.19801 5.42421,6.02814 5.42421,6.28919 0,0.66794 -0.91528,1.72591 -1.73982,2.01104 -0.50334,0.17406 -2.27007,-1.42112 -6.38899,-5.76858 z m -13.8944,-6.52384 c 0.96195,-0.49074 2.46683,-1.3673 3.34417,-1.94791 l 1.59519,-1.05564 -1.69025,-1.72225 c -1.71532,-1.74777 -2.09589,-2.99732 -1.1891,-3.90412 0.98407,-0.98406 2.33559,-0.53387 3.9423,1.31314 l 1.57825,1.81431 1.43638,-1.7099 c 1.7115,-2.03742 3.3933,-5.47555 3.39008,-6.9304 -0.0104,-4.68327 -7.01613,-2.68794 -13.36898,3.80766 -4.26282,4.35861 -6.32786,9.57528 -4.26584,10.77629 1.19252,0.69458 3.36009,0.51166 5.2278,-0.44118 z m -37.53066,-44.39022 c 2.23934,-2.70633 7.29399,-6.99375 10.13666,-8.59806 1.69887,-0.95877 2.21231,-1.46174 2.04152,-1.99985 -0.1255,-0.3954 -1.05734,-3.0661 -2.07077,-5.93487 l -1.84259,-5.21596 -1.60649,0.12825 c -4.1301,0.32972 -9.06228,2.86043 -13.29918,6.82384 -4.03277,3.77245 -7.7843,10.20829 -7.89014,13.53572 l -0.0463,1.4539 5.4085,2.47197 5.4085,2.47197 1.02919,-1.54008 c 0.56606,-0.84704 1.79503,-2.46562 2.73105,-3.59683 z m 32.91039,-10.47213 40.55794,-38.76942 c 7.09795,7.71166 14.5366,15.63755 20.65837,22.2503 l -40.53088,38.2414 z m 35.73645,1.02093 -14.2595,-15.3791 -15.29495,14.35785 14.65467,15.14661 z m 18.6801,-17.55816 -14.10162,-15.40128 -15.32812,14.3973 14.52992,15.24342 z"
+       id="path3063"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="ccccccccccccccccscssascccssscccscasscsssssccssscssssscssscssccccsccccccccccccccccc" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:195.13301086px;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none"
+       x="418.66663"
+       y="488.37537"
+       id="text3022"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         x="418.66663"
+         y="488.37537"
+         id="tspan3026">TeleGPS</tspan></text>
+  </g>
+</svg>
diff --git a/doc/telegps-oneline.svg b/doc/telegps-oneline.svg
new file mode 100644
index 00000000..21497899
--- /dev/null
+++ b/doc/telegps-oneline.svg
@@ -0,0 +1,332 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="444"
+   height="98"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="telegps-oneline.svg">
+  <defs
+     id="defs4">
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient3175"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       id="linearGradient3169">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3171" />
+      <stop
+         id="stop3445"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3173" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient3171"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       id="linearGradient3165">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3167" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3169" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient2838"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3181">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3183" />
+      <stop
+         id="stop3185"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3187" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient2840"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3190">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3192" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3194" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient2830"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3197">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3199" />
+      <stop
+         id="stop3201"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3203" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient2832"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3206">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3208" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3210" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient2834"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="2305.2668"
+       fx="951.68713"
+       fy="2305.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3213">
+      <stop
+         style="stop-color:#ff8a00;stop-opacity:1;"
+         offset="0"
+         id="stop3215" />
+      <stop
+         id="stop3217"
+         offset="0.71698111"
+         style="stop-color:#c24573;stop-opacity:0.98039216;" />
+      <stop
+         style="stop-color:#8500e7;stop-opacity:0.96078432;"
+         offset="1"
+         id="stop3219" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3165"
+       id="radialGradient2836"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       cx="951.68713"
+       cy="1205.2668"
+       fx="951.68713"
+       fy="1205.2668"
+       r="951.68701" />
+    <linearGradient
+       id="linearGradient3222">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop3224" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop3226" />
+    </linearGradient>
+    <radialGradient
+       r="951.68701"
+       fy="2305.2668"
+       fx="951.68713"
+       cy="2305.2668"
+       cx="951.68713"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse"
+       id="radialGradient3232"
+       xlink:href="#linearGradient3169"
+       inkscape:collect="always" />
+    <radialGradient
+       r="951.68701"
+       fy="1205.2668"
+       fx="951.68713"
+       cy="1205.2668"
+       cx="951.68713"
+       gradientTransform="matrix(1,0,0,1.2664529,0,-321.14689)"
+       gradientUnits="userSpaceOnUse"
+       id="radialGradient3234"
+       xlink:href="#linearGradient3165"
+       inkscape:collect="always" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3169"
+       id="radialGradient4101"
+       cx="194.54575"
+       cy="361.16367"
+       fx="194.54575"
+       fy="361.16367"
+       r="70.597672"
+       gradientTransform="matrix(0.39116682,0,0,0.37516256,264.74942,305.15926)"
+       gradientUnits="userSpaceOnUse" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="2.8"
+     inkscape:cx="199.46382"
+     inkscape:cy="-0.91832278"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:window-width="2060"
+     inkscape:window-height="1038"
+     inkscape:window-x="128"
+     inkscape:window-y="382"
+     inkscape:window-maximized="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-261.09094,-391.54617)">
+    <path
+       style="fill:url(#radialGradient4101);fill-opacity:1"
+       d="m 313.2338,458.43158 0.74799,-0.66263 15.28371,-14.26539 8.11342,8.62622 -15.92828,15.01016 z m 14.17973,0.52672 -5.51012,-6.01784 -6.00005,5.63616 5.67488,5.96037 z m 7.4271,-6.87951 -5.66258,-6.0785 -5.84869,5.64101 5.55447,6.01448 z m 16.92051,1.26751 -2.22702,-2.35058 -1.08325,0.7265 c -1.96176,1.31568 -4.1533,1.8588 -5.30166,1.31387 -0.35512,-0.16852 -4.38371,-4.24634 -6.4391,-6.49926 -2.47128,-2.70877 -6.95192,-7.30832 -7.0731,-8.42455 l -0.0997,-0.91841 -2.61387,-1.17418 -2.61387,-1.17418 -0.0486,-0.99688 c -0.0951,-1.95235 1.02366,-4.56153 2.77984,-6.48307 2.5501,-2.79022 5.56698,-4.22936 8.37374,-3.99451 l 0.97627,0.0817 0.91575,2.85892 0.91576,2.85892 0.80353,0.0846 c 0.44195,0.0465 0.89673,0.14357 1.01064,0.21564 0.1139,0.0721 4.37229,4.5213 6.5073,6.82994 2.21944,2.39996 6.39675,6.92997 6.55055,7.29806 0.53391,1.27783 -0.22109,3.65537 -1.74006,5.47948 -0.36354,0.43658 -0.66009,0.84091 -0.659,0.89852 10e-4,0.0576 0.9568,1.12825 2.12378,2.37921 1.16697,1.25095 2.12177,2.358 2.12177,2.46012 0,0.26127 -0.35803,0.67512 -0.68056,0.78665 -0.19689,0.0681 -0.88798,-0.55589 -2.49916,-2.25648 z m -5.43503,-2.55191 c 0.37628,-0.19196 0.96494,-0.53484 1.30813,-0.76195 l 0.62398,-0.41293 -0.66117,-0.67369 c -0.67097,-0.68367 -0.81984,-1.17245 -0.46513,-1.52716 0.38493,-0.38494 0.9136,-0.20884 1.54209,0.51365 l 0.61736,0.7097 0.56187,-0.66886 c 0.66948,-0.79697 1.32734,-2.14185 1.32608,-2.71094 -0.004,-1.83194 -2.74447,-1.05143 -5.2295,1.48943 -1.66747,1.70495 -2.47525,3.74553 -1.66865,4.21533 0.46647,0.2717 1.31435,0.20014 2.04494,-0.17258 z m -14.68075,-17.36398 c 0.87596,-1.05862 2.85317,-2.73572 3.96513,-3.36327 0.66454,-0.37504 0.86538,-0.57179 0.79857,-0.78228 -0.0491,-0.15467 -0.4136,-1.19935 -0.81002,-2.32152 l -0.72076,-2.04031 -0.6284,0.0502 c -1.61556,0.12898 -3.54486,1.11891 -5.2022,2.66926 -1.57748,1.47566 -3.04496,3.99315 -3.08636,5.29473 l -0.0181,0.56872 2.11562,0.96695 2.11563,0.96695 0.40259,-0.60243 c 0.22142,-0.33133 0.70215,-0.96447 1.06829,-1.40696 z m 12.87345,-4.09635 15.86492,-15.16531 c 2.77649,3.01655 5.68624,6.11689 8.08087,8.70358 l -15.85433,14.95877 z m 13.97892,0.39936 -5.57785,-6.0158 -5.98287,5.61632 5.73242,5.92485 z m 7.30703,-6.86817 -5.51608,-6.02447 -5.99586,5.63174 5.68363,5.96272 z"
+       id="path3063"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="ccccccccccccccccscssascccssscccscasscsssssccssscssssscssscssccccsccccccccccccccccc" />
+    <g
+       id="g4484"
+       style="fill:#78079a;fill-opacity:1">
+      <path
+         d="m 397.31307,420.68962 11.6021,0 c 2.13722,0 3.66381,-0.99229 3.66381,-3.12952 0,-2.13723 -1.52659,-3.12951 -3.66381,-3.12951 l -29.92119,0 c -2.13723,0 -3.66382,0.99228 -3.66382,3.12951 0,2.13723 1.52659,3.12952 3.66382,3.12952 l 11.60209,0 0,42.51556 c 0,2.36622 1.06862,3.96914 3.3585,3.96914 2.28989,0 3.3585,-1.60292 3.3585,-3.96914 l 0,-42.51556 z"
+         id="path4214"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+      <path
+         d="m 416.63996,442.82519 c 0.99228,-4.88509 4.50344,-9.31221 11.83108,-9.31221 6.18269,0 10.0755,3.96914 10.38082,9.31221 l -22.2119,0 z m 25.18875,5.19041 c 3.66382,0 3.74015,-0.83963 3.74015,-4.04547 0,-9.61752 -7.55662,-16.25819 -17.02149,-16.25819 -11.37311,0 -19.38771,7.78561 -19.38771,19.23505 0,13.434 8.47258,19.99834 18.54808,19.99834 l 14.65528,0 c 2.0609,0 3.43483,-0.91596 3.43483,-2.90052 0,-1.98457 -1.37393,-2.90053 -3.43483,-2.90053 l -14.50262,0 c -6.25902,0 -12.06007,-4.27445 -11.52576,-13.12868 l 25.49407,0 z"
+         id="path4216"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+      <path
+         d="m 460.34936,418.17074 c 0,-2.28989 -0.83962,-3.96913 -3.3585,-3.96913 -2.51888,0 -3.3585,1.67924 -3.3585,3.96913 l 0,45.03444 c 0,2.36622 1.06861,3.96914 3.3585,3.96914 2.28989,0 3.3585,-1.60292 3.3585,-3.96914 l 0,-45.03444 z"
+         id="path4218"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+      <path
+         d="m 476.12335,442.82519 c 0.99228,-4.88509 4.50344,-9.31221 11.83108,-9.31221 6.18269,0 10.0755,3.96914 10.38082,9.31221 l -22.2119,0 z m 25.18875,5.19041 c 3.66382,0 3.74015,-0.83963 3.74015,-4.04547 0,-9.61752 -7.55663,-16.25819 -17.02149,-16.25819 -11.37311,0 -19.38771,7.78561 -19.38771,19.23505 0,13.434 8.47258,19.99834 18.54808,19.99834 l 14.65528,0 c 2.0609,0 3.43483,-0.91596 3.43483,-2.90052 0,-1.98457 -1.37393,-2.90053 -3.43483,-2.90053 l -14.50262,0 c -6.25902,0 -12.06007,-4.27445 -11.52576,-13.12868 l 25.49407,0 z"
+         id="path4220"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+      <path
+         d="m 547.99836,461.14428 c -15.11326,0 -29.84486,-8.09093 -29.84486,-25.11242 0,-10.53348 5.87738,-15.34224 13.89198,-15.34224 l 17.40314,0 c 2.13723,0 3.66382,-0.99229 3.66382,-3.12952 0,-2.13723 -1.52659,-3.12951 -3.66382,-3.12951 l -18.70074,0 c -12.44172,0 -20.07467,8.93056 -20.07467,21.21962 0,20.9143 17.09781,31.75309 35.95122,31.75309 5.19041,0 8.09093,-0.45797 8.09093,-4.88509 l 0,-29.84485 c 0,-4.42712 -1.83191,-4.96142 -5.64839,-4.96142 l -12.89969,0 c -2.13723,0 -3.66382,0.99228 -3.66382,3.12951 0,2.13723 1.52659,3.12951 3.66382,3.12951 l 11.83108,0 0,27.17332 z"
+         id="path4222"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+      <path
+         d="m 571.73446,443.8938 c 9.38854,-3.3585 29.53954,-7.02232 29.53954,-20.37999 0,-6.10637 -4.88509,-9.08322 -10.91513,-9.08322 l -22.2119,0 c -2.36621,0 -3.12951,1.52659 -3.12951,3.66382 l 0,45.11077 c 0,2.36622 1.06862,3.96914 3.3585,3.96914 2.28989,0 3.3585,-1.60292 3.3585,-3.96914 l 0,-19.31138 z m 17.40314,-23.20418 c 2.67154,0 4.65611,0.91595 4.65611,3.89281 0,6.86966 -14.34996,9.23587 -22.05925,12.44171 l 0,-16.33452 17.40314,0 z"
+         id="path4224"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+      <path
+         d="m 615.90185,414.43059 c -6.1827,0 -11.60208,3.51116 -11.60208,10.45715 0,18.70074 34.04297,4.04547 34.04297,22.59355 0,8.16726 -4.80877,13.20502 -15.80021,13.20502 l -14.80793,0 c -2.13722,0 -3.66382,0.99228 -3.66382,3.12951 0,2.13723 1.5266,3.12951 3.66382,3.12951 l 16.79248,0 c 12.97606,0 20.99064,-8.54891 20.99064,-19.6167 0,-24.65445 -34.04298,-12.89969 -34.04298,-22.51722 0,-3.96913 4.12181,-4.12179 6.56433,-4.12179 l 17.09782,0 c 2.13726,0 3.66383,-0.99229 3.66383,-3.12952 0,-2.13723 -1.52657,-3.12951 -3.66383,-3.12951 l -19.23504,0 z"
+         id="path4226"
+         inkscape:connector-curvature="0"
+         style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;font-size:medium;line-height:125%;font-family:'ITC Benguiat Gothic Std';-inkscape-font-specification:'ITC Benguiat Gothic Std Medium';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#78079a;fill-opacity:1;stroke:none" />
+    </g>
+  </g>
+</svg>
diff --git a/doc/titlepage.templates.tmpl b/doc/titlepage.templates.tmpl
index 9de1b31f..1669e465 100644
--- a/doc/titlepage.templates.tmpl
+++ b/doc/titlepage.templates.tmpl
@@ -132,35 +132,37 @@
 
 <!-- ==================================================================== -->
 
-  <t:titlepage t:element="book" t:wrapper="fo:block">
-    <t:titlepage-content t:side="recto">
-      <title
-	     t:named-template="division.title"
-	     param:node="ancestor-or-self::book[1]"
-	     text-align="center"
-	     font-size="&hsize5;"
-	     space-before="&hsize5space;"
-	     font-weight="bold"
-	     font-family="{$title.fontset}"/>
-      <subtitle
-		text-align="center"
-		font-size="&hsize4;"
-		space-before="&hsize4space;"
-		font-family="{$title.fontset}"/>
-      <corpauthor font-size="&hsize3;"
-		  keep-with-next.within-column="always"
-		  space-before="2in"/>
-      <authorgroup space-before="2in"/>
-      <author font-size="&hsize3;"
-	      space-before="&hsize2space;"
-	      keep-with-next.within-column="always"/>
-      <!-- If you add editor, include this t:predicate attribute
-           because only the first editor generates the list of editors.
-      <editor t:predicate="[position() = 1]"/>
-      -->
-      <mediaobject space-before="1.5in"/>
-      <itermset/>
-    </t:titlepage-content>
+<t:titlepage t:element="book" t:wrapper="fo:block">
+  <t:titlepage-content t:side="recto">
+    <title
+       t:named-template="division.title"
+       param:node="ancestor-or-self::book[1]"
+       text-align="center"
+       font-size="&hsize5;"
+       space-before="&hsize5space;"
+       font-weight="bold"
+       font-family="{$title.fontset}"/>
+    <subtitle
+       text-align="center"
+       font-size="&hsize4;"
+       space-before="&hsize4space;"
+       font-family="{$title.fontset}"/>
+<!--
+    <corpauthor font-size="&hsize3;"
+		keep-with-next.within-column="always"
+		space-before="2in"/>
+    -->
+    <authorgroup space-before="2in"/>
+    <author font-size="&hsize3;"
+	    space-before="&hsize2space;"
+	    keep-with-next.within-column="always"/>
+    <!-- If you add editor, include this t:predicate attribute
+         because only the first editor generates the list of editors.
+	 <editor t:predicate="[position() = 1]"/>
+	 -->
+    <mediaobject space-before="1.5in"/>
+    <itermset/>
+  </t:titlepage-content>
 
   <t:titlepage-content t:side="verso">
       <title
@@ -168,7 +170,6 @@
 	     font-size="&hsize2;"
 	     font-weight="bold"
 	     font-family="{$title.fontset}"/>
-      <corpauthor/>
       <authorgroup t:named-template="verso.authorgroup"/>
       <author/>
       <!-- If you add editor, include this t:predicate attribute
@@ -181,6 +182,7 @@
       <copyright/>
       <abstract/>
       <legalnotice font-size="8pt"/>
+      <corpauthor text-align="center"/>
       <revhistory space-before="0.5in"/>
   </t:titlepage-content>
 
-- 
cgit v1.2.3


From 4c1206a47431c7d873228fdd7328e1b9ac93a390 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 13 Nov 2015 19:45:02 -0800
Subject: Break out common pieces from TeleGPS and AltusMetrum

This creates shared files for portions of the TeleGPS and AltusMetrum
manual to avoid duplicating text between the two.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                     |  19 +-
 doc/altosui.inc                  | 346 +--------------------------------
 doc/altusmetrum.txt              |   2 +
 doc/aprs-operation.inc           |  85 ++++++++
 doc/config-device.inc            | 240 +++++++++++++++++++++++
 doc/config-ui.inc                | 105 ++++++++++
 doc/installation.inc             |  15 +-
 doc/load-maps.inc                |  60 ++++++
 doc/micropeak.txt                |   4 +-
 doc/release-notes-0.9.inc        |   4 +-
 doc/system-operation.inc         | 404 ++++-----------------------------------
 doc/telegps-application.inc      | 224 +---------------------
 doc/telegps-dedication.inc       |  19 ++
 doc/telegps-quick-start.inc      |  13 +-
 doc/telegps-system-operation.inc | 126 +-----------
 doc/telegps.txt                  |   4 +-
 doc/usage.inc                    | 142 ++++++++++++--
 17 files changed, 728 insertions(+), 1084 deletions(-)
 create mode 100644 doc/aprs-operation.inc
 create mode 100644 doc/config-device.inc
 create mode 100644 doc/config-ui.inc
 create mode 100644 doc/load-maps.inc
 create mode 100644 doc/telegps-dedication.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 89a302ff..f8fdb5e8 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -90,6 +90,13 @@ IMAGES=\
 
 TXT_FILES=altusmetrum.txt
 
+COMMON_INC_FILES=\
+	config-device.inc \
+	config-ui.inc \
+	load-maps.inc \
+	aprs-operation.inc \
+	handling.inc
+
 INC_FILES=\
 	dedication.inc \
 	intro.inc \
@@ -109,23 +116,23 @@ INC_FILES=\
 	system-operation.inc \
 	pyro-channels.inc \
 	flight-data-recording.inc \
-	handling.inc \
 	specs.inc \
+	$(COMMON_INC_FILES) \
 	release-notes.inc \
 	$(RELNOTES_INC)
 
 RAW_FILES=$(TXT_FILES:.txt=.raw) $(INC_FILES:.inc=.raw)
 
 TELEGPS_INC_FILES=\
-	dedication.inc \
+	telegps-dedication.inc \
 	telegps-quick-start.inc \
 	telegps-using.inc \
 	telegps-system-operation.inc \
 	telegps-application.inc \
-	handling.inc \
 	telegps-specs.inc \
 	telegps-updating-firmware.inc \
-	telegps-release-notes.inc
+	telegps-release-notes.inc \
+	$(COMMON_INC_FILES)
 
 TELEGPS_TXT_FILES=\
 	telegps.txt
@@ -214,10 +221,10 @@ DOC=$(HTML) $(HTML_REVHISTORY) $(PDF) $(IMAGES) $(STYLESHEET)
 	sed -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
 
 .raw.pdf:
-	a2x --verbose -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
+	a2x --verbose -a icons -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
 
 .raw.html:
-	a2x --verbose -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
+	a2x --verbose -a icons -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
 
 .tmpl.xsl:
 	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.tmpl
diff --git a/doc/altosui.inc b/doc/altosui.inc
index a7bf4449..df5a3cee 100644
--- a/doc/altosui.inc
+++ b/doc/altosui.inc
@@ -285,8 +285,7 @@
 			traced on a dark gray background instead.
 
 			You can pre-load images for your favorite launch sites
-			before you leave home; check out the 'Preload Maps'
-			section below.
+			before you leave home; check out <<_load_maps>>.
 
 		==== Igniter
 
@@ -478,202 +477,8 @@
 
 	        The rest of the dialog contains the parameters to be configured.
 
-		==== Main Deploy Altitude
-
-			This sets the altitude (above the recorded pad
-			altitude) at which the 'main' igniter will fire. The
-			drop-down menu shows some common values, but you can
-			edit the text directly and choose whatever you
-			like. If the apogee charge fires below this altitude,
-			then the main charge will fire two seconds after the
-			apogee charge fires.
-
-		==== Apogee Delay
-
-			When flying redundant electronics, it's often
-			important to ensure that multiple apogee charges don't
-			fire at precisely the same time, as that can over
-			pressurize the apogee deployment bay and cause a
-			structural failure of the air-frame. The Apogee Delay
-			parameter tells the flight computer to fire the apogee
-			charge a certain number of seconds after apogee has
-			been detected.
-
-		==== Apogee Lockout
-
-			Apogee lockout is the number of seconds after boost
-			where the flight computer will not fire the apogee
-			charge, even if the rocket appears to be at
-			apogee. This is often called 'Mach Delay', as it is
-			intended to prevent a flight computer from
-			unintentionally firing apogee charges due to the
-			pressure spike that occurrs across a mach
-			transition. Altus Metrum flight computers include a
-			Kalman filter which is not fooled by this sharp
-			pressure increase, and so this setting should be left
-			at the default value of zero to disable it.
+		include::config-device.raw[]
 
-		==== Frequency
-
-			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.
-
-		==== RF Calibration
-
-			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.
-
-      		==== Telemetry/RDF/APRS Enable
-
-			Enables the radio for transmission during
-			flight. When disabled, the radio will not
-			transmit anything during flight at all.
-
-      		==== Telemetry baud rate
-
-			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.
-
-      		==== APRS Interval
-
-			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.
-
-      		==== APRS SSID
-
-			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.
-
-		==== Callsign
-
-			This sets the call sign included in each
-			telemetry packet. Set this as needed to
-			conform to your local radio regulations.
-
-      		==== Maximum Flight Log Size
-
-			This sets the space (in kilobytes) allocated
-			for each flight log. The available space will
-			be divided into chunks of this size. A smaller
-			value will allow more flights to be stored, a
-			larger value will record data from longer
-			flights.
-
-      		==== Ignitor Firing Mode
-
-			This configuration parameter allows the two standard ignitor
-			channels (Apogee and Main) to be used in different
-			configurations.
-
-			Dual Deploy::
-			This is the usual mode of operation; the
-			'apogee' channel is fired at apogee and the
-			'main' channel at the height above ground
-			specified by the 'Main Deploy Altitude' during
-			descent.
-
-			Redundant Apogee::
-			This fires both channels at apogee, the
-			'apogee' channel first followed after a two
-			second delay by the 'main' channel.
-
-			Redundant Main::
-			This fires both channels at the height above
-			ground specified by the Main Deploy Altitude
-			setting during descent. The 'apogee' channel
-			is fired first, followed after a two second
-			delay by the 'main' channel.
-
-      		==== Pad Orientation
-
-			Because they include accelerometers,
-			TeleMetrum, TeleMega and EasyMega are
-			sensitive to the orientation of the board. By
-			default, they expect the antenna end to point
-			forward. This parameter allows that default to
-			be changed, permitting the board to be mounted
-			with the antenna pointing aft instead.
-
-			Antenna Up::
-			In this mode, the antenna end of the flight
-			computer must point forward, in line with the
-			expected flight path.
-
-			Antenna Down::
-			In this mode, the antenna end of the flight
-			computer must point aft, in line with the
-			expected flight path.
-
-      		==== Beeper Frequency
-
-			The beeper on all Altus Metrum flight
-			computers works best at 4000Hz, however if you
-			have more than one flight computer in a single
-			airframe, having all of them sound at the same
-			frequency can be confusing. This parameter
-			lets you adjust the base beeper frequency
-			value.
-
-      		==== Configure Pyro Channels
-
-			.Additional Pyro Channel Configuration
-			image::configure-pyro.png[width="5.5in"]
-
-			This opens a separate window to configure the
-			additional pyro channels available on TeleMega
-			and EasyMega.  One column is presented for
-			each channel. Each row represents a single
-			parameter, if enabled the parameter must meet
-			the specified test for the pyro channel to be
-			fired.
-
-			Select conditions and set the related value;
-			the pyro channel will be activated when *all*
-			of the conditions are met. Each pyro channel
-			has a separate set of configuration values, so
-			you can use different values for the same
-			condition with different channels.
-
-			At the bottom of the window, the 'Pyro Firing
-			Time' configuration sets the length of time
-			(in seconds) which each of these pyro channels
-			will fire for.
-
-			Once you have selected the appropriate
-			configuration for all of the necessary pyro
-			channels, you can save the pyro configuration
-			along with the rest of the flight computer
-			configuration by pressing the 'Save' button in
-			the main Configure Flight Computer window.
-
-			include::pyro-channels.raw[]
 
 	=== Configure AltosUI
 
@@ -683,91 +488,7 @@
 		This button presents a dialog so that you can
 		configure the AltosUI global settings.
 
-            	==== Voice Settings
-
-			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.
-
-			Enable::
-			Turns all voice announcements on and off
-
-			Test Voice::
-			Plays a short message allowing you to verify
-			that the audio system is working and the volume settings
-			are reasonable
-
-      		==== Log Directory
-
-			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.
-
-			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.
-
-      		==== Callsign
-
-			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.
-
-			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.
-
-		==== Imperial Units
-
-			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.
-
-		==== Font Size
-
-			Selects the set of fonts used in the flight
-			monitor window. Choose between the small,
-			medium and large sets.
-
-      		==== Serial Debug
-
-			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.
-
-		==== Manage Frequencies
-
-			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.
+		include::config-ui.raw[]
 
 	=== Configure Groundstation
 
@@ -890,66 +611,7 @@
 		with the standard telemetry format used in v1.0 and
 		later firmware.
 
-	=== Load Maps
-
-		.Load Maps Window
-		image::load-maps.png[width="5.2in"]
-
-		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.
-
-		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
-
-		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:
-
-		Hybrid::
-		A combination of satellite imagery and road data. This
-		is the default view.
-
-		Satellite::
-		Just the satellite imagery without any annotation.
-
-		Roadmap::
-		Roads, political boundaries and a few geographic
-		features.
-
-		Terrain::
-		Contour intervals and shading that show hills and
-		valleys.
-
-		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.
-
-		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.
-
-		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.
+	include::load-maps.raw[]
 
 	=== Monitor Idle
 
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index a2f78dda..f8d284ec 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -1,6 +1,8 @@
 = The Altus Metrum System
 :doctype: book
 :numbered:
+:altusmetrum: 1
+:application: AltosUI
 
 	include::dedication.raw[]
 
diff --git a/doc/aprs-operation.inc b/doc/aprs-operation.inc
new file mode 100644
index 00000000..e514e110
--- /dev/null
+++ b/doc/aprs-operation.inc
@@ -0,0 +1,85 @@
+	=== APRS
+
+		{aprsdevices} 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 {application}; that process is described in
+		<<{configure_section}>> in the {application} chapter.
+
+		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.
+
+		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.
+
+		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.
+
+		.Altus Metrum APRS Comments
+		[options="header",cols="1,1,3"]
+		|====
+		|Field	      |Example	      |Description
+
+		|1
+		|L
+		|GPS Status U for unlocked, L for locked
+
+		|2
+		|6
+		|Number of Satellites in View
+
+		|3
+		|B4.0
+		|Altimeter Battery Voltage
+
+		|4
+		|A3.7
+		|Apogee Igniter Voltage
+
+		|5
+		|M3.7
+		|Main Igniter Voltage
+
+		|6
+		|1286
+		|Device Serial Number
+		|====
+
+		Here's an example of an APRS comment showing GPS lock with 6
+		satellites in view, a primary battery at 4.0V, and
+		apogee and main igniters both at 3.7V from device 1286.
+
+		....
+		L6 B4.0 A3.7 M3.7 1286
+		....
+
+		Make sure your primary battery is above 3.8V, any
+		connected igniters are above 3.5V and GPS is locked
+		with at least 5 or 6 satellites in view before
+		flying. If GPS is switching between L and U regularly,
+		then it doesn't have a good lock and you should wait
+		until it becomes stable.
+
+		If the GPS receiver loses lock, the APRS data
+		transmitted will contain the last position for which
+		GPS lock was available. You can tell that this has
+		happened by noticing that the GPS status character
+		switches from 'L' to 'U'. Before GPS has locked, APRS
+		will transmit zero for latitude, longitude and
+		altitude.
diff --git a/doc/config-device.inc b/doc/config-device.inc
new file mode 100644
index 00000000..fb09416c
--- /dev/null
+++ b/doc/config-device.inc
@@ -0,0 +1,240 @@
+ifdef::altusmetrum[]
+
+	==== Main Deploy Altitude
+
+		This sets the altitude (above the recorded pad
+		altitude) at which the 'main' igniter will fire. The
+		drop-down menu shows some common values, but you can
+		edit the text directly and choose whatever you
+		like. If the apogee charge fires below this altitude,
+		then the main charge will fire two seconds after the
+		apogee charge fires.
+
+	==== Apogee Delay
+
+		When flying redundant electronics, it's often
+		important to ensure that multiple apogee charges don't
+		fire at precisely the same time, as that can over
+		pressurize the apogee deployment bay and cause a
+		structural failure of the air-frame. The Apogee Delay
+		parameter tells the flight computer to fire the apogee
+		charge a certain number of seconds after apogee has
+		been detected.
+
+	==== Apogee Lockout
+
+		Apogee lockout is the number of seconds after boost
+		where the flight computer will not fire the apogee
+		charge, even if the rocket appears to be at
+		apogee. This is often called 'Mach Delay', as it is
+		intended to prevent a flight computer from
+		unintentionally firing apogee charges due to the
+		pressure spike that occurrs across a mach
+		transition. Altus Metrum flight computers include a
+		Kalman filter which is not fooled by this sharp
+		pressure increase, and so this setting should be left
+		at the default value of zero to disable it.
+
+endif::altusmetrum[]
+
+==== Frequency
+
+	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.
+
+==== RF Calibration
+
+	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.
+
+==== Telemetry/RDF/APRS Enable
+
+	Enables the radio for transmission during
+	flight. When disabled, the radio will not
+	transmit anything during flight at all.
+
+==== Telemetry baud rate
+
+	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.
+
+==== APRS Interval
+
+	How often to transmit GPS information via APRS
+	(in seconds). When set to zero, APRS
+	transmission is disabled.
+	ifdef::altusmetrum[]
+	This option is
+	available on TeleMetrum v2 and TeleMega
+	boards. TeleMetrum v1 boards cannot transmit
+	APRS packets.
+	endif::altusmetrum[]
+	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.
+
+==== APRS SSID
+
+	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.
+
+==== APRS Format
+
+	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.
+
+==== Callsign
+
+	This sets the call sign included in each
+	telemetry packet. Set this as needed to
+	conform to your local radio regulations.
+
+ifdef::altusmetrum[]
+
+	==== Maximum Flight Log Size
+
+		This sets the space (in kilobytes) allocated
+		for each flight log. The available space will
+		be divided into chunks of this size. A smaller
+		value will allow more flights to be stored, a
+		larger value will record data from longer
+		flights.
+
+	==== Ignitor Firing Mode
+
+		This configuration parameter allows the two standard ignitor
+		channels (Apogee and Main) to be used in different
+		configurations.
+
+		Dual Deploy::
+		This is the usual mode of operation; the
+		'apogee' channel is fired at apogee and the
+		'main' channel at the height above ground
+		specified by the 'Main Deploy Altitude' during
+		descent.
+
+		Redundant Apogee::
+		This fires both channels at apogee, the
+		'apogee' channel first followed after a two
+		second delay by the 'main' channel.
+
+		Redundant Main::
+		This fires both channels at the height above
+		ground specified by the Main Deploy Altitude
+		setting during descent. The 'apogee' channel
+		is fired first, followed after a two second
+		delay by the 'main' channel.
+
+	==== Pad Orientation
+
+		Because they include accelerometers,
+		TeleMetrum, TeleMega and EasyMega are
+		sensitive to the orientation of the board. By
+		default, they expect the antenna end to point
+		forward. This parameter allows that default to
+		be changed, permitting the board to be mounted
+		with the antenna pointing aft instead.
+
+		Antenna Up::
+		In this mode, the antenna end of the flight
+		computer must point forward, in line with the
+		expected flight path.
+
+		Antenna Down::
+		In this mode, the antenna end of the flight
+		computer must point aft, in line with the
+		expected flight path.
+
+	==== Beeper Frequency
+
+		The beeper on all Altus Metrum flight
+		computers works best at 4000Hz, however if you
+		have more than one flight computer in a single
+		airframe, having all of them sound at the same
+		frequency can be confusing. This parameter
+		lets you adjust the base beeper frequency
+		value.
+
+endif::altusmetrum[]
+
+==== Logging Trigger Motion
+
+	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.
+
+==== Position Reporting Interval
+
+	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.
+
+
+ifdef::altusmetrum[]
+
+	==== Configure Pyro Channels
+
+		.Additional Pyro Channel Configuration
+		image::configure-pyro.png[width="5.5in"]
+
+		This opens a separate window to configure the
+		additional pyro channels available on TeleMega
+		and EasyMega.  One column is presented for
+		each channel. Each row represents a single
+		parameter, if enabled the parameter must meet
+		the specified test for the pyro channel to be
+		fired.
+
+		Select conditions and set the related value;
+		the pyro channel will be activated when *all*
+		of the conditions are met. Each pyro channel
+		has a separate set of configuration values, so
+		you can use different values for the same
+		condition with different channels.
+
+		At the bottom of the window, the 'Pyro Firing
+		Time' configuration sets the length of time
+		(in seconds) which each of these pyro channels
+		will fire for.
+
+		Once you have selected the appropriate
+		configuration for all of the necessary pyro
+		channels, you can save the pyro configuration
+		along with the rest of the flight computer
+		configuration by pressing the 'Save' button in
+		the main Configure Flight Computer window.
+
+		include::pyro-channels.raw[]
+
+endif::altusmetrum[]
diff --git a/doc/config-ui.inc b/doc/config-ui.inc
new file mode 100644
index 00000000..c7e7f1ac
--- /dev/null
+++ b/doc/config-ui.inc
@@ -0,0 +1,105 @@
+==== Voice Settings
+
+	{application} 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.
+
+	Enable::
+	Turns all voice announcements on and off
+
+	Test Voice::
+	Plays a short message allowing you to verify
+	that the audio system is working and the volume settings
+	are reasonable
+
+==== Log Directory
+
+	{application} 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.
+
+	Click on the directory name to bring up a
+	directory choosing dialog, select a new
+	directory and click 'Select Directory' to
+	change where {application} reads and writes data
+	files.
+
+==== Callsign
+
+	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 {application}
+	operators call sign as needed to comply with
+	your local radio regulations.
+
+	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.
+
+==== Imperial Units
+
+	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.
+
+==== Serial Debug
+
+	This causes all communication with a connected
+	device to be dumped to the console from which
+	{application} 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.
+
+==== Font size
+
+	Selects the set of fonts used in the flight
+	monitor window. Choose between the small,
+	medium and large sets.
+
+==== Look & feel
+
+	Switches between the available Java user
+	interface appearances. The default selection
+	is supposed to match the native window system
+	appearance for the target platform.
+	
+==== Menu position
+
+	Selects the initial position for the main
+	{application} window that includes all of the
+	command buttons.
+
+==== Map Cache Size
+
+	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.
+
+==== Manage Frequencies
+
+	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.
diff --git a/doc/installation.inc b/doc/installation.inc
index 44433298..32d81984 100644
--- a/doc/installation.inc
+++ b/doc/installation.inc
@@ -22,13 +22,14 @@
 	Check polarity and voltage before connecting any battery not
 	purchased from Altus Metrum or Spark Fun.
 
-	By default, we use the unregulated output of the battery directly
-	to fire ejection charges.  This works marvelously with standard
-	low-current e-matches like the J-Tek from MJG Technologies, and with
-	Quest Q2G2 igniters.  However, if you want or need to use a separate
-	pyro battery, check out the “External Pyro Battery” section in this
-	manual for instructions on how to wire that up. The altimeters are
-	designed to work with an external pyro battery of no more than 15 volts.
+	By default, we use the unregulated output of the battery
+	directly to fire ejection charges.  This works marvelously
+	with standard low-current e-matches like the J-Tek from MJG
+	Technologies, and with Quest Q2G2 igniters.  However, if you
+	want or need to use a separate pyro battery, check out
+	<<_using_a_separate_pyro_battery>> for instructions on how to wire
+	that up. The altimeters are designed to work with an external
+	pyro battery of no more than 15 volts.
 
 	Ejection charges are wired directly to the screw terminal block
 	at the aft end of the altimeter.  You'll need a very small straight
diff --git a/doc/load-maps.inc b/doc/load-maps.inc
new file mode 100644
index 00000000..e7717d89
--- /dev/null
+++ b/doc/load-maps.inc
@@ -0,0 +1,60 @@
+=== Load Maps
+
+	.Load Maps Window
+	image::load-maps.png[width="5.2in"]
+
+	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.
+
+	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
+
+	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:
+
+	Hybrid::
+	A combination of satellite imagery and road data. This
+	is the default view.
+
+	Satellite::
+	Just the satellite imagery without any annotation.
+
+	Roadmap::
+	Roads, political boundaries and a few geographic
+	features.
+
+	Terrain::
+	Contour intervals and shading that show hills and
+	valleys.
+
+	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.
+
+	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.
+
+	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.
diff --git a/doc/micropeak.txt b/doc/micropeak.txt
index 085be0ed..a3d644d2 100644
--- a/doc/micropeak.txt
+++ b/doc/micropeak.txt
@@ -149,8 +149,8 @@
 
 		* Once the data are saved, a graph will be displayed
 		  with height, speed and acceleration values computed
-		  from the recorded barometric pressure data. See the
-		  next section for more details on that.
+		  from the recorded barometric pressure data. See
+		  <<_analyzing_micropeak_data> for more details on that.
 
 	=== Analyzing MicroPeak Data
 
diff --git a/doc/release-notes-0.9.inc b/doc/release-notes-0.9.inc
index 66810e5d..0ee7ea51 100644
--- a/doc/release-notes-0.9.inc
+++ b/doc/release-notes-0.9.inc
@@ -18,8 +18,8 @@
 	  flight logs just because you fly the same board twice in one
 	  day.
 
-	* Telemetry support for devices with serial number >=
-	  256. Previous versions used a telemetry packet format that
+	* Telemetry support for devices with serial number >= 256.
+	  Previous versions used a telemetry packet format that
 	  provided only 8 bits for the device serial number. This
 	  change requires that both ends of the telemetry link be
 	  running the 0.9 firmware or they will not communicate.
diff --git a/doc/system-operation.inc b/doc/system-operation.inc
index d7c56eaa..dd8d7d02 100644
--- a/doc/system-operation.inc
+++ b/doc/system-operation.inc
@@ -28,72 +28,6 @@
 		completes initialization and self test, and decides which mode
 		to enter next.
 
-		Here's a short summary of all of the modes and the beeping (or
-		flashing, in the case of TeleMini v1) that accompanies each
-		mode. In the description of the beeping pattern, “dit” means a
-		short beep while "dah" means a long beep (three times as
-		long). “Brap” means a long dissonant tone.
-
-		.AltOS Modes
-		[options="border",cols="1,1,2,2"]
-		|====
-		|Mode Name
-		|Abbreviation
-		|Beeps
-		|Description
-
-		|Startup
-		|S
-		|battery voltage in decivolts
-		|Calibrating sensors, detecting orientation.
-
-		|Idle
-		|I
-		|dit dit
-		|Ready to accept commands over USB or radio link.
-
-		|Pad
-		|P
-		|dit dah dah dit
-		|Waiting for launch. Not listening for commands.
-
-		|Boost
-		|B
-		|dah dit dit dit
-		|Accelerating upwards.
-
-		|Fast
-		|F
-		|dit dit dah dit
-		|Decelerating, but moving faster than 200m/s.
-
-		|Coast
-		|C
-		|dah dit dah dit
-		|Decelerating, moving slower than 200m/s
-
-		|Drogue
-		|D
-		|dah dit dit
-		|Descending after apogee. Above main height.
-
-		|Main
-		|M
-		|dah dah
-		|Descending. Below main height.
-
-		|Landed
-		|L
-		|dit dah dit dit
-		|Stable altitude for at least ten seconds.
-
-
-		|Sensor error
-		|X
-		|dah dit dit dah
-		|Error detected during sensor calibration.
-		|====
-
 		In flight or “pad” mode, the altimeter engages the flight
 		state machine, goes into transmit-only mode to send telemetry,
 		and waits for launch to be detected.  Flight mode is indicated
@@ -317,308 +251,52 @@
 
     	=== Radio Link
 
-		TeleMetrum, TeleMini and TeleMega all incorporate an RF transceiver, but
-		it's not a full duplex system... each end can only be transmitting or
-		receiving at any given moment.  So we had to decide how to manage the
+		TeleMetrum, TeleMini and TeleMega all incorporate an
+		RF transceiver, but it's not a full duplex system;
+		each end can only be transmitting or receiving at any
+		given moment. So we had to decide how to manage the
 		link.
 
-		By design, the altimeter firmware listens for the radio link when
-		it's in “idle mode”, which
-		allows us to use the radio link to configure the rocket, do things like
-		ejection tests, and extract data after a flight without having to
-		crack open the air-frame.  However, when the board is in “flight
-		mode”, the altimeter only
-		transmits and doesn't listen at all.  That's because we want to put
-		ultimate priority on event detection and getting telemetry out of
-		the rocket through
-		the radio in case the rocket crashes and we aren't able to extract
-		data later...
-
-		We don't generally use a 'normal packet radio' mode like APRS
-		because they're just too inefficient.  The GFSK modulation we
-		use is FSK with the base-band pulses passed through a Gaussian
-		filter before they go into the modulator to limit the
-		transmitted bandwidth.  When combined with forward error
-		correction and interleaving, this allows us to have a very
-		robust 19.2 kilobit data link with only 10-40 milliwatts of
-		transmit power, a whip antenna in the rocket, and a hand-held
-		Yagi on the ground.  We've had flights to above 21k feet AGL
-		with great reception, and calculations suggest we should be
-		good to well over 40k feet AGL with a 5-element yagi on the
-		ground with our 10mW units and over 100k feet AGL with the
-		40mW devices.  We hope to fly boards to higher altitudes over
-		time, and would of course appreciate customer feedback on
-		performance in higher altitude flights!
-
-	=== APRS
-
-		TeleMetrum v2.0 and TeleMega can send APRS if desired, and the
-		interval between APRS packets can be configured. As each APRS
-		packet takes a full second to transmit, we recommend an
-		interval of at least 5 seconds to avoid consuming too much
-		battery power or radio channel bandwidth. You can configure
-		the APRS interval using AltosUI; that process is described in
-		the Configure Altimeter section of the AltosUI chapter.
-
-		AltOS uses the APRS compressed position report data format,
-		which provides for higher position precision and shorter
-		packets than the original APRS format. It also includes
-		altitude data, which is invaluable when tracking rockets. We
-		haven't found a receiver which doesn't handle compressed
-		positions, but it's just possible that you have one, so if you
-		have an older device that can receive the raw packets but
-		isn't displaying position information, it's possible that this
-		is the cause.
-
-		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.
-
-		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.
-
-		.Altus Metrum APRS Comments
-		[options="header",cols="1,1,3"]
-		|====
-		|Field	      |Example	      |Description
-
-		|1
-		|L
-		|GPS Status U for unlocked, L for locked
-
-		|2
-		|6
-		|Number of Satellites in View
-
-		|3
-		|B4.0
-		|Altimeter Battery Voltage
-
-		|4
-		|A3.7
-		|Apogee Igniter Voltage
-
-		|5
-		|M3.7
-		|Main Igniter Voltage
-
-		|6
-		|1286
-		|Device Serial Number
-		|====
-
-		Here's an example of an APRS comment showing GPS lock with 6
-		satellites in view, a primary battery at 4.0V, and
-		apogee and main igniters both at 3.7V from device 1286.
-
-		....
-		L6 B4.0 A3.7 M3.7 1286
-		....
-
-		Make sure your primary battery is above 3.8V, any
-		connected igniters are above 3.5V and GPS is locked
-		with at least 5 or 6 satellites in view before
-		flying. If GPS is switching between L and U regularly,
-		then it doesn't have a good lock and you should wait
-		until it becomes stable.
-
-		If the GPS receiver loses lock, the APRS data
-		transmitted will contain the last position for which
-		GPS lock was available. You can tell that this has
-		happened by noticing that the GPS status character
-		switches from 'L' to 'U'. Before GPS has locked, APRS
-		will transmit zero for latitude, longitude and
-		altitude.
+		By design, the altimeter firmware listens for the
+		radio link when it's in “idle mode”, which allows us
+		to use the radio link to configure the rocket, do
+		things like ejection tests, and extract data after a
+		flight without having to crack open the air-frame.
+		However, when the board is in “flight mode”, the
+		altimeter only transmits and doesn't listen at all.
+		That's because we want to put ultimate priority on
+		event detection and getting telemetry out of the
+		rocket through the radio in case the rocket crashes
+		and we aren't able to extract data later.
+
+		We don't generally use a 'normal packet radio' mode
+		like APRS because they're just too inefficient.  The
+		GFSK modulation we use is FSK with the base-band
+		pulses passed through a Gaussian filter before they go
+		into the modulator to limit the transmitted bandwidth.
+		When combined with forward error correction and
+		interleaving, this allows us to have a very robust
+		19.2 kilobit data link with only 10-40 milliwatts of
+		transmit power, a whip antenna in the rocket, and a
+		hand-held Yagi on the ground.  We've had flights to
+		above 21k feet AGL with great reception, and
+		calculations suggest we should be good to well over
+		40k feet AGL with a 5-element yagi on the ground with
+		our 10mW units and over 100k feet AGL with the 40mW
+		devices.  We hope to fly boards to higher altitudes
+		over time, and would of course appreciate customer
+		feedback on performance in higher altitude flights!
+
+	:aprsdevices: TeleMetrum v2.0 and TeleMega
+	:configure_section: _configure_altimeter
+	include::aprs-operation.raw[]
 
     	=== Configurable Parameters
 
 		Configuring an Altus Metrum altimeter for flight is
 		very simple.  Even on our baro-only TeleMini and
 		EasyMini boards, the use of a Kalman filter means
-		there is no need to set a “mach delay”.  The few
-		configurable parameters can all be set using AltosUI
-		over USB or or radio link via TeleDongle. Read the
-		Configure Altimeter section in the AltosUI chapter
-		below for more information.
-
-		==== Radio Frequency
-
-			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 altimeter and TeleDongle
-			must be configured to the same frequency to
-			successfully communicate with each other.
-
-		==== Callsign
-
-			This sets the callsign used for telemetry,
-			APRS and the packet link. For telemetry and
-			APRS, this is used to identify the device. For
-			the packet link, the callsign must match that
-			configured in AltosUI or the link will not
-			work. This is to prevent accidental
-			configuration of another Altus Metrum flight
-			computer operating on the same frequency
-			nearby.
-
-		==== Telemetry/RDF/APRS Enable
-
-			You can completely disable the radio while in
-			flight, if necessary. This doesn't disable the
-			packet link in idle mode.
-
-		==== Telemetry baud rate
-
-			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.
-
-		==== APRS Interval
-
-			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.
-
-		==== APRS SSID
-
-			This selects the SSID reported in APRS
-			packets. By default, it is set to the last
-			digit of the serial number, but you can change
-			this to any value from 0 to 9.
-
-		==== Apogee Delay
-
-			Apogee delay is the number of seconds after
-			the altimeter 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.
-
-			The Altus Metrum apogee detection algorithm
-			fires exactly at 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
-			air-frames this way quite happily, including
-			Keith's successful L3 cert.
-
-		==== Apogee Lockout
-
-			Apogee lockout is the number of seconds after
-			boost where the flight computer will not fire
-			the apogee charge, even if the rocket appears
-			to be at apogee. This is often called 'Mach
-			Delay', as it is intended to prevent a flight
-			computer from unintentionally firing apogee
-			charges due to the pressure spike that occurrs
-			across a mach transition. Altus Metrum flight
-			computers include a Kalman filter which is not
-			fooled by this sharp pressure increase, and so
-			this setting should be left at the default
-			value of zero to disable it.
-
-		==== Main Deployment Altitude
-
-			By default, the altimeter 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
-			air-frames, 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.
-
-		==== Maximum Flight Log
-
-			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.
-
-			Even though our flight computers (except TeleMini v1.0) can store
-			multiple flights, we strongly recommend downloading and saving
-			flight data after each flight.
-
-		==== Ignite Mode
-
-			Instead of firing one charge at apogee and
-			another charge at a fixed height above the
-			ground, you can configure the altimeter to
-			fire both at apogee or both during
-			descent. This was added to support an airframe
-			Bdale designed that had two altimeters, one in
-			the fin can and one in the nose.
-
-			Providing the ability to use both igniters for
-			apogee or main allows some level of redundancy
-			without needing two flight computers.  In
-			Redundant Apogee or Redundant Main mode, the
-			two charges will be fired two seconds apart.
-
-		==== Pad Orientation
-
-			TeleMetrum, TeleMega and EasyMega measure
-			acceleration along the axis of the
-			board. Which way the board is oriented affects
-			the sign of the acceleration value. Instead of
-			trying to guess which way the board is mounted
-			in the air frame, the altimeter must be
-			explicitly configured for either Antenna Up or
-			Antenna Down. The default, Antenna Up, expects
-			the end of the board connected to the 70cm
-			antenna to be nearest the nose of the rocket,
-			with the end containing the screw terminals
-			nearest the tail.
-
-		==== Configurable Pyro Channels
-
-			In addition to the usual Apogee and Main pyro
-			channels, TeleMega and EasyMega have four
-			additional channels that can be configured to
-			activate when various flight conditions are
-			satisfied. You can select as many conditions
-			as necessary; all of them must be met in order
-			to activate the channel. The conditions
-			available are:
-
-			include::pyro-channels.raw[]
-
+		there is no need to set a “mach delay”.  All of the
+		configurable parameters can be set using AltosUI
+		over USB or or radio link via TeleDongle. Read
+		<<_configure_altimeter>> for more information.
diff --git a/doc/telegps-application.inc b/doc/telegps-application.inc
index c5ecc11f..41dda968 100644
--- a/doc/telegps-application.inc
+++ b/doc/telegps-application.inc
@@ -91,7 +91,7 @@
         
 			You can pre-load images for your favorite
 			launch sites before you leave home; check out
-			the 'Preload Maps' section below.
+			<<_load_maps>>.
 	
 		==== Location
 
@@ -233,155 +233,14 @@
 			within that application. With this, you can use Google Earth to
 			see the whole path in 3D.
 
-	=== Load Maps
-
-		.Load Maps Window
-		image::load-maps.png[width="5.2in"]
-
-		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.
-
-		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
-
-		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:
-
-		Hybrid::
-		A combination of satellite imagery and road data. This
-		is the default view.
-
-		Satellite::
-		Just the satellite imagery without any annotation.
-
-		Roadmap::
-		Roads, political boundaries and a few geographic
-		features.
-
-		Terrain::
-		Contour intervals and shading that show hills and
-		valleys.
-
-		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.
-
-		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.
-
-		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.
+	include::load-maps.raw[]
 
 	=== Preferences
 
 		.TeleGPS Preferences Window
 		image::telegps-preferences.png[width="2.4in"]
 
-			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.
-
-			Enable::
-			Turns all voice announcements on and off
-
-			Test Voice::
-			Plays a short message allowing you to verify
-			that the audio system is working and the volume settings
-			are reasonable
-
-      		==== Log Directory
-
-			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.
-
-			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.
-
-      		==== Callsign
-
-			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.
-
-			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.
-
-		==== Imperial Units
-
-			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.
-
-		==== Font Size
-
-			Selects the set of fonts used in the flight
-			monitor window. Choose between the small,
-			medium and large sets.
-
-      		==== Serial Debug
-
-			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.
-
-		==== Manage Frequencies
-
-			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.
+		include::config-ui.raw[]
 
 	=== Close
 
@@ -485,82 +344,7 @@
 
           The rest of the dialog contains the parameters to be configured.
 	
-		==== Frequency
-
-			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.
-
-		==== RF Calibration
-
-			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.
-
-      		==== Telemetry/RDF/APRS Enable
-
-			Enables the radio for transmission during
-			flight. When disabled, the radio will not
-			transmit anything during flight at all.
-
-      		==== Telemetry baud rate
-
-			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.
-
-      		==== APRS Interval
-
-			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.
-
-      		==== APRS SSID
-
-			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.
-
-		==== Callsign
-
-			This sets the call sign included in each
-			telemetry packet. Set this as needed to
-			conform to your local radio regulations.
-
-		==== Logging Trigger Motion
-
-			If TeleGPS moves less than this distance over
-			a long period of time, it will not log that
-			location, saving storage space.
-
-		==== Position Reporting Interval
-
-			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.
+		include::config-device.raw[]
 
 	=== Flash Device
 
diff --git a/doc/telegps-dedication.inc b/doc/telegps-dedication.inc
new file mode 100644
index 00000000..719c309c
--- /dev/null
+++ b/doc/telegps-dedication.inc
@@ -0,0 +1,19 @@
+[dedication]
+== Acknowledgments
+
+	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!
+
+	Have fun using these products, and we hope to meet all of you
+	out on the rocket flight line somewhere.
+
+	[verse]
+	Bdale Garbee, KB0G
+	NAR #87103, TRA #12201
+
+	[verse]
+	Keith Packard, KD7SQG
+	NAR #88757, TRA #12200
diff --git a/doc/telegps-quick-start.inc b/doc/telegps-quick-start.inc
index e8db8ac3..6492743d 100644
--- a/doc/telegps-quick-start.inc
+++ b/doc/telegps-quick-start.inc
@@ -3,22 +3,21 @@
 	TeleGPS is designed to be easy to use. Requiring no external
 	components, flying takes just a few steps.
 
-	First, download and install the software from
+	1. First, download and install the software from
 	http://altusmetrum.org/AltOS. This will make sure that
 	you have the right device drivers installed.
 
-	Next, plug in the battery and USB cable and connect TeleGPS to
+	2. 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.
 
-	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.
+	3. Start the TeleGPS application and set the callsign and frequency
+	on your TeleGPS device; refer to <<_configure_device>> for instructions.
 
-	Unplug TeleGPS when the battery charger light goes green. This
+	4. Unplug TeleGPS when the battery charger light goes green. This
 	will enable the radio and logging portions of the TeleGPS
 	firmware.
 
-	Connect TeleDongle to your computer and start TeleGPS or start
+	5. 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.
diff --git a/doc/telegps-system-operation.inc b/doc/telegps-system-operation.inc
index e8790db8..40ab467c 100644
--- a/doc/telegps-system-operation.inc
+++ b/doc/telegps-system-operation.inc
@@ -19,131 +19,13 @@
 		ground with our 10mW units and over 100k feet AGL with
 		the 40mW devices.
       
-	=== APRS
-
-		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; that
-		process is described in the Configure TeleGPS
-		section of the TeleGPS Application chapter.
-
-		AltOS uses the APRS compressed position report data
-		format, which provides for higher position precision
-		and shorter packets than the original APRS format. It
-		also includes altitude data, which is invaluable when
-		tracking rockets. We haven't found a receiver which
-		doesn't handle compressed positions, but it's just
-		possible that you have one, so if you have an older
-		device that can receive the raw packets but isn't
-		displaying position information, it's possible that
-		this is the cause.
-
-		The APRS packet format includes a comment field that
-		can have arbitrary text in it. AltOS uses this to send
-		status information about the flight computer. It sends
-		four fields as shown in the following table.
-      
-		.TeleGPS APRS Comments
-		[options="header",cols="1,1,3"]
-		|====
-		|Field	      |Example	      |Description
-
-		|1
-		|L
-		|GPS Status U for unlocked, L for locked
-
-		|2
-		|6
-		|Number of Satellites in View
-
-		|3
-		|B4.0
-		|Altimeter Battery Voltage
-
-		|4
-		|1286
-		|Device Serial Number
-		|====
-
-		Here's an example of an APRS comment showing GPS lock with 6
-		satellites in view and a battery at 4.0V from device 1286.
-
-		....
-		L6 B4.0 1286
-		....
-
-		Make sure your battery is above 3.8V GPS is locked
-		with at least 5 or 6 satellites in view before
-		flying. If GPS is switching between L and U regularly,
-		then it doesn't have a good lock and you should wait
-		until it becomes stable.
-
-		If the GPS receiver loses lock, the APRS data
-		transmitted will contain the last position for which
-		GPS lock was available. You can tell that this has
-		happened by noticing that the GPS status character
-		switches from 'L' to 'U'. Before GPS has locked, APRS
-		will transmit zero for latitude, longitude and
-		altitude.
+	:aprsdevices: TeleGPS
+	:configure_section: _configure_device
+	include::aprs-operation.raw[]
 
 	=== Configurable Parameters
 
         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.
-      
-		==== Radio Frequency
-
-			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.
-
-		==== Callsign
-
-			This sets the callsign used for telemetry and APRS to
-			identify the device.
-
-		==== Telemetry/RDF/APRS Enable
-
-			You can completely disable the radio, if necessary, leaving
-			TeleGPS only logging data to internal memory.
-
-		==== APRS Interval
-
-			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.
-
-		==== Maximum Flight Log
-
-			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.
-
-		==== Logging Trigger Motion
-
-			If TeleGPS moves less than this distance over a long period
-			of time, it will not log that location, saving storage space.
-
-		==== Position Reporting Interval
-
-			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.
+	the Configure TeleGPS section in the TeleGPS Software chapter
diff --git a/doc/telegps.txt b/doc/telegps.txt
index 059036ec..6726b340 100644
--- a/doc/telegps.txt
+++ b/doc/telegps.txt
@@ -1,8 +1,10 @@
 = TeleGPS Owner's Manual
 :doctype: book
 :numbered:
+:telegps: 1
+:application: TeleGPS
 
-	include::dedication.raw[]
+	include::telegps-dedication.raw[]
 
 	include::telegps-quick-start.raw[]
 
diff --git a/doc/usage.inc b/doc/usage.inc
index cc694dda..b2ab0c27 100644
--- a/doc/usage.inc
+++ b/doc/usage.inc
@@ -50,6 +50,122 @@
 		firing when in the Off position. The switch is in-line with
 		the positive battery terminal.
 
+	=== Understanding Beeps
+
+		Altus Metrum flight computers include a beeper to
+		provide information about the state of the system.
+		TeleMini doesn't have room for a beeper, so instead it
+		uses an LED, which works the same, except for every
+		beep is replaced with the flash of the LED.
+
+		Here's a short summary of all of the modes and the beeping (or
+		flashing, in the case of TeleMini v1) that accompanies each
+		mode. In the description of the beeping pattern, “dit” means a
+		short beep while "dah" means a long beep (three times as
+		long). “Brap” means a long dissonant tone.
+
+		.AltOS Modes
+		[options="border",cols="1,1,2,2"]
+		|====
+		|Mode Name
+		|Abbreviation
+		|Beeps
+		|Description
+
+		|Startup
+		|S
+		|battery voltage in decivolts
+		|Calibrating sensors, detecting orientation.
+
+		|Idle
+		|I
+		|dit dit
+		|Ready to accept commands over USB or radio link.
+
+		|Pad
+		|P
+		|dit dah dah dit
+		|Waiting for launch. Not listening for commands.
+
+		|Boost
+		|B
+		|dah dit dit dit
+		|Accelerating upwards.
+
+		|Fast
+		|F
+		|dit dit dah dit
+		|Decelerating, but moving faster than 200m/s.
+
+		|Coast
+		|C
+		|dah dit dah dit
+		|Decelerating, moving slower than 200m/s
+
+		|Drogue
+		|D
+		|dah dit dit
+		|Descending after apogee. Above main height.
+
+		|Main
+		|M
+		|dah dah
+		|Descending. Below main height.
+
+		|Landed
+		|L
+		|dit dah dit dit
+		|Stable altitude for at least ten seconds.
+
+
+		|Sensor error
+		|X
+		|dah dit dit dah
+		|Error detected during sensor calibration.
+		|====
+
+	=== Turning On the Power
+
+		Connect a battery and power switch and turn the switch
+		to "on". The flight computer will signal power on by
+		reporting the battery voltage and then perform an internal self
+		test and sensor calibration.
+
+		Once the self test and calibration are complete, there
+		are two modes that an Altus Metrum flight computer can
+		operate in:
+
+		Flight/Pad::
+		The flight computer is waiting to detect
+		launch and then fly the rocket. In this mode, the USB
+		link is disabled, and the radio goes into
+		transmit-only mode. The only way to get out of this
+		mode is to power the flight computer down.
+
+		Idle::
+		The flight computer is ready to communicate over USB
+		and in packet mode over the radio. You can configure
+		the flight computer, download data or display
+		the current state.
+
+		For flight computers with accelerometers (TeleMetrum,
+		EasyMega and TeleMega), the mode is selected by the
+		orientation of the board during the self test
+		interval. If the board is pointing upwards as if ready
+		to fly, it will enter Flight/Pad mode. Otherwise, it will
+		enter Idle mode.
+
+		For EasyMini, if the USB cable is connected to a
+		computer, it will enter Idle mode. Otherwise, it will
+		enter Flight/Pad mode.
+
+		For TeleMini v1.0, if a packet link is waiting to
+		connect when the device is powered on, it will enter
+		Idle mode, otherwise it will enter Flight/Pad mode.
+
+		You can see in <<_understanding_beeps>>
+		how to tell which mode the flight computer is in.
+
 	=== Using an External Active Switch Circuit
 
 		You can use an active switch circuit, such as the
@@ -63,13 +179,14 @@
 
 	=== Using a Separate Pyro Battery
 
-		As mentioned above in the section on hooking up pyro
-		charges, one lead for each of the pyro charges is connected
-		through the power switch directly to the positive battery
-		terminal. The other lead is connected to the pyro circuit,
-		which connects it to the negative battery terminal when the
-		pyro circuit is fired. The pyro circuit on all of the flight
-		computers is designed to handle up to 16V.
+		As mentioned above in <<_hooking_up_pyro_charges>>, one
+		lead for each of the pyro charges is connected through
+		the power switch directly to the positive battery
+		terminal. The other lead is connected to the pyro
+		circuit, which connects it to the negative battery
+		terminal when the pyro circuit is fired. The pyro
+		circuit on all of the flight computers is designed to
+		handle up to 16V.
 
 		To use a separate pyro battery, connect the negative pyro
 		battery terminal to the flight computer ground terminal,
@@ -78,7 +195,8 @@
 		computer. When the pyro channel fires, it will complete the
 		circuit between the negative pyro terminal and the ground
 		terminal, firing the igniter. Specific instructions on how
-		to hook this up will be found in each section below.
+		to hook this up for each flight computer will be found
+		in the section below for that flight computer.
 
 	=== Using a Different Kind of Battery
 
@@ -89,7 +207,7 @@
 
 		[WARNING]
 		TeleMega, EasyMega and TeleMetrum are only designed to
-		use a single-cell Lithium Polymer battery and cannot
-		be used with any other kind. Connecting a different
-		kind of battery to any of these will destroy the
-		board.
+		operate off a single-cell Lithium Polymer battery and
+		cannot be used with any other kind. Connecting a
+		different kind of battery to any of these will destroy
+		the board.
-- 
cgit v1.2.3


From 992c0eab6275cec7d5035b99952537fd7ece2ed4 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 13 Nov 2015 22:55:35 -0800
Subject: doc: Split out EasyMini into a separate manual

EasyMini uses a tiny fraction of the overall system software;
splitting the manual out makes it a lot smaller.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                   |  19 ++++-
 doc/altosui.inc                |  86 ++++++++++++++-----
 doc/altusmetrum.txt            |  10 ++-
 doc/config-device.inc          | 187 +++++++++++++++++++++--------------------
 doc/config-ui.inc              |  10 ++-
 doc/easymini-device.inc        | 116 +++++++++++++++++++++++++
 doc/easymini-docinfo.xml       |  48 +++++++++++
 doc/easymini-release-notes.inc |   7 ++
 doc/easymini.inc               | 116 -------------------------
 doc/easymini.txt               |  34 ++++++++
 doc/flight-data-recording.inc  |  48 +++++++++--
 doc/getting-started.inc        |  25 ++++--
 doc/installation.inc           |  26 +++++-
 doc/specs.inc                  |  22 +++++
 doc/system-operation.inc       |  75 ++++++++++++-----
 doc/telegps.txt                |   2 +
 doc/updating-firmware.inc      |  37 ++++++--
 doc/usage.inc                  |  41 ++++++---
 doc/using-am-products.inc      |  51 ++++++++---
 19 files changed, 660 insertions(+), 300 deletions(-)
 create mode 100644 doc/easymini-device.inc
 create mode 100644 doc/easymini-docinfo.xml
 create mode 100644 doc/easymini-release-notes.inc
 delete mode 100644 doc/easymini.inc
 create mode 100644 doc/easymini.txt

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index f8fdb5e8..7a4e0fa3 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -105,7 +105,7 @@ INC_FILES=\
 	telemetrum.inc \
 	telemini-v1.0.inc \
 	telemini-v2.0.inc \
-	easymini.inc \
+	easymini-device.inc \
 	telemega.inc \
 	easymega.inc \
 	installation.inc \
@@ -146,6 +146,14 @@ MICROPEAK_INC_FILES=
 
 MICROPEAK_RAW_FILES=$(MICROPEAK_TXT_FILES:.txt=.raw) $(MICROPEAK_INC_FILES:.inc=.raw)
 
+EASYMINI_TXT_FILES=\
+	easymini.txt
+
+EASYMINI_INC_FILES=$(INC_FILES) easymini-release-notes.inc
+
+
+EASYMINI_RAW_FILES=$(EASYMINI_TXT_FILES:.txt=.raw) $(EASYMINI_INC_FILES:.inc=.raw)
+
 OUTLINE_TXT_FILES=\
 	easymega-outline.txt \
 	easymini-outline.txt \
@@ -175,14 +183,15 @@ ONEFILE_TXT_FILES=\
 ONEFILE_RAW_FILES=$(ONEFILE_TXT_FILES:.txt=.raw)
 ONEFILE_PDF_FILES=$(ONEFILE_TXT_FILES:.txt=.pdf)
 
-HTML=altusmetrum.html micropeak.html telegps.html $(RELNOTES_HTML) $(ONEFILE_HTML_FILES)
+HTML=altusmetrum.html micropeak.html telegps.html easymini.html $(RELNOTES_HTML) $(ONEFILE_HTML_FILES)
 
 HTML_REVHISTORY=\
 	altusmetrum-revhistory.html \
 	micropeak-revhistory.html \
-	telegps-revhistory.html
+	telegps-revhistory.html \
+	easymini-revhistory.html
 
-PDF=altusmetrum.pdf micropeak.pdf telegps.pdf $(RELNOTES_PDF) $(ONEFILE_PDF_FILES) \
+PDF=altusmetrum.pdf micropeak.pdf telegps.pdf easymini.pdf $(RELNOTES_PDF) $(ONEFILE_PDF_FILES) \
 	$(OUTLINE_PDF_FILES)
 
 FOP_STYLE=am-fo.xsl
@@ -245,6 +254,8 @@ telegps.html telegps.pdf: telegps-docinfo.xml $(TELEGPS_RAW_FILES) $(IMAGES)
 
 micropeak.pdf micropeak.html: micropeak-docinfo.xml $(MICROPEAK_RAW_FILES) $(IMAGES)
 
+easymini.pdf easymini.html: easymini-docinfo.xml $(EASYMINI_RAW_FILES) $(IMAGES)
+
 install:	all
 
 publish:	$(DOC) $(FONTS)
diff --git a/doc/altosui.inc b/doc/altosui.inc
index 3c26b441..76a24d91 100644
--- a/doc/altosui.inc
+++ b/doc/altosui.inc
@@ -11,6 +11,7 @@
 	chapter is split into sections, each of which documents one of
 	the tasks provided from the top-level toolbar.
 
+	ifdef::radio[]
     	=== Monitor Flight
 	////
 	      <subtitle>Receive, Record and Display Telemetry Data</subtitle>
@@ -298,26 +299,34 @@
 			voltage measured here will be close to the pyro battery
 			voltage. A value greater than 3.2V is required for a 'GO'
 			status.
+	endif::radio[]
+
 
 	=== Save Flight Data
 
 		The altimeter records flight data to its internal
-		flash memory.  TeleMetrum data is recorded at a much
+		flash memory.
+		ifdef::radio[]
+		Data logged on board is recorded at a much
 		higher rate than the telemetry system can handle, and
 		is not subject to radio drop-outs. As such, it
 		provides a more complete and precise record of the
-		flight. The 'Save Flight Data' button allows you to
+		flight.
+		endif::radio[]
+		The 'Save Flight Data' button allows you to
 		read the flash memory and write it to disk.
 
 		Clicking on the 'Save Flight Data' button brings up a
 		list of connected flight computers and TeleDongle
 		devices. If you select a flight computer, the flight
-		data will be downloaded from that device directly. If
-		you select a TeleDongle device, flight data will be
+		data will be downloaded from that device directly.
+		ifdef::radio[]
+		If you select a TeleDongle device, flight data will be
 		downloaded from a flight computer over radio link via
 		the specified TeleDongle. See
 		<<_controlling_an_altimeter_over_the_radio_link>> for
 		more information.
+		endif::radio[]
 
 		After the device has been selected, a dialog showing
 		the flight data saved in the device will be shown
@@ -342,8 +351,12 @@
 		flash memory.
 
 		Once a flight record is selected, the flight monitor interface
-		is displayed and the flight is re-enacted in real time. Check
+		is displayed and the flight is re-enacted in real
+		time.
+		ifdef::radio[]
+		Check
 		<<_monitor_flight>> to learn how this window operates.
+		endif::radio[]
 
 	=== Graph Data
 
@@ -392,6 +405,7 @@
 
 			Shows overall data computed from the flight.
 
+		ifdef::gps[]
 		==== Map
 
 			.Flight Map
@@ -401,6 +415,7 @@
 			with the path of the flight. The red concentric
 			circles mark the launch pad, the black concentric
 			circles mark the landing location.
+		endif::gps[]
 
 	=== Export Data
 
@@ -412,8 +427,11 @@
 		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.
+		file.
+		ifdef::gps[]
+			It has a selector to choose between CSV and KML
+			file formats.
+		endif::gps[]
 
 		==== Comma Separated Value Format
 
@@ -432,20 +450,29 @@
 			standard units, with the barometric data reported in
 			both pressure, altitude and height above pad units.
 
-		==== Keyhole Markup Language (for Google Earth)
+		ifdef::gps[]
+			==== Keyhole Markup Language (for Google Earth)
 
-			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.
+				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.
+		endif::gps[]
 
 	=== Configure Altimeter
 
 		.Altimeter Configuration
 		image::configure-altimeter.png[width="3.6in"]
 
+		ifdef::radio[]
 		Select this button and then select either an altimeter or
 		TeleDongle Device from the list provided. Selecting a TeleDongle
-		device will use the radio link to configure a remote altimeter.
+		device will use the radio link to configure a remote
+		altimeter.
+		endif::radio[]
+		ifndef::radio[]
+		Select this button and then select an altimeter.
+		endif::radio[]
 
 		The first few lines of the dialog provide information about the
 		connected device, including the product name,
@@ -490,6 +517,7 @@
 
 		include::config-ui.raw[]
 
+	ifdef::radio[]
 	=== Configure Groundstation
 
 		.Configure Groundstation Dialog
@@ -557,16 +585,27 @@
 			This lets you match the telemetry and packet
 			link rate from the transmitter. If they don't
 			match, the device won't receive any data.
+	endif::radio[]
 
 	=== Flash Image
 
 		This reprograms Altus Metrum devices with new
-		firmware. TeleMetrum v1.x, TeleDongle v0.2, TeleMini
-		and TeleBT are all reprogrammed by using another
-		similar unit as a programming dongle (pair
-		programming). TeleMega, EasyMega, TeleMetrum v2,
-		EasyMini and TeleDongle v3 are all programmed directly
-		over their USB ports (self programming).  Please read
+		firmware.
+		ifdef::telemetrum,telemini[]
+			TeleMetrum v1.x, TeleDongle v0.2, TeleMini
+			and TeleBT are all reprogrammed by using another
+			similar unit as a programming dongle (pair
+			programming).
+		endif::telemetrum,telemini[]
+		ifdef::telemega,easymega,telemetrum[]
+			TeleMega, EasyMega, TeleMetrum v2,
+			EasyMini and TeleDongle v3 are all
+		endif::telemega,easymega,telemetrum[]
+		ifndef::telemega,easymega,telemetrum[]
+			EasyMini is
+		endif::telemega,easymega,telemetrum[]
+		programmed directly
+		over USB (self programming). Please read
 		the directions for flashing devices in
 		<<_updating_device_firmware>>.
 
@@ -577,10 +616,13 @@
 
 		This activates the igniter circuits in the flight
 		computer to help test recovery systems
-		deployment. Because this command can operate over the
+		deployment.
+		ifdef::radio[]
+		Because this command can operate over the
 		Packet Command Link, you can prepare the rocket as for
 		flight and then test the recovery system without
 		needing to snake wires inside the air-frame.
+		endif::radio[]
 
 		Selecting the 'Fire Igniter' button brings up the
 		usual device selection dialog. Pick the desired
@@ -598,6 +640,7 @@
 		point you start over again at selecting the desired
 		igniter.
 
+	ifdef::radio[]
 	=== Scan Channels
 
 		.Scan Channels Window
@@ -610,9 +653,13 @@
 		be tried; by default, it only listens at 38400 baud
 		with the standard telemetry format used in v1.0 and
 		later firmware.
+	endif::radio[]
 
+	ifdef::gps[]
 	include::load-maps.raw[]
+	endif::gps[]
 
+	ifdef::radio[]
 	=== Monitor Idle
 
 		.Monitor Idle Window
@@ -632,3 +679,4 @@
 		communicate with the flight computer; they must both
 		match the configuration in the flight computer
 		exactly.
+	endif::radio[]
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index f8d284ec..598de8e6 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -2,6 +2,14 @@
 :doctype: book
 :numbered:
 :altusmetrum: 1
+:radio: 1
+:gps: 1
+:telemetrum: 1
+:telemini: 1
+:easymini: 1
+:telemega: 1
+:easymega: 1
+:telegps: 1
 :application: AltosUI
 
 	include::dedication.raw[]
@@ -18,7 +26,7 @@
 
 	include::telemini-v2.0.raw[]
 
-	include::easymini.raw[]
+	include::easymini-device.raw[]
 
 	include::telemega.raw[]
 
diff --git a/doc/config-device.inc b/doc/config-device.inc
index fb09416c..bf1edb97 100644
--- a/doc/config-device.inc
+++ b/doc/config-device.inc
@@ -37,85 +37,87 @@ ifdef::altusmetrum[]
 
 endif::altusmetrum[]
 
-==== Frequency
-
-	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.
-
-==== RF Calibration
-
-	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.
-
-==== Telemetry/RDF/APRS Enable
-
-	Enables the radio for transmission during
-	flight. When disabled, the radio will not
-	transmit anything during flight at all.
-
-==== Telemetry baud rate
-
-	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.
-
-==== APRS Interval
-
-	How often to transmit GPS information via APRS
-	(in seconds). When set to zero, APRS
-	transmission is disabled.
-	ifdef::altusmetrum[]
-	This option is
-	available on TeleMetrum v2 and TeleMega
-	boards. TeleMetrum v1 boards cannot transmit
-	APRS packets.
-	endif::altusmetrum[]
-	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.
-
-==== APRS SSID
-
-	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.
-
-==== APRS Format
-
-	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.
-
-==== Callsign
-
-	This sets the call sign included in each
-	telemetry packet. Set this as needed to
-	conform to your local radio regulations.
+ifdef::radio[]
+	==== Frequency
+
+		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.
+
+	==== RF Calibration
+
+		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.
+
+	==== Telemetry/RDF/APRS Enable
+
+		Enables the radio for transmission during
+		flight. When disabled, the radio will not
+		transmit anything during flight at all.
+
+	==== Telemetry baud rate
+
+		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.
+
+	==== APRS Interval
+
+		How often to transmit GPS information via APRS
+		(in seconds). When set to zero, APRS
+		transmission is disabled.
+		ifdef::altusmetrum[]
+		This option is
+		available on TeleMetrum v2 and TeleMega
+		boards. TeleMetrum v1 boards cannot transmit
+		APRS packets.
+		endif::altusmetrum[]
+		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.
+
+	==== APRS SSID
+
+		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.
+
+	==== APRS Format
+
+		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.
+
+	==== Callsign
+
+		This sets the call sign included in each
+		telemetry packet. Set this as needed to
+		conform to your local radio regulations.
+endif::radio[]
 
 ifdef::altusmetrum[]
 
@@ -153,6 +155,7 @@ ifdef::altusmetrum[]
 		is fired first, followed after a two second
 		delay by the 'main' channel.
 
+	ifdef::telemetrum,telemega,easymega[]
 	==== Pad Orientation
 
 		Because they include accelerometers,
@@ -172,6 +175,7 @@ ifdef::altusmetrum[]
 		In this mode, the antenna end of the flight
 		computer must point aft, in line with the
 		expected flight path.
+	endif::telemetrum,telemega,easymega[]
 
 	==== Beeper Frequency
 
@@ -185,21 +189,22 @@ ifdef::altusmetrum[]
 
 endif::altusmetrum[]
 
-==== Logging Trigger Motion
+ifdef::telegps[]
+	==== Logging Trigger Motion
 
-	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.
+		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.
 
-==== Position Reporting Interval
-
-	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.
+	==== Position Reporting Interval
 
+		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.
+endif::telegps[]
 
 ifdef::altusmetrum[]
 
diff --git a/doc/config-ui.inc b/doc/config-ui.inc
index c7e7f1ac..fdcfb9dc 100644
--- a/doc/config-ui.inc
+++ b/doc/config-ui.inc
@@ -1,3 +1,4 @@
+ifdef::radio[]
 ==== Voice Settings
 
 	{application} provides voice announcements during
@@ -13,11 +14,12 @@
 	Plays a short message allowing you to verify
 	that the audio system is working and the volume settings
 	are reasonable
+endif::radio[]
 
 ==== Log Directory
 
 	{application} logs all telemetry data and saves all
-	TeleMetrum flash data to this directory. This
+	flash data to this directory. This
 	directory is also used as the staring point
 	when selecting data files for display or
 	export.
@@ -28,6 +30,7 @@
 	change where {application} reads and writes data
 	files.
 
+ifdef::radio[]
 ==== Callsign
 
 	This value is transmitted in each command
@@ -46,6 +49,7 @@
 	exactly match the callsign configured in the
 	flight computer.  This matching is case
 	sensitive.
+endif::radio[]
 
 ==== Imperial Units
 
@@ -86,13 +90,16 @@
 	{application} window that includes all of the
 	command buttons.
 
+ifdef::gps[]
 ==== Map Cache Size
 
 	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.
+endif::gps[]
 
+ifdef::radio[]
 ==== Manage Frequencies
 
 	This brings up a dialog where you can
@@ -103,3 +110,4 @@
 	frequency settings of any devices, it only
 	changes the set of frequencies shown in the
 	menus.
+endif::radio[]
diff --git a/doc/easymini-device.inc b/doc/easymini-device.inc
new file mode 100644
index 00000000..fb2b6098
--- /dev/null
+++ b/doc/easymini-device.inc
@@ -0,0 +1,116 @@
+== EasyMini
+
+	.EasyMini Board
+	image::easymini-top.jpg[width="5.5in"]
+
+	EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
+	designed to fit in a 24mm coupler tube.
+
+	You usually don't need to configure EasyMini at all; it's set
+	up to do dual-deployment with an event at apogee to separate
+	the airframe and deploy a drogue and another event at 250m
+	(820ft) to deploy the main. Install EasyMini in your airframe,
+	hook up a battery, igniters and a power switch and you're
+	ready to fly.
+
+	=== EasyMini Screw Terminals
+	
+		EasyMini has two sets of four screw terminals near one end of the
+		board. Using the picture
+		above, the top four have connections for the main pyro
+		circuit and an external battery and the bottom four have
+		connections for the apogee pyro circuit and the power
+		switch. Counting from the left, the connections are as follows:
+
+		.EasyMini Screw Terminals
+		[options="header",grid="all",cols="2,3,10"]
+		|====
+		|Terminal #|Terminal Name|Description
+		|Top 1
+		|Main -
+		|Main pyro channel connection to pyro circuit
+	      
+		|Top 2
+		|Main +
+		|Main pyro channel common connection to battery +
+	      
+		|Top 3
+		|Battery +
+		|Positive external battery terminal
+	      
+		|Top 4
+		|Battery -
+		|Negative external battery terminal
+	      
+		|Bottom 1
+		|Apogee -
+		|Apogee pyro channel connection to pyro circuit
+	      
+		|Bottom 2
+		|Apogee +
+		|Apogee pyro channel common connection to battery +
+	      
+		|Bottom 3
+		|Switch Output
+		|Switch connection to flight computer
+	      
+		|Bottom 4
+		|Switch Input
+		|Switch connection to positive battery terminal
+		|====
+
+	=== Connecting A Battery To EasyMini
+
+		There are two possible battery connections on
+		EasyMini. You can use either method; both feed
+		through the power switch terminals.
+
+		One battery connection is the standard Altus Metrum
+		white JST plug. This mates with single-cell Lithium
+		Polymer batteries sold by Altus Metrum.
+
+		The other is a pair of screw terminals marked 'Battery
+		+' and 'Battery -'. Connect a battery from 4 to 12
+		volts to these terminals, being careful to match polarity.
+
+	=== Charging Lithium Batteries
+
+		Because EasyMini allows for batteries other than the
+		standard Altus Metrum Lithium Polymer cells, it cannot
+		incorporate a battery charger circuit. Therefore, when
+		using a Litium Polymer cell, you'll need an external
+		charger. These are available from Altus Metrum, or
+		from Spark Fun.
+
+      	=== Using a Separate Pyro Battery with EasyMini
+	
+		As described above, using an external pyro battery involves
+		connecting the negative battery terminal to the flight
+		computer ground, connecting the positive battery terminal to
+		one of the igniter leads and connecting the other igniter
+		lead to the per-channel pyro circuit connection.
+
+		To connect the negative pyro battery terminal to EasyMini
+		ground, connect it to the negative external battery
+		connection, top terminal 4.
+
+		Connecting the positive battery terminal to the pyro
+		charges must be done separate from EasyMini, by soldering
+		them together or using some other connector.
+
+		The other lead from each pyro charge is then inserted into
+		the appropriate per-pyro channel screw terminal (top
+		terminal 1 for the Main charge, bottom terminal 1 for the
+		Apogee charge).
+
+      	=== Using an Active Switch with EasyMini
+	
+		As explained above, an external active switch requires three
+		connections, one to the positive battery terminal, one to
+		the flight computer positive input and one to ground. Use
+		the negative external battery connection, top terminal 4 for
+		ground.
+
+		The positive battery terminal is available on bottom
+		terminal 4, the positive flight computer input is on the
+		bottom terminal 3.
diff --git a/doc/easymini-docinfo.xml b/doc/easymini-docinfo.xml
new file mode 100644
index 00000000..f3c7ba19
--- /dev/null
+++ b/doc/easymini-docinfo.xml
@@ -0,0 +1,48 @@
+<subtitle>A Dual-Deploy Rocketry Flight Computer</subtitle>
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<copyright>
+  <year>2015</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="easymini-top.jpg" width="3.0in"/>
+  </imageobject>
+</mediaobject>
+
+<corpauthor>
+  <inlinemediaobject>
+    <imageobject>
+      <imagedata fileref="altusmetrum-oneline.svg" width="3in"/>
+    </imageobject>
+  </inlinemediaobject>
+</corpauthor>
+
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
+<revhistory>
+  <?dbhtml filename="easymini-revhistory.html"?>
+  <revision>
+    <revnumber>1.6.2</revnumber>
+    <date>13 November 2015</date>
+    <revremark>
+      First release of separate EasyMini doc
+    </revremark>
+  </revision>
+</revhistory>
diff --git a/doc/easymini-release-notes.inc b/doc/easymini-release-notes.inc
new file mode 100644
index 00000000..e448b394
--- /dev/null
+++ b/doc/easymini-release-notes.inc
@@ -0,0 +1,7 @@
+[appendix]
+== Release Notes
+
+	:leveloffset: 2
+	include::release-notes-1.6.1.raw[]
+
+	:leveloffset: 0
diff --git a/doc/easymini.inc b/doc/easymini.inc
deleted file mode 100644
index fb2b6098..00000000
--- a/doc/easymini.inc
+++ /dev/null
@@ -1,116 +0,0 @@
-== EasyMini
-
-	.EasyMini Board
-	image::easymini-top.jpg[width="5.5in"]
-
-	EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
-	designed to fit in a 24mm coupler tube.
-
-	You usually don't need to configure EasyMini at all; it's set
-	up to do dual-deployment with an event at apogee to separate
-	the airframe and deploy a drogue and another event at 250m
-	(820ft) to deploy the main. Install EasyMini in your airframe,
-	hook up a battery, igniters and a power switch and you're
-	ready to fly.
-
-	=== EasyMini Screw Terminals
-	
-		EasyMini has two sets of four screw terminals near one end of the
-		board. Using the picture
-		above, the top four have connections for the main pyro
-		circuit and an external battery and the bottom four have
-		connections for the apogee pyro circuit and the power
-		switch. Counting from the left, the connections are as follows:
-
-		.EasyMini Screw Terminals
-		[options="header",grid="all",cols="2,3,10"]
-		|====
-		|Terminal #|Terminal Name|Description
-		|Top 1
-		|Main -
-		|Main pyro channel connection to pyro circuit
-	      
-		|Top 2
-		|Main +
-		|Main pyro channel common connection to battery +
-	      
-		|Top 3
-		|Battery +
-		|Positive external battery terminal
-	      
-		|Top 4
-		|Battery -
-		|Negative external battery terminal
-	      
-		|Bottom 1
-		|Apogee -
-		|Apogee pyro channel connection to pyro circuit
-	      
-		|Bottom 2
-		|Apogee +
-		|Apogee pyro channel common connection to battery +
-	      
-		|Bottom 3
-		|Switch Output
-		|Switch connection to flight computer
-	      
-		|Bottom 4
-		|Switch Input
-		|Switch connection to positive battery terminal
-		|====
-
-	=== Connecting A Battery To EasyMini
-
-		There are two possible battery connections on
-		EasyMini. You can use either method; both feed
-		through the power switch terminals.
-
-		One battery connection is the standard Altus Metrum
-		white JST plug. This mates with single-cell Lithium
-		Polymer batteries sold by Altus Metrum.
-
-		The other is a pair of screw terminals marked 'Battery
-		+' and 'Battery -'. Connect a battery from 4 to 12
-		volts to these terminals, being careful to match polarity.
-
-	=== Charging Lithium Batteries
-
-		Because EasyMini allows for batteries other than the
-		standard Altus Metrum Lithium Polymer cells, it cannot
-		incorporate a battery charger circuit. Therefore, when
-		using a Litium Polymer cell, you'll need an external
-		charger. These are available from Altus Metrum, or
-		from Spark Fun.
-
-      	=== Using a Separate Pyro Battery with EasyMini
-	
-		As described above, using an external pyro battery involves
-		connecting the negative battery terminal to the flight
-		computer ground, connecting the positive battery terminal to
-		one of the igniter leads and connecting the other igniter
-		lead to the per-channel pyro circuit connection.
-
-		To connect the negative pyro battery terminal to EasyMini
-		ground, connect it to the negative external battery
-		connection, top terminal 4.
-
-		Connecting the positive battery terminal to the pyro
-		charges must be done separate from EasyMini, by soldering
-		them together or using some other connector.
-
-		The other lead from each pyro charge is then inserted into
-		the appropriate per-pyro channel screw terminal (top
-		terminal 1 for the Main charge, bottom terminal 1 for the
-		Apogee charge).
-
-      	=== Using an Active Switch with EasyMini
-	
-		As explained above, an external active switch requires three
-		connections, one to the positive battery terminal, one to
-		the flight computer positive input and one to ground. Use
-		the negative external battery connection, top terminal 4 for
-		ground.
-
-		The positive battery terminal is available on bottom
-		terminal 4, the positive flight computer input is on the
-		bottom terminal 3.
diff --git a/doc/easymini.txt b/doc/easymini.txt
new file mode 100644
index 00000000..ddb18376
--- /dev/null
+++ b/doc/easymini.txt
@@ -0,0 +1,34 @@
+= EasyMini
+:doctype: book
+:numbered:
+:altusmetrum: 1
+:easymini: 1
+:application: AltosUI
+
+	include::dedication.raw[]
+
+	include::intro.raw[]
+
+	include::getting-started.raw[]
+
+	include::usage.raw[]
+
+	include::easymini-device.raw[]
+
+	include::installation.raw[]
+
+	include::using-am-products.raw[]
+
+	include::altosui.raw[]
+
+	include::system-operation.raw[]
+
+	include::handling.raw[]
+
+	include::updating-firmware.raw[]
+
+	include::flight-data-recording.raw[]
+
+	include::specs.raw[]
+
+	include::easymini-release-notes.raw[]
diff --git a/doc/flight-data-recording.inc b/doc/flight-data-recording.inc
index ed56b82e..d0ffa7f1 100644
--- a/doc/flight-data-recording.inc
+++ b/doc/flight-data-recording.inc
@@ -2,9 +2,15 @@
 == Flight Data Recording
       
 	Each flight computer logs data at 100 samples per second
-	during ascent and 10 samples per second during descent, except
-	for TeleMini v1.0, which records ascent at 10 samples per
-	second and descent at 1 sample per second. Data are logged to
+	during ascent and 10 samples per second during
+	ifdef::telemini[]
+	descent, except for TeleMini v1.0, which records ascent at 10 samples
+	per second and descent at 1 sample per second.
+	endif::telemini[]
+	ifndef::telemini[]
+	descent.
+	endif::telemini[]
+	Data are logged to
 	an on-board flash memory part, which can be partitioned into
 	several equal-sized blocks, one for each flight.
 
@@ -12,14 +18,24 @@
 	[options="header",cols="1,1,1,1"]
 	|====
 	|Device			|Bytes per Sample	|Total Storage	|Minutes at Full Rate
+	ifdef::telemetrum[]
 	|TeleMetrum v1.0	|8	|1MB	|20
 	|TeleMetrum v1.1 v1.2	|8	|2MB	|40
 	|TeleMetrum v2.0	|16	|8MB	|80
+	endif::telemetrum[]
+	ifdef::telemini[]
 	|TeleMini v1.0		|2	|5kB	|4
 	|TeleMini v2.0		|16	|1MB	|10
+	endif::telemini[]
+	ifdef::easymini[]
 	|EasyMini		|16	|1MB	|10
+	endif::easymini[]
+	ifdef::telemega[]
 	|TeleMega		|32	|8MB	|40
+	endif::telemega[]
+	ifdef::easymega[]
 	|EasyMega		|32	|8MB	|40
+	endif::easymega[]
 	|====
       
 	The on-board flash is partitioned into separate flight logs,
@@ -28,26 +44,42 @@
 	stored. Decrease the size and you can store more flights.
             
 	Configuration data is also stored in the flash memory on
-	TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB
+	ifdef::telemetrum[TeleMetrum v1.x,]
+	ifdef::telemini[TeleMini and]
+	ifdef::easymini[EasyMini.]
+	This consumes 64kB
 	of flash space.  This configuration space is not available
-	for storing flight log data. TeleMetrum v2.0, TeleMega and EasyMega
+	for storing flight log data.
+
+	ifdef::telemetrum,telemega,easymega[]
+	TeleMetrum v2.0, TeleMega and EasyMega
 	store configuration data in a bit of eeprom available within
 	the processor chip, leaving that space available in flash for
 	more flight data.
+	endif::telemetrum,telemega,easymega[]
             
 	To compute the amount of space needed for a single flight, you
 	can multiply the expected ascent time (in seconds) by 100
 	times bytes-per-sample, multiply the expected descent time (in
 	seconds) by 10 times the bytes per sample and add the two
 	together. That will slightly under-estimate the storage (in
-	bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending
+	bytes) needed for the flight.
+	ifdef::telemetrum[]
+	For instance, a TeleMetrum v2.0 flight spending
 	20 seconds in ascent and 150 seconds in descent will take
 	about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You
 	could store dozens of these flights in the on-board flash.
+	endif::telemetrum[]
             
 	The default size allows for several flights on each flight
-	computer, except for TeleMini v1.0, which only holds data for a
-	single flight. You can adjust the size.
+	ifdef::telemini[]
+	computer, except for TeleMini v1.0, which
+	only holds data for a single flight.
+	endif::telemini[]
+	ifndef::telemini[]
+	computer.
+	endif::telemini[]
+	You can adjust the size.
             
 	Altus Metrum flight computers will not overwrite existing
 	flight data, so be sure to download flight data and erase it
diff --git a/doc/getting-started.inc b/doc/getting-started.inc
index 8401f4d0..9c0df26d 100644
--- a/doc/getting-started.inc
+++ b/doc/getting-started.inc
@@ -5,24 +5,30 @@
 
 	=== Batteries
 
+		ifdef::telemetrum,telemega,easymega[]
 		For TeleMetrum, TeleMega and EasyMega, the battery can be charged by plugging it into the
 		corresponding socket of the device and then using the USB
 		cable to plug the flight computer into your computer's USB socket. The
 		on-board circuitry will charge the battery whenever it is plugged
 		in, because the on-off switch does NOT control the
 		charging circuitry.
-		The Lithium Polymer TeleMini and EasyMini battery can be charged by
-		disconnecting it from the board and plugging it into a
-		standalone battery charger such as the LipoCharger product
-		included in TeleMini Starter Kits, and connecting that via a USB
-		cable to a laptop or other USB power source.
+		endif::telemetrum,telemega,easymega[]
+		The Lithium Polymer
+		ifdef::telemini[TeleMini and]
+		EasyMini battery can be charged by disconnecting it
+		from the board and plugging it into a standalone
+		battery charger such as link:http://altusmetrum.org/LipoCharger[LipoCharger], and
+		connecting that via a USB cable to a laptop or other
+		USB power source.
 
-		You can also choose to use another battery with TeleMini v2.0
-		and EasyMini, anything supplying between 4 and 12 volts should
+		You can also choose to use another battery with
+		ifdef::telemini[TeleMini v2.0 and]
+		EasyMini, anything supplying between 4 and 12 volts should
 		work fine (like a standard 9V battery), but if you are planning
 		to fire pyro charges, ground testing is required to verify that
 		the battery supplies enough current to fire your chosen e-matches.
 
+		ifdef::telemetrum,telemega,easymega[]
 		[NOTE]
 		====
 		On TeleMetrum v1 boards, when the GPS chip is initially
@@ -45,7 +51,9 @@
 		battery is damaged or missing, both LEDs will be lit, which
 		appears yellow.
 		====
+		endif::telemetrum,telemega,easymega[]
 
+	ifdef::radio[]
 	=== Ground Station Hardware
 
 		There are two ground stations available, the TeleDongle USB to
@@ -58,6 +66,7 @@
 		computer.  If you are using an older version of Linux and are having
 		problems, try moving to a fresher kernel (2.6.33 or
 		newer).
+	endif::radio[]
 
 	=== Linux/Mac/Windows Ground Station Software
 
@@ -71,6 +80,7 @@
 		available. The latest version may always be downloaded
 		from http://altusmetrum.org/AltOS
 
+	ifdef::radio[]
 	=== Android Ground Station Software
 
 		TeleBT can also connect to an Android device over
@@ -83,3 +93,4 @@
 		without network access, you'll want to download
 		offline map data before wandering away from the
 		network.
+	endif::radio[]
diff --git a/doc/installation.inc b/doc/installation.inc
index 32d81984..d390551e 100644
--- a/doc/installation.inc
+++ b/doc/installation.inc
@@ -5,11 +5,14 @@
 	power on/off, and two pairs of wires connecting e-matches for the
 	apogee and main ejection charges.  All Altus Metrum products are
 	designed for use with single-cell batteries with 3.7 volts
-	nominal. TeleMini v2.0 and EasyMini may also be used with other
+	nominal.
+	ifdef::telemini[TeleMini v2.0 and]
+	EasyMini may also be used with other
 	batteries as long as they supply between 4 and 12 volts.
 
-	The battery connectors are a standard 2-pin JST connector and
-	match batteries sold by Spark Fun. These batteries are
+	The battery connectors are a standard 2-pin JST connector; you
+	can purchase suitable batteries from the any vendor selling
+	Altus Metrum products. 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
@@ -20,7 +23,15 @@
 
 	[WARNING]
 	Check polarity and voltage before connecting any battery not
-	purchased from Altus Metrum or Spark Fun.
+	purchased from Altus Metrum.
+
+	[WARNING]
+	Spark Fun sells batteries that have a matching connector with
+	the correct polarity. However, these batteries include an
+	integrated current limiting circuit. That circuit will cause
+	the battery to shut down when firing the igniter circuit. Do
+	not use these batteries unless you remove the current limiting
+	circuit.
 
 	By default, we use the unregulated output of the battery
 	directly to fire ejection charges.  This works marvelously
@@ -35,12 +46,18 @@
 	at the aft end of the altimeter.  You'll need a very small straight
 	blade screwdriver for these screws, such as you might find in a
 	jeweler's screwdriver set.
+	ifndef::telemini[]
+	The screw terminal block is also used for the power switch leads.
+	endif::telemini[]
 
+	ifdef::telemini[]
 	Except for TeleMini v1.0, the flight computers also use the
 	screw terminal block for the power switch leads. On TeleMini v1.0,
 	the power switch leads are soldered directly to the board and
 	can be connected directly to a switch.
+	endif::telemini[]
 
+	ifdef::radio[]
 	For most air-frames, the integrated antennas are more than
 	adequate.   However, if you are installing in a carbon-fiber or
 	metal electronics bay which is opaque to RF signals, you may need to
@@ -49,3 +66,4 @@
 	and, on TeleMetrum v1, you can unplug the integrated GPS
 	antenna and select an appropriate off-board GPS antenna with
 	cable terminating in a U.FL connector.
+	endif::radio[]
diff --git a/doc/specs.inc b/doc/specs.inc
index 6af3bd76..72664625 100644
--- a/doc/specs.inc
+++ b/doc/specs.inc
@@ -9,6 +9,7 @@
 	|================================
 	|Device | Barometer | Z-axis accel | GPS | 3D sensors | Storage | RF Output | Battery
 
+	ifdef::telemetrum[]
 	|TeleMetrum v1.0
 	|MP3H6115 10km (33k')
 	|MMA2202 50g
@@ -44,7 +45,9 @@
 	|8MB
 	|40mW
 	|3.7V
+	endif::telemetrum[]
 
+	ifdef::telemini[]
 	|TeleMini v1.0
 	|MP3H6115 10km (33k')
 	|-
@@ -62,7 +65,9 @@
 	|1MB
 	|10mW
 	|3.7-12V
+	endif::telemini[]
 
+	ifdef::easymini[]
 	|EasyMini v1.0
 	|MS5607 30km (100k')
 	|-
@@ -71,7 +76,9 @@
 	|1MB
 	|-
 	|3.7-12V
+	endif::easymini[]
 
+	ifdef::telemega[]
 	|TeleMega v1.0
 	|MS5607 30km (100k')
 	|MMA6555 102g
@@ -80,7 +87,9 @@
 	|8MB
 	|40mW
 	|3.7V
+	endif::telemega[]
 
+	ifdef::easymega[]
 	|EasyMega v1.0
 	|MS5607 30km (100k')
 	|MMA6555 102g
@@ -89,6 +98,8 @@
 	|8MB
 	|-
 	|3.7V
+	endif::easymega[]
+
 	|==============================
 
 	<<<<
@@ -97,13 +108,16 @@
 	|==============================
 	|Device|Connectors|Screw Terminals|Width|Length|Tube Size
 
+	ifdef::telemetrum[]
 	|TeleMetrum
 	|Antenna Debug Companion USB Battery
 	|Apogee pyro Main pyro Switch
 	|1 inch (2.54cm)
 	|2 ¾ inch (6.99cm)
 	|29mm coupler
+	endif::telemetrum[]
 
+	ifdef::telemini[]
 	|TeleMini v1.0
 	|Antenna Debug Battery
 	|Apogee pyro Main pyro
@@ -117,25 +131,33 @@
 	|0.8 inch (2.03cm)
 	|1½ inch (3.81cm)
 	|24mm coupler
+	endif::telemini[]
 
+	ifdef::easymini[]
 	|EasyMini
 	|Debug USB Battery
 	|Apogee pyro Main pyro Battery
 	|0.8 inch (2.03cm)
 	|1½ inch (3.81cm)
 	|24mm coupler
+	endif::easymini[]
 
+	ifdef::telemega[]
 	|TeleMega
 	|Antenna Debug Companion USB Battery
 	|Apogee pyro Main pyro Pyro A-D Switch Pyro battery
 	|1¼ inch (3.18cm)
 	|3¼ inch (8.26cm)
 	|38mm coupler
+	endif::telemega[]
 
+	ifdef::easymega[]
 	|EasyMega
 	|Debug Companion USB Battery
 	|Apogee pyro Main pyro Pyro A-D Switch Pyro battery
 	|1¼ inch (3.18cm)
 	|2¼ inch (5.62cm)
 	|38mm coupler
+	endif::easymega[]
+
 	|====================================
diff --git a/doc/system-operation.inc b/doc/system-operation.inc
index 4503f525..313415ca 100644
--- a/doc/system-operation.inc
+++ b/doc/system-operation.inc
@@ -5,7 +5,10 @@
 
 		The AltOS firmware build for the altimeters has two
 		fundamental modes, “idle” and “flight”.  Which of these modes
-		the firmware operates in is determined at start up time. For
+		the firmware operates in is determined at start up
+		time.
+		ifdef::telemetrum,telemega,easymega[]
+		For
 		TeleMetrum, TeleMega and EasyMega, which have accelerometers, the mode is
 		controlled by the orientation of the
 		rocket (well, actually the board, of course...) at the time
@@ -13,12 +16,20 @@
 		the flight computer assumes it's on a rail or rod being prepared for
 		launch, so the firmware chooses flight mode.  However, if the
 		rocket is more or less horizontal, the firmware instead enters
-		idle mode.  Since TeleMini v2.0 and EasyMini don't have an
+		idle mode.
+		endif::telemetrum,telemega,easymega[]
+		Since
+		ifdef::telemini[TeleMini v2.0 and EasyMini don't]
+		ifndef::telemini[EasyMini doesn't]
+		have an
 		accelerometer we can use to determine orientation, “idle” mode
 		is selected if the board is connected via USB to a computer,
-		otherwise the board enters “flight” mode. TeleMini v1.0
+		otherwise the board enters “flight” mode.
+		ifdef::telemini[]
+		TeleMini v1.0
 		selects “idle” mode if it receives a command packet within the
 		first five seconds of operation.
+		endif::telemini[]
 
 		At power on, the altimeter will beep out the battery voltage
 		to the nearest tenth of a volt.  Each digit is represented by
@@ -45,13 +56,16 @@
 		If idle mode is entered, you will hear an audible “di-dit” or
 		see two short flashes (“I” for idle), and the flight state
 		machine is disengaged, thus no ejection charges will fire.
+		ifdef::radio[]
 		The altimeters also listen for the radio link when in idle
 		mode for requests sent via TeleDongle.  Commands can be issued
 		in idle mode over either USB or the radio link
-		equivalently. TeleMini v1.0 only has the radio link.  Idle
-		mode is useful for configuring the altimeter, for extracting
-		data from the on-board storage chip after flight, and for
-		ground testing pyro charges.
+		equivalently.
+		ifdef::telemini[TeleMini v1.0 only has the radio link.]
+		endif::radio[]
+		Idle mode is useful for configuring the altimeter, for
+		extracting data from the on-board storage chip after
+		flight, and for ground testing pyro charges.
 
 		In “Idle” and “Pad” modes, once the mode indication
 		beeps/flashes and continuity indication has been sent, if
@@ -70,6 +84,7 @@
 		beep. The flight computer will continue to report landed mode
 		and beep out the maximum height until turned off.
 
+		ifdef::telemetrum,telemega,easymega[]
 		One “neat trick” of particular value when TeleMetrum, TeleMega
 		or EasyMega are used with
 		very large air-frames, is that you can power the board up while the
@@ -80,7 +95,9 @@
 		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!
+		endif::telemetrum,telemega,easymega[]
 
+		ifdef::telemini[]
 		TeleMini v1.0 is configured solely via the radio link. Of course, that
 		means you need to know the TeleMini radio configuration values
 		or you won't be able to communicate with it. For situations
@@ -99,8 +116,11 @@
 		piece of small gauge wire, connect the outer two holes
 		together, then power TeleMini up. Once the red LED is lit,
 		disconnect the wire and the board should signal that it's in
-		'idle' mode after the initial five second startup period.
+		'idle' mode after the initial five second startup
+		period.
+		endif::telemini[]
 
+	ifdef::gps[]
     	=== GPS
 
 		TeleMetrum and TeleMega include a complete GPS receiver.  A
@@ -120,7 +140,9 @@
 		is turned back on, the GPS system should lock very quickly, typically
 		long before igniter installation and return to the flight line are
 		complete.
+	endif::gps[]
 
+	ifdef::radio[]
     	=== Controlling An Altimeter Over The Radio Link
 
 		One of the unique features of the Altus Metrum system is the
@@ -199,25 +221,38 @@
 		lights on the devices. The red LED will flash each time a packet
 		is transmitted, while the green LED will light up on TeleDongle when
 		it is waiting to receive a packet from the altimeter.
+	endif::radio[]
 
     	=== Ground Testing
 
 		An important aspect of preparing a rocket using electronic deployment
-		for flight is ground testing the recovery system.  Thanks
+		for flight is ground testing the recovery system.
+		ifdef::radio[]
+		Thanks
 		to the bi-directional radio link central to the Altus Metrum system,
 		this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket
 		with less work than you may be accustomed to with other systems.  It
 		can even be fun!
+		endif::radio[]
 
 		Just prep the rocket for flight, then power up the altimeter
-		in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
-		selecting the Configure Altimeter tab for TeleMini).  This will cause
-		the firmware to go into “idle” mode, in which the normal flight
-		state machine is disabled and charges will not fire without
-		manual command.  You can now command the altimeter to fire the apogee
-		or main charges from a safe distance using your computer and
-		TeleDongle and the Fire Igniter tab to complete ejection testing.
-
+		in “idle”
+		ifdef::telemetrum,telemega,telemini[]
+			mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
+			selecting the Configure Altimeter tab for TeleMini).
+			This will cause
+			the firmware to go into “idle” mode, in which the normal flight
+			state machine is disabled and charges will not fire without
+			manual command.
+		endif::telemetrum,telemega,telemini[]
+		ifndef::telemetrum,telemega,telemini[]
+			mode.
+		endif::telemetrum,telemega,telemini[]
+		You can now command the altimeter to fire the apogee
+		or main charges from a safe distance using your
+		computer and the Fire Igniter tab to complete ejection testing.
+
+	ifdef::radio[]
     	=== Radio Link
 
 		TeleMetrum, TeleMini and TeleMega all incorporate an
@@ -255,10 +290,13 @@
 		devices.  We hope to fly boards to higher altitudes
 		over time, and would of course appreciate customer
 		feedback on performance in higher altitude flights!
+	endif::radio[]
 
+	ifdef::gps+radio[]
 	:aprsdevices: TeleMetrum v2.0 and TeleMega
 	:configure_section: _configure_altimeter
 	include::aprs-operation.raw[]
+	endif::gps+radio[]
 
     	=== Configurable Parameters
 
@@ -266,6 +304,5 @@
 		very simple.  Even on our baro-only TeleMini and
 		EasyMini boards, the use of a Kalman filter means
 		there is no need to set a “mach delay”.  All of the
-		configurable parameters can be set using AltosUI
-		over USB or or radio link via TeleDongle. Read
+		configurable parameters can be set using AltosUI. Read
 		<<_configure_altimeter>> for more information.
diff --git a/doc/telegps.txt b/doc/telegps.txt
index 6726b340..47eafe37 100644
--- a/doc/telegps.txt
+++ b/doc/telegps.txt
@@ -2,6 +2,8 @@
 :doctype: book
 :numbered:
 :telegps: 1
+:radio: 1
+:gps: 1
 :application: TeleGPS
 
 	include::telegps-dedication.raw[]
diff --git a/doc/updating-firmware.inc b/doc/updating-firmware.inc
index d22fdb18..11ea1283 100644
--- a/doc/updating-firmware.inc
+++ b/doc/updating-firmware.inc
@@ -1,12 +1,21 @@
 [appendix]
 == Updating Device Firmware
 
+	ifdef::telemega[]
 	TeleMega, TeleMetrum v2, EasyMega, EasyMini and TeleDongle v3
-	are all programmed directly over their USB connectors (self
-	programming). TeleMetrum v1, TeleMini and TeleDongle v0.2 are
+	are all
+	endif::telemega[]
+	ifndef::telemega[]
+	EasyMini is
+	endif::telemega[]
+	programmed directly over their USB connectors (self
+	programming).
+	ifdef::telemega[]
+	TeleMetrum v1, TeleMini and TeleDongle v0.2 are
 	all programmed by using another device as a programmer (pair
 	programming). It's important to recognize which kind of devices
 	you have before trying to reprogram them.
+	endif::telemega[]
 
 	You may wish to begin by ensuring you have current firmware
 	images.  These are distributed as part of the AltOS software
@@ -17,11 +26,15 @@
 	download the most recent version from
 	http://www.altusmetrum.org/AltOS/
 
+	ifdef::telemega[]
 	=== Updating TeleMega, TeleMetrum v2, EasyMega, EasyMini or TeleDongle v3 Firmware
+	endif::telemega[]
+	ifndef::telemega[]
+	=== Updating EasyMini Firmware
+	endif::telemega[]
 
-		Self-programmable devices (TeleMega, TeleMetrum v2,
-		EasyMega and EasyMini) are reprogrammed by connecting
-		them to your computer over USB
+		Self-programmable devices are reprogrammed by
+		connecting them to your computer over USB.
 
 		. Attach a battery if necessary and power switch to
 		  the target device. Power up the device.
@@ -36,7 +49,7 @@
 		. 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 TeleMega-v1.0-1.3.0.ihx.
+		  such as EasyMini-v1.0-1.6.0.ihx.
 
 		. Make sure the configuration parameters are
 		  reasonable looking. If the serial number and/or RF
@@ -62,6 +75,7 @@
 			connectors will force the boot loader to start, even if the
 			regular operating system has been corrupted in some way.
 
+			ifdef::telemega[]
 			TeleMega::
 
 			Connect pin 6 and pin 1 of the companion
@@ -72,7 +86,9 @@
 			battery. Pin 7 carries 3.3V and the board will crash
 			if that is connected to pin 1, but shouldn't damage
 			the board.
+			endif::telemega[]
 
+			ifdef::easymega[]
 			EasyMega::
 
 			Connect pin 6 and pin 1 of the companion
@@ -83,7 +99,9 @@
 			battery. Pin 7 carries 3.3V and the board will crash
 			if that is connected to pin 1, but shouldn't damage
 			the board.
+			endif::easymega[]
 
+			ifdef::telemetrum[]
 			TeleMetrum v2::
 
 			Connect pin 6 and pin 1 of the companion
@@ -94,7 +112,9 @@
 			battery. Pin 7 carries 3.3V and the board will crash
 			if that is connected to pin 1, but shouldn't damage
 			the board.
+			endif::telemetrum[]
 
+			ifdef::easymini[]
 			EasyMini::
 
 			Connect pin 6 and pin 1 of the debug connector, which
@@ -102,13 +122,16 @@
 			identified by the square pad around it, and then the
 			pins could sequentially across the board, making Pin 6
 			the one on the other end of the row.
+			endif::easymini[]
 
+			ifdef::telemetrum[]
 			TeleDongle v3::
 
 			Connect pin 32 on the CPU to ground. Pin 32 is closest
 			to the USB wires on the row of pins towards the center
 			of the board. Ground is available on the capacitor
 			next to it, on the end towards the USB wires.
+			endif::telemetrum[]
 
 			Once you've located the right pins:
 
@@ -129,6 +152,7 @@
 			the board has been powered up, you can remove the
 			piece of wire.
 
+	ifdef::telemetrum,telemini[]
 	=== Pair Programming
 
 		The big concept to understand is that you have to use
@@ -341,3 +365,4 @@
 		TeleMetrum to help ensure that the cabling to
 		companion boards used in a rocket don't ever come
 		loose accidentally in flight.
+	endif::telemetrum,telemini[]
diff --git a/doc/usage.inc b/doc/usage.inc
index caccc168..3f59a50f 100644
--- a/doc/usage.inc
+++ b/doc/usage.inc
@@ -54,15 +54,19 @@
 
 		Altus Metrum flight computers include a beeper to
 		provide information about the state of the system.
+		ifdef::telemini[]
 		TeleMini doesn't have room for a beeper, so instead it
 		uses an LED, which works the same, except for every
 		beep is replaced with the flash of the LED.
+		endif::telemini[]
 
-		Here's a short summary of all of the modes and the beeping (or
-		flashing, in the case of TeleMini v1) that accompanies each
-		mode. In the description of the beeping pattern, “dit” means a
-		short beep while "dah" means a long beep (three times as
-		long). “Brap” means a long dissonant tone.
+		Here's a short summary of all of the modes and the
+		beeping
+		ifdef::telemini[(or flashing, in the case of TeleMini v1)]
+		that accompanies each mode. In the description of the
+		beeping pattern, “dit” means a short beep while "dah"
+		means a long beep (three times as long). “Brap” means
+		a long dissonant tone.
 
 		.AltOS Modes
 		[options="border",cols="1,1,2,2"]
@@ -80,7 +84,8 @@
 		|Idle
 		|I
 		|dit dit
-		|Ready to accept commands over USB or radio link.
+		|Ready to accept commands over USB
+		ifdef::radio[or radio link.]
 
 		|Pad
 		|P
@@ -163,6 +168,7 @@
 		 stored in on-board flash.
 		|====
 
+		ifdef::radio[]
 		For devices with a radio transmitter, in addition to
 		the digital and APRS telemetry signals, you can also
 		receive audio tones with a standard amateur
@@ -201,6 +207,7 @@
 		find the rocket using RDF techniques when the signal
 		is too weak to receive GPS information via telemetry
 		or APRS.
+		endif::radio[]
 
 	=== Turning On the Power
 
@@ -216,30 +223,39 @@
 		Flight/Pad::
 		The flight computer is waiting to detect
 		launch and then fly the rocket. In this mode, the USB
-		link is disabled, and the radio goes into
-		transmit-only mode. The only way to get out of this
+		link is
+		ifdef::radio[disabled, and the radio goes into transmit-only mode.]
+		ifndef::radio[disabled.]
+		The only way to get out of this
 		mode is to power the flight computer down.
 
 		Idle::
 		The flight computer is ready to communicate over USB
-		and in packet mode over the radio. You can configure
+		ifdef::radio[and in packet mode over the radio.]
+		You can configure
 		the flight computer, download data or display
 		the current state.
 
+		ifdef::telemetrum,easymega,telemega[]
 		For flight computers with accelerometers (TeleMetrum,
 		EasyMega and TeleMega), the mode is selected by the
 		orientation of the board during the self test
 		interval. If the board is pointing upwards as if ready
 		to fly, it will enter Flight/Pad mode. Otherwise, it will
 		enter Idle mode.
+		endif::telemetrum,easymega,telemega[]
 
+		ifdef::easymini[]
 		For EasyMini, if the USB cable is connected to a
 		computer, it will enter Idle mode. Otherwise, it will
 		enter Flight/Pad mode.
+		endif::easymini[]
 
+		ifdef::telemini[]
 		For TeleMini v1.0, if a packet link is waiting to
 		connect when the device is powered on, it will enter
 		Idle mode, otherwise it will enter Flight/Pad mode.
+		endif::telemini[]
 
 		You can see in <<_understanding_beeps>>
 		how to tell which mode the flight computer is in.
@@ -278,14 +294,19 @@
 
 	=== Using a Different Kind of Battery
 
-		EasyMini and TeleMini v2 are designed to use either a
+		EasyMini
+		ifdef::telemini[and TeleMini v2 are]
+		ifndef::telemini[is]
+		designed to use either a
 		lithium polymer battery or any other battery producing
 		between 4 and 12 volts, such as a rectangular 9V
 		battery.
 
+		ifdef::telemega,easymega,telemetrum[]
 		[WARNING]
 		TeleMega, EasyMega and TeleMetrum are only designed to
 		operate off a single-cell Lithium Polymer battery and
 		cannot be used with any other kind. Connecting a
 		different kind of battery to any of these will destroy
 		the board.
+		endif::telemega,easymega,telemetrum[]
diff --git a/doc/using-am-products.inc b/doc/using-am-products.inc
index 8d7d005a..8bca563d 100644
--- a/doc/using-am-products.inc
+++ b/doc/using-am-products.inc
@@ -1,23 +1,32 @@
 == Using Altus Metrum Products
 
+	ifdef::radio[]
 	=== Being Legal
 
-        First off, in the US, you need an
-        link:http://www.altusmetrum.org/Radio/[amateur radio license]
-        or other authorization to legally operate the radio
-        transmitters that are part of our products.
+	        First off, in the US, you need an
+	        link:http://www.altusmetrum.org/Radio/[amateur radio license]
+	        or other authorization to legally operate the radio
+	        transmitters that are part of our products.
+	endif::radio[]
 
 
 	=== In the Rocket
 
 		In the rocket itself, you just need a flight computer
 		and a single-cell, 3.7 volt nominal Li-Po rechargeable
-		battery.  An 850mAh battery weighs less than a 9V
+		battery.
+		ifdef::telemetrum,telemega,easymega[]
+		An 850mAh battery weighs less than a 9V
 		alkaline battery, and will run a TeleMetrum, TeleMega
-		or EasyMega for hours.  A 110mAh battery weighs less
+		or EasyMega for hours.
+		endif::telemetrum,telemega,easymega[]
+		A 110mAh battery weighs less
 		than a triple A battery and is a good choice for use
-		with TeleMini or EasyMini.
+		with
+		ifdef::telemini[TeleMini or]
+		EasyMini.
 
+		ifdef::radio[]
 		By default, we ship TeleMini, TeleMetrum and TeleMega
 		flight computers with a simple wire antenna.  If your
 		electronics bay or the air-frame it resides within is
@@ -28,9 +37,11 @@
 		antenna is fixed on all current products, so you
 		really want to install the flight computer in a bay
 		made of RF-transparent materials if at all possible.
+		endif::radio[]
 
 	=== On the Ground
 
+		ifdef::radio[]
 		To receive the data stream from the rocket, you need
 		an antenna and short feed-line connected to one of our
 		link:http://www.altusmetrum.org/TeleDongle/[TeleDongle]
@@ -42,28 +53,35 @@
 		TeleDongle looks like a simple serial port, your
 		computer does not require special device
 		drivers... just plug it in.
+		endif::radio[]
 
 		The GUI tool, AltosUI, is written in Java and runs
 		across Linux, Mac OS and Windows. There's also a suite
 		of C tools for Linux which can perform most of the
 		same tasks.
 
+		ifdef::radio[]
 		Alternatively, a TeleBT attached with an SMA to BNC
 		adapter at the feed point of a hand-held yagi used in
 		conjunction with an Android device running AltosDroid
 		makes an outstanding ground station.
+		endif::radio[]
 
-		After the flight, you can use the radio link to
+		After the flight,
+		ifdef::radio[]
+		you can use the radio link to
 		extract the more detailed data logged in either
-		TeleMetrum or TeleMini devices, or you can use a mini
-		USB cable to plug into the TeleMetrum board directly.
-		Pulling out the data without having to open up the
-		rocket is pretty cool!  A USB cable is also how you
+		TeleMetrum or TeleMini devices, or
+		endif::radio[]
+		you can use a
+		USB cable to plug into the flight computer board directly.
+		A USB cable is also how you
 		charge the Li-Po battery, so you'll want one of those
-		anyway... the same cable used by lots of digital
+		anyway. The same cable used by lots of digital
 		cameras and other modern electronic stuff will work
 		fine.
 
+		ifdef::gps[]
 		If your rocket lands out of sight, you may enjoy
 		having a hand-held GPS receiver, so that you can put
 		in a way-point for the last reported rocket position
@@ -72,7 +90,9 @@
 		look around starting from there.  AltosDroid on an
 		Android device with GPS receiver works great for this,
 		too!
+		endif::gps[]
 
+		ifdef::radio[]
 		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
@@ -102,6 +122,7 @@
 		with a suitable 70cm HT.  TeleDongle and an SMA to BNC
 		adapter fit perfectly between the driven element and
 		reflector of Arrow antennas.
+		endif::radio[]
 
 	=== Data Analysis
 
@@ -115,7 +136,7 @@
 		velocity.  You can also generate and view a standard
 		set of plots showing the altitude, acceleration, and
 		velocity of the rocket during flight.  And you can
-		even export a TeleMetrum data file usable with Google
+		even export a flight log in a format usable with Google
 		Maps and Google Earth for visualizing the flight path
 		in two or three dimensions!
 
@@ -125,6 +146,7 @@
 
 	=== Future Plans
 
+		ifdef::telemetrum,telemega,easymega[]
 		We have designed and prototyped several “companion
 		boards” that can attach to the companion connector on
 		TeleMetrum, TeleMega and EasyMega flight computers to
@@ -135,6 +157,7 @@
 		control of events in your rockets beyond the
 		capabilities of our existing productions, please let
 		us know!
+		endif::telemetrum,telemega,easymega[]
 
 		Because all of our work is open, both the hardware
 		designs and the software, if you have some great idea
-- 
cgit v1.2.3


From 688c5ee98565a25e77c8618e1957ed3b8eff5a56 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 13 Nov 2015 23:17:11 -0800
Subject: doc: Try a different trick for asciidoc build issues

asciidoc creates temp files in the current directory using basename of
the source filename. Doing html and pdf builds in parallel causes
chaos as a result. Fix this by having the pdf target build both
serially, and then have the html target just depend on the pdf target.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 7a4e0fa3..b0c09ffe 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -230,25 +230,24 @@ DOC=$(HTML) $(HTML_REVHISTORY) $(PDF) $(IMAGES) $(STYLESHEET)
 	sed -e 's/^[ 	]*//' -e 's/^\\//' $*.inc > $@
 
 .raw.pdf:
-	a2x --verbose -a icons -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
+	a2x --verbose -a docinfo -f pdf --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(FOP_STYLE) --fop --fop-opts="-c $(FOP_XCONF)" $*.raw
+	a2x --verbose -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
 
-.raw.html:
-	a2x --verbose -a icons -a docinfo -f xhtml --xsltproc-opts "--stringparam toc.section.depth 2" --xsl-file $(HTML_STYLE) --stylesheet=$(STYLESHEET) $*.raw
+.pdf.html:
+	@touch $@
 
 .tmpl.xsl:
 	xsltproc --output $@ /usr/share/xml/docbook/stylesheet/docbook-xsl/template/titlepage.xsl $*.tmpl
 
 all:	$(HTML) $(PDF)
 
-$(HTML): $(PDF)
-
 altusmetrum-revhistory.html: altusmetrum.html
 
 micropeak-revhistory.html: micropeak.html
 
 telegps-revhistory.html: telegps.html
 
-altusmetrum.pdf altusmetrum.html: altusmetrum-docinfo.xml $(RAW_FILES) $(RAW_INC) $(IMAGES)
+altusmetrum.pdf altusmetrum.html: altusmetrum-docinfo.xml $(RAW_FILES) $(IMAGES)
 
 telegps.html telegps.pdf: telegps-docinfo.xml $(TELEGPS_RAW_FILES) $(IMAGES)
 
-- 
cgit v1.2.3


From 19f700f1c99d2f3dcd8775cc629037312d853ee1 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 13 Nov 2015 23:36:02 -0800
Subject: doc: Construct html index for documentation

This gets uploaded to keith's machine as an easy way to see what's available.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile     | 45 +++++++++++++++++++++++++--------------------
 doc/easymini.txt |  2 +-
 doc/make-am-html | 30 ++++++++++++++++++++++++++++++
 3 files changed, 56 insertions(+), 21 deletions(-)
 create mode 100755 doc/make-am-html

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index b0c09ffe..939969ab 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -3,24 +3,24 @@
 #
 
 RELNOTES_INC=\
-	release-notes-0.7.1.inc \
-	release-notes-0.8.inc \
-	release-notes-0.9.inc \
-	release-notes-0.9.2.inc \
-	release-notes-1.0.1.inc \
-	release-notes-1.1.inc \
-	release-notes-1.1.1.inc \
-	release-notes-1.2.inc \
-	release-notes-1.2.1.inc \
-	release-notes-1.3.inc \
-	release-notes-1.3.1.inc \
-	release-notes-1.3.2.inc \
-	release-notes-1.4.inc \
-	release-notes-1.4.1.inc \
-	release-notes-1.4.2.inc \
-	release-notes-1.5.inc \
+	release-notes-1.6.1.inc \
 	release-notes-1.6.inc \
-	release-notes-1.6.1.inc
+	release-notes-1.5.inc \
+	release-notes-1.4.2.inc \
+	release-notes-1.4.1.inc \
+	release-notes-1.4.inc \
+	release-notes-1.3.2.inc \
+	release-notes-1.3.1.inc \
+	release-notes-1.3.inc \
+	release-notes-1.2.1.inc \
+	release-notes-1.2.inc \
+	release-notes-1.1.1.inc \
+	release-notes-1.1.inc \
+	release-notes-1.0.1.inc \
+	release-notes-0.9.2.inc \
+	release-notes-0.9.inc \
+	release-notes-0.8.inc \
+	release-notes-0.7.1.inc
 
 IMAGES=\
 	altosui.png \
@@ -183,6 +183,8 @@ ONEFILE_TXT_FILES=\
 ONEFILE_RAW_FILES=$(ONEFILE_TXT_FILES:.txt=.raw)
 ONEFILE_PDF_FILES=$(ONEFILE_TXT_FILES:.txt=.pdf)
 
+AM_HTML=am.html
+
 HTML=altusmetrum.html micropeak.html telegps.html easymini.html $(RELNOTES_HTML) $(ONEFILE_HTML_FILES)
 
 HTML_REVHISTORY=\
@@ -268,15 +270,18 @@ publish:	$(DOC) $(FONTS)
 	 git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* /home/bdale/web/altusmetrum/AltOS/doc/fonts/* ; \
 	 git push)
 
-publish-keithp:	$(DOC) $(FONTS)
-	scp -p $(DOC) keithp.com:~keithp/public_html/altos
+publish-keithp:	am.html $(DOC) $(FONTS)
+	scp -p am.html $(DOC) keithp.com:~keithp/public_html/altos
 	scp -p $(FONTS) keithp.com:~keithp/public_html/altos/fonts
 
 clean:
-	rm -f $(HTML) $(HTML_REVHISTORY) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
+	rm -f am.html $(HTML) $(HTML_REVHISTORY) $(PDF) $(TEMPLATES_XSL) $(RAW_FILES) $(TELEGPS_RAW_FILES) $(MICROPEAK_RAW_FILES)
 
 distclean: clean
 	rm -f $(HTML) $(PDF)
 
 $(PDF): $(PDF_CONFIG_FILES)
 $(HTML): $(HTML_CONFIG_FILES)
+
+am.html: Makefile make-am-html $(HTML)
+	sh ./make-am-html $(HTML) > $@
diff --git a/doc/easymini.txt b/doc/easymini.txt
index ddb18376..1a75b929 100644
--- a/doc/easymini.txt
+++ b/doc/easymini.txt
@@ -1,4 +1,4 @@
-= EasyMini
+= EasyMini Owner's Manual
 :doctype: book
 :numbered:
 :altusmetrum: 1
diff --git a/doc/make-am-html b/doc/make-am-html
new file mode 100755
index 00000000..ad8cb0a2
--- /dev/null
+++ b/doc/make-am-html
@@ -0,0 +1,30 @@
+#!/bin/sh
+cat << 'EOF'
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
+    "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content=
+"text/html; charset=utf-8" />
+<title>Altus Metrum Documentation</title>
+<link rel="stylesheet" type="text/css" href="am.css" />
+<meta name="generator" content="DocBook XSL Stylesheets V1.78.1" />
+</head>
+<body>
+<h1>Altus Metrum Documentation</h1>
+EOF
+
+for i in "$@"; do
+	echo '<p>'
+	grep '<title>' $i | head -1 | sed -e 's/.*<title>//' -e 's;</title>.*;;'
+	pdf=`basename "$i" .html`.pdf
+	echo '<a href="'$i'">html</a>'
+	echo '<a href="'$pdf'">pdf</a>'
+	echo '</p>'
+done
+
+cat << 'EOF'
+</body>
+</html>
+EOF
-- 
cgit v1.2.3


From 54c20f1caf7f2e09284a9839cfa854d71f5634a2 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 10 Jan 2016 11:44:17 -0800
Subject: Add release notes for 1.6.2

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                        |  1 +
 doc/RELNOTES                        | 25 ++++++++++++++++++++
 doc/altusmetrum-docinfo.xml         |  9 +++++++-
 doc/easymini-docinfo.xml            |  4 ++--
 doc/easymini-release-notes.inc      |  2 +-
 doc/release-notes-0.7.1-docinfo.xml |  2 +-
 doc/release-notes-0.8-docinfo.xml   |  2 +-
 doc/release-notes-0.9-docinfo.xml   |  2 +-
 doc/release-notes-0.9.2-docinfo.xml |  2 +-
 doc/release-notes-1.0.1-docinfo.xml |  2 +-
 doc/release-notes-1.1-docinfo.xml   |  2 +-
 doc/release-notes-1.1.1-docinfo.xml |  2 +-
 doc/release-notes-1.2-docinfo.xml   |  2 +-
 doc/release-notes-1.2.1-docinfo.xml |  2 +-
 doc/release-notes-1.3-docinfo.xml   |  2 +-
 doc/release-notes-1.3.1-docinfo.xml |  2 +-
 doc/release-notes-1.3.2-docinfo.xml |  2 +-
 doc/release-notes-1.4-docinfo.xml   |  2 +-
 doc/release-notes-1.4.1-docinfo.xml |  2 +-
 doc/release-notes-1.4.2-docinfo.xml |  2 +-
 doc/release-notes-1.5-docinfo.xml   |  2 +-
 doc/release-notes-1.6-docinfo.xml   |  2 +-
 doc/release-notes-1.6.1-docinfo.xml |  2 +-
 doc/release-notes-1.6.2-docinfo.xml | 29 +++++++++++++++++++++++
 doc/release-notes-1.6.2.inc         | 46 +++++++++++++++++++++++++++++++++++++
 doc/release-notes.inc               |  4 ++++
 doc/telegps-release-notes.inc       |  4 ++++
 doc/titlepage.templates.tmpl        | 22 ++++++++++--------
 28 files changed, 150 insertions(+), 32 deletions(-)
 create mode 100644 doc/RELNOTES
 create mode 100644 doc/release-notes-1.6.2-docinfo.xml
 create mode 100644 doc/release-notes-1.6.2.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 939969ab..08835ad3 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -3,6 +3,7 @@
 #
 
 RELNOTES_INC=\
+	release-notes-1.6.2.inc \
 	release-notes-1.6.1.inc \
 	release-notes-1.6.inc \
 	release-notes-1.5.inc \
diff --git a/doc/RELNOTES b/doc/RELNOTES
new file mode 100644
index 00000000..0b04ac5f
--- /dev/null
+++ b/doc/RELNOTES
@@ -0,0 +1,25 @@
+Creating documentation for a new release of AltOS
+
+* Write release notes in release-notes-${version}.inc. Write docinfo
+  for release notes in release-notes-${version}-docinfo.xml. Add to
+  Makefile
+
+* Add references to that as appropriate from each of the
+  documents:
+
+	release-notes.inc
+	easymini-release-notes.inc
+	telegps-release-notes.inc
+
+* Update date and add docinfo short release info for each document as
+  appropriate
+
+	altusmetrum-docinfo.xml
+	companion-docinfo.xml
+	easymini-docinfo.xml
+	micropeak-docinfo.xml
+	telegps-docinfo.xml
+	telemetry-docinfo.xml
+
+* Add release-notes-${version}.inc and
+  release-notes-${version}-docinfo.xml to git
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 69a769b6..9f2dda1c 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -30,7 +30,7 @@
 <corpauthor>
   <inlinemediaobject>
     <imageobject>
-      <imagedata fileref="altusmetrum-oneline.svg" width="3in"/>
+      <imagedata fileref="altusmetrum-oneline.svg" width="4in"/>
     </imageobject>
   </inlinemediaobject>
 </corpauthor>
@@ -46,6 +46,13 @@
 </legalnotice>
 <revhistory>
   <?dbhtml filename="altusmetrum-revhistory.html"?>
+  <revision>
+    <revnumber>1.6.2</revnumber>
+    <date>10 January 2016</date>
+    <revremark>
+      Minor release adding TeleMega v2.0 support.
+    </revremark>
+  </revision>
   <revision>
     <revnumber>1.6.1</revnumber>
     <date>15 July 2015</date>
diff --git a/doc/easymini-docinfo.xml b/doc/easymini-docinfo.xml
index f3c7ba19..7789d2f3 100644
--- a/doc/easymini-docinfo.xml
+++ b/doc/easymini-docinfo.xml
@@ -10,7 +10,7 @@
   <email>keithp@keithp.com</email>
 </author>
 <copyright>
-  <year>2015</year>
+  <year>2016</year>
   <holder>Bdale Garbee and Keith Packard</holder>
 </copyright>
 <mediaobject>
@@ -40,7 +40,7 @@
   <?dbhtml filename="easymini-revhistory.html"?>
   <revision>
     <revnumber>1.6.2</revnumber>
-    <date>13 November 2015</date>
+    <date>10 January 2016</date>
     <revremark>
       First release of separate EasyMini doc
     </revremark>
diff --git a/doc/easymini-release-notes.inc b/doc/easymini-release-notes.inc
index e448b394..352a989b 100644
--- a/doc/easymini-release-notes.inc
+++ b/doc/easymini-release-notes.inc
@@ -2,6 +2,6 @@
 == Release Notes
 
 	:leveloffset: 2
-	include::release-notes-1.6.1.raw[]
+	include::release-notes-1.6.2.raw[]
 
 	:leveloffset: 0
diff --git a/doc/release-notes-0.7.1-docinfo.xml b/doc/release-notes-0.7.1-docinfo.xml
index 71bc3180..9657f2a6 100644
--- a/doc/release-notes-0.7.1-docinfo.xml
+++ b/doc/release-notes-0.7.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-0.8-docinfo.xml b/doc/release-notes-0.8-docinfo.xml
index d06249f5..d593da31 100644
--- a/doc/release-notes-0.8-docinfo.xml
+++ b/doc/release-notes-0.8-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-0.9-docinfo.xml b/doc/release-notes-0.9-docinfo.xml
index 0602cb02..605472f2 100644
--- a/doc/release-notes-0.9-docinfo.xml
+++ b/doc/release-notes-0.9-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-0.9.2-docinfo.xml b/doc/release-notes-0.9.2-docinfo.xml
index ec1e4482..40e53634 100644
--- a/doc/release-notes-0.9.2-docinfo.xml
+++ b/doc/release-notes-0.9.2-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.0.1-docinfo.xml b/doc/release-notes-1.0.1-docinfo.xml
index 95a7681d..23972104 100644
--- a/doc/release-notes-1.0.1-docinfo.xml
+++ b/doc/release-notes-1.0.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.1-docinfo.xml b/doc/release-notes-1.1-docinfo.xml
index 032a06c5..93273918 100644
--- a/doc/release-notes-1.1-docinfo.xml
+++ b/doc/release-notes-1.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.1.1-docinfo.xml b/doc/release-notes-1.1.1-docinfo.xml
index 4c2c8b1c..41ea12da 100644
--- a/doc/release-notes-1.1.1-docinfo.xml
+++ b/doc/release-notes-1.1.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.2-docinfo.xml b/doc/release-notes-1.2-docinfo.xml
index f35f033d..ba2c9d56 100644
--- a/doc/release-notes-1.2-docinfo.xml
+++ b/doc/release-notes-1.2-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.2.1-docinfo.xml b/doc/release-notes-1.2.1-docinfo.xml
index 968c0434..d0f08b9c 100644
--- a/doc/release-notes-1.2.1-docinfo.xml
+++ b/doc/release-notes-1.2.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.3-docinfo.xml b/doc/release-notes-1.3-docinfo.xml
index b10fd9dd..aa569df4 100644
--- a/doc/release-notes-1.3-docinfo.xml
+++ b/doc/release-notes-1.3-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.3.1-docinfo.xml b/doc/release-notes-1.3.1-docinfo.xml
index 52264773..f67cf3b8 100644
--- a/doc/release-notes-1.3.1-docinfo.xml
+++ b/doc/release-notes-1.3.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.3.2-docinfo.xml b/doc/release-notes-1.3.2-docinfo.xml
index f55aef04..82b7677e 100644
--- a/doc/release-notes-1.3.2-docinfo.xml
+++ b/doc/release-notes-1.3.2-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.4-docinfo.xml b/doc/release-notes-1.4-docinfo.xml
index 216c0ae3..12a38ce5 100644
--- a/doc/release-notes-1.4-docinfo.xml
+++ b/doc/release-notes-1.4-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.4.1-docinfo.xml b/doc/release-notes-1.4.1-docinfo.xml
index d87052f7..6224b16e 100644
--- a/doc/release-notes-1.4.1-docinfo.xml
+++ b/doc/release-notes-1.4.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.4.2-docinfo.xml b/doc/release-notes-1.4.2-docinfo.xml
index 4b4f7b21..8fd94324 100644
--- a/doc/release-notes-1.4.2-docinfo.xml
+++ b/doc/release-notes-1.4.2-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.5-docinfo.xml b/doc/release-notes-1.5-docinfo.xml
index 3d018630..0c0cace7 100644
--- a/doc/release-notes-1.5-docinfo.xml
+++ b/doc/release-notes-1.5-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.6-docinfo.xml b/doc/release-notes-1.6-docinfo.xml
index 760d5e60..5ae58bb5 100644
--- a/doc/release-notes-1.6-docinfo.xml
+++ b/doc/release-notes-1.6-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.6.1-docinfo.xml b/doc/release-notes-1.6.1-docinfo.xml
index 1b27b79a..dc0a2d67 100644
--- a/doc/release-notes-1.6.1-docinfo.xml
+++ b/doc/release-notes-1.6.1-docinfo.xml
@@ -15,7 +15,7 @@
 </copyright>
 <mediaobject>
   <imageobject>
-    <imagedata fileref="../themes/background.png" width="6.0in"/>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
   </imageobject>
 </mediaobject>
 <legalnotice>
diff --git a/doc/release-notes-1.6.2-docinfo.xml b/doc/release-notes-1.6.2-docinfo.xml
new file mode 100644
index 00000000..78206e2a
--- /dev/null
+++ b/doc/release-notes-1.6.2-docinfo.xml
@@ -0,0 +1,29 @@
+<author>
+  <firstname>Bdale</firstname>
+  <surname>Garbee</surname>
+  <email>bdale@gag.com</email>
+</author>
+<author>
+  <firstname>Keith</firstname>
+  <surname>Packard</surname>
+  <email>keithp@keithp.com</email>
+</author>
+<date>10 January 2016</date>
+<copyright>
+  <year>2016</year>
+  <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+  <imageobject>
+    <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+  </imageobject>
+</mediaobject>
+<legalnotice>
+  <para>
+    This document is released under the terms of the
+    <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+      Creative Commons ShareAlike 3.0
+    </ulink>
+    license.
+  </para>
+</legalnotice>
diff --git a/doc/release-notes-1.6.2.inc b/doc/release-notes-1.6.2.inc
new file mode 100644
index 00000000..990eb48f
--- /dev/null
+++ b/doc/release-notes-1.6.2.inc
@@ -0,0 +1,46 @@
+= Release Notes for Version 1.6.2
+:toc!:
+:doctype: article
+
+	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.
+
+	== AltOS
+
+	AltOS New Features:
+
+	* Add support for TeleMega v2.0 boards.
+
+	* 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.
+
+	AltOS Fixes:
+
+	* Slow down telemetry packets to allow receiver to keep
+          up.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI and TeleGPS Fixes:
+
+	* Fix post-flight orientation computation when processing
+	  TeleMega and EasyMega eeprom data files.
+
+	* 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.
+
+	== Documentation
+
+	We spent a bunch of time trying to improve our documentation
+
+	* HTML versions now have a table of contents on the left side.
+
+	* EasyMini now has its own shorter manual.
+
+	* Provide links between sections in each document.
+
+	* Lots of minor rewriting and restructuring to avoid
+          duplication of information
diff --git a/doc/release-notes.inc b/doc/release-notes.inc
index 70653ed9..a6240d43 100644
--- a/doc/release-notes.inc
+++ b/doc/release-notes.inc
@@ -1,6 +1,10 @@
 [appendix]
 == Release Notes
 
+	:leveloffset: 2
+	include::release-notes-1.6.2.raw[]
+
+	<<<<
 	:leveloffset: 2
 	include::release-notes-1.6.1.raw[]
 
diff --git a/doc/telegps-release-notes.inc b/doc/telegps-release-notes.inc
index 7a53bd2d..dcdabc05 100644
--- a/doc/telegps-release-notes.inc
+++ b/doc/telegps-release-notes.inc
@@ -1,6 +1,10 @@
 [appendix]
 == Release Notes
 
+	:leveloffset: 2
+	include::release-notes-1.6.2.raw[]
+
+	<<<<
 	:leveloffset: 2
 	include::release-notes-1.6.1.raw[]
 
diff --git a/doc/titlepage.templates.tmpl b/doc/titlepage.templates.tmpl
index 1669e465..f437fb76 100644
--- a/doc/titlepage.templates.tmpl
+++ b/doc/titlepage.templates.tmpl
@@ -36,6 +36,8 @@
 	     start-indent="0pt"
              text-align="center">
 
+    <mediaobject space-before="1em"/>
+
     <title t:named-template="component.title"
 	   param:node="ancestor-or-self::article[1]"
 	   keep-with-next.within-column="always"
@@ -57,17 +59,17 @@
          because only the first editor generates the list of editors.
     <editor t:predicate="[position() = 1]"/>
     -->
-    <othercredit space-before="0.5em"/>
-    <releaseinfo space-before="0.5em"/>
-    <copyright space-before="0.5em"/>
+    <othercredit space-before="0.15in"/>
+    <releaseinfo space-before="0.15in"/>
+    <copyright space-before="0.15in"/>
     <legalnotice text-align="start"
                  margin-left="0.5in"
                  margin-right="0.5in"
                  font-family="{$body.fontset}"/>
-    <pubdate space-before="0.5em"/>
-    <revision space-before="0.5em"/>
-    <revhistory space-before="0.5em"/>
-    <abstract space-before="0.5em"
+    <pubdate space-before="0.15in"/>
+    <revision space-before="0.15in"/>
+    <revhistory space-before="0.15in"/>
+    <abstract space-before="0.15in"
 	      text-align="start"
 	      margin-left="0.5in"
               margin-right="0.5in"
@@ -103,7 +105,7 @@
     <subtitle
 	      font-family="{$title.fontset}"
 	      text-align="center"/>
-    <corpauthor/>
+    <corpauthor space-before="0.25in"/>
     <authorgroup/>
     <author/>
     <othercredit/>
@@ -177,12 +179,12 @@
       <editor t:predicate="[position() = 1]"/>
       -->
       <othercredit/>
-      <releaseinfo space-before="0.5em"/>
+      <releaseinfo space-before="0.15in"/>
       <pubdate space-before="1em"/>
       <copyright/>
       <abstract/>
       <legalnotice font-size="8pt"/>
-      <corpauthor text-align="center"/>
+      <corpauthor text-align="center" space-before="0.5in"/>
       <revhistory space-before="0.5in"/>
   </t:titlepage-content>
 
-- 
cgit v1.2.3


From 6a00f186a06f22638882f43f49fa0c03ea387eac Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 10 Jan 2016 17:13:56 -0800
Subject: doc: Remove telemini v2.0. Add telemega v2.0

Reflect hardware we've actually shipped.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                  |   2 -
 doc/altusmetrum-docinfo.xml   |   2 +-
 doc/altusmetrum.txt           |   2 -
 doc/flight-data-recording.inc |   1 -
 doc/getting-started.inc       |   1 -
 doc/specs.inc                 |   8 ---
 doc/system-operation.inc      |   3 +-
 doc/telemega.inc              |  12 +++++
 doc/telemini-v2-top.jpg       | Bin 579692 -> 0 bytes
 doc/telemini-v2.0.inc         | 112 ------------------------------------------
 10 files changed, 14 insertions(+), 129 deletions(-)
 delete mode 100644 doc/telemini-v2-top.jpg
 delete mode 100644 doc/telemini-v2.0.inc

(limited to 'doc/Makefile')

diff --git a/doc/Makefile b/doc/Makefile
index 08835ad3..6a04a591 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -84,7 +84,6 @@ IMAGES=\
 	telemetrum-v2.0-th.jpg \
 	telemini.svg \
 	telemini-v1-top.jpg \
-	telemini-v2-top.jpg \
 	altusmetrum-oneline.svg \
 	telegps-oneline.svg \
 	micropeak-oneline.svg
@@ -105,7 +104,6 @@ INC_FILES=\
 	usage.inc \
 	telemetrum.inc \
 	telemini-v1.0.inc \
-	telemini-v2.0.inc \
 	easymini-device.inc \
 	telemega.inc \
 	easymega.inc \
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 8644584f..63c1e035 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -115,7 +115,7 @@
     <date>12 November 2013</date>
     <revremark>
       Updated for software version 1.3. Version 1.3 adds support
-      for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini
+      for TeleMega, TeleMetrum v2.0 and EasyMini
       and fixes bugs in AltosUI and the AltOS firmware.
     </revremark>
   </revision>
diff --git a/doc/altusmetrum.txt b/doc/altusmetrum.txt
index 598de8e6..15fc28fc 100644
--- a/doc/altusmetrum.txt
+++ b/doc/altusmetrum.txt
@@ -24,8 +24,6 @@
 
 	include::telemini-v1.0.raw[]
 
-	include::telemini-v2.0.raw[]
-
 	include::easymini-device.raw[]
 
 	include::telemega.raw[]
diff --git a/doc/flight-data-recording.inc b/doc/flight-data-recording.inc
index d0ffa7f1..32e44840 100644
--- a/doc/flight-data-recording.inc
+++ b/doc/flight-data-recording.inc
@@ -25,7 +25,6 @@
 	endif::telemetrum[]
 	ifdef::telemini[]
 	|TeleMini v1.0		|2	|5kB	|4
-	|TeleMini v2.0		|16	|1MB	|10
 	endif::telemini[]
 	ifdef::easymini[]
 	|EasyMini		|16	|1MB	|10
diff --git a/doc/getting-started.inc b/doc/getting-started.inc
index 9c0df26d..decaf4d4 100644
--- a/doc/getting-started.inc
+++ b/doc/getting-started.inc
@@ -22,7 +22,6 @@
 		USB power source.
 
 		You can also choose to use another battery with
-		ifdef::telemini[TeleMini v2.0 and]
 		EasyMini, anything supplying between 4 and 12 volts should
 		work fine (like a standard 9V battery), but if you are planning
 		to fire pyro charges, ground testing is required to verify that
diff --git a/doc/specs.inc b/doc/specs.inc
index 72664625..a6c7b69a 100644
--- a/doc/specs.inc
+++ b/doc/specs.inc
@@ -57,14 +57,6 @@
 	|10mW
 	|3.7V
 
-	|TeleMini v2.0
-	|MS5607 30km (100k')
-	|-
-	|-
-	|-
-	|1MB
-	|10mW
-	|3.7-12V
 	endif::telemini[]
 
 	ifdef::easymini[]
diff --git a/doc/system-operation.inc b/doc/system-operation.inc
index 313415ca..e68b2acb 100644
--- a/doc/system-operation.inc
+++ b/doc/system-operation.inc
@@ -19,8 +19,7 @@
 		idle mode.
 		endif::telemetrum,telemega,easymega[]
 		Since
-		ifdef::telemini[TeleMini v2.0 and EasyMini don't]
-		ifndef::telemini[EasyMini doesn't]
+		EasyMini doesn't
 		have an
 		accelerometer we can use to determine orientation, “idle” mode
 		is selected if the board is connected via USB to a computer,
diff --git a/doc/telemega.inc b/doc/telemega.inc
index 4383f228..55f77bc4 100644
--- a/doc/telemega.inc
+++ b/doc/telemega.inc
@@ -9,6 +9,18 @@
 	the board is aligned with the flight axis. It can be mounted
 	either antenna up or down.
 
+	TeleMega v2.0 has a few minor changes from v1.0:
+
+	* Companion connector matches EasyMega functions
+	* Serial port connector replaced with servo connector with
+	  support for up to 4 PWM channels.
+	* Radio switched from cc1120 to cc1200.
+
+	None of these affect operation using the stock firmware, but
+	they do mean that the device needs different firmware to
+	operate correctly, so make sure you load the right firmware
+	when reflashing the device.
+
 	=== TeleMega Screw Terminals
 
 		TeleMega has two sets of nine screw terminals on the end of
diff --git a/doc/telemini-v2-top.jpg b/doc/telemini-v2-top.jpg
deleted file mode 100644
index bc8ae45b..00000000
Binary files a/doc/telemini-v2-top.jpg and /dev/null differ
diff --git a/doc/telemini-v2.0.inc b/doc/telemini-v2.0.inc
deleted file mode 100644
index 5803a2ca..00000000
--- a/doc/telemini-v2.0.inc
+++ /dev/null
@@ -1,112 +0,0 @@
-== TeleMini v2.0
-
-	.TeleMini v2.0 Board
-	image::telemini-v2-top.jpg[width="5.5in"]
-      
-	TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
-	on-board data logging memory, a built-in USB connector and
-	screw terminals for the battery and power switch. The larger
-	board fits in a 24mm coupler. There's also a battery connector
-	for a LiPo battery if you want to use one of those.
-
-	=== TeleMini v2.0 Screw Terminals
-	
-		TeleMini v2.0 has two sets of four screw terminals on the end of the
-		board opposite the telemetry antenna. Using the picture
-		above, the top four have connections for the main pyro
-		circuit and an external battery and the bottom four have
-		connections for the apogee pyro circuit and the power
-		switch. Counting from the left, the connections are as follows:
-
-		.TeleMini v2.0 Screw Terminals
-		[options="header",grid="all",cols="2,3,10"]
-		|====
-		|Terminal #|Terminal Name|Description
-		|Top 1
-		|Main -
-		|Main pyro channel connection to pyro circuit
-	      
-		|Top 2
-		|Main +
-		|Main pyro channel common connection to battery +
-	      
-		|Top 3
-		|Battery +
-		|Positive external battery terminal
-	      
-		|Top 4
-		|Battery -
-		|Negative external battery terminal
-	      
-		|Bottom 1
-		|Apogee -
-		|Apogee pyro channel connection to pyro circuit
-	      
-		|Bottom 2
-		|Apogee +
-		|Apogee pyro channel common connection to battery +
-	      
-		|Bottom 3
-		|Switch Output
-		|Switch connection to flight computer
-	      
-		|Bottom 4
-		|Switch Input
-		|Switch connection to positive battery terminal
-		|====
-
-	=== Connecting A Battery To TeleMini v2.0
-
-		There are two possible battery connections on TeleMini
-		v2.0. You can use either method; both feed through
-		the power switch terminals.
-
-		One battery connection is the standard Altus Metrum
-		white JST plug. This mates with single-cell Lithium
-		Polymer batteries sold by Altus Metrum.
-
-		The other is a pair of screw terminals marked 'Battery
-		+' and 'Battery -'. Connect a battery from 4 to 12
-		volts to these terminals, being careful to match polarity.
-
-	=== Charging Lithium Batteries
-
-		Because TeleMini v2.0 allows for batteries other than
-		the standard Altus Metrum Lithium Polymer cells, it
-		cannot incorporate a battery charger
-		circuit. Therefore, when using a Litium Polymer cell,
-		you'll need an external charger. These are available
-		from Altus Metrum, or from Spark Fun.
-
-      	=== Using a Separate Pyro Battery with TeleMini v2.0
-	
-		As described above, using an external pyro battery involves
-		connecting the negative battery terminal to the flight
-		computer ground, connecting the positive battery terminal to
-		one of the igniter leads and connecting the other igniter
-		lead to the per-channel pyro circuit connection.
-
-		To connect the negative pyro battery terminal to TeleMini
-		ground, connect it to the negative external battery
-		connection, top terminal 4.
-
-		Connecting the positive battery terminal to the pyro
-		charges must be done separate from TeleMini v2.0, by soldering
-		them together or using some other connector.
-
-		The other lead from each pyro charge is then inserted into
-		the appropriate per-pyro channel screw terminal (top
-		terminal 1 for the Main charge, bottom terminal 1 for the
-		Apogee charge).
-
-      	=== Using an Active Switch with TeleMini v2.0
-	
-		As explained above, an external active switch requires three
-		connections, one to the positive battery terminal, one to
-		the flight computer positive input and one to ground. Use
-		the negative external battery connection, top terminal 4 for
-		ground.
-
-		The positive battery terminal is available on bottom
-		terminal 4, the positive flight computer input is on the
-		bottom terminal 3.
-- 
cgit v1.2.3