From 20d4d410e0fc04fe192e309811eed6c0194fa5a8 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 30 Mar 2010 23:11:40 -0600 Subject: initial harness for documentation --- doc/Makefile | 25 +++++++++++++++++++++++++ doc/telemetrum.xsl | 44 ++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 69 insertions(+) create mode 100644 doc/Makefile create mode 100644 doc/telemetrum.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile new file mode 100644 index 00000000..d3293900 --- /dev/null +++ b/doc/Makefile @@ -0,0 +1,25 @@ +# +# http://docbook.sourceforge.net/release/xsl/current/README +# + +all: telemetrum.html telemetrum.pdf + +telemetrum.html: telemetrum.xsl + xsltproc -o telemetrum.html \ + /usr/share/xml/docbook/stylesheet/nwalsh/html/docbook.xsl \ + telemetrum.xsl + +telemetrum.fo: telemetrum.xsl + xsltproc -o telemetrum.fo \ + /usr/share/xml/docbook/stylesheet/nwalsh/fo/docbook.xsl \ + telemetrum.xsl + +telemetrum.pdf: telemetrum.fo + fop -fo telemetrum.fo -pdf telemetrum.pdf + +clean: + rm -f telemetrum.html telemetrum.pdf telemetrum.fo + +indent: telemetrum.xsl + xmlindent -i 2 < telemetrum.xsl > telemetrum.new + diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl new file mode 100644 index 00000000..7d855318 --- /dev/null +++ b/doc/telemetrum.xsl @@ -0,0 +1,44 @@ + + + + + + Bdale + Garbee + + + Keith + Packard + + + 2010 + Bdale Garbee + + TeleMetrum + Owner's Manual for the TeleMetrum System + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.1 + 30 March 2010 + Initial content + + + + + Introduction + + Placeholder. + + + + -- cgit v1.2.3 From 53ca3f98aeb70cb780031fee788de950e4388cf6 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 1 Apr 2010 23:39:42 -0600 Subject: tweak copyright assertion --- doc/telemetrum.xsl | 40 ++++++++++++++++++++++++++++++++++++++-- 1 file changed, 38 insertions(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 7d855318..97d8fb23 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -13,7 +13,7 @@ 2010 - Bdale Garbee + Bdale Garbee and Keith Packard TeleMetrum Owner's Manual for the TeleMetrum System @@ -35,7 +35,43 @@ - Introduction + Introduction and Overview + + Placeholder. + + + + Specifications + + Placeholder. + + + + Handling Precautions + + Placeholder. + + + + Hardware Overview + + Placeholder. + + + + Operation + + Placeholder. + + + + System Overview + + Placeholder. + + + + System Overview Placeholder. -- cgit v1.2.3 From 8c600abf87c95f8f214b5e56ff6eab955795dff5 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 1 Apr 2010 23:56:47 -0600 Subject: crudely incorporate "day in the life" info from web page --- doc/telemetrum.xsl | 144 +++++++++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 134 insertions(+), 10 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 97d8fb23..fb65ce01 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -65,16 +65,140 @@ - System Overview - - Placeholder. - - - - System Overview - - Placeholder. - + Using Altus Metrum Products +
+ Being Legal + + First off, in the US, you need an [amateur radio license](../Radio) or + other authorization to legally operate the radio transmitters that are part + of our products. + +
+ In the Rocket + + In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and + a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + + + By default, we ship TeleMetrum with a simple wire antenna. If your + electronics bay or the airframe it resides within is made of carbon fiber, + which is opaque to RF signals, you may choose to have an SMA connector + installed so that you can run a coaxial cable to an antenna mounted + elsewhere in the rocket. + +
+
+ On the Ground + + To receive the data stream from the rocket, you need an antenna and short + feedline connected to one of our [TeleDongle](../TeleDongle) units. The + TeleDongle in turn plugs directly into the USB port on a notebook + computer. Because TeleDongle looks like a simple serial port, your computer + does not require special device drivers... just plug it in. + + + Right now, all of our application software is written for Linux. However, + because we understand that many people run Windows or MacOS, we are working + on a new ground station program written in Java that should work on all + operating systems. + + + After the flight, you can use the RF link to extract the more detailed data + logged in the rocket, or you can use a mini USB cable to plug into the + TeleMetrum board directly. Pulling out the data without having to open up + the rocket is pretty cool! A USB cable is also how you charge the LiPo + battery, so you'll want one of those anyway... the same cable used by lots + of digital cameras and other modern electronic stuff will work fine. + + + If your rocket lands out of sight, you may enjoy having a hand-held GPS + receiver, so that you can put in a waypoint for the last reported rocket + position before touch-down. This makes looking for your rocket a lot like + Geo-Cacheing... just go to the waypoint and look around starting from there. + + + You may also enjoy having a ham radio "HT" that covers the 70cm band... you + can use that with your antenna to direction-find the rocket on the ground + the same way you can use a Walston or Beeline tracker. This can be handy + if the rocket is hiding in sage brush or a tree, or if the last GPS position + doesn't get you close enough because the rocket dropped into a canyon, or + the wind is blowing it across a dry lake bed, or something like that... Keith + and Bdale both currently own and use the + [Yaesu VX-6R](http://yaesu.com/indexVS.cfm?cmd=DisplayProducts&ProdCatID=111&encProdID=4C6F204F6FEBB5BAFA58BCC1C131EAC0&DivisionID=65&isArchived=0) + at launches. + + + So, to recap, on the ground the hardware you'll need includes: + + + an antenna and feedline + + + a TeleDongle + + + a notebook computer + + + optionally, a handheld 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 + [Arrow Antennas](http://www.arrowantennas.com/). The 440-3 and 440-5 are + both good choices for finding a TeleMetrum-equipped rocket when used with + a suitable 70cm HT. + +
+
+ Data Analysis + + Our software makes it easy to log the data from each flight, both the + telemetry received over the RF link during the flight itself, and the more + complete data log recorded in the DataFlash memory on the TeleMetrum + board. Once this data is on your computer, our postflight tools make it + easy to quickly get to the numbers everyone wants, like apogee altitude, + max acceleration, and max velocity. You can also generate and view a + standard set of plots showing the altitude, acceleration, and + velocity of the rocket during flight. And you can even export a data file + useable with Google Maps and Google Earth for visualizing the flight path + in two or three dimensions! + + + 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 + + In the future, we intend to offer "companion boards" for the rocket that will + plug in to TeleMetrum to collect additional data, provide more pyro channels, + and so forth. A reference design for a companion board will be documented + soon, and will be compatible with open source Arduino programming tools. + + + We are also working on the design of a hand-held ground terminal that will + allow monitoring the rocket's status, collecting data during flight, and + logging data after flight without the need for a notebook computer on the + flight line. Particularly since it is so difficult to read most notebook + screens in direct sunlight, we think this will be a great thing to have. + + + 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... + +
+
-- cgit v1.2.3 From c66eebad323e4572bb7cc23bc476ee144f03e9b8 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sat, 3 Apr 2010 08:02:44 -0600 Subject: rewrite urls in docbook format --- doc/telemetrum.xsl | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index fb65ce01..f1525887 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -125,7 +125,10 @@ doesn't get you close enough because the rocket dropped into a canyon, or the wind is blowing it across a dry lake bed, or something like that... Keith and Bdale both currently own and use the - [Yaesu VX-6R](http://yaesu.com/indexVS.cfm?cmd=DisplayProducts&ProdCatID=111&encProdID=4C6F204F6FEBB5BAFA58BCC1C131EAC0&DivisionID=65&isArchived=0) + + Yaesu VX-6R + at launches. @@ -151,9 +154,11 @@ The best hand-held commercial directional antennas we've found for radio direction finding rockets are from - [Arrow Antennas](http://www.arrowantennas.com/). The 440-3 and 440-5 are - both good choices for finding a TeleMetrum-equipped rocket when used with - a suitable 70cm HT. + + Arrow Antennas. + +The 440-3 and 440-5 are both good choices for finding a +TeleMetrum-equipped rocket when used with a suitable 70cm HT.
-- cgit v1.2.3 From 934434ffb3514fe9ff95692784750d7c5217a5d3 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 8 Apr 2010 12:41:28 -0600 Subject: fix typo in url --- doc/telemetrum.xsl | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index f1525887..bfa19ab4 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -125,8 +125,7 @@ doesn't get you close enough because the rocket dropped into a canyon, or the wind is blowing it across a dry lake bed, or something like that... Keith and Bdale both currently own and use the - + Yaesu VX-6R at launches. -- cgit v1.2.3 From 6629ec52def8917ad033847812a1adc4c3e9c947 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 8 Apr 2010 12:42:47 -0600 Subject: lose the url entirely for now --- doc/telemetrum.xsl | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index bfa19ab4..b0c5e94f 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -124,11 +124,7 @@ if the rocket is hiding in sage brush or a tree, or if the last GPS position doesn't get you close enough because the rocket dropped into a canyon, or the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the - - Yaesu VX-6R - - at launches. + and Bdale both currently own and use the Yaesu VX-6R at launches. So, to recap, on the ground the hardware you'll need includes: -- cgit v1.2.3 From 01e524f11a67390a8ea1f20aa2d611909b4da363 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 8 Apr 2010 19:55:05 -0600 Subject: choose a better set of docbook xsl files --- doc/Makefile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index d3293900..55b7a548 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -6,12 +6,12 @@ all: telemetrum.html telemetrum.pdf telemetrum.html: telemetrum.xsl xsltproc -o telemetrum.html \ - /usr/share/xml/docbook/stylesheet/nwalsh/html/docbook.xsl \ + /usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl \ telemetrum.xsl telemetrum.fo: telemetrum.xsl xsltproc -o telemetrum.fo \ - /usr/share/xml/docbook/stylesheet/nwalsh/fo/docbook.xsl \ + /usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl \ telemetrum.xsl telemetrum.pdf: telemetrum.fo -- cgit v1.2.3 From ce39372a3aeffff1a08d609e63164a00cf974663 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Fri, 9 Apr 2010 13:50:49 -0600 Subject: wrong Yaesu model --- doc/telemetrum.xsl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index b0c5e94f..55eda3bd 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -124,7 +124,7 @@ if the rocket is hiding in sage brush or a tree, or if the last GPS position doesn't get you close enough because the rocket dropped into a canyon, or the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the Yaesu VX-6R at launches. + and Bdale both currently own and use the Yaesu VX-7R at launches. So, to recap, on the ground the hardware you'll need includes: -- cgit v1.2.3 From 5f93cf8c73555f43c14b1b0757f264bde69e9b8a Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sun, 18 Apr 2010 08:35:43 -0600 Subject: capture work done on SFO->DEN flight --- doc/telemetrum.xsl | 175 +++++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 169 insertions(+), 6 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 55eda3bd..6e4320e1 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -37,25 +37,188 @@ Introduction and Overview - Placeholder. + 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 focal point of our community is 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. + + + Complementing TeleMetrum is TeleDongle, a USB to RF interface for + communicating with TeleMetrum. 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. Specifications - - Placeholder. - + + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + Handling Precautions - Placeholder. + TeleMetrum is a sophisticated electronic device. When handled gently and + properly installed in an airframe, it will deliver extraordinary results. + However, like all electronic devices, there are some precautions you + must take. + + + The Lithium Polymer rechargeable batteries used with TeleMetrum have an + extraordinary power density. This is great because we can fly with + much less battery mass than if we used alkaline batteries or previous + generation rechargeable batteries... but if they are punctured + or their leads are allowed to short, they can and will release their + energy very rapidly! + Thus we recommend that you take some care when handling our batteries + and consider giving them some extra protection in your airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + + + The TeleMetrum barometric sensor is sensitive to sunlight. In normal + mounting situations, it and all of the other surface mount components + are "down" towards whatever the underlying mounting surface is, so + this is not normally a problem. Please consider this, though, when + designing an installation, for example, in a 29mm airframe's see-through + plastic payload bay. + + + The TeleMetrum barometric sensor sampling port must be able to "breathe", + both by not being covered by foam or tape or other materials that might + directly block the hole on the top of the sensor, but also by having a + suitable static vent to outside air. + + + As with all other rocketry electronics, TeleMetrum must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. Hardware Overview - Placeholder. + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. + + + A typical TeleMetrum installation using the on-board GPS antenna and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. + + + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard e-matches + from companies like [insert company and product names for e-matches we've + tried and like] and with Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, you can do so by adding + a second 2mm connector to position B2 on the board and cutting the + thick pcb trace connecting the LiPo battery to the pyro circuit between + the two silk screen marks on the surface mount side of the board shown + here [insert photo] + + + We offer two choices of pyro and power switch connector, or you can + choose neither and solder wires directly to the board. All three choices + are reasonable depending on the constraints of your airframe. Our + favorite option when there is sufficient room above the board is to use + the Tyco pin header with polarization and locking. If you choose this + option, you crimp individual wires for the power switch and e-matches + into a mating connector, and installing and removing the TeleMetrum + board from an airframe is as easy as plugging or unplugging two + connectors. If the airframe will not support this much height or if + you want to be able to directly attach e-match leads to the board, we + offer a screw terminal block. This is very similar to what most other + altimeter vendors provide by default and so may be the most familiar + option. You'll need a very small straight blade screwdriver to connect + and disconnect the board in this case, such as you might find in a + jeweler's screwdriver set. Finally, you can forego both options and + solder wires directly to the board, which may be the best choice for + minimum diameter and/or minimum mass designs. + + + For most airframes, the integrated GPS antenna and wire UHF antenna are + a great combination. However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to use + off-board external antennas instead. In this case, you can order + TeleMetrum with an SMA connector for the UHF antenna connection, and + you can unplug the integrated GPS antenna and select an appropriate + off-board GPS antenna with cable terminating in a U.FL connector. -- cgit v1.2.3 From 641e76c5d419dab057298541b3a7546877643198 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 27 Apr 2010 00:17:15 -0600 Subject: add some RF usage information from an email reply sent today, and re-indent --- doc/telemetrum.xsl | 123 ++++++++++++++++++++++++++++++++++------------------- 1 file changed, 79 insertions(+), 44 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 6e4320e1..70a78693 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -61,64 +61,63 @@ Specifications - - - Recording altimeter for model rocketry. - + + Recording altimeter for model rocketry. + - - Supports dual deployment (can fire 2 ejection charges). - + + Supports dual deployment (can fire 2 ejection charges). + - - 70cm ham-band transceiver for telemetry downlink. - + + 70cm ham-band transceiver for telemetry downlink. + - - Barometric pressure sensor good to 45k feet MSL. - + + Barometric pressure sensor good to 45k feet MSL. + - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + - - On-board, integrated GPS receiver with 5hz update rate capability. - + + On-board, integrated GPS receiver with 5hz update rate capability. + - - On-board 1 megabyte non-volatile memory for flight data storage. - + + On-board 1 megabyte non-volatile memory for flight data storage. + - - USB interface for battery charging, configuration, and data recovery. - + + USB interface for battery charging, configuration, and data recovery. + - - Fully integrated support for LiPo rechargeable batteries. - + + Fully integrated support for LiPo rechargeable batteries. + - - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. - + + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + - - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + @@ -223,9 +222,45 @@ Operation - - Placeholder. - +
+ Radio Link + + The chip our boards are based on incorporates an RF transceiver, but + it's not a full duplex system... each end can only be transmitting or + receiving at any given moment. So we have to decide how to manage the + link... + + + By design, TeleMetrum firmware listens for an RF connection when + it's in "idle mode" (turned on while the rocket is horizontal), which + allows us to use the RF link to configure the rocket, do things like + ejection tests, and extract data after a flight without having to + crack open the airframe. However, when the board is in "flight + mode" (turned on when the rocket is vertical) the TeleMetrum only + transmits and doesn't listen at all. That's because we want to put + ultimate priority on event detection and getting telemetry out of + the rocket and out over + the RF link in case the rocket crashes and we aren't able to extract + data later... + + + We don't use a 'normal packet radio' mode because they're just too + inefficient. GFSK is just FSK with the baseband pulses passed through a + Gaussian filter before they go into the modulator to limit the + transmitted bandwidth. When combined with the hardware forward error + correction support in the cc1111 chip, this allows us to have a very + robust 38.4 kilobit data link with only 10 milliwatts of transmit power, + a whip antenna in the rocket, and a hand-held Yagi on the ground. We've + had a test flight above 12k AGL with good reception, and my calculations + say we should be good to 40k AGL or more with just a 5-element yagi on + the ground. I expect to push 30k with a 54mm minimum airframe I'm + working on now, so we'll hopefully have further practical confirmation + of our link margin in a few months. + + + Placeholder. + +
Using Altus Metrum Products @@ -312,11 +347,11 @@ The best hand-held commercial directional antennas we've found for radio direction finding rockets are from - - Arrow Antennas. - -The 440-3 and 440-5 are both good choices for finding a -TeleMetrum-equipped rocket when used with a suitable 70cm HT. + + Arrow Antennas. + + The 440-3 and 440-5 are both good choices for finding a + TeleMetrum-equipped rocket when used with a suitable 70cm HT.
-- cgit v1.2.3 From 8c95f33686f69da717013ec2c25dbcd99c03aa45 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 29 Apr 2010 17:48:44 -0600 Subject: more text created during SFO->DEN flight --- doc/telemetrum.xsl | 99 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 99 insertions(+) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 70a78693..793347f9 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -222,6 +222,97 @@ Operation +
+ Firmware Modes + + The AltOS firmware build for TeleMetrum has two fundamental modes, + "idle" and "flight". Which of these modes the firmware operates in + is determined by the orientation of the rocket (well, actually the + board, of course...) at the time power is switched on. If the rocket + is "nose up", then TeleMetrum assumes it's on a rail or rod being + prepared for launch, so the firmware chooses flight mode. However, + if the rocket is more or less horizontal, the firmware instead enters + idle mode. + + + In flight mode, TeleMetrum turns on the GPS system, engages the flight + state machine, goes into transmit-only mode on the RF link sending + telemetry, and waits for launch to be detected. Flight mode is + indicated by an audible "di-dah-dah-dit" on the beeper, followed by + beeps indicating the state of the pyrotechnic igniter continuity. + One beep indicates [FIXME] apogee continuity, two beeps indicate + main continuity, three beeps indicate both apogee and main continuity, + and one longer "brap" sound indicates no continuity. For a dual + deploy flight, make sure you're getting three beeps before launching! + For apogee-only or motor eject flights, do what makes sense. + + + In idle mode, the normal flight state machine is disengaged, and thus + no ejection charges will fire. TeleMetrum also listens on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can thus be issues to a TeleMetrum in idle mode over either + USB or the RF link equivalently. + Idle mode is useful for configuring TeleMetrum, for extracting data + from the on-board storage chip after flight, and for ground testing + pyro charges. + + + One "neat trick" of particular value when TeleMetrum is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + TeleMetrum to reboot, realize it's now nose-up, and thus choose + flight mode. This is much safer than standing on the top step of a + rickety step-ladder or hanging off the side of a launch tower with + a screw-driver trying to turn on your avionics before installing + igniters! + +
+
+ GPS + + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! + + + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. + +
+
+ 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 RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum-equipped rocket without as + much work as you may be accustomed to with other systems. It can + even be fun! + + + Just prep the rocket for flight, then power up TeleMetrum while the + airframe is horizontal. This will cause the firmware to go into + "idle" mode, in which the normal flight state machine is disabled and + charges will not fire without manual command. Then, establish an + RF packet connection from a TeleDongle-equipped computer using the + P command from a safe distance. You can now command TeleMetrum to + fire the apogee or main charges to complete your testing. + +
Radio Link @@ -397,6 +488,14 @@
+
+ + How GPS Works + + + Placeholder. + +
-- cgit v1.2.3 From 1b8671bd0a00cec6ae4ccf442cd007b18af82fb0 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sun, 9 May 2010 01:41:00 -0600 Subject: lots of updates --- doc/telemetrum.xsl | 184 +++++++++++++++++++++++++++++++++++++++++++++++------ 1 file changed, 164 insertions(+), 20 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 793347f9..26634d1a 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -125,7 +125,7 @@ Handling Precautions TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver extraordinary results. + properly installed in an airframe, it will deliver impressive results. However, like all electronic devices, there are some precautions you must take. @@ -182,9 +182,9 @@ By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard e-matches - from companies like [insert company and product names for e-matches we've - tried and like] and with Quest Q2G2 igniters. However, if you + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you want or need to use a separate pyro battery, you can do so by adding a second 2mm connector to position B2 on the board and cutting the thick pcb trace connecting the LiPo battery to the pyro circuit between @@ -203,7 +203,7 @@ connectors. If the airframe will not support this much height or if you want to be able to directly attach e-match leads to the board, we offer a screw terminal block. This is very similar to what most other - altimeter vendors provide by default and so may be the most familiar + altimeter vendors provide and so may be the most familiar option. You'll need a very small straight blade screwdriver to connect and disconnect the board in this case, such as you might find in a jeweler's screwdriver set. Finally, you can forego both options and @@ -234,23 +234,31 @@ if the rocket is more or less horizontal, the firmware instead enters idle mode. + + At power on, you will hear three beeps ("S" in Morse code for startup) + and then a pause while + TeleMetrum completes initialization and self tests, and decides which + mode to enter next. + In flight mode, TeleMetrum turns on the GPS system, engages the flight state machine, goes into transmit-only mode on the RF link sending telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" on the beeper, followed by + indicated by an audible "di-dah-dah-dit" ("P" for pad) on the + beeper, followed by beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates [FIXME] apogee continuity, two beeps indicate + One beep indicates apogee continuity, two beeps indicate main continuity, three beeps indicate both apogee and main continuity, and one longer "brap" sound indicates no continuity. For a dual deploy flight, make sure you're getting three beeps before launching! For apogee-only or motor eject flights, do what makes sense. - In idle mode, the normal flight state machine is disengaged, and thus + In idle mode, you will hear an audible "di-dit" ("I" for idle), and + the normal flight state machine is disengaged, thus no ejection charges will fire. TeleMetrum also listens on the RF link when in idle mode for packet mode requests sent from TeleDongle. - Commands can thus be issues to a TeleMetrum in idle mode over either + Commands can be issued to a TeleMetrum in idle mode over either USB or the RF link equivalently. Idle mode is useful for configuring TeleMetrum, for extracting data from the on-board storage chip after flight, and for ground testing @@ -312,14 +320,23 @@ P command from a safe distance. You can now command TeleMetrum to fire the apogee or main charges to complete your testing. + + 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'. +
Radio Link The chip our boards are based on incorporates an RF transceiver, but it's not a full duplex system... each end can only be transmitting or - receiving at any given moment. So we have to decide how to manage the - link... + receiving at any given moment. So we had to decide how to manage the + link. By design, TeleMetrum firmware listens for an RF connection when @@ -336,22 +353,149 @@ We don't use a 'normal packet radio' mode because they're just too - inefficient. GFSK is just FSK with the baseband pulses passed through a + inefficient. The GFSK modulation we use is just FSK with the + baseband pulses passed through a Gaussian filter before they go into the modulator to limit the transmitted bandwidth. When combined with the hardware forward error correction support in the cc1111 chip, this allows us to have a very robust 38.4 kilobit data link with only 10 milliwatts of transmit power, a whip antenna in the rocket, and a hand-held Yagi on the ground. We've - had a test flight above 12k AGL with good reception, and my calculations - say we should be good to 40k AGL or more with just a 5-element yagi on - the ground. I expect to push 30k with a 54mm minimum airframe I'm - working on now, so we'll hopefully have further practical confirmation - of our link margin in a few months. - - - Placeholder. + had a test flight above 12k AGL with good reception, and calculations + suggest we should be good to 40k AGL or more with a 5-element yagi on + the ground. We hope to fly boards to higher altitudes soon, and would + of course appreciate customer feedback on performance in higher + altitude flights!
+
+ Configurable Parameters + + Configuring a TeleMetrum board for flight is very simple. Because we + have both acceleration and pressure sensors, there is no need to set + a "mach delay", for example. The few configurable parameters can all + be set using a simple terminal program over the USB port or RF link + via TeleDongle. + +
+ Radio Channel + + Our firmware supports 10 channels. The default channel 0 corresponds + to a center frequency of 434.550 Mhz, and channels are spaced every + 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. + At any given launch, we highly recommend coordinating who will use + each channel and when to avoid interference. And of course, both + TeleMetrum and TeleDongle must be configured to the same channel to + successfully communicate with each other. + + + To set the radio channel, use the 'c r' command, like 'c r 3' to set + channel 3. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Apogee Delay + + Apogee delay is the number of seconds after TeleMetrum detects flight + apogee that the drogue charge should be fired. In most cases, this + should be left at the default of 0. However, if you are flying + redundant electronics such as for an L3 certification, you may wish + to set one of your altimeters to a positive delay so that both + primary and backup pyrotechnic charges do not fire simultaneously. + + + To set the apogee delay, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Main Deployment Altitude + + By default, TeleMetrum will fire the main deployment charge at an + elevation of 250 meters (about 820 feet) above ground. We think this + is a good elevation for most airframes, but feel free to change this + to suit. In particular, if you are flying two altimeters, you may + wish to set the + deployment elevation for the backup altimeter to be something lower + than the primary so that both pyrotechnic charges don't fire + simultaneously. + + + To set the main deployment altitude, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+
+ Calibration + + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle. + +
+ Radio Frequency + + The radio frequency is synthesized from a clock based on the 48 Mhz + crystal on the board. The actual frequency of this oscillator must be + measured to generate a calibration constant. While our GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. + + + To calibrate the radio frequency, connect the UHF antenna port to a + frequency counter, set the board to channel 0, and use the 'C' + command to generate a CW carrier. Wait for the transmitter temperature + to stabilize and the frequency to settle down. + Then, divide 434.550 Mhz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Accelerometer + + The accelerometer we use has its own 5 volt power supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratiometric to + the ADC converter, and calibration is required. We also support the + use of any of several accelerometers from a Freescale family that + includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + + + To calibrate the acceleration sensor, use the 'c a 0' command. You + will be prompted to orient the board vertically with the UHF antenna + up and press a key, then to orient the board vertically with the + UHF antenna down and press a key. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + The +1g and -1g calibration points are included in each telemetry + frame and are part of the header extracted by ao-dumplog after flight. + Note that we always store and return raw ADC samples for each + sensor... nothing is permanently "lost" or "damaged" if the + calibration is poor. + +
+
Using Altus Metrum Products -- cgit v1.2.3 From 32e430b8a5f93b312f6359b4d553bad92ed37b19 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Mon, 17 May 2010 22:43:19 -0600 Subject: merge in a derivative of Bob Finch's mere mortals guide as a getting started chapter --- doc/telemetrum.xsl | 1280 +++++++++++++++++++++++++++++++--------------------- 1 file changed, 758 insertions(+), 522 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl index 26634d1a..b09e0295 100644 --- a/doc/telemetrum.xsl +++ b/doc/telemetrum.xsl @@ -2,6 +2,8 @@ + TeleMetrum + Owner's Manual for the TeleMetrum System Bdale @@ -15,8 +17,6 @@ 2010 Bdale Garbee and Keith Packard - TeleMetrum - Owner's Manual for the TeleMetrum System This document is released under the terms of the @@ -60,586 +60,822 @@ - Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm ham-band transceiver for telemetry downlink. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - - - - - On-board, integrated GPS receiver with 5hz update rate capability. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for LiPo rechargeable batteries. - - - - - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - - - - - - Handling Precautions + Getting Started - TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver impressive results. - However, like all electronic devices, there are some precautions you - must take. + This chapter began as "The Mere-Mortals Quick Start/Usage Guide to + the Altus Metrum Starter Kit" by Bob Finch, W9YA, NAR 12965, TRA 12350, + w9ya@amsat.org. Bob was one of our first customers for a production + TeleMetrum, and the enthusiasm that led to his contribution of this + section is immensely gratifying and highy appreciated! - The Lithium Polymer rechargeable batteries used with TeleMetrum have an - extraordinary power density. This is great because we can fly with - much less battery mass than if we used alkaline batteries or previous - generation rechargeable batteries... but if they are punctured - or their leads are allowed to short, they can and will release their - energy very rapidly! - Thus we recommend that you take some care when handling our batteries - and consider giving them some extra protection in your airframe. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. + The first thing to do after you check the inventory of parts in your + "starter kit" is to charge the battery by plugging it into the + corresponding socket of the TeleMetrum and then using the USB A to B + cable to plug the Telemetrum into your computer's USB socket. The + TeleMetrum circuitry will charge the battery whenever it is plugged + into the usb socket. The TeleMetrum's on-off switch does NOT control + the charging circuitry. When the GPS chip is initially searching for + satellites, the unit will pull more current than it can pull from the + usb port, so the battery must be plugged in order to get a good + 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. - The TeleMetrum barometric sensor is sensitive to sunlight. In normal - mounting situations, it and all of the other surface mount components - are "down" towards whatever the underlying mounting surface is, so - this is not normally a problem. Please consider this, though, when - designing an installation, for example, in a 29mm airframe's see-through - plastic payload bay. + The other active device in the starter kit is the half-duplex TeleDongle + rf link. If you plug it in to your computer it should "just work", + showing up as a serial port device. If you are using Linux and are + having problems, try moving to a fresher kernel (2.6.33 or newer), as + there were some ugly USB serial driver bugs in earlier versions. - The TeleMetrum barometric sensor sampling port must be able to "breathe", - both by not being covered by foam or tape or other materials that might - directly block the hole on the top of the sensor, but also by having a - suitable static vent to outside air. + Next you should obtain and install the AltOS utilities. The first + generation sofware was written for Linux only. New software is coming + soon that will also run on Windows and Mac. For now, we'll concentrate + on Linux. If you are using Debian, an 'altos' package already exists, + see http://altusmetrum.org/AltOS for details on how to install it. + User-contributed directions for building packages on ArchLinux may be + found in the contrib/arch-linux directory as PKGBUILD files. + Between the debian/rules file and the PKGBUILD files in + contrib, you should find enough information to learn how to build the + software for any other version of Linux. - As with all other rocketry electronics, TeleMetrum must be protected - from exposure to corrosive motor exhaust and ejection charge gasses. + When you have successfully installed the software suite (either from + compiled source code or as the pre-built Debian package) you will + have 10 executable programs all of which have names beginning with 'ao-'. + ('ao-view' is the lone GUI-based program. + The rest are command-line based.) You will also + have 10 man pages, that give you basic info on each program. + And you will also get this documentation in two file types, + telemetrum.pdf and telemetrum.html. + Finally you will have a couple of control files that allow the ao-view + GUI-based program to appear in your menu of programs (under + the 'Internet' category). - - - Hardware Overview - TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMetrum should have at least 10 inches of interior length. + 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 (I use konsole for this,) 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. - A typical TeleMetrum installation using the on-board GPS antenna and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. + 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. - By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard - low-current e-matches like the J-Tek from MJG Technologies, and with - Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, you can do so by adding - a second 2mm connector to position B2 on the board and cutting the - thick pcb trace connecting the LiPo battery to the pyro circuit between - the two silk screen marks on the surface mount side of the board shown - here [insert photo] + Both TeleMetrum and TeleDongle share the concept of a two level + command set in their + firmware. The first layer has several single letter commands. Once + 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 DataFlash memory, and only TeleMetrum has this + memory to save the various values entered like the channel number + and your callsign when powered off. TeleDongle requires that you + set these each time you plug it in, which ao-view can help with. - We offer two choices of pyro and power switch connector, or you can - choose neither and solder wires directly to the board. All three choices - are reasonable depending on the constraints of your airframe. Our - favorite option when there is sufficient room above the board is to use - the Tyco pin header with polarization and locking. If you choose this - option, you crimp individual wires for the power switch and e-matches - into a mating connector, and installing and removing the TeleMetrum - board from an airframe is as easy as plugging or unplugging two - connectors. If the airframe will not support this much height or if - you want to be able to directly attach e-match leads to the board, we - offer a screw terminal block. This is very similar to what most other - altimeter vendors provide and so may be the most familiar - option. You'll need a very small straight blade screwdriver to connect - and disconnect the board in this case, such as you might find in a - jeweler's screwdriver set. Finally, you can forego both options and - solder wires directly to the board, which may be the best choice for - minimum diameter and/or minimum mass designs. + Try setting these config ('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, 'cu' (and possibly 'cutecom') For instance, try to send + (type) a 'cr2' and verify the channel change by sending a 'cs'. + Verify you can connect and disconnect from the units while in 'cu' + by sending the escape-disconnect mentioned above. - For most airframes, the integrated GPS antenna and wire UHF antenna are - a great combination. However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to use - off-board external antennas instead. In this case, you can order - TeleMetrum with an SMA connector for the UHF antenna connection, and - you can unplug the integrated GPS antenna and select an appropriate - off-board GPS antenna with cable terminating in a U.FL connector. + Note that the 'reboot' command, which is very useful on TeleMetrum, + will likely just cause problems with the dongle. The *correct* way + to reset the dongle is just to unplug and re-plug it. + + + 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 rf-link access + of the TeleMetrum from 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. + + + Now might be a good time to take a break and read the rest of this + manual, particularly about the two "modes" that the TeleMetrum + can be placed in and how the position of the TeleMetrum when booting + up will determine whether the unit is in "pad" or "idle" mode. + + + You can access a TeleMetrum in idle mode from the Teledongle's USB + connection using the rf link + by issuing a 'p' command to the TeleDongle. Practice connecting and + disconnecting ('~~' while using 'cu') from the TeleMetrum. 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. + + + Using this rf link allows you to configure the TeleMetrum, 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 TeleMetrum 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. + + + Eventually the GPS will find enough satellites, lock in on them, + and 'ao-view' will both auditorially 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. + + + Both RDF (radio direction finding) tones from the TeleMetrum and + GPS trekking data are available and together are very useful in + 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'.) + + + 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.) + + + 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. 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! - - - Operation -
- Firmware Modes - - The AltOS firmware build for TeleMetrum has two fundamental modes, - "idle" and "flight". Which of these modes the firmware operates in - is determined by the orientation of the rocket (well, actually the - board, of course...) at the time power is switched on. If the rocket - is "nose up", then TeleMetrum assumes it's on a rail or rod being - prepared for launch, so the firmware chooses flight mode. However, - if the rocket is more or less horizontal, the firmware instead enters - idle mode. - - - At power on, you will hear three beeps ("S" in Morse code for startup) - and then a pause while - TeleMetrum completes initialization and self tests, and decides which - mode to enter next. - - - In flight mode, TeleMetrum turns on the GPS system, engages the flight - state machine, goes into transmit-only mode on the RF link sending - telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" ("P" for pad) on the - beeper, followed by - beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates apogee continuity, two beeps indicate - main continuity, three beeps indicate both apogee and main continuity, - and one longer "brap" sound indicates no continuity. For a dual - deploy flight, make sure you're getting three beeps before launching! - For apogee-only or motor eject flights, do what makes sense. - - - In idle mode, you will hear an audible "di-dit" ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. TeleMetrum also listens on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. - Idle mode is useful for configuring TeleMetrum, for extracting data - from the on-board storage chip after flight, and for ground testing - pyro charges. - - - One "neat trick" of particular value when TeleMetrum is used with very - large airframes, is that you can power the board up while the rocket - is horizontal, such that it comes up in idle mode. Then you can - raise the airframe to launch position, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will cause - TeleMetrum to reboot, realize it's now nose-up, and thus choose - flight mode. This is much safer than standing on the top step of a - rickety step-ladder or hanging off the side of a launch tower with - a screw-driver trying to turn on your avionics before installing - igniters! - -
-
- GPS - - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! - - - TeleMetrum provides backup power to the GPS chip any time a LiPo - battery is connected. This allows the receiver to "warm start" on - the launch rail much faster than if every power-on were a "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe - preparation will be sufficient to allow the GPS receiver to cold - start and acquire lock. Then the board can be powered down during - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. - -
-
- 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 RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum-equipped rocket without as - much work as you may be accustomed to with other systems. It can - even be fun! - - - Just prep the rocket for flight, then power up TeleMetrum while the - airframe is horizontal. This will cause the firmware to go into - "idle" mode, in which the normal flight state machine is disabled and - charges will not fire without manual command. Then, establish an - RF packet connection from a TeleDongle-equipped computer using the - P command from a safe distance. You can now command TeleMetrum to - fire the apogee or main charges to complete your testing. - - - 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'. - -
- Radio Link + FAQ - The chip our boards are based on incorporates an RF transceiver, but - it's not a full duplex system... each end can only be transmitting or - receiving at any given moment. So we had to decide how to manage the - link. + The altimeter (TeleMetrum) seems to shut off when disconnected from the + computer. 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. - By design, TeleMetrum firmware listens for an RF connection when - it's in "idle mode" (turned on while the rocket is horizontal), which - allows us to use the RF link to configure the rocket, do things like - ejection tests, and extract data after a flight without having to - crack open the airframe. However, when the board is in "flight - mode" (turned on when the rocket is vertical) the TeleMetrum only - transmits and doesn't listen at all. That's because we want to put - ultimate priority on event detection and getting telemetry out of - the rocket and out over - the RF link in case the rocket crashes and we aren't able to extract - data later... + It's impossible to stop the TeleDongle when it's in "p" mode, I have + to unplug the USB cable? 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. - We don't use a 'normal packet radio' mode because they're just too - inefficient. The GFSK modulation we use is just FSK with the - baseband pulses passed through a - Gaussian filter before they go into the modulator to limit the - transmitted bandwidth. When combined with the hardware forward error - correction support in the cc1111 chip, this allows us to have a very - robust 38.4 kilobit data link with only 10 milliwatts of transmit power, - a whip antenna in the rocket, and a hand-held Yagi on the ground. We've - had a test flight above 12k AGL with good reception, and calculations - suggest we should be good to 40k AGL or more with a 5-element yagi on - the ground. We hope to fly boards to higher altitudes soon, and would - of course appreciate customer feedback on performance in higher - altitude flights! + The amber LED (on the TeleMetrum/altimeter) lights up when both + battery and USB are connected. Does this mean it's charging? + 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. + + + There are no "dit-dah-dah-dit" sound like the manual mentions? + That's the "pad" mode. Weak batteries might be the problem. + It is also possible that the unit is horizontal and the output + is instead a "dit-dit" meaning 'idle'. + + + It's unclear how to use 'ao-view' and other programs when 'cu' + is running. You cannot have more than one program connected to + the TeleDongle at one time without apparent data loss as the + incoming data will not make it to both programs intact. + Disconnect whatever programs aren't currently being used. + + + How do I save flight data? + Live telemetry is written to file(s) whenever 'ao-view' is connected + to the TeleDongle. The file area defaults to ~/altos + but is easily changed using the menus in 'ao-view'. The files that + are written end in '.telem'. The after-flight + data-dumped files will end in .eeprom and represent continuous data + unlike the rf-linked .telem files that are subject to the + turnarounds/data-packaging time slots in the half-duplex rf data path. + See the above instructions on what and how to save the eeprom stored + data after physically retrieving your TeleMetrum. + +
+ + + Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + + + + Handling Precautions + + TeleMetrum is a sophisticated electronic device. When handled gently and + properly installed in an airframe, it will deliver impressive results. + However, like all electronic devices, there are some precautions you + must take. + + + The Lithium Polymer rechargeable batteries used with TeleMetrum have an + extraordinary power density. This is great because we can fly with + much less battery mass than if we used alkaline batteries or previous + generation rechargeable batteries... but if they are punctured + or their leads are allowed to short, they can and will release their + energy very rapidly! + Thus we recommend that you take some care when handling our batteries + and consider giving them some extra protection in your airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + + + The TeleMetrum barometric sensor is sensitive to sunlight. In normal + mounting situations, it and all of the other surface mount components + are "down" towards whatever the underlying mounting surface is, so + this is not normally a problem. Please consider this, though, when + designing an installation, for example, in a 29mm airframe's see-through + plastic payload bay. + + + The TeleMetrum barometric sensor sampling port must be able to "breathe", + both by not being covered by foam or tape or other materials that might + directly block the hole on the top of the sensor, but also by having a + suitable static vent to outside air. + + + As with all other rocketry electronics, TeleMetrum must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. + + + + Hardware Overview + + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. + + + A typical TeleMetrum installation using the on-board GPS antenna and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. - -
- Configurable Parameters - - Configuring a TeleMetrum board for flight is very simple. Because we - have both acceleration and pressure sensors, there is no need to set - a "mach delay", for example. The few configurable parameters can all - be set using a simple terminal program over the USB port or RF link - via TeleDongle. - -
- Radio Channel - - Our firmware supports 10 channels. The default channel 0 corresponds - to a center frequency of 434.550 Mhz, and channels are spaced every - 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. - At any given launch, we highly recommend coordinating who will use - each channel and when to avoid interference. And of course, both - TeleMetrum and TeleDongle must be configured to the same channel to - successfully communicate with each other. - - - To set the radio channel, use the 'c r' command, like 'c r 3' to set - channel 3. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Apogee Delay - - Apogee delay is the number of seconds after TeleMetrum detects flight - apogee that the drogue charge should be fired. In most cases, this - should be left at the default of 0. However, if you are flying - redundant electronics such as for an L3 certification, you may wish - to set one of your altimeters to a positive delay so that both - primary and backup pyrotechnic charges do not fire simultaneously. - - - To set the apogee delay, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Main Deployment Altitude - - By default, TeleMetrum will fire the main deployment charge at an - elevation of 250 meters (about 820 feet) above ground. We think this - is a good elevation for most airframes, but feel free to change this - to suit. In particular, if you are flying two altimeters, you may - wish to set the - deployment elevation for the backup altimeter to be something lower - than the primary so that both pyrotechnic charges don't fire - simultaneously. - - - To set the main deployment altitude, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
-
- Calibration - - There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle. - -
- Radio Frequency - - The radio frequency is synthesized from a clock based on the 48 Mhz - crystal on the board. The actual frequency of this oscillator must be - measured to generate a calibration constant. While our GFSK modulation - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - - - To calibrate the radio frequency, connect the UHF antenna port to a - frequency counter, set the board to channel 0, and use the 'C' - command to generate a CW carrier. Wait for the transmitter temperature - to stabilize and the frequency to settle down. - Then, divide 434.550 Mhz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Accelerometer - - The accelerometer we use has its own 5 volt power supply and - the output must be passed through a resistive voltage divider to match - the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratiometric to - the ADC converter, and calibration is required. We also support the - use of any of several accelerometers from a Freescale family that - includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, - a simple 2-point calibration yields acceptable results capturing both - the different sensitivities and ranges of the different accelerometer - parts and any variation in power supply voltages or resistor values - in the divider network. - - - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - The +1g and -1g calibration points are included in each telemetry - frame and are part of the header extracted by ao-dumplog after flight. - Note that we always store and return raw ADC samples for each - sensor... nothing is permanently "lost" or "damaged" if the - calibration is poor. - -
-
- - - Using Altus Metrum Products -
- Being Legal - First off, in the US, you need an [amateur radio license](../Radio) or - other authorization to legally operate the radio transmitters that are part - of our products. + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, you can do so by adding + a second 2mm connector to position B2 on the board and cutting the + thick pcb trace connecting the LiPo battery to the pyro circuit between + the two silk screen marks on the surface mount side of the board shown + here [insert photo] + + We offer two choices of pyro and power switch connector, or you can + choose neither and solder wires directly to the board. All three choices + are reasonable depending on the constraints of your airframe. Our + favorite option when there is sufficient room above the board is to use + the Tyco pin header with polarization and locking. If you choose this + option, you crimp individual wires for the power switch and e-matches + into a mating connector, and installing and removing the TeleMetrum + board from an airframe is as easy as plugging or unplugging two + connectors. If the airframe will not support this much height or if + you want to be able to directly attach e-match leads to the board, we + offer a screw terminal block. This is very similar to what most other + altimeter vendors provide and so may be the most familiar + option. You'll need a very small straight blade screwdriver to connect + and disconnect the board in this case, such as you might find in a + jeweler's screwdriver set. Finally, you can forego both options and + solder wires directly to the board, which may be the best choice for + minimum diameter and/or minimum mass designs. + + + For most airframes, the integrated GPS antenna and wire UHF antenna are + a great combination. However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to use + off-board external antennas instead. In this case, you can order + TeleMetrum with an SMA connector for the UHF antenna connection, and + you can unplug the integrated GPS antenna and select an appropriate + off-board GPS antenna with cable terminating in a U.FL connector. + + + + Operation
- In the Rocket + Firmware Modes - In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and - a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + The AltOS firmware build for TeleMetrum has two fundamental modes, + "idle" and "flight". Which of these modes the firmware operates in + is determined by the orientation of the rocket (well, actually the + board, of course...) at the time power is switched on. If the rocket + is "nose up", then TeleMetrum assumes it's on a rail or rod being + prepared for launch, so the firmware chooses flight mode. However, + if the rocket is more or less horizontal, the firmware instead enters + idle mode. - By default, we ship TeleMetrum with a simple wire antenna. If your - electronics bay or the airframe it resides within is made of carbon fiber, - which is opaque to RF signals, you may choose to have an SMA connector - installed so that you can run a coaxial cable to an antenna mounted - elsewhere in the rocket. + At power on, you will hear three beeps ("S" in Morse code for startup) + and then a pause while + TeleMetrum completes initialization and self tests, and decides which + mode to enter next. -
-
- On the Ground - To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our [TeleDongle](../TeleDongle) units. The - TeleDongle in turn plugs directly into the USB port on a notebook - computer. Because TeleDongle looks like a simple serial port, your computer - does not require special device drivers... just plug it in. + In flight mode, TeleMetrum turns on the GPS system, engages the flight + state machine, goes into transmit-only mode on the RF link sending + telemetry, and waits for launch to be detected. Flight mode is + indicated by an audible "di-dah-dah-dit" ("P" for pad) on the + beeper, followed by + beeps indicating the state of the pyrotechnic igniter continuity. + One beep indicates apogee continuity, two beeps indicate + main continuity, three beeps indicate both apogee and main continuity, + and one longer "brap" sound indicates no continuity. For a dual + deploy flight, make sure you're getting three beeps before launching! + For apogee-only or motor eject flights, do what makes sense. - Right now, all of our application software is written for Linux. However, - because we understand that many people run Windows or MacOS, we are working - on a new ground station program written in Java that should work on all - operating systems. + In idle mode, you will hear an audible "di-dit" ("I" for idle), and + the normal flight state machine is disengaged, thus + no ejection charges will fire. TeleMetrum also listens on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can be issued to a TeleMetrum in idle mode over either + USB or the RF link equivalently. + Idle mode is useful for configuring TeleMetrum, for extracting data + from the on-board storage chip after flight, and for ground testing + pyro charges. - After the flight, you can use the RF link to extract the more detailed data - logged in the rocket, or you can use a mini USB cable to plug into the - TeleMetrum board directly. Pulling out the data without having to open up - the rocket is pretty cool! A USB cable is also how you charge the LiPo - battery, so you'll want one of those anyway... the same cable used by lots - of digital cameras and other modern electronic stuff will work fine. + One "neat trick" of particular value when TeleMetrum is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + TeleMetrum to reboot, realize it's now nose-up, and thus choose + flight mode. This is much safer than standing on the top step of a + rickety step-ladder or hanging off the side of a launch tower with + a screw-driver trying to turn on your avionics before installing + igniters! + +
+
+ GPS + + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! - If your rocket lands out of sight, you may enjoy having a hand-held GPS - receiver, so that you can put in a waypoint for the last reported rocket - position before touch-down. This makes looking for your rocket a lot like - Geo-Cacheing... just go to the waypoint and look around starting from there. + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. +
+
+ Ground Testing - You may also enjoy having a ham radio "HT" that covers the 70cm band... you - can use that with your antenna to direction-find the rocket on the ground - the same way you can use a Walston or Beeline tracker. This can be handy - if the rocket is hiding in sage brush or a tree, or if the last GPS position - doesn't get you close enough because the rocket dropped into a canyon, or - the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the Yaesu VX-7R at launches. + An important aspect of preparing a rocket using electronic deployment + for flight is ground testing the recovery system. Thanks + to the bi-directional RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum-equipped rocket without as + much work as you may be accustomed to with other systems. It can + even be fun! - So, to recap, on the ground the hardware you'll need includes: - - - an antenna and feedline - - - a TeleDongle - - - a notebook computer - - - optionally, a handheld GPS receiver - - - optionally, an HT or receiver covering 435 Mhz - - + Just prep the rocket for flight, then power up TeleMetrum while the + airframe is horizontal. This will cause the firmware to go into + "idle" mode, in which the normal flight state machine is disabled and + charges will not fire without manual command. Then, establish an + RF packet connection from a TeleDongle-equipped computer using the + P command from a safe distance. You can now command TeleMetrum to + fire the apogee or main charges to complete your testing. - The best hand-held commercial directional antennas we've found for radio - direction finding rockets are from - - Arrow Antennas. - - The 440-3 and 440-5 are both good choices for finding a - TeleMetrum-equipped rocket when used with a suitable 70cm HT. + 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'.
- Data Analysis + Radio Link - Our software makes it easy to log the data from each flight, both the - telemetry received over the RF link during the flight itself, and the more - complete data log recorded in the DataFlash memory on the TeleMetrum - board. Once this data is on your computer, our postflight tools make it - easy to quickly get to the numbers everyone wants, like apogee altitude, - max acceleration, and max velocity. You can also generate and view a - standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a data file - useable with Google Maps and Google Earth for visualizing the flight path - in two or three dimensions! + The chip our boards are based on incorporates an RF transceiver, but + it's not a full duplex system... each end can only be transmitting or + receiving at any given moment. So we had to decide how to manage the + link. - 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. + By design, TeleMetrum firmware listens for an RF connection when + it's in "idle mode" (turned on while the rocket is horizontal), which + allows us to use the RF link to configure the rocket, do things like + ejection tests, and extract data after a flight without having to + crack open the airframe. However, when the board is in "flight + mode" (turned on when the rocket is vertical) the TeleMetrum only + transmits and doesn't listen at all. That's because we want to put + ultimate priority on event detection and getting telemetry out of + the rocket and out over + the RF link in case the rocket crashes and we aren't able to extract + data later... + + We don't use a 'normal packet radio' mode because they're just too + inefficient. The GFSK modulation we use is just FSK with the + baseband pulses passed through a + Gaussian filter before they go into the modulator to limit the + transmitted bandwidth. When combined with the hardware forward error + correction support in the cc1111 chip, this allows us to have a very + robust 38.4 kilobit data link with only 10 milliwatts of transmit power, + a whip antenna in the rocket, and a hand-held Yagi on the ground. We've + had a test flight above 12k AGL with good reception, and calculations + suggest we should be good to 40k AGL or more with a 5-element yagi on + the ground. We hope to fly boards to higher altitudes soon, and would + of course appreciate customer feedback on performance in higher + altitude flights! + +
+
+ Configurable Parameters + + Configuring a TeleMetrum board for flight is very simple. Because we + have both acceleration and pressure sensors, there is no need to set + a "mach delay", for example. The few configurable parameters can all + be set using a simple terminal program over the USB port or RF link + via TeleDongle. + +
+ Radio Channel + + Our firmware supports 10 channels. The default channel 0 corresponds + to a center frequency of 434.550 Mhz, and channels are spaced every + 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. + At any given launch, we highly recommend coordinating who will use + each channel and when to avoid interference. And of course, both + TeleMetrum and TeleDongle must be configured to the same channel to + successfully communicate with each other. + + + To set the radio channel, use the 'c r' command, like 'c r 3' to set + channel 3. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Apogee Delay + + Apogee delay is the number of seconds after TeleMetrum detects flight + apogee that the drogue charge should be fired. In most cases, this + should be left at the default of 0. However, if you are flying + redundant electronics such as for an L3 certification, you may wish + to set one of your altimeters to a positive delay so that both + primary and backup pyrotechnic charges do not fire simultaneously. + + + To set the apogee delay, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Main Deployment Altitude + + By default, TeleMetrum will fire the main deployment charge at an + elevation of 250 meters (about 820 feet) above ground. We think this + is a good elevation for most airframes, but feel free to change this + to suit. In particular, if you are flying two altimeters, you may + wish to set the + deployment elevation for the backup altimeter to be something lower + than the primary so that both pyrotechnic charges don't fire + simultaneously. + + + To set the main deployment altitude, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
- Future Plans + Calibration - In the future, we intend to offer "companion boards" for the rocket that will - plug in to TeleMetrum to collect additional data, provide more pyro channels, - and so forth. A reference design for a companion board will be documented - soon, and will be compatible with open source Arduino programming tools. + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle. +
+ Radio Frequency + + The radio frequency is synthesized from a clock based on the 48 Mhz + crystal on the board. The actual frequency of this oscillator must be + measured to generate a calibration constant. While our GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. + + + To calibrate the radio frequency, connect the UHF antenna port to a + frequency counter, set the board to channel 0, and use the 'C' + command to generate a CW carrier. Wait for the transmitter temperature + to stabilize and the frequency to settle down. + Then, divide 434.550 Mhz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Accelerometer + + The accelerometer we use has its own 5 volt power supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratiometric to + the ADC converter, and calibration is required. We also support the + use of any of several accelerometers from a Freescale family that + includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + + + To calibrate the acceleration sensor, use the 'c a 0' command. You + will be prompted to orient the board vertically with the UHF antenna + up and press a key, then to orient the board vertically with the + UHF antenna down and press a key. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + The +1g and -1g calibration points are included in each telemetry + frame and are part of the header extracted by ao-dumplog after flight. + Note that we always store and return raw ADC samples for each + sensor... nothing is permanently "lost" or "damaged" if the + calibration is poor. + +
+
+ + + Using Altus Metrum Products +
+ Being Legal - We are also working on the design of a hand-held ground terminal that will - allow monitoring the rocket's status, collecting data during flight, and - logging data after flight without the need for a notebook computer on the - flight line. Particularly since it is so difficult to read most notebook - screens in direct sunlight, we think this will be a great thing to have. + First off, in the US, you need an [amateur radio license](../Radio) or + other authorization to legally operate the radio transmitters that are part + of our products. +
+ In the Rocket + + In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and + a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + + + By default, we ship TeleMetrum with a simple wire antenna. If your + electronics bay or the airframe it resides within is made of carbon fiber, + which is opaque to RF signals, you may choose to have an SMA connector + installed so that you can run a coaxial cable to an antenna mounted + elsewhere in the rocket. + +
+
+ On the Ground + + To receive the data stream from the rocket, you need an antenna and short + feedline connected to one of our [TeleDongle](../TeleDongle) units. The + TeleDongle in turn plugs directly into the USB port on a notebook + computer. Because TeleDongle looks like a simple serial port, your computer + does not require special device drivers... just plug it in. + + + Right now, all of our application software is written for Linux. However, + because we understand that many people run Windows or MacOS, we are working + on a new ground station program written in Java that should work on all + operating systems. + + + After the flight, you can use the RF link to extract the more detailed data + logged in the rocket, or you can use a mini USB cable to plug into the + TeleMetrum board directly. Pulling out the data without having to open up + the rocket is pretty cool! A USB cable is also how you charge the LiPo + battery, so you'll want one of those anyway... the same cable used by lots + of digital cameras and other modern electronic stuff will work fine. + + + If your rocket lands out of sight, you may enjoy having a hand-held GPS + receiver, so that you can put in a waypoint for the last reported rocket + position before touch-down. This makes looking for your rocket a lot like + Geo-Cacheing... just go to the waypoint and look around starting from there. + + + You may also enjoy having a ham radio "HT" that covers the 70cm band... you + can use that with your antenna to direction-find the rocket on the ground + the same way you can use a Walston or Beeline tracker. This can be handy + if the rocket is hiding in sage brush or a tree, or if the last GPS position + doesn't get you close enough because the rocket dropped into a canyon, or + the wind is blowing it across a dry lake bed, or something like that... Keith + and Bdale both currently own and use the Yaesu VX-7R at launches. + + + So, to recap, on the ground the hardware you'll need includes: + + + an antenna and feedline + + + a TeleDongle + + + a notebook computer + + + optionally, a handheld 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 + + Arrow Antennas. + + The 440-3 and 440-5 are both good choices for finding a + TeleMetrum-equipped rocket when used with a suitable 70cm HT. + +
+
+ Data Analysis + + Our software makes it easy to log the data from each flight, both the + telemetry received over the RF link during the flight itself, and the more + complete data log recorded in the DataFlash memory on the TeleMetrum + board. Once this data is on your computer, our postflight tools make it + easy to quickly get to the numbers everyone wants, like apogee altitude, + max acceleration, and max velocity. You can also generate and view a + standard set of plots showing the altitude, acceleration, and + velocity of the rocket during flight. And you can even export a data file + useable with Google Maps and Google Earth for visualizing the flight path + in two or three dimensions! + + + 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 + + In the future, we intend to offer "companion boards" for the rocket that will + plug in to TeleMetrum to collect additional data, provide more pyro channels, + and so forth. A reference design for a companion board will be documented + soon, and will be compatible with open source Arduino programming tools. + + + We are also working on the design of a hand-held ground terminal that will + allow monitoring the rocket's status, collecting data during flight, and + logging data after flight without the need for a notebook computer on the + flight line. Particularly since it is so difficult to read most notebook + screens in direct sunlight, we think this will be a great thing to have. + + + 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... + +
+
+
+ + How GPS Works + - 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... + Placeholder.
-
-
- - How GPS Works - - - Placeholder. - -
- - - + + + -- cgit v1.2.3 From bd40a5b431847c071f5c486d754eca5627e5e3b9 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 20 Jul 2010 02:12:03 -0600 Subject: significant update --- doc/Makefile | 30 +- doc/telemetrum-doc.xsl | 909 +++++++++++++++++++++++++++++++++++++++++++++++++ doc/telemetrum.xsl | 881 ----------------------------------------------- 3 files changed, 927 insertions(+), 893 deletions(-) create mode 100644 doc/telemetrum-doc.xsl delete mode 100644 doc/telemetrum.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 55b7a548..f8048dce 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,24 +2,30 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -all: telemetrum.html telemetrum.pdf +all: telemetrum-doc.html telemetrum-doc.pdf -telemetrum.html: telemetrum.xsl - xsltproc -o telemetrum.html \ +publish: all + cp telemetrum-doc.html \ + telemetrum-doc.pdf /home/bdale/web/altusmetrum/TeleMetrum/doc/ + (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/TeleMetrum/doc/* ; git push) + + +telemetrum-doc.html: telemetrum-doc.xsl + xsltproc -o telemetrum-doc.html \ /usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl \ - telemetrum.xsl + telemetrum-doc.xsl -telemetrum.fo: telemetrum.xsl - xsltproc -o telemetrum.fo \ +telemetrum-doc.fo: telemetrum-doc.xsl + xsltproc -o telemetrum-doc.fo \ /usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl \ - telemetrum.xsl + telemetrum-doc.xsl -telemetrum.pdf: telemetrum.fo - fop -fo telemetrum.fo -pdf telemetrum.pdf +telemetrum-doc.pdf: telemetrum-doc.fo + fop -fo telemetrum-doc.fo -pdf telemetrum-doc.pdf clean: - rm -f telemetrum.html telemetrum.pdf telemetrum.fo + rm -f telemetrum-doc.html telemetrum-doc.pdf telemetrum-doc.fo -indent: telemetrum.xsl - xmlindent -i 2 < telemetrum.xsl > telemetrum.new +indent: telemetrum-doc.xsl + xmlindent -i 2 < telemetrum-doc.xsl > telemetrum-doc.new diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl new file mode 100644 index 00000000..b7963aec --- /dev/null +++ b/doc/telemetrum-doc.xsl @@ -0,0 +1,909 @@ + + + + TeleMetrum + Owner's Manual for the TeleMetrum System + + + Bdale + Garbee + + + Keith + Packard + + + 2010 + Bdale Garbee and Keith Packard + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.2 + 18 July 2010 + Significant update + + + 0.1 + 30 March 2010 + Initial content + + + + + 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 focal point of our community is 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. + + + Complementing TeleMetrum is TeleDongle, a USB to RF interface for + communicating with TeleMetrum. 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. + + + 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. + + + + Getting Started + + This chapter began as "The Mere-Mortals Quick Start/Usage Guide to + the Altus Metrum Starter Kit" by Bob Finch, W9YA, NAR 12965, TRA 12350, + w9ya@amsat.org. Bob was one of our first customers for a production + TeleMetrum, and the enthusiasm that led to his contribution of this + section is immensely gratifying and highy appreciated! + + + The first thing to do after you check the inventory of parts in your + "starter kit" is to charge the battery by plugging it into the + corresponding socket of the TeleMetrum and then using the USB A to B + cable to plug the Telemetrum into your computer's USB socket. The + TeleMetrum circuitry will charge the battery whenever it is plugged + into the usb socket. The TeleMetrum's on-off switch does NOT control + the charging circuitry. When the GPS chip is initially searching for + satellites, the unit will pull more current than it can pull from the + usb port, so the battery must be plugged in order to get a good + 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. + + + The other active device in the starter kit is the half-duplex TeleDongle + rf link. If you plug it in to your computer it should "just work", + showing up as a serial port device. If you are using Linux and are + having problems, try moving to a fresher kernel (2.6.33 or newer), as + there were some ugly USB serial driver bugs in earlier versions. + + + Next you should obtain and install the AltOS utilities. The first + generation sofware was written for Linux only. New software is coming + soon that will also run on Windows and Mac. For now, we'll concentrate + on Linux. If you are using Debian, an 'altos' package already exists, + see http://altusmetrum.org/AltOS for details on how to install it. + User-contributed directions for building packages on ArchLinux may be + found in the contrib/arch-linux directory as PKGBUILD files. + Between the debian/rules file and the PKGBUILD files in + contrib, you should find enough information to learn how to build the + software for any other version of Linux. + + + When you have successfully installed the software suite (either from + compiled source code or as the pre-built Debian package) you will + have 10 or so executable programs all of which have names beginning + with 'ao-'. + ('ao-view' is the lone GUI-based program, the rest are command-line + oriented.) You will also have man pages, that give you basic info + on each program. + You will also get this documentation in two file types in the doc/ +directory, telemetrum-doc.pdf and telemetrum-doc.html. + Finally you will have a couple control files that allow the ao-view + GUI-based program to appear in your menu of programs (under + the 'Internet' category). + + + 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. + + + 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. + + + Both TeleMetrum and TeleDongle share the concept of a two level + command set in their firmware. + The first layer has several single letter commands. Once + 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 DataFlash memory, and only TeleMetrum has this + memory to save the various values entered like the channel number + and your callsign when powered off. TeleDongle requires that you + set these each time you plug it in, which ao-view can help with. + + + Try setting these config ('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. + + + Note that the 'reboot' command, which is very useful on TeleMetrum, + will likely just cause problems with the dongle. The *correct* way + to reset the dongle is just to unplug and re-plug it. + + + 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 rf-link access + of the TeleMetrum from 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. + + + Now might be a good time to take a break and read the rest of this + manual, particularly about the two "modes" that the TeleMetrum + can be placed in and how the position of the TeleMetrum when booting + up will determine whether the unit is in "pad" or "idle" mode. + + + You can access a TeleMetrum in idle mode from the Teledongle's USB + connection using the rf link + by issuing a 'p' command to the TeleDongle. Practice connecting and + disconnecting ('~~' while using 'cu') from the TeleMetrum. 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. + + + Using this rf link allows you to configure the TeleMetrum, 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 TeleMetrum 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. + + + Eventually the GPS will find enough satellites, lock in on them, + and 'ao-view' will both auditorially 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. + + + Both RDF (radio direction finding) tones from the TeleMetrum and + GPS trekking data are available and together are very useful in + 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'.) + + + 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.) + + + 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! + +
+ FAQ + + The altimeter (TeleMetrum) seems to shut off when disconnected from the + computer. 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. + + + It's impossible to stop the TeleDongle when it's in "p" mode, I have + to unplug the USB cable? 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. + + + The amber LED (on the TeleMetrum/altimeter) lights up when both + battery and USB are connected. Does this mean it's charging? + 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. + + + There are no "dit-dah-dah-dit" sound like the manual mentions? + That's the "pad" mode. Weak batteries might be the problem. + It is also possible that the unit is horizontal and the output + is instead a "dit-dit" meaning 'idle'. + + + It's unclear how to use 'ao-view' and other programs when 'cu' + is running. You cannot have more than one program connected to + the TeleDongle at one time without apparent data loss as the + incoming data will not make it to both programs intact. + Disconnect whatever programs aren't currently being used. + + + How do I save flight data? + Live telemetry is written to file(s) whenever 'ao-view' is connected + to the TeleDongle. The file area defaults to ~/altos + but is easily changed using the menus in 'ao-view'. The files that + are written end in '.telem'. The after-flight + data-dumped files will end in .eeprom and represent continuous data + unlike the rf-linked .telem files that are subject to the + turnarounds/data-packaging time slots in the half-duplex rf data path. + See the above instructions on what and how to save the eeprom stored + data after physically retrieving your TeleMetrum. Make sure to save + the on-board data after each flight, as the current firmware will + over-write any previous flight data during a new flight. + +
+ + + Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + + + + Handling Precautions + + TeleMetrum is a sophisticated electronic device. When handled gently and + properly installed in an airframe, it will deliver impressive results. + However, like all electronic devices, there are some precautions you + must take. + + + The Lithium Polymer rechargeable batteries used with TeleMetrum have an + extraordinary power density. This is great because we can fly with + much less battery mass than if we used alkaline batteries or previous + generation rechargeable batteries... but if they are punctured + or their leads are allowed to short, they can and will release their + energy very rapidly! + Thus we recommend that you take some care when handling our batteries + and consider giving them some extra protection in your airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + + + The TeleMetrum barometric sensor is sensitive to sunlight. In normal + mounting situations, it and all of the other surface mount components + are "down" towards whatever the underlying mounting surface is, so + this is not normally a problem. Please consider this, though, when + designing an installation, for example, in a 29mm airframe with a + see-through plastic payload bay. + + + The TeleMetrum barometric sensor sampling port must be able to + "breathe", + both by not being covered by foam or tape or other materials that might + directly block the hole on the top of the sensor, but also by having a + suitable static vent to outside air. + + + As with all other rocketry electronics, TeleMetrum must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. + + + + Hardware Overview + + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. + + + A typical TeleMetrum installation using the on-board GPS antenna and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. + + + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, you can do so by adding + a second 2mm connector to position B2 on the board and cutting the + thick pcb trace connecting the LiPo battery to the pyro circuit between + the two silk screen marks on the surface mount side of the board shown + here [insert photo] + + + We offer two choices of pyro and power switch connector, or you can + choose neither and solder wires directly to the board. All three choices + are reasonable depending on the constraints of your airframe. Our + favorite option when there is sufficient room above the board is to use + the Tyco pin header with polarization and locking. If you choose this + option, you crimp individual wires for the power switch and e-matches + into a mating connector, and installing and removing the TeleMetrum + board from an airframe is as easy as plugging or unplugging two + connectors. If the airframe will not support this much height or if + you want to be able to directly attach e-match leads to the board, we + offer a screw terminal block. This is very similar to what most other + altimeter vendors provide and so may be the most familiar option. + You'll need a very small straight blade screwdriver to connect + and disconnect the board in this case, such as you might find in a + jeweler's screwdriver set. Finally, you can forego both options and + solder wires directly to the board, which may be the best choice for + minimum diameter and/or minimum mass designs. + + + For most airframes, the integrated GPS antenna and wire UHF antenna are + a great combination. However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to use + off-board external antennas instead. In this case, you can order + TeleMetrum with an SMA connector for the UHF antenna connection, and + you can unplug the integrated GPS antenna and select an appropriate + off-board GPS antenna with cable terminating in a U.FL connector. + + + + Operation +
+ Firmware Modes + + The AltOS firmware build for TeleMetrum has two fundamental modes, + "idle" and "flight". Which of these modes the firmware operates in + is determined by the orientation of the rocket (well, actually the + board, of course...) at the time power is switched on. If the rocket + is "nose up", then TeleMetrum assumes it's on a rail or rod being + prepared for launch, so the firmware chooses flight mode. However, + if the rocket is more or less horizontal, the firmware instead enters + idle mode. + + + At power on, you will hear three beeps + ("S" in Morse code for startup) and then a pause while + TeleMetrum completes initialization and self tests, and decides which + mode to enter next. + + + In flight or "pad" mode, TeleMetrum turns on the GPS system, + engages the flight + state machine, goes into transmit-only mode on the RF link sending + telemetry, and waits for launch to be detected. Flight mode is + indicated by an audible "di-dah-dah-dit" ("P" for pad) on the + beeper, followed by + beeps indicating the state of the pyrotechnic igniter continuity. + One beep indicates apogee continuity, two beeps indicate + main continuity, three beeps indicate both apogee and main continuity, + and one longer "brap" sound indicates no continuity. For a dual + deploy flight, make sure you're getting three beeps before launching! + For apogee-only or motor eject flights, do what makes sense. + + + In idle mode, you will hear an audible "di-dit" ("I" for idle), and + the normal flight state machine is disengaged, thus + no ejection charges will fire. TeleMetrum also listens on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can be issued to a TeleMetrum in idle mode over either + USB or the RF link equivalently. + Idle mode is useful for configuring TeleMetrum, for extracting data + from the on-board storage chip after flight, and for ground testing + pyro charges. + + + One "neat trick" of particular value when TeleMetrum is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + TeleMetrum to reboot, realize it's now nose-up, and thus choose + flight mode. This is much safer than standing on the top step of a + rickety step-ladder or hanging off the side of a launch tower with + a screw-driver trying to turn on your avionics before installing + igniters! + +
+
+ GPS + + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! + + + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. + +
+
+ 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 RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum-equipped rocket without as + much work as you may be accustomed to with other systems. It can + even be fun! + + + Just prep the rocket for flight, then power up TeleMetrum while the + airframe is horizontal. This will cause the firmware to go into + "idle" mode, in which the normal flight state machine is disabled and + charges will not fire without manual command. Then, establish an + RF packet connection from a TeleDongle-equipped computer using the + P command from a safe distance. You can now command TeleMetrum to + fire the apogee or main charges to complete your testing. + + + 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'. + +
+
+ Radio Link + + The chip our boards are based on incorporates an RF transceiver, but + it's not a full duplex system... each end can only be transmitting or + receiving at any given moment. So we had to decide how to manage the + link. + + + By design, TeleMetrum firmware listens for an RF connection when + it's in "idle mode" (turned on while the rocket is horizontal), which + allows us to use the RF link to configure the rocket, do things like + ejection tests, and extract data after a flight without having to + crack open the airframe. However, when the board is in "flight + mode" (turned on when the rocket is vertical) the TeleMetrum only + transmits and doesn't listen at all. That's because we want to put + ultimate priority on event detection and getting telemetry out of + the rocket and out over + the RF link in case the rocket crashes and we aren't able to extract + data later... + + + We don't use a 'normal packet radio' mode because they're just too + inefficient. The GFSK modulation we use is just FSK with the + baseband pulses passed through a + Gaussian filter before they go into the modulator to limit the + transmitted bandwidth. When combined with the hardware forward error + correction support in the cc1111 chip, this allows us to have a very + robust 38.4 kilobit data link with only 10 milliwatts of transmit power, + a whip antenna in the rocket, and a hand-held Yagi on the ground. We've + had flights to above 21k feet AGL with good reception, and calculations + suggest we should be good to well over 40k feet AGL with a 5-element yagi on + the ground. We hope to fly boards to higher altitudes soon, and would + of course appreciate customer feedback on performance in higher + altitude flights! + +
+
+ Configurable Parameters + + Configuring a TeleMetrum board for flight is very simple. Because we + have both acceleration and pressure sensors, there is no need to set + a "mach delay", for example. The few configurable parameters can all + be set using a simple terminal program over the USB port or RF link + via TeleDongle. + +
+ Radio Channel + + Our firmware supports 10 channels. The default channel 0 corresponds + to a center frequency of 434.550 Mhz, and channels are spaced every + 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. + At any given launch, we highly recommend coordinating who will use + each channel and when to avoid interference. And of course, both + TeleMetrum and TeleDongle must be configured to the same channel to + successfully communicate with each other. + + + To set the radio channel, use the 'c r' command, like 'c r 3' to set + channel 3. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip on + your TeleMetrum board if you want the change to stay in place across reboots. + +
+
+ Apogee Delay + + Apogee delay is the number of seconds after TeleMetrum detects flight + apogee that the drogue charge should be fired. In most cases, this + should be left at the default of 0. However, if you are flying + redundant electronics such as for an L3 certification, you may wish + to set one of your altimeters to a positive delay so that both + primary and backup pyrotechnic charges do not fire simultaneously. + + + To set the apogee delay, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + Please note that the TeleMetrum apogee detection algorithm always + fires a fraction of a second *after* apogee. If you are also flying + an altimeter like the PerfectFlite MAWD, which only supports selecting + 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 + seconds delay and set the TeleMetrum to fire your backup 2 or 3 + seconds later to avoid any chance of both charges firing + simultaneously. We've flown several airframes this way quite happily, + including Keith's successful L3 cert. + +
+
+ Main Deployment Altitude + + By default, TeleMetrum will fire the main deployment charge at an + elevation of 250 meters (about 820 feet) above ground. We think this + is a good elevation for most airframes, but feel free to change this + to suit. In particular, if you are flying two altimeters, you may + wish to set the + deployment elevation for the backup altimeter to be something lower + than the primary so that both pyrotechnic charges don't fire + simultaneously. + + + To set the main deployment altitude, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+
+ Calibration + + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle. + +
+ Radio Frequency + + The radio frequency is synthesized from a clock based on the 48 Mhz + crystal on the board. The actual frequency of this oscillator must be + measured to generate a calibration constant. While our GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. + + + To calibrate the radio frequency, connect the UHF antenna port to a + frequency counter, set the board to channel 0, and use the 'C' + command to generate a CW carrier. Wait for the transmitter temperature + to stabilize and the frequency to settle down. + Then, divide 434.550 Mhz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Accelerometer + + The accelerometer we use has its own 5 volt power supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratiometric to + the ADC converter, and calibration is required. We also support the + use of any of several accelerometers from a Freescale family that + includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + + + To calibrate the acceleration sensor, use the 'c a 0' command. You + will be prompted to orient the board vertically with the UHF antenna + up and press a key, then to orient the board vertically with the + UHF antenna down and press a key. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + The +1g and -1g calibration points are included in each telemetry + frame and are part of the header extracted by ao-dumplog after flight. + Note that we always store and return raw ADC samples for each + sensor... nothing is permanently "lost" or "damaged" if the + calibration is poor. + +
+
+ + + Using Altus Metrum Products +
+ Being Legal + + First off, in the US, you need an [amateur radio license](../Radio) or + other authorization to legally operate the radio transmitters that are part + of our products. + +
+ In the Rocket + + In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and + a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + + + By default, we ship TeleMetrum with a simple wire antenna. If your + electronics bay or the airframe it resides within is made of carbon fiber, + which is opaque to RF signals, you may choose to have an SMA connector + installed so that you can run a coaxial cable to an antenna mounted + elsewhere in the rocket. + +
+
+ On the Ground + + To receive the data stream from the rocket, you need an antenna and short + feedline connected to one of our [TeleDongle](../TeleDongle) units. The + TeleDongle in turn plugs directly into the USB port on a notebook + computer. Because TeleDongle looks like a simple serial port, your computer + does not require special device drivers... just plug it in. + + + Right now, all of our application software is written for Linux. However, + because we understand that many people run Windows or MacOS, we are working + on a new ground station program written in Java that should work on all + operating systems. + + + After the flight, you can use the RF link to extract the more detailed data + logged in the rocket, or you can use a mini USB cable to plug into the + TeleMetrum board directly. Pulling out the data without having to open up + the rocket is pretty cool! A USB cable is also how you charge the LiPo + battery, so you'll want one of those anyway... the same cable used by lots + of digital cameras and other modern electronic stuff will work fine. + + + If your rocket lands out of sight, you may enjoy having a hand-held GPS + receiver, so that you can put in a waypoint for the last reported rocket + position before touch-down. This makes looking for your rocket a lot like + Geo-Cacheing... just go to the waypoint and look around starting from there. + + + You may also enjoy having a ham radio "HT" that covers the 70cm band... you + can use that with your antenna to direction-find the rocket on the ground + the same way you can use a Walston or Beeline tracker. This can be handy + if the rocket is hiding in sage brush or a tree, or if the last GPS position + doesn't get you close enough because the rocket dropped into a canyon, or + the wind is blowing it across a dry lake bed, or something like that... Keith + and Bdale both currently own and use the Yaesu VX-7R at launches. + + + So, to recap, on the ground the hardware you'll need includes: + + + an antenna and feedline + + + a TeleDongle + + + a notebook computer + + + optionally, a handheld 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 + + Arrow Antennas. + + The 440-3 and 440-5 are both good choices for finding a + TeleMetrum-equipped rocket when used with a suitable 70cm HT. + +
+
+ Data Analysis + + Our software makes it easy to log the data from each flight, both the + telemetry received over the RF link during the flight itself, and the more + complete data log recorded in the DataFlash memory on the TeleMetrum + board. Once this data is on your computer, our postflight tools make it + easy to quickly get to the numbers everyone wants, like apogee altitude, + max acceleration, and max velocity. You can also generate and view a + standard set of plots showing the altitude, acceleration, and + velocity of the rocket during flight. And you can even export a data file + useable with Google Maps and Google Earth for visualizing the flight path + in two or three dimensions! + + + 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 + + In the future, we intend to offer "companion boards" for the rocket that will + plug in to TeleMetrum to collect additional data, provide more pyro channels, + and so forth. A reference design for a companion board will be documented + soon, and will be compatible with open source Arduino programming tools. + + + We are also working on the design of a hand-held ground terminal that will + allow monitoring the rocket's status, collecting data during flight, and + logging data after flight without the need for a notebook computer on the + flight line. Particularly since it is so difficult to read most notebook + screens in direct sunlight, we think this will be a great thing to have. + + + 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... + +
+
+
+ + How GPS Works + + + Placeholder. + +
+ + + diff --git a/doc/telemetrum.xsl b/doc/telemetrum.xsl deleted file mode 100644 index b09e0295..00000000 --- a/doc/telemetrum.xsl +++ /dev/null @@ -1,881 +0,0 @@ - - - - TeleMetrum - Owner's Manual for the TeleMetrum System - - - Bdale - Garbee - - - Keith - Packard - - - 2010 - Bdale Garbee and Keith Packard - - - - This document is released under the terms of the - - Creative Commons ShareAlike 3.0 - - license. - - - - - 0.1 - 30 March 2010 - Initial content - - - - - 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 focal point of our community is 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. - - - Complementing TeleMetrum is TeleDongle, a USB to RF interface for - communicating with TeleMetrum. 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. - - - - Getting Started - - This chapter began as "The Mere-Mortals Quick Start/Usage Guide to - the Altus Metrum Starter Kit" by Bob Finch, W9YA, NAR 12965, TRA 12350, - w9ya@amsat.org. Bob was one of our first customers for a production - TeleMetrum, and the enthusiasm that led to his contribution of this - section is immensely gratifying and highy appreciated! - - - The first thing to do after you check the inventory of parts in your - "starter kit" is to charge the battery by plugging it into the - corresponding socket of the TeleMetrum and then using the USB A to B - cable to plug the Telemetrum into your computer's USB socket. The - TeleMetrum circuitry will charge the battery whenever it is plugged - into the usb socket. The TeleMetrum's on-off switch does NOT control - the charging circuitry. When the GPS chip is initially searching for - satellites, the unit will pull more current than it can pull from the - usb port, so the battery must be plugged in order to get a good - 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. - - - The other active device in the starter kit is the half-duplex TeleDongle - rf link. If you plug it in to your computer it should "just work", - showing up as a serial port device. If you are using Linux and are - having problems, try moving to a fresher kernel (2.6.33 or newer), as - there were some ugly USB serial driver bugs in earlier versions. - - - Next you should obtain and install the AltOS utilities. The first - generation sofware was written for Linux only. New software is coming - soon that will also run on Windows and Mac. For now, we'll concentrate - on Linux. If you are using Debian, an 'altos' package already exists, - see http://altusmetrum.org/AltOS for details on how to install it. - User-contributed directions for building packages on ArchLinux may be - found in the contrib/arch-linux directory as PKGBUILD files. - Between the debian/rules file and the PKGBUILD files in - contrib, you should find enough information to learn how to build the - software for any other version of Linux. - - - When you have successfully installed the software suite (either from - compiled source code or as the pre-built Debian package) you will - have 10 executable programs all of which have names beginning with 'ao-'. - ('ao-view' is the lone GUI-based program. - The rest are command-line based.) You will also - have 10 man pages, that give you basic info on each program. - And you will also get this documentation in two file types, - telemetrum.pdf and telemetrum.html. - Finally you will have a couple of control files that allow the ao-view - GUI-based program to appear in your menu of programs (under - the 'Internet' category). - - - 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 (I use konsole for this,) 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. - - - 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. - - - Both TeleMetrum and TeleDongle share the concept of a two level - command set in their - firmware. The first layer has several single letter commands. Once - 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 DataFlash memory, and only TeleMetrum has this - memory to save the various values entered like the channel number - and your callsign when powered off. TeleDongle requires that you - set these each time you plug it in, which ao-view can help with. - - - Try setting these config ('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, 'cu' (and possibly 'cutecom') For instance, try to send - (type) a 'cr2' and verify the channel change by sending a 'cs'. - Verify you can connect and disconnect from the units while in 'cu' - by sending the escape-disconnect mentioned above. - - - Note that the 'reboot' command, which is very useful on TeleMetrum, - will likely just cause problems with the dongle. The *correct* way - to reset the dongle is just to unplug and re-plug it. - - - 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 rf-link access - of the TeleMetrum from 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. - - - Now might be a good time to take a break and read the rest of this - manual, particularly about the two "modes" that the TeleMetrum - can be placed in and how the position of the TeleMetrum when booting - up will determine whether the unit is in "pad" or "idle" mode. - - - You can access a TeleMetrum in idle mode from the Teledongle's USB - connection using the rf link - by issuing a 'p' command to the TeleDongle. Practice connecting and - disconnecting ('~~' while using 'cu') from the TeleMetrum. 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. - - - Using this rf link allows you to configure the TeleMetrum, 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 TeleMetrum 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. - - - Eventually the GPS will find enough satellites, lock in on them, - and 'ao-view' will both auditorially 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. - - - Both RDF (radio direction finding) tones from the TeleMetrum and - GPS trekking data are available and together are very useful in - 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'.) - - - 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.) - - - 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. 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! - -
- FAQ - - The altimeter (TeleMetrum) seems to shut off when disconnected from the - computer. 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. - - - It's impossible to stop the TeleDongle when it's in "p" mode, I have - to unplug the USB cable? 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. - - - The amber LED (on the TeleMetrum/altimeter) lights up when both - battery and USB are connected. Does this mean it's charging? - 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. - - - There are no "dit-dah-dah-dit" sound like the manual mentions? - That's the "pad" mode. Weak batteries might be the problem. - It is also possible that the unit is horizontal and the output - is instead a "dit-dit" meaning 'idle'. - - - It's unclear how to use 'ao-view' and other programs when 'cu' - is running. You cannot have more than one program connected to - the TeleDongle at one time without apparent data loss as the - incoming data will not make it to both programs intact. - Disconnect whatever programs aren't currently being used. - - - How do I save flight data? - Live telemetry is written to file(s) whenever 'ao-view' is connected - to the TeleDongle. The file area defaults to ~/altos - but is easily changed using the menus in 'ao-view'. The files that - are written end in '.telem'. The after-flight - data-dumped files will end in .eeprom and represent continuous data - unlike the rf-linked .telem files that are subject to the - turnarounds/data-packaging time slots in the half-duplex rf data path. - See the above instructions on what and how to save the eeprom stored - data after physically retrieving your TeleMetrum. - -
- - - Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm ham-band transceiver for telemetry downlink. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - - - - - On-board, integrated GPS receiver with 5hz update rate capability. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for LiPo rechargeable batteries. - - - - - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - - - - - - Handling Precautions - - TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver impressive results. - However, like all electronic devices, there are some precautions you - must take. - - - The Lithium Polymer rechargeable batteries used with TeleMetrum have an - extraordinary power density. This is great because we can fly with - much less battery mass than if we used alkaline batteries or previous - generation rechargeable batteries... but if they are punctured - or their leads are allowed to short, they can and will release their - energy very rapidly! - Thus we recommend that you take some care when handling our batteries - and consider giving them some extra protection in your airframe. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. - - - The TeleMetrum barometric sensor is sensitive to sunlight. In normal - mounting situations, it and all of the other surface mount components - are "down" towards whatever the underlying mounting surface is, so - this is not normally a problem. Please consider this, though, when - designing an installation, for example, in a 29mm airframe's see-through - plastic payload bay. - - - The TeleMetrum barometric sensor sampling port must be able to "breathe", - both by not being covered by foam or tape or other materials that might - directly block the hole on the top of the sensor, but also by having a - suitable static vent to outside air. - - - As with all other rocketry electronics, TeleMetrum must be protected - from exposure to corrosive motor exhaust and ejection charge gasses. - - - - Hardware Overview - - TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMetrum should have at least 10 inches of interior length. - - - A typical TeleMetrum installation using the on-board GPS antenna and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. - - - By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard - low-current e-matches like the J-Tek from MJG Technologies, and with - Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, you can do so by adding - a second 2mm connector to position B2 on the board and cutting the - thick pcb trace connecting the LiPo battery to the pyro circuit between - the two silk screen marks on the surface mount side of the board shown - here [insert photo] - - - We offer two choices of pyro and power switch connector, or you can - choose neither and solder wires directly to the board. All three choices - are reasonable depending on the constraints of your airframe. Our - favorite option when there is sufficient room above the board is to use - the Tyco pin header with polarization and locking. If you choose this - option, you crimp individual wires for the power switch and e-matches - into a mating connector, and installing and removing the TeleMetrum - board from an airframe is as easy as plugging or unplugging two - connectors. If the airframe will not support this much height or if - you want to be able to directly attach e-match leads to the board, we - offer a screw terminal block. This is very similar to what most other - altimeter vendors provide and so may be the most familiar - option. You'll need a very small straight blade screwdriver to connect - and disconnect the board in this case, such as you might find in a - jeweler's screwdriver set. Finally, you can forego both options and - solder wires directly to the board, which may be the best choice for - minimum diameter and/or minimum mass designs. - - - For most airframes, the integrated GPS antenna and wire UHF antenna are - a great combination. However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to use - off-board external antennas instead. In this case, you can order - TeleMetrum with an SMA connector for the UHF antenna connection, and - you can unplug the integrated GPS antenna and select an appropriate - off-board GPS antenna with cable terminating in a U.FL connector. - - - - Operation -
- Firmware Modes - - The AltOS firmware build for TeleMetrum has two fundamental modes, - "idle" and "flight". Which of these modes the firmware operates in - is determined by the orientation of the rocket (well, actually the - board, of course...) at the time power is switched on. If the rocket - is "nose up", then TeleMetrum assumes it's on a rail or rod being - prepared for launch, so the firmware chooses flight mode. However, - if the rocket is more or less horizontal, the firmware instead enters - idle mode. - - - At power on, you will hear three beeps ("S" in Morse code for startup) - and then a pause while - TeleMetrum completes initialization and self tests, and decides which - mode to enter next. - - - In flight mode, TeleMetrum turns on the GPS system, engages the flight - state machine, goes into transmit-only mode on the RF link sending - telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" ("P" for pad) on the - beeper, followed by - beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates apogee continuity, two beeps indicate - main continuity, three beeps indicate both apogee and main continuity, - and one longer "brap" sound indicates no continuity. For a dual - deploy flight, make sure you're getting three beeps before launching! - For apogee-only or motor eject flights, do what makes sense. - - - In idle mode, you will hear an audible "di-dit" ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. TeleMetrum also listens on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. - Idle mode is useful for configuring TeleMetrum, for extracting data - from the on-board storage chip after flight, and for ground testing - pyro charges. - - - One "neat trick" of particular value when TeleMetrum is used with very - large airframes, is that you can power the board up while the rocket - is horizontal, such that it comes up in idle mode. Then you can - raise the airframe to launch position, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will cause - TeleMetrum to reboot, realize it's now nose-up, and thus choose - flight mode. This is much safer than standing on the top step of a - rickety step-ladder or hanging off the side of a launch tower with - a screw-driver trying to turn on your avionics before installing - igniters! - -
-
- GPS - - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! - - - TeleMetrum provides backup power to the GPS chip any time a LiPo - battery is connected. This allows the receiver to "warm start" on - the launch rail much faster than if every power-on were a "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe - preparation will be sufficient to allow the GPS receiver to cold - start and acquire lock. Then the board can be powered down during - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. - -
-
- 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 RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum-equipped rocket without as - much work as you may be accustomed to with other systems. It can - even be fun! - - - Just prep the rocket for flight, then power up TeleMetrum while the - airframe is horizontal. This will cause the firmware to go into - "idle" mode, in which the normal flight state machine is disabled and - charges will not fire without manual command. Then, establish an - RF packet connection from a TeleDongle-equipped computer using the - P command from a safe distance. You can now command TeleMetrum to - fire the apogee or main charges to complete your testing. - - - 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'. - -
-
- Radio Link - - The chip our boards are based on incorporates an RF transceiver, but - it's not a full duplex system... each end can only be transmitting or - receiving at any given moment. So we had to decide how to manage the - link. - - - By design, TeleMetrum firmware listens for an RF connection when - it's in "idle mode" (turned on while the rocket is horizontal), which - allows us to use the RF link to configure the rocket, do things like - ejection tests, and extract data after a flight without having to - crack open the airframe. However, when the board is in "flight - mode" (turned on when the rocket is vertical) the TeleMetrum only - transmits and doesn't listen at all. That's because we want to put - ultimate priority on event detection and getting telemetry out of - the rocket and out over - the RF link in case the rocket crashes and we aren't able to extract - data later... - - - We don't use a 'normal packet radio' mode because they're just too - inefficient. The GFSK modulation we use is just FSK with the - baseband pulses passed through a - Gaussian filter before they go into the modulator to limit the - transmitted bandwidth. When combined with the hardware forward error - correction support in the cc1111 chip, this allows us to have a very - robust 38.4 kilobit data link with only 10 milliwatts of transmit power, - a whip antenna in the rocket, and a hand-held Yagi on the ground. We've - had a test flight above 12k AGL with good reception, and calculations - suggest we should be good to 40k AGL or more with a 5-element yagi on - the ground. We hope to fly boards to higher altitudes soon, and would - of course appreciate customer feedback on performance in higher - altitude flights! - -
-
- Configurable Parameters - - Configuring a TeleMetrum board for flight is very simple. Because we - have both acceleration and pressure sensors, there is no need to set - a "mach delay", for example. The few configurable parameters can all - be set using a simple terminal program over the USB port or RF link - via TeleDongle. - -
- Radio Channel - - Our firmware supports 10 channels. The default channel 0 corresponds - to a center frequency of 434.550 Mhz, and channels are spaced every - 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. - At any given launch, we highly recommend coordinating who will use - each channel and when to avoid interference. And of course, both - TeleMetrum and TeleDongle must be configured to the same channel to - successfully communicate with each other. - - - To set the radio channel, use the 'c r' command, like 'c r 3' to set - channel 3. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Apogee Delay - - Apogee delay is the number of seconds after TeleMetrum detects flight - apogee that the drogue charge should be fired. In most cases, this - should be left at the default of 0. However, if you are flying - redundant electronics such as for an L3 certification, you may wish - to set one of your altimeters to a positive delay so that both - primary and backup pyrotechnic charges do not fire simultaneously. - - - To set the apogee delay, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Main Deployment Altitude - - By default, TeleMetrum will fire the main deployment charge at an - elevation of 250 meters (about 820 feet) above ground. We think this - is a good elevation for most airframes, but feel free to change this - to suit. In particular, if you are flying two altimeters, you may - wish to set the - deployment elevation for the backup altimeter to be something lower - than the primary so that both pyrotechnic charges don't fire - simultaneously. - - - To set the main deployment altitude, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
-
- Calibration - - There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle. - -
- Radio Frequency - - The radio frequency is synthesized from a clock based on the 48 Mhz - crystal on the board. The actual frequency of this oscillator must be - measured to generate a calibration constant. While our GFSK modulation - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - - - To calibrate the radio frequency, connect the UHF antenna port to a - frequency counter, set the board to channel 0, and use the 'C' - command to generate a CW carrier. Wait for the transmitter temperature - to stabilize and the frequency to settle down. - Then, divide 434.550 Mhz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Accelerometer - - The accelerometer we use has its own 5 volt power supply and - the output must be passed through a resistive voltage divider to match - the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratiometric to - the ADC converter, and calibration is required. We also support the - use of any of several accelerometers from a Freescale family that - includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, - a simple 2-point calibration yields acceptable results capturing both - the different sensitivities and ranges of the different accelerometer - parts and any variation in power supply voltages or resistor values - in the divider network. - - - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - The +1g and -1g calibration points are included in each telemetry - frame and are part of the header extracted by ao-dumplog after flight. - Note that we always store and return raw ADC samples for each - sensor... nothing is permanently "lost" or "damaged" if the - calibration is poor. - -
-
- - - Using Altus Metrum Products -
- Being Legal - - First off, in the US, you need an [amateur radio license](../Radio) or - other authorization to legally operate the radio transmitters that are part - of our products. - -
- In the Rocket - - In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and - a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. - - - By default, we ship TeleMetrum with a simple wire antenna. If your - electronics bay or the airframe it resides within is made of carbon fiber, - which is opaque to RF signals, you may choose to have an SMA connector - installed so that you can run a coaxial cable to an antenna mounted - elsewhere in the rocket. - -
-
- On the Ground - - To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our [TeleDongle](../TeleDongle) units. The - TeleDongle in turn plugs directly into the USB port on a notebook - computer. Because TeleDongle looks like a simple serial port, your computer - does not require special device drivers... just plug it in. - - - Right now, all of our application software is written for Linux. However, - because we understand that many people run Windows or MacOS, we are working - on a new ground station program written in Java that should work on all - operating systems. - - - After the flight, you can use the RF link to extract the more detailed data - logged in the rocket, or you can use a mini USB cable to plug into the - TeleMetrum board directly. Pulling out the data without having to open up - the rocket is pretty cool! A USB cable is also how you charge the LiPo - battery, so you'll want one of those anyway... the same cable used by lots - of digital cameras and other modern electronic stuff will work fine. - - - If your rocket lands out of sight, you may enjoy having a hand-held GPS - receiver, so that you can put in a waypoint for the last reported rocket - position before touch-down. This makes looking for your rocket a lot like - Geo-Cacheing... just go to the waypoint and look around starting from there. - - - You may also enjoy having a ham radio "HT" that covers the 70cm band... you - can use that with your antenna to direction-find the rocket on the ground - the same way you can use a Walston or Beeline tracker. This can be handy - if the rocket is hiding in sage brush or a tree, or if the last GPS position - doesn't get you close enough because the rocket dropped into a canyon, or - the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the Yaesu VX-7R at launches. - - - So, to recap, on the ground the hardware you'll need includes: - - - an antenna and feedline - - - a TeleDongle - - - a notebook computer - - - optionally, a handheld 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 - - Arrow Antennas. - - The 440-3 and 440-5 are both good choices for finding a - TeleMetrum-equipped rocket when used with a suitable 70cm HT. - -
-
- Data Analysis - - Our software makes it easy to log the data from each flight, both the - telemetry received over the RF link during the flight itself, and the more - complete data log recorded in the DataFlash memory on the TeleMetrum - board. Once this data is on your computer, our postflight tools make it - easy to quickly get to the numbers everyone wants, like apogee altitude, - max acceleration, and max velocity. You can also generate and view a - standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a data file - useable with Google Maps and Google Earth for visualizing the flight path - in two or three dimensions! - - - 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 - - In the future, we intend to offer "companion boards" for the rocket that will - plug in to TeleMetrum to collect additional data, provide more pyro channels, - and so forth. A reference design for a companion board will be documented - soon, and will be compatible with open source Arduino programming tools. - - - We are also working on the design of a hand-held ground terminal that will - allow monitoring the rocket's status, collecting data during flight, and - logging data after flight without the need for a notebook computer on the - flight line. Particularly since it is so difficult to read most notebook - screens in direct sunlight, we think this will be a great thing to have. - - - 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... - -
-
-
- - How GPS Works - - - Placeholder. - -
- - - -- cgit v1.2.3 From 59ff9180f11063c257746b895a167179b3a4ff7c Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 2 Sep 2010 00:53:16 -0400 Subject: and a few more distclean fixes --- ao-tools/altosui/Makefile | 1 + doc/Makefile | 2 ++ 2 files changed, 3 insertions(+) (limited to 'doc') diff --git a/ao-tools/altosui/Makefile b/ao-tools/altosui/Makefile index 85271039..abf5704f 100644 --- a/ao-tools/altosui/Makefile +++ b/ao-tools/altosui/Makefile @@ -136,6 +136,7 @@ clean: distclean: clean rm -f $(DARWIN_ZIP) $(WINDOWS_ZIP) $(LINUX_TGZ) + rm -rf darwin fat FAT_FILES=$(FATJAR) $(FREETTSJAR) $(HEXFILES) diff --git a/doc/Makefile b/doc/Makefile index f8048dce..e840ec41 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -26,6 +26,8 @@ telemetrum-doc.pdf: telemetrum-doc.fo clean: rm -f telemetrum-doc.html telemetrum-doc.pdf telemetrum-doc.fo +distclean: clean + indent: telemetrum-doc.xsl xmlindent -i 2 < telemetrum-doc.xsl > telemetrum-doc.new -- cgit v1.2.3 From 59a40f6d5a2159b9009a3fa0737bb679efd5b32c Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 2 Sep 2010 00:55:01 -0400 Subject: another distclean fix --- doc/Makefile | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index e840ec41..238cefb0 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -26,7 +26,8 @@ telemetrum-doc.pdf: telemetrum-doc.fo clean: rm -f telemetrum-doc.html telemetrum-doc.pdf telemetrum-doc.fo -distclean: clean +distclean: + rm -f telemetrum-doc.html telemetrum-doc.pdf telemetrum-doc.fo indent: telemetrum-doc.xsl xmlindent -i 2 < telemetrum-doc.xsl > telemetrum-doc.new -- cgit v1.2.3 From f0542085de2139ef562af068ec05fa73f47c73b1 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 19 Nov 2010 20:26:49 +0800 Subject: doc: Add preliminary altosui documentation Also, update the Makefile to allow for further documents to be added without a lot of custom rules. Signed-off-by: Keith Packard --- doc/Makefile | 37 ++-- doc/altosui-doc.xsl | 561 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 581 insertions(+), 17 deletions(-) create mode 100644 doc/altosui-doc.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 238cefb0..57300c10 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,32 +2,35 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -all: telemetrum-doc.html telemetrum-doc.pdf +HTML=telemetrum-doc.html altosui-doc.html +PDF=telemetrum-doc.pdf altosui-doc.pdf +DOC=$(HTML) $(PDF) +HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl +FOSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl +PDFSTYLE= -publish: all - cp telemetrum-doc.html \ - telemetrum-doc.pdf /home/bdale/web/altusmetrum/TeleMetrum/doc/ - (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/TeleMetrum/doc/* ; git push) +.SUFFIXES: .xsl .html .fo .pdf + +.xsl.html: + xsltproc -o $@ $(HTMLSTYLE) $*.xsl +.xsl.fo: + xsltproc -o $@ $(FOSTYLE) $*.xsl -telemetrum-doc.html: telemetrum-doc.xsl - xsltproc -o telemetrum-doc.html \ - /usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl \ - telemetrum-doc.xsl +.fo.pdf: + fop -fo $*.fo -pdf $@ -telemetrum-doc.fo: telemetrum-doc.xsl - xsltproc -o telemetrum-doc.fo \ - /usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl \ - telemetrum-doc.xsl +all: $(HTML) $(PDF) -telemetrum-doc.pdf: telemetrum-doc.fo - fop -fo telemetrum-doc.fo -pdf telemetrum-doc.pdf +publish: $(DOC) + cp $(DOC)telemetrum-doc.html home/bdale/web/altusmetrum/TeleMetrum/doc/ + (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/TeleMetrum/doc/* ; git push) clean: - rm -f telemetrum-doc.html telemetrum-doc.pdf telemetrum-doc.fo + rm -f *.html *.pdf *.fo distclean: - rm -f telemetrum-doc.html telemetrum-doc.pdf telemetrum-doc.fo + rm -f *.html *.pdf *.fo indent: telemetrum-doc.xsl xmlindent -i 2 < telemetrum-doc.xsl > telemetrum-doc.new diff --git a/doc/altosui-doc.xsl b/doc/altosui-doc.xsl new file mode 100644 index 00000000..5f330739 --- /dev/null +++ b/doc/altosui-doc.xsl @@ -0,0 +1,561 @@ + + + + AltosUI + Altos Metrum Graphical User Interface Manual + + + Bdale + Garbee + + + Keith + Packard + + + 2010 + Bdale Garbee and Keith Packard + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.1 + 19 November 2010 + Initial content + + + + + Introduction + + The AltosUI program provides a graphical user interface for + interacting with the Altus Metrum product family, including + TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, + configure TeleMetrum and TeleDongle devices and many other + tasks. The primary interface window provides a selection of + buttons, one for each major activity in the system. This manual + is split into chapters, each of which documents one of the tasks + provided from the top-level toolbar. + + + + Packet Command Mode + Controlling TeleMetrum Over The Radio Link + + One of the unique features of the Altos Metrum environment is + the ability to create a two way command link between TeleDongle + and TeleMetrum using the digital radio transceivers built into + each device. This allows you to interact with TeleMetrum from + afar, as if it were directly connected to the computer. + + + Any operation which can be performed with TeleMetrum + can either be done with TeleMetrum directly connected to + the computer via the USB cable, or through the packet + link. Simply select the appropriate TeleDongle device when + the list of devices is presented and AltosUI will use packet + command mode. + + + + + Save Flight Data—Recover flight data from the rocket without + opening it up. + + + + + Configure TeleMetrum—Reset apogee delays or main deploy + heights to respond to changing launch conditions. You can + also 'reboot' the TeleMetrum device. Use this to remotely + enable the flight computer by turning TeleMetrum on while + horizontal, then once the airframe is oriented for launch, + you can reboot TeleMetrum 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 airframe. Simply assembly the + rocket as if for flight with the apogee and main charges + loaded, then remotely command TeleMetrum to fire the + igniters. + + + + + Packet command mode uses the same RF channels as telemetry + mode. Configure the desired TeleDongle channel using the + flight monitor window channel selector and then close that + window before performing the desired operation. + + + TeleMetrum only enables packet command mode in 'idle' mode, so + make sure you have TeleMetrum lying horizontally when you turn + it on. Otherwise, TeleMetrum will start in 'pad' mode ready for + flight and will not be listening for command packets from TeleDongle. + + + When packet command mode is enabled, you can monitor the link + by watching the lights on the TeleDongle and TeleMetrum + devices. The red LED will flash each time TeleDongle or + TeleMetrum transmit a packet while the green LED will light up + on TeleDongle while it is waiting to receive a packet from + TeleMetrum. + + + + Monitor Flight + Receive, Record and Display Telemetry Data + + Selecting this item brings up a dialog box listing all of the + connected TeleDongle devices. When you choose one of these, + AltosUI will create a window to display telemetry data as + received by the selected TeleDongle device. + + + All telemetry data received are automatically recorded in + suitable log files. The name of the files includes the current + date and rocket serial and flight numbers. + + + The radio channel being monitored by the TeleDongle device is + displayed at the top of the window. You can configure the + channel by clicking on the channel box and selecting the desired + channel. AltosUI remembers the last channel selected for each + TeleDongle and selects that automatically the next time you use + that device. + + + Below the TeleDongle channel selector, the window contains a few + significant pieces of information about the TeleMetrum providing + the telemetry data stream: + + + + The TeleMetrum callsign + + + The TeleMetrum serial number + + + The flight number. Each TeleMetrum 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. The + radio inside TeleDongle operates down to about -99dBm; + weaker signals may not be receiveable. The packet link uses + error correction and detection techniques which prevent + incorrect data from being reported. + + + + + 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 contains all of + the telemetry data in one place. + +
+ Launch Pad + + The 'Launch Pad' tab shows information used to decide when the + rocket is ready for flight. The first elements include red/green + indicators, if any of these is red, you'll want to evaluate + whether the rocket is ready to launch: + + + + Battery Voltage. This indicates whether the LiPo battery + powering the TeleMetrum has sufficient charge to last for + the duration of the flight. A value of more than + 3.7V 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 LiPo 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 LiPo battery voltage. A value greater than 3.2V is + required for a 'GO' status. + + + + + GPS Locked. 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. 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 + + 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 and acceleration are shown along with the + maxium 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 + + 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 generally range from 15-30m/s. + + + To help locate the rocket in the sky, use 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. 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. + +
+
+ Landed + + Once the rocket is on the ground, attention switches to + recovery. While the radio signal is generally 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 you'll want to walk or hitch a ride. Take the reported + latitude and longitude and enter them into your handheld GPS + unit and have that compute a track to the landing location. + + + Finally, the maximum height, speed and acceleration reported + during the flight are displayed for your admiring observers. + +
+ + + Save Flight Data + + TeleMetrum records flight data to its internal flash memory. + This 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 TeleMetrum and TeleDongle devices. If you select a + TeleMetrum device, the flight data will be downloaded from that + device directly. If you select a TeleDongle device, flight data + will be downloaded from a TeleMetrum device connected via the + packet command link to the specified TeleDongle. See the chapter + on Packet Command Mode for more information about this. + + + The filename for the data is computed automatically from the recorded + flight date, TeleMetrum 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 TeleMetrum + 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 + + This section should be written by AJ. + + + + 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 (either .eeprom or .telem will do, remember that + .eeprom files contain higher resolution and more continuous + data). 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 TeleMetrum device, then + there is a single header line which labels all of the + fields. All of these lines start with a '#' character which + most 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 + Googleearth to provide an overlay within that + application. With this, you can use Googleearth to see the + whole flight path in 3D. + +
+ + + Configure TeleMetrum + + Select this button and then select either a TeleMetrum or + TeleDongle Device from the list provided. Selecting a TeleDongle + device will use Packet Comamnd Mode to configure remote + TeleMetrum device. Learn how to use this in the Packet Command + Mode chapter. + + + The first few lines of the dialog provide information about the + connected TeleMetrum 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 TeleMetrum + 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 TeleMetrum device. Use this to + switch from idle to pad mode by rebooting once the rocket is + oriented for flight. + + + + + 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 overpressurize the apogee deployment + bay and cause a structural failure of the airframe. The Apogee + Delay parameter tells the flight computer to fire the apogee + charge a certain number of seconds after apogee has been + detected. + +
+
+ Radio Channel + + This configures which of the 10 radio channels to use for both + telemetry and packet command mode. Note that if you set this + value via packet command mode, you will have to reconfigure + the TeleDongle channel before you will be able to use packet + command mode again. + +
+
+ Radio Calibration + + The radios in every Altus Metrum device are calibrated at the + factory to ensure that they transmit and receive on the + specified frequency for each channel. You can adjust that + calibration by changing this value. To change the TeleDongle's + calibration, you must reprogram the unit completely. + +
+
+ Callsign + + This sets the callsign included in each telemetry packet. Set this + as needed to conform to your local radio regulations. + +
+ + + Configure AltosUI + + This button presents a dialog so that you can configure the AltosUI global settings. + +
+ Voice Settings + + AltosUI provides voice annoucements 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 systme 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 used in command packet mode and is transmitted + in each packet sent from TeleDongle and received from + TeleMetrum. It is not used in telemetry mode as that transmits + packets only from TeleMetrum to TeleDongle. Configure this + with the AltosUI operators callsign as needed to comply with + your local radio regulations. + +
+ + + Flash Image + + + + + Fire Igniter + + + + \ No newline at end of file -- cgit v1.2.3 From b4bdda65488e8ef27d2889cb6cc8eda3c5d50e0a Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 19 Nov 2010 20:29:14 +0800 Subject: doc: git ignore generated doc files Signed-off-by: Keith Packard --- doc/.gitignore | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 doc/.gitignore (limited to 'doc') diff --git a/doc/.gitignore b/doc/.gitignore new file mode 100644 index 00000000..54ca39bc --- /dev/null +++ b/doc/.gitignore @@ -0,0 +1,3 @@ +*.html +*.pdf +*.fo -- cgit v1.2.3 From 68078eab3c07d8dc83302747cf6f3dcb1797c6ce Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 19 Nov 2010 20:44:29 +0800 Subject: doc: Document the 'Flash Image' operation. Signed-off-by: Keith Packard --- doc/altosui-doc.xsl | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) (limited to 'doc') diff --git a/doc/altosui-doc.xsl b/doc/altosui-doc.xsl index 5f330739..4a1f43b5 100644 --- a/doc/altosui-doc.xsl +++ b/doc/altosui-doc.xsl @@ -1,6 +1,7 @@ + AltosUI Altos Metrum Graphical User Interface Manual @@ -551,6 +552,40 @@ Flash Image + This reprograms any Altus Metrum device by using a TeleMetrum or + TeleDongle as a programming dongle. Please read the directions + for connecting the programming cable in the main TeleMetrum + manual before reading these instructions. + + + Once you have the programmer and target devices connected, + push the 'Flash Image' button. That will present a dialog box + listing all of the connected devices. Carefully select the + programmer device, not the device to be programmed. + + + Next, select the image to flash to the device. These are named + with the product name and firmware version. The file selector + will start in the directory containing the firmware included + with the AltosUI package. Navigate to the directory containing + the desired firmware if it isn't there. + + + Next, a small dialog containing the device serial number and + RF calibration values should appear. If these values are + incorrect (possibly due to a corrupted image in the device), + enter the correct values here. + + + Finally, a dialog containing a progress bar will follow the + programming process. + + + When programming is complete, the target device will + reboot. Note that if the target device is connected via USB, you + will have to unplug it and then plug it back in for the USB + connection to reset so that you can communicate with the device + again. -- cgit v1.2.3 From 737f2fdd012202f453120ece117ae5e859b32082 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 22 Nov 2010 22:26:19 -0800 Subject: doc: Add internal documentation for AltOS Signed-off-by: Keith Packard --- doc/Makefile | 4 +- doc/altos.xsl | 1441 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 1443 insertions(+), 2 deletions(-) create mode 100644 doc/altos.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 57300c10..52934290 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,8 +2,8 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -HTML=telemetrum-doc.html altosui-doc.html -PDF=telemetrum-doc.pdf altosui-doc.pdf +HTML=telemetrum-doc.html altosui-doc.html altos.html +PDF=telemetrum-doc.pdf altosui-doc.pdf altos.pdf DOC=$(HTML) $(PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl FOSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl diff --git a/doc/altos.xsl b/doc/altos.xsl new file mode 100644 index 00000000..9a88a5b5 --- /dev/null +++ b/doc/altos.xsl @@ -0,0 +1,1441 @@ + + + + + AltOS + Altos Metrum Operating System + + + Keith + Packard + + + 2010 + Keith Packard + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.1 + 22 November 2010 + Initial content + + + + + Overview + + AltOS is a operating system built for the 8051-compatible + processor found in the TI cc1111 microcontroller. It's designed + to be small and easy to program with. The main features are: + + + Multi-tasking. While the 8051 doesn'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. + + + + 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. + +
+ 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. + + + SDCC 8051 memory spaces + + __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, it's 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. + +
+
+ + + Task functions + + This chapter documents how to create, destroy and schedule AltOS tasks. + + + AltOS Task Functions + + 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. + + + + + 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. + + + + + ao_alarm + + +void +ao_alarm(uint16_t delay) + + + 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_wake_task + + +void +ao_wake_task(__xdata struct ao_task *task) + + + Force a specific task to wake up, independent of which + 'wchan' it is waiting for. + + + + + 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 turns on the external 48MHz clock then switches the + hardware to using it. This is required by many of the + internal devices like USB. It should be called by the + 'main' function first, before initializing any of the + other devices in the system. + + + + + + + Timer Functions + + AltOS sets up one of the cc1111 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 ADC system to + collect current data readings. Doing this from the ISR ensures + that the ADC values are sampled at a regular rate, independent + of any scheduling jitter. + + + AltOS Timer Functions + + 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 using the CC1111 timer 1. 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. + + + Mutex Functions + + 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. + + + + + + + CC1111 DMA engine + + The CC1111 contains a useful bit of extra hardware in the form + of five 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 radio and SPI data. + + + 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. + + + AltOS DMA functions + + ao_dma_alloc + + +uint8_t +ao_dma_alloc(__xdata uint8_t *done) + + + Allocates a DMA engine, returning the identifier. Whenever + this DMA engine completes a transfer. '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 transation, marking its + 'done' variable with the AO_DMA_ABORTED bit. + + + + + + + SDCC Stdio interface + + AltOS offers a stdio interface over both USB and the RF packet + link. This provides for control of the device localy or + remotely. This is hooked up to the stdio functions in SDCC by + providing the standard putchar/getchar/flush functions. These + automatically multiplex the two available communication + channels; output is always delivered to the channel which + provided the most recent input. + + + SDCC stdio functions + + 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. +xo + + + + 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(&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 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. + + + AltOS command line parsing functions + + 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. + + + + + + + CC1111 USB target device + + The CC1111 contains a full-speed USB target device. 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. + + + AltOS USB functions + + 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 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. + + + + + 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. + + + + + + + CC1111 Serial peripheral + + 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. + + + AltOS serial functions + + 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 Radio peripheral + + 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: + + + + 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. + + + + + + AltOS radio functions + + 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. + + + + + + AltOS radio telemetry functions + + 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()). + + + + + + AltOS radio direction finding function + + 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. + + + + + + Packet mode functions + + 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. + + + + + + -- cgit v1.2.3 From 853b7112e34212040c4cb7289f9cfdb2f3ea9f90 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 23 Nov 2010 18:53:18 -0700 Subject: merge Keith's AltosUI documention into "the big book" --- doc/Makefile | 4 +- doc/altosui-doc.xsl | 596 ------------------ doc/telemetrum-doc.xsl | 1629 ++++++++++++++++++++++++++++++++---------------- 3 files changed, 1099 insertions(+), 1130 deletions(-) delete mode 100644 doc/altosui-doc.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 52934290..65917ea2 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,8 +2,8 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -HTML=telemetrum-doc.html altosui-doc.html altos.html -PDF=telemetrum-doc.pdf altosui-doc.pdf altos.pdf +HTML=telemetrum-doc.html altos.html +PDF=telemetrum-doc.pdf altos.pdf DOC=$(HTML) $(PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl FOSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl diff --git a/doc/altosui-doc.xsl b/doc/altosui-doc.xsl deleted file mode 100644 index 4a1f43b5..00000000 --- a/doc/altosui-doc.xsl +++ /dev/null @@ -1,596 +0,0 @@ - - - - - AltosUI - Altos Metrum Graphical User Interface Manual - - - Bdale - Garbee - - - Keith - Packard - - - 2010 - Bdale Garbee and Keith Packard - - - - This document is released under the terms of the - - Creative Commons ShareAlike 3.0 - - license. - - - - - 0.1 - 19 November 2010 - Initial content - - - - - Introduction - - The AltosUI program provides a graphical user interface for - interacting with the Altus Metrum product family, including - TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, - configure TeleMetrum and TeleDongle devices and many other - tasks. The primary interface window provides a selection of - buttons, one for each major activity in the system. This manual - is split into chapters, each of which documents one of the tasks - provided from the top-level toolbar. - - - - Packet Command Mode - Controlling TeleMetrum Over The Radio Link - - One of the unique features of the Altos Metrum environment is - the ability to create a two way command link between TeleDongle - and TeleMetrum using the digital radio transceivers built into - each device. This allows you to interact with TeleMetrum from - afar, as if it were directly connected to the computer. - - - Any operation which can be performed with TeleMetrum - can either be done with TeleMetrum directly connected to - the computer via the USB cable, or through the packet - link. Simply select the appropriate TeleDongle device when - the list of devices is presented and AltosUI will use packet - command mode. - - - - - Save Flight Data—Recover flight data from the rocket without - opening it up. - - - - - Configure TeleMetrum—Reset apogee delays or main deploy - heights to respond to changing launch conditions. You can - also 'reboot' the TeleMetrum device. Use this to remotely - enable the flight computer by turning TeleMetrum on while - horizontal, then once the airframe is oriented for launch, - you can reboot TeleMetrum 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 airframe. Simply assembly the - rocket as if for flight with the apogee and main charges - loaded, then remotely command TeleMetrum to fire the - igniters. - - - - - Packet command mode uses the same RF channels as telemetry - mode. Configure the desired TeleDongle channel using the - flight monitor window channel selector and then close that - window before performing the desired operation. - - - TeleMetrum only enables packet command mode in 'idle' mode, so - make sure you have TeleMetrum lying horizontally when you turn - it on. Otherwise, TeleMetrum will start in 'pad' mode ready for - flight and will not be listening for command packets from TeleDongle. - - - When packet command mode is enabled, you can monitor the link - by watching the lights on the TeleDongle and TeleMetrum - devices. The red LED will flash each time TeleDongle or - TeleMetrum transmit a packet while the green LED will light up - on TeleDongle while it is waiting to receive a packet from - TeleMetrum. - - - - Monitor Flight - Receive, Record and Display Telemetry Data - - Selecting this item brings up a dialog box listing all of the - connected TeleDongle devices. When you choose one of these, - AltosUI will create a window to display telemetry data as - received by the selected TeleDongle device. - - - All telemetry data received are automatically recorded in - suitable log files. The name of the files includes the current - date and rocket serial and flight numbers. - - - The radio channel being monitored by the TeleDongle device is - displayed at the top of the window. You can configure the - channel by clicking on the channel box and selecting the desired - channel. AltosUI remembers the last channel selected for each - TeleDongle and selects that automatically the next time you use - that device. - - - Below the TeleDongle channel selector, the window contains a few - significant pieces of information about the TeleMetrum providing - the telemetry data stream: - - - - The TeleMetrum callsign - - - The TeleMetrum serial number - - - The flight number. Each TeleMetrum 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. The - radio inside TeleDongle operates down to about -99dBm; - weaker signals may not be receiveable. The packet link uses - error correction and detection techniques which prevent - incorrect data from being reported. - - - - - 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 contains all of - the telemetry data in one place. - -
- Launch Pad - - The 'Launch Pad' tab shows information used to decide when the - rocket is ready for flight. The first elements include red/green - indicators, if any of these is red, you'll want to evaluate - whether the rocket is ready to launch: - - - - Battery Voltage. This indicates whether the LiPo battery - powering the TeleMetrum has sufficient charge to last for - the duration of the flight. A value of more than - 3.7V 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 LiPo 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 LiPo battery voltage. A value greater than 3.2V is - required for a 'GO' status. - - - - - GPS Locked. 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. 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 - - 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 and acceleration are shown along with the - maxium 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 - - 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 generally range from 15-30m/s. - - - To help locate the rocket in the sky, use 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. 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. - -
-
- Landed - - Once the rocket is on the ground, attention switches to - recovery. While the radio signal is generally 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 you'll want to walk or hitch a ride. Take the reported - latitude and longitude and enter them into your handheld GPS - unit and have that compute a track to the landing location. - - - Finally, the maximum height, speed and acceleration reported - during the flight are displayed for your admiring observers. - -
- - - Save Flight Data - - TeleMetrum records flight data to its internal flash memory. - This 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 TeleMetrum and TeleDongle devices. If you select a - TeleMetrum device, the flight data will be downloaded from that - device directly. If you select a TeleDongle device, flight data - will be downloaded from a TeleMetrum device connected via the - packet command link to the specified TeleDongle. See the chapter - on Packet Command Mode for more information about this. - - - The filename for the data is computed automatically from the recorded - flight date, TeleMetrum 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 TeleMetrum - 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 - - This section should be written by AJ. - - - - 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 (either .eeprom or .telem will do, remember that - .eeprom files contain higher resolution and more continuous - data). 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 TeleMetrum device, then - there is a single header line which labels all of the - fields. All of these lines start with a '#' character which - most 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 - Googleearth to provide an overlay within that - application. With this, you can use Googleearth to see the - whole flight path in 3D. - -
- - - Configure TeleMetrum - - Select this button and then select either a TeleMetrum or - TeleDongle Device from the list provided. Selecting a TeleDongle - device will use Packet Comamnd Mode to configure remote - TeleMetrum device. Learn how to use this in the Packet Command - Mode chapter. - - - The first few lines of the dialog provide information about the - connected TeleMetrum 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 TeleMetrum - 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 TeleMetrum device. Use this to - switch from idle to pad mode by rebooting once the rocket is - oriented for flight. - - - - - 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 overpressurize the apogee deployment - bay and cause a structural failure of the airframe. The Apogee - Delay parameter tells the flight computer to fire the apogee - charge a certain number of seconds after apogee has been - detected. - -
-
- Radio Channel - - This configures which of the 10 radio channels to use for both - telemetry and packet command mode. Note that if you set this - value via packet command mode, you will have to reconfigure - the TeleDongle channel before you will be able to use packet - command mode again. - -
-
- Radio Calibration - - The radios in every Altus Metrum device are calibrated at the - factory to ensure that they transmit and receive on the - specified frequency for each channel. You can adjust that - calibration by changing this value. To change the TeleDongle's - calibration, you must reprogram the unit completely. - -
-
- Callsign - - This sets the callsign included in each telemetry packet. Set this - as needed to conform to your local radio regulations. - -
- - - Configure AltosUI - - This button presents a dialog so that you can configure the AltosUI global settings. - -
- Voice Settings - - AltosUI provides voice annoucements 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 systme 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 used in command packet mode and is transmitted - in each packet sent from TeleDongle and received from - TeleMetrum. It is not used in telemetry mode as that transmits - packets only from TeleMetrum to TeleDongle. Configure this - with the AltosUI operators callsign as needed to comply with - your local radio regulations. - -
- - - Flash Image - - This reprograms any Altus Metrum device by using a TeleMetrum or - TeleDongle as a programming dongle. Please read the directions - for connecting the programming cable in the main TeleMetrum - manual before reading these instructions. - - - Once you have the programmer and target devices connected, - push the 'Flash Image' button. That will present a dialog box - listing all of the connected devices. Carefully select the - programmer device, not the device to be programmed. - - - Next, select the image to flash to the device. These are named - with the product name and firmware version. The file selector - will start in the directory containing the firmware included - with the AltosUI package. Navigate to the directory containing - the desired firmware if it isn't there. - - - Next, a small dialog containing the device serial number and - RF calibration values should appear. If these values are - incorrect (possibly due to a corrupted image in the device), - enter the correct values here. - - - Finally, a dialog containing a progress bar will follow the - programming process. - - - When programming is complete, the target device will - reboot. Note that if the target device is connected via USB, you - will have to unplug it and then plug it back in for the USB - connection to reset so that you can communicate with the device - again. - - - - Fire Igniter - - - - \ No newline at end of file diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index b7963aec..6be23e7f 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -27,6 +27,11 @@ + + 0.3 + 23 November 2010 + New section on AltosUI mostly by Keith + 0.2 18 July 2010 @@ -118,12 +123,12 @@ When you have successfully installed the software suite (either from compiled source code or as the pre-built Debian package) you will have 10 or so executable programs all of which have names beginning - with 'ao-'. + with 'ao-'. ('ao-view' is the lone GUI-based program, the rest are command-line oriented.) You will also have man pages, that give you basic info - on each program. + on each program. You will also get this documentation in two file types in the doc/ -directory, telemetrum-doc.pdf and telemetrum-doc.html. + directory, telemetrum-doc.pdf and telemetrum-doc.html. Finally you will have a couple control files that allow the ao-view GUI-based program to appear in your menu of programs (under the 'Internet' category). @@ -133,7 +138,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. with using USB ports. The first thing you should try after getting both units plugged into to your computer's usb port(s) is to run 'ao-list' from a terminal-window to see what port-device-name each - device has been assigned by the operating system. + device has been assigned by the operating system. You will need this information to access the devices via their respective on-board firmware and data using other command line programs in the AltOS software suite. @@ -158,7 +163,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. Both TeleMetrum and TeleDongle share the concept of a two level command set in their firmware. - The first layer has several single letter commands. Once + The first layer has several single letter commands. Once you are using 'cu' (or 'cutecom') sending (typing) a '?' returns a full list of these commands. The second level are configuration sub-commands accessed @@ -177,7 +182,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. use 'N0CALL' which is cute, but not exactly legal! Spend a few minutes getting comfortable with the units, their firmware, and 'cu' (or possibly 'cutecom'). - For instance, try to send + For instance, try to send (type) a 'c r 2' and verify the channel change by sending a 'c s'. Verify you can connect and disconnect from the units while in your terminal program by sending the escape-disconnect mentioned above. @@ -250,7 +255,7 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. As for ao-view.... some things are in the menu but don't do anything very useful. The developers have stopped working on ao-view to focus on a new, cross-platform ground station program. So ao-view may or - may not be updated in the future. Mostly you just use + may not be updated in the future. Mostly you just use the Log and Device menus. It has a wonderful display of the incoming flight data and I am sure you will enjoy what it has to say to you once you enable the voice output! @@ -299,611 +304,1171 @@ directory, telemetrum-doc.pdf and telemetrum-doc.html. Live telemetry is written to file(s) whenever 'ao-view' is connected to the TeleDongle. The file area defaults to ~/altos but is easily changed using the menus in 'ao-view'. The files that - are written end in '.telem'. The after-flight + are written end in '.telem'. The after-flight data-dumped files will end in .eeprom and represent continuous data unlike the rf-linked .telem files that are subject to the turnarounds/data-packaging time slots in the half-duplex rf data path. See the above instructions on what and how to save the eeprom stored data after physically retrieving your TeleMetrum. Make sure to save - the on-board data after each flight, as the current firmware will - over-write any previous flight data during a new flight. + the on-board data after each flight, as the current firmware will + over-write any previous flight data during a new flight. + + + + + Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + + + + Handling Precautions + + TeleMetrum is a sophisticated electronic device. When handled gently and + properly installed in an airframe, it will deliver impressive results. + However, like all electronic devices, there are some precautions you + must take. + + + The Lithium Polymer rechargeable batteries used with TeleMetrum have an + extraordinary power density. This is great because we can fly with + much less battery mass than if we used alkaline batteries or previous + generation rechargeable batteries... but if they are punctured + or their leads are allowed to short, they can and will release their + energy very rapidly! + Thus we recommend that you take some care when handling our batteries + and consider giving them some extra protection in your airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + + + The TeleMetrum barometric sensor is sensitive to sunlight. In normal + mounting situations, it and all of the other surface mount components + are "down" towards whatever the underlying mounting surface is, so + this is not normally a problem. Please consider this, though, when + designing an installation, for example, in a 29mm airframe with a + see-through plastic payload bay. + + + The TeleMetrum barometric sensor sampling port must be able to + "breathe", + both by not being covered by foam or tape or other materials that might + directly block the hole on the top of the sensor, but also by having a + suitable static vent to outside air. + + + As with all other rocketry electronics, TeleMetrum must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. + + + + Hardware Overview + + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. + + + A typical TeleMetrum installation using the on-board GPS antenna and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. + + + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, you can do so by adding + a second 2mm connector to position B2 on the board and cutting the + thick pcb trace connecting the LiPo battery to the pyro circuit between + the two silk screen marks on the surface mount side of the board shown + here [insert photo] + + + We offer two choices of pyro and power switch connector, or you can + choose neither and solder wires directly to the board. All three choices + are reasonable depending on the constraints of your airframe. Our + favorite option when there is sufficient room above the board is to use + the Tyco pin header with polarization and locking. If you choose this + option, you crimp individual wires for the power switch and e-matches + into a mating connector, and installing and removing the TeleMetrum + board from an airframe is as easy as plugging or unplugging two + connectors. If the airframe will not support this much height or if + you want to be able to directly attach e-match leads to the board, we + offer a screw terminal block. This is very similar to what most other + altimeter vendors provide and so may be the most familiar option. + You'll need a very small straight blade screwdriver to connect + and disconnect the board in this case, such as you might find in a + jeweler's screwdriver set. Finally, you can forego both options and + solder wires directly to the board, which may be the best choice for + minimum diameter and/or minimum mass designs. + + + For most airframes, the integrated GPS antenna and wire UHF antenna are + a great combination. However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to use + off-board external antennas instead. In this case, you can order + TeleMetrum with an SMA connector for the UHF antenna connection, and + you can unplug the integrated GPS antenna and select an appropriate + off-board GPS antenna with cable terminating in a U.FL connector. + + + + System Operation +
+ Firmware Modes + + The AltOS firmware build for TeleMetrum has two fundamental modes, + "idle" and "flight". Which of these modes the firmware operates in + is determined by the orientation of the rocket (well, actually the + board, of course...) at the time power is switched on. If the rocket + is "nose up", then TeleMetrum assumes it's on a rail or rod being + prepared for launch, so the firmware chooses flight mode. However, + if the rocket is more or less horizontal, the firmware instead enters + idle mode. + + + At power on, you will hear three beeps + ("S" in Morse code for startup) and then a pause while + TeleMetrum completes initialization and self tests, and decides which + mode to enter next. + + + In flight or "pad" mode, TeleMetrum turns on the GPS system, + engages the flight + state machine, goes into transmit-only mode on the RF link sending + telemetry, and waits for launch to be detected. Flight mode is + indicated by an audible "di-dah-dah-dit" ("P" for pad) on the + beeper, followed by + beeps indicating the state of the pyrotechnic igniter continuity. + One beep indicates apogee continuity, two beeps indicate + main continuity, three beeps indicate both apogee and main continuity, + and one longer "brap" sound indicates no continuity. For a dual + deploy flight, make sure you're getting three beeps before launching! + For apogee-only or motor eject flights, do what makes sense. + + + In idle mode, you will hear an audible "di-dit" ("I" for idle), and + the normal flight state machine is disengaged, thus + no ejection charges will fire. TeleMetrum also listens on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can be issued to a TeleMetrum in idle mode over either + USB or the RF link equivalently. + Idle mode is useful for configuring TeleMetrum, for extracting data + from the on-board storage chip after flight, and for ground testing + pyro charges. + + + One "neat trick" of particular value when TeleMetrum is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + TeleMetrum to reboot, realize it's now nose-up, and thus choose + flight mode. This is much safer than standing on the top step of a + rickety step-ladder or hanging off the side of a launch tower with + a screw-driver trying to turn on your avionics before installing + igniters! + +
+
+ GPS + + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! + + + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. + +
+
+ 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 RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum-equipped rocket without as + much work as you may be accustomed to with other systems. It can + even be fun! + + + Just prep the rocket for flight, then power up TeleMetrum while the + airframe is horizontal. This will cause the firmware to go into + "idle" mode, in which the normal flight state machine is disabled and + charges will not fire without manual command. Then, establish an + RF packet connection from a TeleDongle-equipped computer using the + P command from a safe distance. You can now command TeleMetrum to + fire the apogee or main charges to complete your testing. + + + 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'. + +
+
+ Radio Link + + The chip our boards are based on incorporates an RF transceiver, but + it's not a full duplex system... each end can only be transmitting or + receiving at any given moment. So we had to decide how to manage the + link. + + + By design, TeleMetrum firmware listens for an RF connection when + it's in "idle mode" (turned on while the rocket is horizontal), which + allows us to use the RF link to configure the rocket, do things like + ejection tests, and extract data after a flight without having to + crack open the airframe. However, when the board is in "flight + mode" (turned on when the rocket is vertical) the TeleMetrum only + transmits and doesn't listen at all. That's because we want to put + ultimate priority on event detection and getting telemetry out of + the rocket and out over + the RF link in case the rocket crashes and we aren't able to extract + data later... + + + We don't use a 'normal packet radio' mode because they're just too + inefficient. The GFSK modulation we use is just FSK with the + baseband pulses passed through a + Gaussian filter before they go into the modulator to limit the + transmitted bandwidth. When combined with the hardware forward error + correction support in the cc1111 chip, this allows us to have a very + robust 38.4 kilobit data link with only 10 milliwatts of transmit power, + a whip antenna in the rocket, and a hand-held Yagi on the ground. We've + had flights to above 21k feet AGL with good reception, and calculations + suggest we should be good to well over 40k feet AGL with a 5-element yagi on + the ground. We hope to fly boards to higher altitudes soon, and would + of course appreciate customer feedback on performance in higher + altitude flights! + +
+
+ Configurable Parameters + + Configuring a TeleMetrum board for flight is very simple. Because we + have both acceleration and pressure sensors, there is no need to set + a "mach delay", for example. The few configurable parameters can all + be set using a simple terminal program over the USB port or RF link + via TeleDongle. + +
+ Radio Channel + + Our firmware supports 10 channels. The default channel 0 corresponds + to a center frequency of 434.550 Mhz, and channels are spaced every + 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. + At any given launch, we highly recommend coordinating who will use + each channel and when to avoid interference. And of course, both + TeleMetrum and TeleDongle must be configured to the same channel to + successfully communicate with each other. + + + To set the radio channel, use the 'c r' command, like 'c r 3' to set + channel 3. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip on + your TeleMetrum board if you want the change to stay in place across reboots. + +
+
+ Apogee Delay + + Apogee delay is the number of seconds after TeleMetrum detects flight + apogee that the drogue charge should be fired. In most cases, this + should be left at the default of 0. However, if you are flying + redundant electronics such as for an L3 certification, you may wish + to set one of your altimeters to a positive delay so that both + primary and backup pyrotechnic charges do not fire simultaneously. + + + To set the apogee delay, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + Please note that the TeleMetrum apogee detection algorithm always + fires a fraction of a second *after* apogee. If you are also flying + an altimeter like the PerfectFlite MAWD, which only supports selecting + 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 + seconds delay and set the TeleMetrum to fire your backup 2 or 3 + seconds later to avoid any chance of both charges firing + simultaneously. We've flown several airframes this way quite happily, + including Keith's successful L3 cert.
- - - Specifications +
+ Main Deployment Altitude + + By default, TeleMetrum will fire the main deployment charge at an + elevation of 250 meters (about 820 feet) above ground. We think this + is a good elevation for most airframes, but feel free to change this + to suit. In particular, if you are flying two altimeters, you may + wish to set the + deployment elevation for the backup altimeter to be something lower + than the primary so that both pyrotechnic charges don't fire + simultaneously. + + + To set the main deployment altitude, use the [FIXME] command. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+
+ Calibration + + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle. + +
+ Radio Frequency + + The radio frequency is synthesized from a clock based on the 48 Mhz + crystal on the board. The actual frequency of this oscillator must be + measured to generate a calibration constant. While our GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. + + + To calibrate the radio frequency, connect the UHF antenna port to a + frequency counter, set the board to channel 0, and use the 'C' + command to generate a CW carrier. Wait for the transmitter temperature + to stabilize and the frequency to settle down. + Then, divide 434.550 Mhz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Accelerometer + + The accelerometer we use has its own 5 volt power supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratiometric to + the ADC converter, and calibration is required. We also support the + use of any of several accelerometers from a Freescale family that + includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + + + To calibrate the acceleration sensor, use the 'c a 0' command. You + will be prompted to orient the board vertically with the UHF antenna + up and press a key, then to orient the board vertically with the + UHF antenna down and press a key. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + The +1g and -1g calibration points are included in each telemetry + frame and are part of the header extracted by ao-dumplog after flight. + Note that we always store and return raw ADC samples for each + sensor... nothing is permanently "lost" or "damaged" if the + calibration is poor. + +
+
+ + + + AltosUI + + The AltosUI program provides a graphical user interface for + interacting with the Altus Metrum product family, including + TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, + configure TeleMetrum and TeleDongle devices and many other + tasks. The primary interface window provides a selection of + buttons, one for each major activity in the system. This manual + is split into chapters, each of which documents one of the tasks + provided from the top-level toolbar. + +
+ Packet Command Mode + Controlling TeleMetrum Over The Radio Link + + One of the unique features of the Altos Metrum environment is + the ability to create a two way command link between TeleDongle + and TeleMetrum using the digital radio transceivers built into + each device. This allows you to interact with TeleMetrum from + afar, as if it were directly connected to the computer. + + + Any operation which can be performed with TeleMetrum + can either be done with TeleMetrum directly connected to + the computer via the USB cable, or through the packet + link. Simply select the appropriate TeleDongle device when + the list of devices is presented and AltosUI will use packet + command mode. + - Recording altimeter for model rocketry. + Save Flight Data—Recover flight data from the rocket without + opening it up. - Supports dual deployment (can fire 2 ejection charges). + Configure TeleMetrum—Reset apogee delays or main deploy + heights to respond to changing launch conditions. You can + also 'reboot' the TeleMetrum device. Use this to remotely + enable the flight computer by turning TeleMetrum on while + horizontal, then once the airframe is oriented for launch, + you can reboot TeleMetrum and have it restart in pad mode + without having to climb the scary ladder. - 70cm ham-band transceiver for telemetry downlink. + Fire Igniters—Test your deployment charges without snaking + wires out through holes in the airframe. Simply assembly the + rocket as if for flight with the apogee and main charges + loaded, then remotely command TeleMetrum to fire the + igniters. + + + Packet command mode uses the same RF channels as telemetry + mode. Configure the desired TeleDongle channel using the + flight monitor window channel selector and then close that + window before performing the desired operation. + + + TeleMetrum only enables packet command mode in 'idle' mode, so + make sure you have TeleMetrum lying horizontally when you turn + it on. Otherwise, TeleMetrum will start in 'pad' mode ready for + flight and will not be listening for command packets from TeleDongle. + + + When packet command mode is enabled, you can monitor the link + by watching the lights on the TeleDongle and TeleMetrum + devices. The red LED will flash each time TeleDongle or + TeleMetrum transmit a packet while the green LED will light up + on TeleDongle while it is waiting to receive a packet from + TeleMetrum. + +
+
+ Monitor Flight + Receive, Record and Display Telemetry Data + + Selecting this item brings up a dialog box listing all of the + connected TeleDongle devices. When you choose one of these, + AltosUI will create a window to display telemetry data as + received by the selected TeleDongle device. + + + All telemetry data received are automatically recorded in + suitable log files. The name of the files includes the current + date and rocket serial and flight numbers. + + + The radio channel being monitored by the TeleDongle device is + displayed at the top of the window. You can configure the + channel by clicking on the channel box and selecting the desired + channel. AltosUI remembers the last channel selected for each + TeleDongle and selects that automatically the next time you use + that device. + + + Below the TeleDongle channel selector, the window contains a few + significant pieces of information about the TeleMetrum providing + the telemetry data stream: + + - - Barometric pressure sensor good to 45k feet MSL. - + The TeleMetrum callsign - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. + The TeleMetrum serial number + + + The flight number. Each TeleMetrum remembers how many + times it has flown. - On-board, integrated GPS receiver with 5hz update rate capability. + The rocket flight state. Each flight passes through several + states including Pad, Boost, Fast, Coast, Drogue, Main and + Landed. - On-board 1 megabyte non-volatile memory for flight data storage. + 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 -99dBm; + weaker signals may not be receiveable. The packet link uses + error correction and detection techniques which prevent + incorrect data from being reported. + + + 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 contains all of + the telemetry data in one place. + +
+ Launch Pad + + The 'Launch Pad' tab shows information used to decide when the + rocket is ready for flight. The first elements include red/green + indicators, if any of these is red, you'll want to evaluate + whether the rocket is ready to launch: + + + + Battery Voltage. This indicates whether the LiPo battery + powering the TeleMetrum has sufficient charge to last for + the duration of the flight. A value of more than + 3.7V 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 LiPo 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 LiPo battery voltage. A value greater than 3.2V is + required for a 'GO' status. + + + + + GPS Locked. 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. 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 + + 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 and acceleration are shown along with the + maxium 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 + + 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 generally range from 15-30m/s. + + + To help locate the rocket in the sky, use 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. 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. + +
+
+ Landed + + Once the rocket is on the ground, attention switches to + recovery. While the radio signal is generally 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 you'll want to walk or hitch a ride. Take the reported + latitude and longitude and enter them into your handheld GPS + unit and have that compute a track to the landing location. + + + Finally, the maximum height, speed and acceleration reported + during the flight are displayed for your admiring observers. + +
+
+
+ Save Flight Data + + TeleMetrum records flight data to its internal flash memory. + This 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 TeleMetrum and TeleDongle devices. If you select a + TeleMetrum device, the flight data will be downloaded from that + device directly. If you select a TeleDongle device, flight data + will be downloaded from a TeleMetrum device connected via the + packet command link to the specified TeleDongle. See the chapter + on Packet Command Mode for more information about this. + + + The filename for the data is computed automatically from the recorded + flight date, TeleMetrum 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 TeleMetrum + 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 + + This section should be written by AJ. + +
+
+ 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 (either .eeprom or .telem will do, remember that + .eeprom files contain higher resolution and more continuous + data). 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 TeleMetrum device, then + there is a single header line which labels all of the + fields. All of these lines start with a '#' character which + most 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 + Googleearth to provide an overlay within that + application. With this, you can use Googleearth to see the + whole flight path in 3D. + +
+
+
+ Configure TeleMetrum + + Select this button and then select either a TeleMetrum or + TeleDongle Device from the list provided. Selecting a TeleDongle + device will use Packet Comamnd Mode to configure remote + TeleMetrum device. Learn how to use this in the Packet Command + Mode chapter. + + + The first few lines of the dialog provide information about the + connected TeleMetrum 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: + + - USB interface for battery charging, configuration, and data recovery. + Save. This writes any changes to the TeleMetrum + configuration parameter block in flash memory. If you don't + press this button, any changes you make will be lost. - Fully integrated support for LiPo rechargeable batteries. + Reset. This resets the dialog to the most recently saved values, + erasing any changes you have made. - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. + Reboot. This reboots the TeleMetrum device. Use this to + switch from idle to pad mode by rebooting once the rocket is + oriented for flight. - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + Close. This closes the dialog. Any unsaved changes will be + lost. - - - Handling Precautions - - TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver impressive results. - However, like all electronic devices, there are some precautions you - must take. - - - The Lithium Polymer rechargeable batteries used with TeleMetrum have an - extraordinary power density. This is great because we can fly with - much less battery mass than if we used alkaline batteries or previous - generation rechargeable batteries... but if they are punctured - or their leads are allowed to short, they can and will release their - energy very rapidly! - Thus we recommend that you take some care when handling our batteries - and consider giving them some extra protection in your airframe. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. - - - The TeleMetrum barometric sensor is sensitive to sunlight. In normal - mounting situations, it and all of the other surface mount components - are "down" towards whatever the underlying mounting surface is, so - this is not normally a problem. Please consider this, though, when - designing an installation, for example, in a 29mm airframe with a - see-through plastic payload bay. - - - The TeleMetrum barometric sensor sampling port must be able to - "breathe", - both by not being covered by foam or tape or other materials that might - directly block the hole on the top of the sensor, but also by having a - suitable static vent to outside air. - - - As with all other rocketry electronics, TeleMetrum must be protected - from exposure to corrosive motor exhaust and ejection charge gasses. - - - - Hardware Overview - - TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMetrum should have at least 10 inches of interior length. - - - A typical TeleMetrum installation using the on-board GPS antenna and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. - - - By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard - low-current e-matches like the J-Tek from MJG Technologies, and with - Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, you can do so by adding - a second 2mm connector to position B2 on the board and cutting the - thick pcb trace connecting the LiPo battery to the pyro circuit between - the two silk screen marks on the surface mount side of the board shown - here [insert photo] - - - We offer two choices of pyro and power switch connector, or you can - choose neither and solder wires directly to the board. All three choices - are reasonable depending on the constraints of your airframe. Our - favorite option when there is sufficient room above the board is to use - the Tyco pin header with polarization and locking. If you choose this - option, you crimp individual wires for the power switch and e-matches - into a mating connector, and installing and removing the TeleMetrum - board from an airframe is as easy as plugging or unplugging two - connectors. If the airframe will not support this much height or if - you want to be able to directly attach e-match leads to the board, we - offer a screw terminal block. This is very similar to what most other - altimeter vendors provide and so may be the most familiar option. - You'll need a very small straight blade screwdriver to connect - and disconnect the board in this case, such as you might find in a - jeweler's screwdriver set. Finally, you can forego both options and - solder wires directly to the board, which may be the best choice for - minimum diameter and/or minimum mass designs. - - - For most airframes, the integrated GPS antenna and wire UHF antenna are - a great combination. However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to use - off-board external antennas instead. In this case, you can order - TeleMetrum with an SMA connector for the UHF antenna connection, and - you can unplug the integrated GPS antenna and select an appropriate - off-board GPS antenna with cable terminating in a U.FL connector. - - - - Operation + + The rest of the dialog contains the parameters to be configured. +
- Firmware Modes - - The AltOS firmware build for TeleMetrum has two fundamental modes, - "idle" and "flight". Which of these modes the firmware operates in - is determined by the orientation of the rocket (well, actually the - board, of course...) at the time power is switched on. If the rocket - is "nose up", then TeleMetrum assumes it's on a rail or rod being - prepared for launch, so the firmware chooses flight mode. However, - if the rocket is more or less horizontal, the firmware instead enters - idle mode. - - - At power on, you will hear three beeps - ("S" in Morse code for startup) and then a pause while - TeleMetrum completes initialization and self tests, and decides which - mode to enter next. - - - In flight or "pad" mode, TeleMetrum turns on the GPS system, - engages the flight - state machine, goes into transmit-only mode on the RF link sending - telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" ("P" for pad) on the - beeper, followed by - beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates apogee continuity, two beeps indicate - main continuity, three beeps indicate both apogee and main continuity, - and one longer "brap" sound indicates no continuity. For a dual - deploy flight, make sure you're getting three beeps before launching! - For apogee-only or motor eject flights, do what makes sense. - - - In idle mode, you will hear an audible "di-dit" ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. TeleMetrum also listens on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. - Idle mode is useful for configuring TeleMetrum, for extracting data - from the on-board storage chip after flight, and for ground testing - pyro charges. - - - One "neat trick" of particular value when TeleMetrum is used with very - large airframes, is that you can power the board up while the rocket - is horizontal, such that it comes up in idle mode. Then you can - raise the airframe to launch position, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will cause - TeleMetrum to reboot, realize it's now nose-up, and thus choose - flight mode. This is much safer than standing on the top step of a - rickety step-ladder or hanging off the side of a launch tower with - a screw-driver trying to turn on your avionics before installing - igniters! + 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.
- GPS - - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! - - - TeleMetrum provides backup power to the GPS chip any time a LiPo - battery is connected. This allows the receiver to "warm start" on - the launch rail much faster than if every power-on were a "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe - preparation will be sufficient to allow the GPS receiver to cold - start and acquire lock. Then the board can be powered down during - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. + 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 overpressurize the apogee deployment + bay and cause a structural failure of the airframe. The Apogee + Delay parameter tells the flight computer to fire the apogee + charge a certain number of seconds after apogee has been + detected.
- Ground Testing + Radio Channel - An important aspect of preparing a rocket using electronic deployment - for flight is ground testing the recovery system. Thanks - to the bi-directional RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum-equipped rocket without as - much work as you may be accustomed to with other systems. It can - even be fun! + This configures which of the 10 radio channels to use for both + telemetry and packet command mode. Note that if you set this + value via packet command mode, you will have to reconfigure + the TeleDongle channel before you will be able to use packet + command mode again. +
+
+ Radio Calibration - Just prep the rocket for flight, then power up TeleMetrum while the - airframe is horizontal. This will cause the firmware to go into - "idle" mode, in which the normal flight state machine is disabled and - charges will not fire without manual command. Then, establish an - RF packet connection from a TeleDongle-equipped computer using the - P command from a safe distance. You can now command TeleMetrum to - fire the apogee or main charges to complete your testing. + The radios in every Altus Metrum device are calibrated at the + factory to ensure that they transmit and receive on the + specified frequency for each channel. You can adjust that + calibration by changing this value. To change the TeleDongle's + calibration, you must reprogram the unit completely. +
+
+ Callsign - 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'. + This sets the callsign included in each telemetry packet. Set this + as needed to conform to your local radio regulations.
+
+
+ Configure AltosUI + + This button presents a dialog so that you can configure the AltosUI global settings. +
- Radio Link - - The chip our boards are based on incorporates an RF transceiver, but - it's not a full duplex system... each end can only be transmitting or - receiving at any given moment. So we had to decide how to manage the - link. - - - By design, TeleMetrum firmware listens for an RF connection when - it's in "idle mode" (turned on while the rocket is horizontal), which - allows us to use the RF link to configure the rocket, do things like - ejection tests, and extract data after a flight without having to - crack open the airframe. However, when the board is in "flight - mode" (turned on when the rocket is vertical) the TeleMetrum only - transmits and doesn't listen at all. That's because we want to put - ultimate priority on event detection and getting telemetry out of - the rocket and out over - the RF link in case the rocket crashes and we aren't able to extract - data later... - - - We don't use a 'normal packet radio' mode because they're just too - inefficient. The GFSK modulation we use is just FSK with the - baseband pulses passed through a - Gaussian filter before they go into the modulator to limit the - transmitted bandwidth. When combined with the hardware forward error - correction support in the cc1111 chip, this allows us to have a very - robust 38.4 kilobit data link with only 10 milliwatts of transmit power, - a whip antenna in the rocket, and a hand-held Yagi on the ground. We've - had flights to above 21k feet AGL with good reception, and calculations - suggest we should be good to well over 40k feet AGL with a 5-element yagi on - the ground. We hope to fly boards to higher altitudes soon, and would - of course appreciate customer feedback on performance in higher - altitude flights! + Voice Settings + + AltosUI provides voice annoucements 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 systme is working and the volume settings + are reasonable + + +
- Configurable Parameters + Log Directory - Configuring a TeleMetrum board for flight is very simple. Because we - have both acceleration and pressure sensors, there is no need to set - a "mach delay", for example. The few configurable parameters can all - be set using a simple terminal program over the USB port or RF link - via TeleDongle. + 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. -
- Radio Channel - - Our firmware supports 10 channels. The default channel 0 corresponds - to a center frequency of 434.550 Mhz, and channels are spaced every - 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. - At any given launch, we highly recommend coordinating who will use - each channel and when to avoid interference. And of course, both - TeleMetrum and TeleDongle must be configured to the same channel to - successfully communicate with each other. - - - To set the radio channel, use the 'c r' command, like 'c r 3' to set - channel 3. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip on - your TeleMetrum board if you want the change to stay in place across reboots. - -
-
- Apogee Delay - - Apogee delay is the number of seconds after TeleMetrum detects flight - apogee that the drogue charge should be fired. In most cases, this - should be left at the default of 0. However, if you are flying - redundant electronics such as for an L3 certification, you may wish - to set one of your altimeters to a positive delay so that both - primary and backup pyrotechnic charges do not fire simultaneously. - - - To set the apogee delay, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - Please note that the TeleMetrum apogee detection algorithm always - fires a fraction of a second *after* apogee. If you are also flying - an altimeter like the PerfectFlite MAWD, which only supports selecting - 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 - seconds delay and set the TeleMetrum to fire your backup 2 or 3 - seconds later to avoid any chance of both charges firing - simultaneously. We've flown several airframes this way quite happily, - including Keith's successful L3 cert. - -
-
- Main Deployment Altitude - - By default, TeleMetrum will fire the main deployment charge at an - elevation of 250 meters (about 820 feet) above ground. We think this - is a good elevation for most airframes, but feel free to change this - to suit. In particular, if you are flying two altimeters, you may - wish to set the - deployment elevation for the backup altimeter to be something lower - than the primary so that both pyrotechnic charges don't fire - simultaneously. - - - To set the main deployment altitude, use the [FIXME] command. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
- Calibration + Callsign - There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle. + This value is used in command packet mode and is transmitted + in each packet sent from TeleDongle and received from + TeleMetrum. It is not used in telemetry mode as that transmits + packets only from TeleMetrum to TeleDongle. Configure this + with the AltosUI operators callsign as needed to comply with + your local radio regulations. -
- Radio Frequency - - The radio frequency is synthesized from a clock based on the 48 Mhz - crystal on the board. The actual frequency of this oscillator must be - measured to generate a calibration constant. While our GFSK modulation - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - - - To calibrate the radio frequency, connect the UHF antenna port to a - frequency counter, set the board to channel 0, and use the 'C' - command to generate a CW carrier. Wait for the transmitter temperature - to stabilize and the frequency to settle down. - Then, divide 434.550 Mhz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
-
- Accelerometer - - The accelerometer we use has its own 5 volt power supply and - the output must be passed through a resistive voltage divider to match - the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratiometric to - the ADC converter, and calibration is required. We also support the - use of any of several accelerometers from a Freescale family that - includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, - a simple 2-point calibration yields acceptable results capturing both - the different sensitivities and ranges of the different accelerometer - parts and any variation in power supply voltages or resistor values - in the divider network. - - - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - The +1g and -1g calibration points are included in each telemetry - frame and are part of the header extracted by ao-dumplog after flight. - Note that we always store and return raw ADC samples for each - sensor... nothing is permanently "lost" or "damaged" if the - calibration is poor. - -
- - - Using Altus Metrum Products +
+
+ Flash Image + + This reprograms any Altus Metrum device by using a TeleMetrum or + TeleDongle as a programming dongle. Please read the directions + for connecting the programming cable in the main TeleMetrum + manual before reading these instructions. + + + Once you have the programmer and target devices connected, + push the 'Flash Image' button. That will present a dialog box + listing all of the connected devices. Carefully select the + programmer device, not the device to be programmed. + + + Next, select the image to flash to the device. These are named + with the product name and firmware version. The file selector + will start in the directory containing the firmware included + with the AltosUI package. Navigate to the directory containing + the desired firmware if it isn't there. + + + Next, a small dialog containing the device serial number and + RF calibration values should appear. If these values are + incorrect (possibly due to a corrupted image in the device), + enter the correct values here. + + + Finally, a dialog containing a progress bar will follow the + programming process. + + + When programming is complete, the target device will + reboot. Note that if the target device is connected via USB, you + will have to unplug it and then plug it back in for the USB + connection to reset so that you can communicate with the device + again. + +
+
+ Fire Igniter + + +
+ + + Using Altus Metrum Products +
+ Being Legal + + First off, in the US, you need an [amateur radio license](../Radio) or + other authorization to legally operate the radio transmitters that are part + of our products. +
- Being Legal + In the Rocket - First off, in the US, you need an [amateur radio license](../Radio) or - other authorization to legally operate the radio transmitters that are part - of our products. + In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and + a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + + + By default, we ship TeleMetrum with a simple wire antenna. If your + electronics bay or the airframe it resides within is made of carbon fiber, + which is opaque to RF signals, you may choose to have an SMA connector + installed so that you can run a coaxial cable to an antenna mounted + elsewhere in the rocket. -
- In the Rocket - - In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and - a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. - - - By default, we ship TeleMetrum with a simple wire antenna. If your - electronics bay or the airframe it resides within is made of carbon fiber, - which is opaque to RF signals, you may choose to have an SMA connector - installed so that you can run a coaxial cable to an antenna mounted - elsewhere in the rocket. - -
-
- On the Ground - - To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our [TeleDongle](../TeleDongle) units. The - TeleDongle in turn plugs directly into the USB port on a notebook - computer. Because TeleDongle looks like a simple serial port, your computer - does not require special device drivers... just plug it in. - - - Right now, all of our application software is written for Linux. However, - because we understand that many people run Windows or MacOS, we are working - on a new ground station program written in Java that should work on all - operating systems. - - - After the flight, you can use the RF link to extract the more detailed data - logged in the rocket, or you can use a mini USB cable to plug into the - TeleMetrum board directly. Pulling out the data without having to open up - the rocket is pretty cool! A USB cable is also how you charge the LiPo - battery, so you'll want one of those anyway... the same cable used by lots - of digital cameras and other modern electronic stuff will work fine. - - - If your rocket lands out of sight, you may enjoy having a hand-held GPS - receiver, so that you can put in a waypoint for the last reported rocket - position before touch-down. This makes looking for your rocket a lot like - Geo-Cacheing... just go to the waypoint and look around starting from there. - - - You may also enjoy having a ham radio "HT" that covers the 70cm band... you - can use that with your antenna to direction-find the rocket on the ground - the same way you can use a Walston or Beeline tracker. This can be handy - if the rocket is hiding in sage brush or a tree, or if the last GPS position - doesn't get you close enough because the rocket dropped into a canyon, or - the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the Yaesu VX-7R at launches. - - - So, to recap, on the ground the hardware you'll need includes: - - - an antenna and feedline - - - a TeleDongle - - - a notebook computer - - - optionally, a handheld 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 - - Arrow Antennas. - - The 440-3 and 440-5 are both good choices for finding a - TeleMetrum-equipped rocket when used with a suitable 70cm HT. - -
-
- Data Analysis - - Our software makes it easy to log the data from each flight, both the - telemetry received over the RF link during the flight itself, and the more - complete data log recorded in the DataFlash memory on the TeleMetrum - board. Once this data is on your computer, our postflight tools make it - easy to quickly get to the numbers everyone wants, like apogee altitude, - max acceleration, and max velocity. You can also generate and view a - standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a data file - useable with Google Maps and Google Earth for visualizing the flight path - in two or three dimensions! - - - 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 - - In the future, we intend to offer "companion boards" for the rocket that will - plug in to TeleMetrum to collect additional data, provide more pyro channels, - and so forth. A reference design for a companion board will be documented - soon, and will be compatible with open source Arduino programming tools. - - - We are also working on the design of a hand-held ground terminal that will - allow monitoring the rocket's status, collecting data during flight, and - logging data after flight without the need for a notebook computer on the - flight line. Particularly since it is so difficult to read most notebook - screens in direct sunlight, we think this will be a great thing to have. - - - 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... - -
- - How GPS Works - + On the Ground + + To receive the data stream from the rocket, you need an antenna and short + feedline connected to one of our [TeleDongle](../TeleDongle) units. The + TeleDongle in turn plugs directly into the USB port on a notebook + computer. Because TeleDongle looks like a simple serial port, your computer + does not require special device drivers... just plug it in. + + + Right now, all of our application software is written for Linux. However, + because we understand that many people run Windows or MacOS, we are working + on a new ground station program written in Java that should work on all + operating systems. + - Placeholder. + After the flight, you can use the RF link to extract the more detailed data + logged in the rocket, or you can use a mini USB cable to plug into the + TeleMetrum board directly. Pulling out the data without having to open up + the rocket is pretty cool! A USB cable is also how you charge the LiPo + battery, so you'll want one of those anyway... the same cable used by lots + of digital cameras and other modern electronic stuff will work fine. + + + If your rocket lands out of sight, you may enjoy having a hand-held GPS + receiver, so that you can put in a waypoint for the last reported rocket + position before touch-down. This makes looking for your rocket a lot like + Geo-Cacheing... just go to the waypoint and look around starting from there. + + + You may also enjoy having a ham radio "HT" that covers the 70cm band... you + can use that with your antenna to direction-find the rocket on the ground + the same way you can use a Walston or Beeline tracker. This can be handy + if the rocket is hiding in sage brush or a tree, or if the last GPS position + doesn't get you close enough because the rocket dropped into a canyon, or + the wind is blowing it across a dry lake bed, or something like that... Keith + and Bdale both currently own and use the Yaesu VX-7R at launches. + + + So, to recap, on the ground the hardware you'll need includes: + + + an antenna and feedline + + + a TeleDongle + + + a notebook computer + + + optionally, a handheld 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 + + Arrow Antennas. + + The 440-3 and 440-5 are both good choices for finding a + TeleMetrum-equipped rocket when used with a suitable 70cm HT.
- - - +
+ Data Analysis + + Our software makes it easy to log the data from each flight, both the + telemetry received over the RF link during the flight itself, and the more + complete data log recorded in the DataFlash memory on the TeleMetrum + board. Once this data is on your computer, our postflight tools make it + easy to quickly get to the numbers everyone wants, like apogee altitude, + max acceleration, and max velocity. You can also generate and view a + standard set of plots showing the altitude, acceleration, and + velocity of the rocket during flight. And you can even export a data file + useable with Google Maps and Google Earth for visualizing the flight path + in two or three dimensions! + + + 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 + + In the future, we intend to offer "companion boards" for the rocket that will + plug in to TeleMetrum to collect additional data, provide more pyro channels, + and so forth. A reference design for a companion board will be documented + soon, and will be compatible with open source Arduino programming tools. + + + We are also working on the design of a hand-held ground terminal that will + allow monitoring the rocket's status, collecting data during flight, and + logging data after flight without the need for a notebook computer on the + flight line. Particularly since it is so difficult to read most notebook + screens in direct sunlight, we think this will be a great thing to have. + + + 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... + +
+
+
+ + How GPS Works + + + Placeholder. + +
+ + + -- cgit v1.2.3 From f1892b137b1de3d6caf0293bd40ed5c3e4948066 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 23 Nov 2010 18:58:11 -0700 Subject: lose the placeholder on how GPS works, as it's going to be a while before I tackle that, if ever. --- doc/telemetrum-doc.xsl | 8 -------- 1 file changed, 8 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index 6be23e7f..5c3e4c38 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -1461,14 +1461,6 @@ -
- - How GPS Works - - - Placeholder. - -
-- cgit v1.2.3 From 357826aa9c7b42c59f5d52b8eb016d73b6da0c7f Mon Sep 17 00:00:00 2001 From: Anthony Towns Date: Thu, 25 Nov 2010 09:07:34 +1000 Subject: docs: Document altosui "Graph Data" button --- doc/telemetrum-doc.xsl | 25 ++++++++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index 5c3e4c38..8f554d88 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -1087,7 +1087,30 @@
Graph Data - This section should be written by AJ. + 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 TeleMetrum + flash memory. + + + Once a flight record is selected, the acceleration (blue), + velocity (green) and altitude (red) of the flight are plotted and + displayed, measured in metric units. + + + 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 popup menu to be displayed, giving + you the option save or print the plot. + + + Note that telemetry files will generally produce poor graphs + due to the lower sampling rate and missed telemetry packets, + and will also often have significant amounts of data received + while the rocket was waiting on the pad. Use saved flight data + for graphing where possible.
-- cgit v1.2.3 From 915f881d61294dc6f5a6a3e8d75567e18492a631 Mon Sep 17 00:00:00 2001 From: Anthony Towns Date: Thu, 25 Nov 2010 09:52:30 +1000 Subject: doc: Document altosui "Site Map" tab --- doc/telemetrum-doc.xsl | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index 8f554d88..f7c8627c 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -1044,6 +1044,27 @@ during the flight are displayed for your admiring observers.
+
+ Site Map + + When the rocket gets 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 colour: white for pad, red for + boost, pink for fast, yellow for coast, light blue for drogue, + dark blue for main, and black for landed. + + + The map's scale is approximately 3m (10ft) per pixel. The map + can be dragged using the left mouse button. The map will attempt + to keep the rocket roughly centred while data is being received. + + + Images are fetched automatically via the Google Maps Static API, + and are cached for reuse. If map images cannot be downloaded, + the rocket's path will be traced on a dark grey background + instead. +
Save Flight Data -- cgit v1.2.3 From 7cd1c7765d137df711caeeb69abaaba1b36e0a65 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Nov 2010 20:53:36 -0700 Subject: fix missing section close in Site Map content --- doc/telemetrum-doc.xsl | 1 + 1 file changed, 1 insertion(+) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index f7c8627c..4e71464d 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -1065,6 +1065,7 @@ the rocket's path will be traced on a dark grey background instead. +
Save Flight Data -- cgit v1.2.3 From 8a68c1da253c0b29a7cb9c7540c20585ad6e3dec Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Nov 2010 21:21:53 -0700 Subject: tweak rev history --- doc/telemetrum-doc.xsl | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index 4e71464d..ef10ee40 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -29,8 +29,9 @@ 0.3 - 23 November 2010 - New section on AltosUI mostly by Keith + 24 November 2010 + New section on AltosUI mostly by Keith with contributions + from Anthony Towns. Many other updates. 0.2 -- cgit v1.2.3 From 4e47c44d335276cf0dc5ed3a0756e50c98c1b9b9 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Nov 2010 21:44:53 -0700 Subject: manually fold in documentation work from the master branch --- doc/telemetrum-doc.xsl | 256 +++++++++++++++++++++++++++++++++++++++---------- 1 file changed, 208 insertions(+), 48 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index ef10ee40..e75e10b5 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -28,20 +28,9 @@ - 0.3 + 0.8 24 November 2010 - New section on AltosUI mostly by Keith with contributions - from Anthony Towns. Many other updates. - - - 0.2 - 18 July 2010 - Significant update - - - 0.1 - 30 March 2010 - Initial content + Updated for software version 0.8 @@ -87,52 +76,40 @@ The first thing to do after you check the inventory of parts in your "starter kit" is to charge the battery by plugging it into the - corresponding socket of the TeleMetrum and then using the USB A to B + corresponding socket of the TeleMetrum and then using the USB A to +mini B cable to plug the Telemetrum into your computer's USB socket. The TeleMetrum circuitry will charge the battery whenever it is plugged - into the usb socket. The TeleMetrum's on-off switch does NOT control - the charging circuitry. When the GPS chip is initially searching for - satellites, the unit will pull more current than it can pull from the - usb port, so the battery must be plugged in order to get a good - satellite lock. Once GPS is locked the current consumption goes back + in, because the TeleMetrum's on-off switch does NOT control the + charging circuitry. When the GPS chip is initially searching for + satellites, TeleMetrum will consume more current than it can pull + 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. + battery is nearly full and the charger goes to trickle charge. It + can takeseveral hours to fully recharge a deeply discharged battery. - The other active device in the starter kit is the half-duplex TeleDongle - rf link. If you plug it in to your computer it should "just work", - showing up as a serial port device. If you are using Linux and are + 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. If you are using Linux and are having problems, try moving to a fresher kernel (2.6.33 or newer), as - there were some ugly USB serial driver bugs in earlier versions. - - - Next you should obtain and install the AltOS utilities. The first - generation sofware was written for Linux only. New software is coming - soon that will also run on Windows and Mac. For now, we'll concentrate - on Linux. If you are using Debian, an 'altos' package already exists, - see http://altusmetrum.org/AltOS for details on how to install it. - User-contributed directions for building packages on ArchLinux may be - found in the contrib/arch-linux directory as PKGBUILD files. - Between the debian/rules file and the PKGBUILD files in - contrib, you should find enough information to learn how to build the - software for any other version of Linux. + the USB serial driver had ugly bugs in some earlier versions. - When you have successfully installed the software suite (either from - compiled source code or as the pre-built Debian package) you will - have 10 or so executable programs all of which have names beginning - with 'ao-'. - ('ao-view' is the lone GUI-based program, the rest are command-line - oriented.) You will also have man pages, that give you basic info - on each program. - You will also get this documentation in two file types in the doc/ - directory, telemetrum-doc.pdf and telemetrum-doc.html. - Finally you will have a couple control files that allow the ao-view - GUI-based program to appear in your menu of programs (under - the 'Internet' category). + Next you should obtain and install the AltOS utilities. These include + the AltosUI ground station program, current firmware images for + TeleMetrum and TeleDongle, and a number of standalone utilities that + are rarely needed. Pre-built binary packages are available for Debian + Linux, Microsoft Windows, and recent MacOSX versions. Full sourcecode + and build instructions for some other Linux variants are also available. + The latest version may always be downloaded from + http://altusmetrum.org/AltOS. Both Telemetrum and TeleDongle can be directly communicated @@ -764,8 +741,191 @@ sensor... nothing is permanently "lost" or "damaged" if the calibration is poor. + + In the unlikely event an accel cal that goes badly, it is possible + that TeleMetrum may always come up in 'pad mode' and as such not be + listening to either the USB or radio interfaces. 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). +
+ + + +
+ Updating Device Firmware + + The big conceptual thing to realize is that you have to use a + TeleDongle as a programmer to update a TeleMetrum, and vice versa. + Due to limited memory resources in the cc1111, we don't support + programming either unit directly over USB. + + + 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/. + + + We recommend updating TeleMetrum first, before updating TeleDongle. + +
+ Updating TeleMetrum 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 case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the + matching connector on the TeleDongle, and the 4-pin end to the + matching connector on the TeleMetrum. + 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 into your computer's USB port, and power + up the TeleMetrum. + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleDongle 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-v1.0-0.7.1.ihx. It should be visible + in the default directory, if not you may have to poke around + your system to find it. + + + 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 TeleDongle Firmware + + Updating TeleDongle's firmware is just like updating TeleMetrum + firmware, but you switch which board is the programmer and which + is the programming target. + + + + 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. + + + Take the 2 screws out of the TeleDongle case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the (latching) + matching connector on the TeleMetrum, and the 4-pin end to the + matching connector on the TeleDongle. + 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 both TeleMetrum and TeleDongle into your computer's USB + ports, and power up the TeleMetrum. + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleMetrum device from the list, identifying it as the + programming device. + + + Select the image you want put on the TeleDongle, which should have a + name in the form teledongle-v0.2-0.7.1.ihx. It should be visible + in the default directory, if not you may have to poke around + your system to find it. + + + Make sure the configuration parameters are reasonable + looking. If the serial number and/or RF configuration + values aren't right, you'll need to change them. The TeleDongle + serial number is on the "bottom" of the circuit board, and can + usually be read through the translucent blue plastic case without + needing to remove the board from the case. + + + Hit the 'OK' button and the software should proceed to flash + the TeleDongle with new firmware, showing a progress bar. + + + Confirm that the TeleDongle board seems to have updated ok, which you + can do by plugging in to it over USB and using a terminal program + to connect to the board and issue the 'v' command to check + the version, etc. Once you're happy, remove the programming cable + and put the cover back on the TeleDongle. + + + 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. + +
+
+ + + -- cgit v1.2.3 From bcf78b67717374b5971820021b83061e2e9734cf Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Nov 2010 21:39:18 -0800 Subject: doc: Reformat altos to use sections for each function This places them in the TOC, making them easier to find. Signed-off-by: Keith Packard --- doc/altos.xsl | 2105 +++++++++++++++++++++++++++------------------------------ 1 file changed, 983 insertions(+), 1122 deletions(-) (limited to 'doc') diff --git a/doc/altos.xsl b/doc/altos.xsl index 9a88a5b5..295864fe 100644 --- a/doc/altos.xsl +++ b/doc/altos.xsl @@ -1,6 +1,6 @@ +"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd"> AltOS @@ -37,41 +37,41 @@ AltOS is a operating system built for the 8051-compatible processor found in the TI cc1111 microcontroller. It's designed to be small and easy to program with. The main features are: - - - Multi-tasking. While the 8051 doesn'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. - - - + + + Multi-tasking. While the 8051 doesn'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 @@ -82,28 +82,28 @@ may add tasks to the scheduler to handle the device. A typical main program, thus, looks like: -void -main(void) -{ - ao_clock_init(); + 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(); -} + /* 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. @@ -137,96 +137,79 @@ main(void) code but makes the resulting code far smaller and more efficient. - - SDCC 8051 memory spaces - - __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, it's type and the - address it lives at. No memory is allocated for these - variables. - - - - +
+ __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, it's type and the + address it lives at. No memory is allocated for these + variables. + +
Function calls on the 8051 @@ -305,124 +288,139 @@ main(void) This chapter documents how to create, destroy and schedule AltOS tasks. - - AltOS Task Functions - - 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. - - - - - 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. - - - - - ao_alarm - - -void -ao_alarm(uint16_t delay) - - - 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_wake_task - - -void -ao_wake_task(__xdata struct ao_task *task) - - - Force a specific task to wake up, independent of which - 'wchan' it is waiting for. - - - - - 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 turns on the external 48MHz clock then switches the - hardware to using it. This is required by many of the - internal devices like USB. It should be called by the - 'main' function first, before initializing any of the - other devices in the system. - - - - +
+ 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 by using the __critical + label around the block of code. Here's a complete example: + + __critical while (!ao_radio_done) + ao_sleep(&ao_radio_done); + + +
+
+ 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 & RFIF_IM_DONE) { + ao_radio_done = 1; + ao_wakeup(&ao_radio_done); + RFIF &= ~RFIF_IM_DONE; + } + + Note that this need not be enclosed in __critical 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) + + + 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_alarm(ao_packet_master_delay); + __critical while (!ao_radio_dma_done) + if (ao_sleep(&ao_radio_dma_done) != 0) + ao_radio_abort(); + + 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_wake_task + + void + ao_wake_task(__xdata struct ao_task *task) + + + Force a specific task to wake up, independent of which + 'wchan' it is waiting for. + +
+
+ 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 turns on the external 48MHz clock then switches the + hardware to using it. This is required by many of the + internal devices like USB. It should be called by the + 'main' function first, before initializing any of the + other devices in the system. + +
Timer Functions @@ -435,62 +433,51 @@ ao_clock_init(void) that the ADC values are sampled at a regular rate, independent of any scheduling jitter. - - AltOS Timer Functions - - 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 using the CC1111 timer 1. It - is required for any of the time-based functions to - work. It should be called by 'main' before ao_start_scheduler. - - - - +
+ 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 using the CC1111 timer 1. It + is required for any of the time-based functions to + work. It should be called by 'main' before ao_start_scheduler. + +
AltOS Mutexes @@ -502,35 +489,28 @@ ao_timer_init(void) already held by the current task or releasing a mutex not held by the current task will both cause a panic. - - Mutex Functions - - 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. - - - - +
+ 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. + +
CC1111 DMA engine @@ -554,86 +534,73 @@ ao_mutex_put(__xdata uint8_t *mutex); hardware device. When copying data from memory to hardware, the transfer is usually initiated by software. - - AltOS DMA functions - - ao_dma_alloc - - -uint8_t -ao_dma_alloc(__xdata uint8_t *done) - - - Allocates a DMA engine, returning the identifier. Whenever - this DMA engine completes a transfer. '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 transation, marking its - 'done' variable with the AO_DMA_ABORTED bit. - - - - +
+ ao_dma_alloc + + uint8_t + ao_dma_alloc(__xdata uint8_t *done) + + + Allocates a DMA engine, returning the identifier. Whenever + this DMA engine completes a transfer. '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 transation, marking its + 'done' variable with the AO_DMA_ABORTED bit. + +
SDCC Stdio interface @@ -646,82 +613,71 @@ ao_dma_abort(uint8_t id) channels; output is always delivered to the channel which provided the most recent input. - - SDCC stdio functions - - 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. -xo - - - - 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(&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. - - - - +
+ 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. + xo +
+
+ 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(&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 @@ -732,176 +688,155 @@ ao_add_stdio(char (*pollchar)(void), character to invoke it, the remaining characters on the line are available as parameters to the command. - - AltOS command line parsing functions - - 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. - - - - +
+ 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. + +
CC1111 USB target device @@ -921,121 +856,104 @@ ao_cmd_init(void USB link. Alternatively, the functions can be accessed directly to provide for USB-specific I/O. - - AltOS USB functions - - 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 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. - - - - - 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. - - - - +
+ 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 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. + +
+
+ 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. + +
CC1111 Serial peripheral @@ -1052,77 +970,64 @@ ao_usb_init(void); To prevent loss of data, AltOS provides receive and transmit fifos of 32 characters each. - - AltOS serial functions - - 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. - - - - +
+ 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 Radio peripheral @@ -1177,265 +1082,221 @@ ao_serial_init(void) - - AltOS radio functions - - 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. - - - - - - AltOS radio telemetry functions - - 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()). - - - - - - AltOS radio direction finding function - - 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. - - - - - - Packet mode functions - - 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. - - - - +
+ 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. + +
+ + 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()). + +
+ + 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. + +
+ + 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. + +
-- cgit v1.2.3 From 554bdd25e132dbaec322bc11f94093d2c2e78751 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Nov 2010 22:49:33 -0800 Subject: doc: Add more authors, fix URL formatting, note that AltosUI actually exists Add aj and bfinch as authors. Insert an acknowledgements section. Fill in the Fire Igniter section in the AltosUI chapter. Then change the section talking about the future plans for Java to mention that they actually exist now. Signed-off-by: Keith Packard --- doc/telemetrum-doc.xsl | 111 ++++++++++++++++++++++++++++++++++++++----------- 1 file changed, 87 insertions(+), 24 deletions(-) (limited to 'doc') diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl index e75e10b5..0c20b285 100644 --- a/doc/telemetrum-doc.xsl +++ b/doc/telemetrum-doc.xsl @@ -2,8 +2,8 @@ - TeleMetrum - Owner's Manual for the TeleMetrum System + The Altus Metrum System + Owner's Manual for TeleMetrum and TeleDongle Devices Bdale @@ -13,6 +13,14 @@ Keith Packard + + Bob + Finch + + + Anthony + Towns + 2010 Bdale Garbee and Keith Packard @@ -34,6 +42,34 @@ + + + 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 has turned into the Getting Started chapter in this + book. Bob was one of our first customers for a production + TeleMetrum, and the enthusiasm that led to his contribution of + this section is immensely gratifying and highy appreciated! + + + And thanks to Anthony (AJ) Towns for contributing the + AltosUI graphing and site map code and 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. + +Bdale Garbee, KB0G +NAR #87103, TRA #12201 + +Keith Packard, KD7SQG +NAR #88757, TRA #12200 + + + Introduction and Overview @@ -66,18 +102,11 @@ Getting Started - - This chapter began as "The Mere-Mortals Quick Start/Usage Guide to - the Altus Metrum Starter Kit" by Bob Finch, W9YA, NAR 12965, TRA 12350, - w9ya@amsat.org. Bob was one of our first customers for a production - TeleMetrum, and the enthusiasm that led to his contribution of this - section is immensely gratifying and highy appreciated! - The first thing to do after you check the inventory of parts in your "starter kit" is to charge the battery by plugging it into the corresponding socket of the TeleMetrum and then using the USB A to -mini B + mini B cable to plug the Telemetrum into your computer's USB socket. The TeleMetrum circuitry will charge the battery whenever it is plugged in, because the TeleMetrum's on-off switch does NOT control the @@ -90,7 +119,7 @@ mini B 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 takeseveral hours to fully recharge a deeply discharged battery. + can take several hours to fully recharge a deeply discharged battery. The other active device in the starter kit is the TeleDongle USB to @@ -99,7 +128,7 @@ mini B driver information that is part of the AltOS download to know that the existing USB modem driver will work. If you are using Linux and are having problems, try moving to a fresher kernel (2.6.33 or newer), as - the USB serial driver had ugly bugs in some earlier versions. + the USB serial driver had ugly bugs in some earlier versions. Next you should obtain and install the AltOS utilities. These include @@ -109,7 +138,7 @@ mini B Linux, Microsoft Windows, and recent MacOSX versions. Full sourcecode and build instructions for some other Linux variants are also available. The latest version may always be downloaded from - http://altusmetrum.org/AltOS. + . Both Telemetrum and TeleDongle can be directly communicated @@ -642,7 +671,7 @@ mini B primary and backup pyrotechnic charges do not fire simultaneously. - To set the apogee delay, use the [FIXME] command. + 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. @@ -670,7 +699,7 @@ mini B simultaneously. - To set the main deployment altitude, use the [FIXME] command. + 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. @@ -776,7 +805,7 @@ mini B 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/. + version from . We recommend updating TeleMetrum first, before updating TeleDongle. @@ -958,6 +987,19 @@ mini B the list of devices is presented and AltosUI will use packet command mode. + + One oddity in the current interface is how AltosUI selects the + channel for packet mode communications. Instead of providing + an interface to specifically configure the channel, it uses + whatever channel 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, pick the + appropriate TeleDongle device. Once the flight monitoring + window is open, select the desired channel and then close it + down again. All Packet Command Mode operations will now use + that channel. + @@ -1529,6 +1571,28 @@ mini B
Fire Igniter + This activates the igniter circuits in TeleMetrum 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 airframe. + + + Selecting the 'Fire Igniter' button brings up the usual device + selection dialog. Pick the desired TeleDongle or TeleMetrum + device. This brings up another window which shows the current + continutity test status for both apogee and main charges. + + + 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.
@@ -1537,16 +1601,16 @@ mini B
Being Legal - First off, in the US, you need an [amateur radio license](../Radio) or + First off, in the US, you need an amateur radio license or other authorization to legally operate the radio transmitters that are part of our products.
In the Rocket - In the rocket itself, you just need a [TeleMetrum](../TeleMetrum) board and + In the rocket itself, you just need a TeleMetrum board and a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a [TeleMetrum](../TeleMetrum) for hours. + alkaline battery, and will run a TeleMetrum for hours. By default, we ship TeleMetrum with a simple wire antenna. If your @@ -1560,16 +1624,15 @@ mini B On the Ground To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our [TeleDongle](../TeleDongle) units. The + feedline connected to one of our TeleDongle units. The TeleDongle in turn plugs directly into the USB port on a notebook computer. Because TeleDongle looks like a simple serial port, your computer does not require special device drivers... just plug it in. - Right now, all of our application software is written for Linux. However, - because we understand that many people run Windows or MacOS, we are working - on a new ground station program written in Java that should work on all - operating systems. + 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. After the flight, you can use the RF link to extract the more detailed data -- cgit v1.2.3 From cb08bc264c71ca972027392b42f347a03df76a43 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Nov 2010 22:55:08 -0800 Subject: doc: Rename telemetrum-doc as altusmetrum Signed-off-by: Keith Packard --- doc/Makefile | 10 +- doc/altusmetrum.xsl | 1734 +++++++++++++++++++++++++++++++++++++++++++++++ doc/telemetrum-doc.xsl | 1735 ------------------------------------------------ 3 files changed, 1739 insertions(+), 1740 deletions(-) create mode 100644 doc/altusmetrum.xsl delete mode 100644 doc/telemetrum-doc.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 65917ea2..14f9bee2 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,8 +2,8 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -HTML=telemetrum-doc.html altos.html -PDF=telemetrum-doc.pdf altos.pdf +HTML=altusmetrum.html altos.html +PDF=altusmetrum.pdf altos.pdf DOC=$(HTML) $(PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl FOSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl @@ -23,7 +23,7 @@ PDFSTYLE= all: $(HTML) $(PDF) publish: $(DOC) - cp $(DOC)telemetrum-doc.html home/bdale/web/altusmetrum/TeleMetrum/doc/ + cp $(DOC)altusmetrum.html home/bdale/web/altusmetrum/TeleMetrum/doc/ (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/TeleMetrum/doc/* ; git push) clean: @@ -32,6 +32,6 @@ clean: distclean: rm -f *.html *.pdf *.fo -indent: telemetrum-doc.xsl - xmlindent -i 2 < telemetrum-doc.xsl > telemetrum-doc.new +indent: altusmetrum.xsl + xmlindent -i 2 < altusmetrum.xsl > altusmetrum.new diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl new file mode 100644 index 00000000..8d4230f8 --- /dev/null +++ b/doc/altusmetrum.xsl @@ -0,0 +1,1734 @@ + + + + The Altus Metrum System + An Owner's Manual for TeleMetrum and TeleDongle Devices + + + Bdale + Garbee + + + Keith + Packard + + + Bob + Finch + + + Anthony + Towns + + + 2010 + Bdale Garbee and Keith Packard + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.8 + 24 November 2010 + Updated for software version 0.8 + + + + + + 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 has turned into the Getting Started chapter in this + book. Bob was one of our first customers for a production + TeleMetrum, and the enthusiasm that led to his contribution of + this section is immensely gratifying and highy appreciated! + + + And thanks to Anthony (AJ) Towns for contributing the + AltosUI graphing and site map code and 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. + +Bdale Garbee, KB0G +NAR #87103, TRA #12201 + +Keith Packard, KD7SQG +NAR #88757, TRA #12200 + + + + + 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 focal point of our community is 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. + + + Complementing TeleMetrum is TeleDongle, a USB to RF interface for + communicating with TeleMetrum. 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. + + + 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. + + + + Getting Started + + The first thing to do after you check the inventory of parts in your + "starter kit" is to charge the battery by plugging it into the + corresponding socket of the TeleMetrum and then using the USB A to + mini B + cable to plug the Telemetrum into your computer's USB socket. The + TeleMetrum circuitry will charge the battery whenever it is plugged + in, because the TeleMetrum's on-off switch does NOT control the + charging circuitry. When the GPS chip is initially searching for + satellites, TeleMetrum will consume more current than it can pull + 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. + + + 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. If you are using Linux and are + having problems, try moving to a fresher kernel (2.6.33 or newer), as + the USB serial driver had ugly bugs in some earlier versions. + + + Next you should obtain and install the AltOS utilities. These include + the AltosUI ground station program, current firmware images for + TeleMetrum and TeleDongle, and a number of standalone utilities that + are rarely needed. Pre-built binary packages are available for Debian + Linux, Microsoft Windows, and recent MacOSX versions. Full sourcecode + and build instructions for some other Linux variants are also available. + The latest version may always be downloaded from + . + + + 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. + + + 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. + + + Both TeleMetrum and TeleDongle share the concept of a two level + command set in their firmware. + The first layer has several single letter commands. Once + 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 DataFlash memory, and only TeleMetrum has this + memory to save the various values entered like the channel number + and your callsign when powered off. TeleDongle requires that you + set these each time you plug it in, which ao-view can help with. + + + Try setting these config ('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. + + + Note that the 'reboot' command, which is very useful on TeleMetrum, + will likely just cause problems with the dongle. The *correct* way + to reset the dongle is just to unplug and re-plug it. + + + 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 rf-link access + of the TeleMetrum from 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. + + + Now might be a good time to take a break and read the rest of this + manual, particularly about the two "modes" that the TeleMetrum + can be placed in and how the position of the TeleMetrum when booting + up will determine whether the unit is in "pad" or "idle" mode. + + + You can access a TeleMetrum in idle mode from the Teledongle's USB + connection using the rf link + by issuing a 'p' command to the TeleDongle. Practice connecting and + disconnecting ('~~' while using 'cu') from the TeleMetrum. 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. + + + Using this rf link allows you to configure the TeleMetrum, 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 TeleMetrum 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. + + + Eventually the GPS will find enough satellites, lock in on them, + and 'ao-view' will both auditorially 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. + + + Both RDF (radio direction finding) tones from the TeleMetrum and + GPS trekking data are available and together are very useful in + 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'.) + + + 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.) + + + 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! + +
+ FAQ + + The altimeter (TeleMetrum) seems to shut off when disconnected from the + computer. 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. + + + It's impossible to stop the TeleDongle when it's in "p" mode, I have + to unplug the USB cable? 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. + + + The amber LED (on the TeleMetrum/altimeter) lights up when both + battery and USB are connected. Does this mean it's charging? + 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. + + + There are no "dit-dah-dah-dit" sound like the manual mentions? + That's the "pad" mode. Weak batteries might be the problem. + It is also possible that the unit is horizontal and the output + is instead a "dit-dit" meaning 'idle'. + + + It's unclear how to use 'ao-view' and other programs when 'cu' + is running. You cannot have more than one program connected to + the TeleDongle at one time without apparent data loss as the + incoming data will not make it to both programs intact. + Disconnect whatever programs aren't currently being used. + + + How do I save flight data? + Live telemetry is written to file(s) whenever 'ao-view' is connected + to the TeleDongle. The file area defaults to ~/altos + but is easily changed using the menus in 'ao-view'. The files that + are written end in '.telem'. The after-flight + data-dumped files will end in .eeprom and represent continuous data + unlike the rf-linked .telem files that are subject to the + turnarounds/data-packaging time slots in the half-duplex rf data path. + See the above instructions on what and how to save the eeprom stored + data after physically retrieving your TeleMetrum. Make sure to save + the on-board data after each flight, as the current firmware will + over-write any previous flight data during a new flight. + +
+ + + Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, support for optional separate pyro + battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + + + + Handling Precautions + + TeleMetrum is a sophisticated electronic device. When handled gently and + properly installed in an airframe, it will deliver impressive results. + However, like all electronic devices, there are some precautions you + must take. + + + The Lithium Polymer rechargeable batteries used with TeleMetrum have an + extraordinary power density. This is great because we can fly with + much less battery mass than if we used alkaline batteries or previous + generation rechargeable batteries... but if they are punctured + or their leads are allowed to short, they can and will release their + energy very rapidly! + Thus we recommend that you take some care when handling our batteries + and consider giving them some extra protection in your airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. + + + The TeleMetrum barometric sensor is sensitive to sunlight. In normal + mounting situations, it and all of the other surface mount components + are "down" towards whatever the underlying mounting surface is, so + this is not normally a problem. Please consider this, though, when + designing an installation, for example, in a 29mm airframe with a + see-through plastic payload bay. + + + The TeleMetrum barometric sensor sampling port must be able to + "breathe", + both by not being covered by foam or tape or other materials that might + directly block the hole on the top of the sensor, but also by having a + suitable static vent to outside air. + + + As with all other rocketry electronics, TeleMetrum must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. + + + + Hardware Overview + + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. + + + A typical TeleMetrum installation using the on-board GPS antenna and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. + + + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, you can do so by adding + a second 2mm connector to position B2 on the board and cutting the + thick pcb trace connecting the LiPo battery to the pyro circuit between + the two silk screen marks on the surface mount side of the board shown + here [insert photo] + + + We offer two choices of pyro and power switch connector, or you can + choose neither and solder wires directly to the board. All three choices + are reasonable depending on the constraints of your airframe. Our + favorite option when there is sufficient room above the board is to use + the Tyco pin header with polarization and locking. If you choose this + option, you crimp individual wires for the power switch and e-matches + into a mating connector, and installing and removing the TeleMetrum + board from an airframe is as easy as plugging or unplugging two + connectors. If the airframe will not support this much height or if + you want to be able to directly attach e-match leads to the board, we + offer a screw terminal block. This is very similar to what most other + altimeter vendors provide and so may be the most familiar option. + You'll need a very small straight blade screwdriver to connect + and disconnect the board in this case, such as you might find in a + jeweler's screwdriver set. Finally, you can forego both options and + solder wires directly to the board, which may be the best choice for + minimum diameter and/or minimum mass designs. + + + For most airframes, the integrated GPS antenna and wire UHF antenna are + a great combination. However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to use + off-board external antennas instead. In this case, you can order + TeleMetrum with an SMA connector for the UHF antenna connection, and + you can unplug the integrated GPS antenna and select an appropriate + off-board GPS antenna with cable terminating in a U.FL connector. + + + + System Operation +
+ Firmware Modes + + The AltOS firmware build for TeleMetrum has two fundamental modes, + "idle" and "flight". Which of these modes the firmware operates in + is determined by the orientation of the rocket (well, actually the + board, of course...) at the time power is switched on. If the rocket + is "nose up", then TeleMetrum assumes it's on a rail or rod being + prepared for launch, so the firmware chooses flight mode. However, + if the rocket is more or less horizontal, the firmware instead enters + idle mode. + + + At power on, you will hear three beeps + ("S" in Morse code for startup) and then a pause while + TeleMetrum completes initialization and self tests, and decides which + mode to enter next. + + + In flight or "pad" mode, TeleMetrum turns on the GPS system, + engages the flight + state machine, goes into transmit-only mode on the RF link sending + telemetry, and waits for launch to be detected. Flight mode is + indicated by an audible "di-dah-dah-dit" ("P" for pad) on the + beeper, followed by + beeps indicating the state of the pyrotechnic igniter continuity. + One beep indicates apogee continuity, two beeps indicate + main continuity, three beeps indicate both apogee and main continuity, + and one longer "brap" sound indicates no continuity. For a dual + deploy flight, make sure you're getting three beeps before launching! + For apogee-only or motor eject flights, do what makes sense. + + + In idle mode, you will hear an audible "di-dit" ("I" for idle), and + the normal flight state machine is disengaged, thus + no ejection charges will fire. TeleMetrum also listens on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can be issued to a TeleMetrum in idle mode over either + USB or the RF link equivalently. + Idle mode is useful for configuring TeleMetrum, for extracting data + from the on-board storage chip after flight, and for ground testing + pyro charges. + + + One "neat trick" of particular value when TeleMetrum is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + TeleMetrum to reboot, realize it's now nose-up, and thus choose + flight mode. This is much safer than standing on the top step of a + rickety step-ladder or hanging off the side of a launch tower with + a screw-driver trying to turn on your avionics before installing + igniters! + +
+
+ GPS + + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! + + + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. + +
+
+ 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 RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum-equipped rocket without as + much work as you may be accustomed to with other systems. It can + even be fun! + + + Just prep the rocket for flight, then power up TeleMetrum while the + airframe is horizontal. This will cause the firmware to go into + "idle" mode, in which the normal flight state machine is disabled and + charges will not fire without manual command. Then, establish an + RF packet connection from a TeleDongle-equipped computer using the + P command from a safe distance. You can now command TeleMetrum to + fire the apogee or main charges to complete your testing. + + + 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'. + +
+
+ Radio Link + + The chip our boards are based on incorporates an RF transceiver, but + it's not a full duplex system... each end can only be transmitting or + receiving at any given moment. So we had to decide how to manage the + link. + + + By design, TeleMetrum firmware listens for an RF connection when + it's in "idle mode" (turned on while the rocket is horizontal), which + allows us to use the RF link to configure the rocket, do things like + ejection tests, and extract data after a flight without having to + crack open the airframe. However, when the board is in "flight + mode" (turned on when the rocket is vertical) the TeleMetrum only + transmits and doesn't listen at all. That's because we want to put + ultimate priority on event detection and getting telemetry out of + the rocket and out over + the RF link in case the rocket crashes and we aren't able to extract + data later... + + + We don't use a 'normal packet radio' mode because they're just too + inefficient. The GFSK modulation we use is just FSK with the + baseband pulses passed through a + Gaussian filter before they go into the modulator to limit the + transmitted bandwidth. When combined with the hardware forward error + correction support in the cc1111 chip, this allows us to have a very + robust 38.4 kilobit data link with only 10 milliwatts of transmit power, + a whip antenna in the rocket, and a hand-held Yagi on the ground. We've + had flights to above 21k feet AGL with good reception, and calculations + suggest we should be good to well over 40k feet AGL with a 5-element yagi on + the ground. We hope to fly boards to higher altitudes soon, and would + of course appreciate customer feedback on performance in higher + altitude flights! + +
+
+ Configurable Parameters + + Configuring a TeleMetrum board for flight is very simple. Because we + have both acceleration and pressure sensors, there is no need to set + a "mach delay", for example. The few configurable parameters can all + be set using a simple terminal program over the USB port or RF link + via TeleDongle. + +
+ Radio Channel + + Our firmware supports 10 channels. The default channel 0 corresponds + to a center frequency of 434.550 Mhz, and channels are spaced every + 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. + At any given launch, we highly recommend coordinating who will use + each channel and when to avoid interference. And of course, both + TeleMetrum and TeleDongle must be configured to the same channel to + successfully communicate with each other. + + + To set the radio channel, use the 'c r' command, like 'c r 3' to set + channel 3. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip on + your TeleMetrum board if you want the change to stay in place across reboots. + +
+
+ Apogee Delay + + Apogee delay is the number of seconds after TeleMetrum detects flight + apogee that the drogue charge should be fired. In most cases, this + should be left at the default of 0. However, if you are flying + redundant electronics such as for an L3 certification, you may wish + to set one of your altimeters to a positive delay so that both + primary and backup pyrotechnic charges do not fire simultaneously. + + + 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. + + + Please note that the TeleMetrum apogee detection algorithm always + fires a fraction of a second *after* apogee. If you are also flying + an altimeter like the PerfectFlite MAWD, which only supports selecting + 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 + seconds delay and set the TeleMetrum to fire your backup 2 or 3 + seconds later to avoid any chance of both charges firing + simultaneously. We've flown several airframes this way quite happily, + including Keith's successful L3 cert. + +
+
+ Main Deployment Altitude + + By default, TeleMetrum will fire the main deployment charge at an + elevation of 250 meters (about 820 feet) above ground. We think this + is a good elevation for most airframes, but feel free to change this + to suit. In particular, if you are flying two altimeters, you may + wish to set the + deployment elevation for the backup altimeter to be something lower + than the primary so that both pyrotechnic charges don't fire + simultaneously. + + + 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. + +
+
+
+ Calibration + + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle. + +
+ Radio Frequency + + The radio frequency is synthesized from a clock based on the 48 Mhz + crystal on the board. The actual frequency of this oscillator must be + measured to generate a calibration constant. While our GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. + + + To calibrate the radio frequency, connect the UHF antenna port to a + frequency counter, set the board to channel 0, and use the 'C' + command to generate a CW carrier. Wait for the transmitter temperature + to stabilize and the frequency to settle down. + Then, divide 434.550 Mhz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + +
+
+ Accelerometer + + The accelerometer we use has its own 5 volt power supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratiometric to + the ADC converter, and calibration is required. We also support the + use of any of several accelerometers from a Freescale family that + includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + + + To calibrate the acceleration sensor, use the 'c a 0' command. You + will be prompted to orient the board vertically with the UHF antenna + up and press a key, then to orient the board vertically with the + UHF antenna down and press a key. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + The +1g and -1g calibration points are included in each telemetry + frame and are part of the header extracted by ao-dumplog after flight. + Note that we always store and return raw ADC samples for each + sensor... nothing is permanently "lost" or "damaged" if the + calibration is poor. + + + In the unlikely event an accel cal that goes badly, it is possible + that TeleMetrum may always come up in 'pad mode' and as such not be + listening to either the USB or radio interfaces. 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). + +
+
+ + + +
+ Updating Device Firmware + + The big conceptual thing to realize is that you have to use a + TeleDongle as a programmer to update a TeleMetrum, and vice versa. + Due to limited memory resources in the cc1111, we don't support + programming either unit directly over USB. + + + 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 . + + + We recommend updating TeleMetrum first, before updating TeleDongle. + +
+ Updating TeleMetrum 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 case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the + matching connector on the TeleDongle, and the 4-pin end to the + matching connector on the TeleMetrum. + 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 into your computer's USB port, and power + up the TeleMetrum. + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleDongle 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-v1.0-0.7.1.ihx. It should be visible + in the default directory, if not you may have to poke around + your system to find it. + + + 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 TeleDongle Firmware + + Updating TeleDongle's firmware is just like updating TeleMetrum + firmware, but you switch which board is the programmer and which + is the programming target. + + + + 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. + + + Take the 2 screws out of the TeleDongle case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the (latching) + matching connector on the TeleMetrum, and the 4-pin end to the + matching connector on the TeleDongle. + 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 both TeleMetrum and TeleDongle into your computer's USB + ports, and power up the TeleMetrum. + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleMetrum device from the list, identifying it as the + programming device. + + + Select the image you want put on the TeleDongle, which should have a + name in the form teledongle-v0.2-0.7.1.ihx. It should be visible + in the default directory, if not you may have to poke around + your system to find it. + + + Make sure the configuration parameters are reasonable + looking. If the serial number and/or RF configuration + values aren't right, you'll need to change them. The TeleDongle + serial number is on the "bottom" of the circuit board, and can + usually be read through the translucent blue plastic case without + needing to remove the board from the case. + + + Hit the 'OK' button and the software should proceed to flash + the TeleDongle with new firmware, showing a progress bar. + + + Confirm that the TeleDongle board seems to have updated ok, which you + can do by plugging in to it over USB and using a terminal program + to connect to the board and issue the 'v' command to check + the version, etc. Once you're happy, remove the programming cable + and put the cover back on the TeleDongle. + + + 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. + +
+
+ + + + + + + AltosUI + + The AltosUI program provides a graphical user interface for + interacting with the Altus Metrum product family, including + TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, + configure TeleMetrum and TeleDongle devices and many other + tasks. The primary interface window provides a selection of + buttons, one for each major activity in the system. This manual + is split into chapters, each of which documents one of the tasks + provided from the top-level toolbar. + +
+ Packet Command Mode + Controlling TeleMetrum Over The Radio Link + + One of the unique features of the Altos Metrum environment is + the ability to create a two way command link between TeleDongle + and TeleMetrum using the digital radio transceivers built into + each device. This allows you to interact with TeleMetrum from + afar, as if it were directly connected to the computer. + + + Any operation which can be performed with TeleMetrum + can either be done with TeleMetrum directly connected to + the computer via the USB cable, or through the packet + link. Simply select the appropriate TeleDongle device when + the list of devices is presented and AltosUI will use packet + command mode. + + + One oddity in the current interface is how AltosUI selects the + channel for packet mode communications. Instead of providing + an interface to specifically configure the channel, it uses + whatever channel 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, pick the + appropriate TeleDongle device. Once the flight monitoring + window is open, select the desired channel and then close it + down again. All Packet Command Mode operations will now use + that channel. + + + + + Save Flight Data—Recover flight data from the rocket without + opening it up. + + + + + Configure TeleMetrum—Reset apogee delays or main deploy + heights to respond to changing launch conditions. You can + also 'reboot' the TeleMetrum device. Use this to remotely + enable the flight computer by turning TeleMetrum on while + horizontal, then once the airframe is oriented for launch, + you can reboot TeleMetrum 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 airframe. Simply assembly the + rocket as if for flight with the apogee and main charges + loaded, then remotely command TeleMetrum to fire the + igniters. + + + + + Packet command mode uses the same RF channels as telemetry + mode. Configure the desired TeleDongle channel using the + flight monitor window channel selector and then close that + window before performing the desired operation. + + + TeleMetrum only enables packet command mode in 'idle' mode, so + make sure you have TeleMetrum lying horizontally when you turn + it on. Otherwise, TeleMetrum will start in 'pad' mode ready for + flight and will not be listening for command packets from TeleDongle. + + + When packet command mode is enabled, you can monitor the link + by watching the lights on the TeleDongle and TeleMetrum + devices. The red LED will flash each time TeleDongle or + TeleMetrum transmit a packet while the green LED will light up + on TeleDongle while it is waiting to receive a packet from + TeleMetrum. + +
+
+ Monitor Flight + Receive, Record and Display Telemetry Data + + Selecting this item brings up a dialog box listing all of the + connected TeleDongle devices. When you choose one of these, + AltosUI will create a window to display telemetry data as + received by the selected TeleDongle device. + + + All telemetry data received are automatically recorded in + suitable log files. The name of the files includes the current + date and rocket serial and flight numbers. + + + The radio channel being monitored by the TeleDongle device is + displayed at the top of the window. You can configure the + channel by clicking on the channel box and selecting the desired + channel. AltosUI remembers the last channel selected for each + TeleDongle and selects that automatically the next time you use + that device. + + + Below the TeleDongle channel selector, the window contains a few + significant pieces of information about the TeleMetrum providing + the telemetry data stream: + + + + The TeleMetrum callsign + + + The TeleMetrum serial number + + + The flight number. Each TeleMetrum 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. The + radio inside TeleDongle operates down to about -99dBm; + weaker signals may not be receiveable. The packet link uses + error correction and detection techniques which prevent + incorrect data from being reported. + + + + + 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 contains all of + the telemetry data in one place. + +
+ Launch Pad + + The 'Launch Pad' tab shows information used to decide when the + rocket is ready for flight. The first elements include red/green + indicators, if any of these is red, you'll want to evaluate + whether the rocket is ready to launch: + + + + Battery Voltage. This indicates whether the LiPo battery + powering the TeleMetrum has sufficient charge to last for + the duration of the flight. A value of more than + 3.7V 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 LiPo 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 LiPo battery voltage. A value greater than 3.2V is + required for a 'GO' status. + + + + + GPS Locked. 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. 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 + + 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 and acceleration are shown along with the + maxium 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 + + 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 generally range from 15-30m/s. + + + To help locate the rocket in the sky, use 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. 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. + +
+
+ Landed + + Once the rocket is on the ground, attention switches to + recovery. While the radio signal is generally 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 you'll want to walk or hitch a ride. Take the reported + latitude and longitude and enter them into your handheld GPS + unit and have that compute a track to the landing location. + + + Finally, the maximum height, speed and acceleration reported + during the flight are displayed for your admiring observers. + +
+
+ Site Map + + When the rocket gets 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 colour: white for pad, red for + boost, pink for fast, yellow for coast, light blue for drogue, + dark blue for main, and black for landed. + + + The map's scale is approximately 3m (10ft) per pixel. The map + can be dragged using the left mouse button. The map will attempt + to keep the rocket roughly centred while data is being received. + + + Images are fetched automatically via the Google Maps Static API, + and are cached for reuse. If map images cannot be downloaded, + the rocket's path will be traced on a dark grey background + instead. + +
+
+
+ Save Flight Data + + TeleMetrum records flight data to its internal flash memory. + This 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 TeleMetrum and TeleDongle devices. If you select a + TeleMetrum device, the flight data will be downloaded from that + device directly. If you select a TeleDongle device, flight data + will be downloaded from a TeleMetrum device connected via the + packet command link to the specified TeleDongle. See the chapter + on Packet Command Mode for more information about this. + + + The filename for the data is computed automatically from the recorded + flight date, TeleMetrum 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 TeleMetrum + 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 the TeleMetrum + flash memory. + + + Once a flight record is selected, the acceleration (blue), + velocity (green) and altitude (red) of the flight are plotted and + displayed, measured in metric units. + + + 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 popup menu to be displayed, giving + you the option save or print the plot. + + + Note that telemetry files will generally produce poor graphs + due to the lower sampling rate and missed telemetry packets, + and will also often have significant amounts of data received + while the rocket was waiting on the pad. Use saved flight data + for graphing where possible. + +
+
+ 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 (either .eeprom or .telem will do, remember that + .eeprom files contain higher resolution and more continuous + data). 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 TeleMetrum device, then + there is a single header line which labels all of the + fields. All of these lines start with a '#' character which + most 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 + Googleearth to provide an overlay within that + application. With this, you can use Googleearth to see the + whole flight path in 3D. + +
+
+
+ Configure TeleMetrum + + Select this button and then select either a TeleMetrum or + TeleDongle Device from the list provided. Selecting a TeleDongle + device will use Packet Comamnd Mode to configure remote + TeleMetrum device. Learn how to use this in the Packet Command + Mode chapter. + + + The first few lines of the dialog provide information about the + connected TeleMetrum 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 TeleMetrum + 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 TeleMetrum device. Use this to + switch from idle to pad mode by rebooting once the rocket is + oriented for flight. + + + + + 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 overpressurize the apogee deployment + bay and cause a structural failure of the airframe. The Apogee + Delay parameter tells the flight computer to fire the apogee + charge a certain number of seconds after apogee has been + detected. + +
+
+ Radio Channel + + This configures which of the 10 radio channels to use for both + telemetry and packet command mode. Note that if you set this + value via packet command mode, you will have to reconfigure + the TeleDongle channel before you will be able to use packet + command mode again. + +
+
+ Radio Calibration + + The radios in every Altus Metrum device are calibrated at the + factory to ensure that they transmit and receive on the + specified frequency for each channel. You can adjust that + calibration by changing this value. To change the TeleDongle's + calibration, you must reprogram the unit completely. + +
+
+ Callsign + + This sets the callsign included in each telemetry packet. Set this + as needed to conform to your local radio regulations. + +
+
+
+ Configure AltosUI + + This button presents a dialog so that you can configure the AltosUI global settings. + +
+ Voice Settings + + AltosUI provides voice annoucements 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 systme 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 used in command packet mode and is transmitted + in each packet sent from TeleDongle and received from + TeleMetrum. It is not used in telemetry mode as that transmits + packets only from TeleMetrum to TeleDongle. Configure this + with the AltosUI operators callsign as needed to comply with + your local radio regulations. + +
+
+
+ Flash Image + + This reprograms any Altus Metrum device by using a TeleMetrum or + TeleDongle as a programming dongle. Please read the directions + for connecting the programming cable in the main TeleMetrum + manual before reading these instructions. + + + Once you have the programmer and target devices connected, + push the 'Flash Image' button. That will present a dialog box + listing all of the connected devices. Carefully select the + programmer device, not the device to be programmed. + + + Next, select the image to flash to the device. These are named + with the product name and firmware version. The file selector + will start in the directory containing the firmware included + with the AltosUI package. Navigate to the directory containing + the desired firmware if it isn't there. + + + Next, a small dialog containing the device serial number and + RF calibration values should appear. If these values are + incorrect (possibly due to a corrupted image in the device), + enter the correct values here. + + + Finally, a dialog containing a progress bar will follow the + programming process. + + + When programming is complete, the target device will + reboot. Note that if the target device is connected via USB, you + will have to unplug it and then plug it back in for the USB + connection to reset so that you can communicate with the device + again. + +
+
+ Fire Igniter + + This activates the igniter circuits in TeleMetrum 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 airframe. + + + Selecting the 'Fire Igniter' button brings up the usual device + selection dialog. Pick the desired TeleDongle or TeleMetrum + device. This brings up another window which shows the current + continutity test status for both apogee and main charges. + + + 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. + +
+ + + Using Altus Metrum Products +
+ Being Legal + + First off, in the US, you need an amateur radio license or + other authorization to legally operate the radio transmitters that are part + of our products. + +
+ In the Rocket + + In the rocket itself, you just need a TeleMetrum board and + a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + alkaline battery, and will run a TeleMetrum for hours. + + + By default, we ship TeleMetrum with a simple wire antenna. If your + electronics bay or the airframe it resides within is made of carbon fiber, + which is opaque to RF signals, you may choose to have an SMA connector + installed so that you can run a coaxial cable to an antenna mounted + elsewhere in the rocket. + +
+
+ On the Ground + + To receive the data stream from the rocket, you need an antenna and short + feedline connected to one of our TeleDongle units. The + TeleDongle in turn plugs directly into the USB port on a notebook + computer. Because TeleDongle looks like a simple serial port, your computer + does not require special device drivers... just plug it in. + + + 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. + + + After the flight, you can use the RF link to extract the more detailed data + logged in the rocket, or you can use a mini USB cable to plug into the + TeleMetrum board directly. Pulling out the data without having to open up + the rocket is pretty cool! A USB cable is also how you charge the LiPo + battery, so you'll want one of those anyway... the same cable used by lots + of digital cameras and other modern electronic stuff will work fine. + + + If your rocket lands out of sight, you may enjoy having a hand-held GPS + receiver, so that you can put in a waypoint for the last reported rocket + position before touch-down. This makes looking for your rocket a lot like + Geo-Cacheing... just go to the waypoint and look around starting from there. + + + You may also enjoy having a ham radio "HT" that covers the 70cm band... you + can use that with your antenna to direction-find the rocket on the ground + the same way you can use a Walston or Beeline tracker. This can be handy + if the rocket is hiding in sage brush or a tree, or if the last GPS position + doesn't get you close enough because the rocket dropped into a canyon, or + the wind is blowing it across a dry lake bed, or something like that... Keith + and Bdale both currently own and use the Yaesu VX-7R at launches. + + + So, to recap, on the ground the hardware you'll need includes: + + + an antenna and feedline + + + a TeleDongle + + + a notebook computer + + + optionally, a handheld 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 + + Arrow Antennas. + + The 440-3 and 440-5 are both good choices for finding a + TeleMetrum-equipped rocket when used with a suitable 70cm HT. + +
+
+ Data Analysis + + Our software makes it easy to log the data from each flight, both the + telemetry received over the RF link during the flight itself, and the more + complete data log recorded in the DataFlash memory on the TeleMetrum + board. Once this data is on your computer, our postflight tools make it + easy to quickly get to the numbers everyone wants, like apogee altitude, + max acceleration, and max velocity. You can also generate and view a + standard set of plots showing the altitude, acceleration, and + velocity of the rocket during flight. And you can even export a data file + useable with Google Maps and Google Earth for visualizing the flight path + in two or three dimensions! + + + 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 + + In the future, we intend to offer "companion boards" for the rocket that will + plug in to TeleMetrum to collect additional data, provide more pyro channels, + and so forth. A reference design for a companion board will be documented + soon, and will be compatible with open source Arduino programming tools. + + + We are also working on the design of a hand-held ground terminal that will + allow monitoring the rocket's status, collecting data during flight, and + logging data after flight without the need for a notebook computer on the + flight line. Particularly since it is so difficult to read most notebook + screens in direct sunlight, we think this will be a great thing to have. + + + 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... + +
+
+ + diff --git a/doc/telemetrum-doc.xsl b/doc/telemetrum-doc.xsl deleted file mode 100644 index 0c20b285..00000000 --- a/doc/telemetrum-doc.xsl +++ /dev/null @@ -1,1735 +0,0 @@ - - - - The Altus Metrum System - Owner's Manual for TeleMetrum and TeleDongle Devices - - - Bdale - Garbee - - - Keith - Packard - - - Bob - Finch - - - Anthony - Towns - - - 2010 - Bdale Garbee and Keith Packard - - - - This document is released under the terms of the - - Creative Commons ShareAlike 3.0 - - license. - - - - - 0.8 - 24 November 2010 - Updated for software version 0.8 - - - - - - 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 has turned into the Getting Started chapter in this - book. Bob was one of our first customers for a production - TeleMetrum, and the enthusiasm that led to his contribution of - this section is immensely gratifying and highy appreciated! - - - And thanks to Anthony (AJ) Towns for contributing the - AltosUI graphing and site map code and 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. - -Bdale Garbee, KB0G -NAR #87103, TRA #12201 - -Keith Packard, KD7SQG -NAR #88757, TRA #12200 - - - - - 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 focal point of our community is 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. - - - Complementing TeleMetrum is TeleDongle, a USB to RF interface for - communicating with TeleMetrum. 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. - - - 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. - - - - Getting Started - - The first thing to do after you check the inventory of parts in your - "starter kit" is to charge the battery by plugging it into the - corresponding socket of the TeleMetrum and then using the USB A to - mini B - cable to plug the Telemetrum into your computer's USB socket. The - TeleMetrum circuitry will charge the battery whenever it is plugged - in, because the TeleMetrum's on-off switch does NOT control the - charging circuitry. When the GPS chip is initially searching for - satellites, TeleMetrum will consume more current than it can pull - 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. - - - 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. If you are using Linux and are - having problems, try moving to a fresher kernel (2.6.33 or newer), as - the USB serial driver had ugly bugs in some earlier versions. - - - Next you should obtain and install the AltOS utilities. These include - the AltosUI ground station program, current firmware images for - TeleMetrum and TeleDongle, and a number of standalone utilities that - are rarely needed. Pre-built binary packages are available for Debian - Linux, Microsoft Windows, and recent MacOSX versions. Full sourcecode - and build instructions for some other Linux variants are also available. - The latest version may always be downloaded from - . - - - 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. - - - 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. - - - Both TeleMetrum and TeleDongle share the concept of a two level - command set in their firmware. - The first layer has several single letter commands. Once - 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 DataFlash memory, and only TeleMetrum has this - memory to save the various values entered like the channel number - and your callsign when powered off. TeleDongle requires that you - set these each time you plug it in, which ao-view can help with. - - - Try setting these config ('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. - - - Note that the 'reboot' command, which is very useful on TeleMetrum, - will likely just cause problems with the dongle. The *correct* way - to reset the dongle is just to unplug and re-plug it. - - - 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 rf-link access - of the TeleMetrum from 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. - - - Now might be a good time to take a break and read the rest of this - manual, particularly about the two "modes" that the TeleMetrum - can be placed in and how the position of the TeleMetrum when booting - up will determine whether the unit is in "pad" or "idle" mode. - - - You can access a TeleMetrum in idle mode from the Teledongle's USB - connection using the rf link - by issuing a 'p' command to the TeleDongle. Practice connecting and - disconnecting ('~~' while using 'cu') from the TeleMetrum. 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. - - - Using this rf link allows you to configure the TeleMetrum, 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 TeleMetrum 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. - - - Eventually the GPS will find enough satellites, lock in on them, - and 'ao-view' will both auditorially 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. - - - Both RDF (radio direction finding) tones from the TeleMetrum and - GPS trekking data are available and together are very useful in - 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'.) - - - 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.) - - - 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! - -
- FAQ - - The altimeter (TeleMetrum) seems to shut off when disconnected from the - computer. 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. - - - It's impossible to stop the TeleDongle when it's in "p" mode, I have - to unplug the USB cable? 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. - - - The amber LED (on the TeleMetrum/altimeter) lights up when both - battery and USB are connected. Does this mean it's charging? - 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. - - - There are no "dit-dah-dah-dit" sound like the manual mentions? - That's the "pad" mode. Weak batteries might be the problem. - It is also possible that the unit is horizontal and the output - is instead a "dit-dit" meaning 'idle'. - - - It's unclear how to use 'ao-view' and other programs when 'cu' - is running. You cannot have more than one program connected to - the TeleDongle at one time without apparent data loss as the - incoming data will not make it to both programs intact. - Disconnect whatever programs aren't currently being used. - - - How do I save flight data? - Live telemetry is written to file(s) whenever 'ao-view' is connected - to the TeleDongle. The file area defaults to ~/altos - but is easily changed using the menus in 'ao-view'. The files that - are written end in '.telem'. The after-flight - data-dumped files will end in .eeprom and represent continuous data - unlike the rf-linked .telem files that are subject to the - turnarounds/data-packaging time slots in the half-duplex rf data path. - See the above instructions on what and how to save the eeprom stored - data after physically retrieving your TeleMetrum. Make sure to save - the on-board data after each flight, as the current firmware will - over-write any previous flight data during a new flight. - -
- - - Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm ham-band transceiver for telemetry downlink. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - - - - - On-board, integrated GPS receiver with 5hz update rate capability. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for LiPo rechargeable batteries. - - - - - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - - - - - - Handling Precautions - - TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver impressive results. - However, like all electronic devices, there are some precautions you - must take. - - - The Lithium Polymer rechargeable batteries used with TeleMetrum have an - extraordinary power density. This is great because we can fly with - much less battery mass than if we used alkaline batteries or previous - generation rechargeable batteries... but if they are punctured - or their leads are allowed to short, they can and will release their - energy very rapidly! - Thus we recommend that you take some care when handling our batteries - and consider giving them some extra protection in your airframe. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. - - - The TeleMetrum barometric sensor is sensitive to sunlight. In normal - mounting situations, it and all of the other surface mount components - are "down" towards whatever the underlying mounting surface is, so - this is not normally a problem. Please consider this, though, when - designing an installation, for example, in a 29mm airframe with a - see-through plastic payload bay. - - - The TeleMetrum barometric sensor sampling port must be able to - "breathe", - both by not being covered by foam or tape or other materials that might - directly block the hole on the top of the sensor, but also by having a - suitable static vent to outside air. - - - As with all other rocketry electronics, TeleMetrum must be protected - from exposure to corrosive motor exhaust and ejection charge gasses. - - - - Hardware Overview - - TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMetrum should have at least 10 inches of interior length. - - - A typical TeleMetrum installation using the on-board GPS antenna and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. - - - By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard - low-current e-matches like the J-Tek from MJG Technologies, and with - Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, you can do so by adding - a second 2mm connector to position B2 on the board and cutting the - thick pcb trace connecting the LiPo battery to the pyro circuit between - the two silk screen marks on the surface mount side of the board shown - here [insert photo] - - - We offer two choices of pyro and power switch connector, or you can - choose neither and solder wires directly to the board. All three choices - are reasonable depending on the constraints of your airframe. Our - favorite option when there is sufficient room above the board is to use - the Tyco pin header with polarization and locking. If you choose this - option, you crimp individual wires for the power switch and e-matches - into a mating connector, and installing and removing the TeleMetrum - board from an airframe is as easy as plugging or unplugging two - connectors. If the airframe will not support this much height or if - you want to be able to directly attach e-match leads to the board, we - offer a screw terminal block. This is very similar to what most other - altimeter vendors provide and so may be the most familiar option. - You'll need a very small straight blade screwdriver to connect - and disconnect the board in this case, such as you might find in a - jeweler's screwdriver set. Finally, you can forego both options and - solder wires directly to the board, which may be the best choice for - minimum diameter and/or minimum mass designs. - - - For most airframes, the integrated GPS antenna and wire UHF antenna are - a great combination. However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to use - off-board external antennas instead. In this case, you can order - TeleMetrum with an SMA connector for the UHF antenna connection, and - you can unplug the integrated GPS antenna and select an appropriate - off-board GPS antenna with cable terminating in a U.FL connector. - - - - System Operation -
- Firmware Modes - - The AltOS firmware build for TeleMetrum has two fundamental modes, - "idle" and "flight". Which of these modes the firmware operates in - is determined by the orientation of the rocket (well, actually the - board, of course...) at the time power is switched on. If the rocket - is "nose up", then TeleMetrum assumes it's on a rail or rod being - prepared for launch, so the firmware chooses flight mode. However, - if the rocket is more or less horizontal, the firmware instead enters - idle mode. - - - At power on, you will hear three beeps - ("S" in Morse code for startup) and then a pause while - TeleMetrum completes initialization and self tests, and decides which - mode to enter next. - - - In flight or "pad" mode, TeleMetrum turns on the GPS system, - engages the flight - state machine, goes into transmit-only mode on the RF link sending - telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" ("P" for pad) on the - beeper, followed by - beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates apogee continuity, two beeps indicate - main continuity, three beeps indicate both apogee and main continuity, - and one longer "brap" sound indicates no continuity. For a dual - deploy flight, make sure you're getting three beeps before launching! - For apogee-only or motor eject flights, do what makes sense. - - - In idle mode, you will hear an audible "di-dit" ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. TeleMetrum also listens on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. - Idle mode is useful for configuring TeleMetrum, for extracting data - from the on-board storage chip after flight, and for ground testing - pyro charges. - - - One "neat trick" of particular value when TeleMetrum is used with very - large airframes, is that you can power the board up while the rocket - is horizontal, such that it comes up in idle mode. Then you can - raise the airframe to launch position, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will cause - TeleMetrum to reboot, realize it's now nose-up, and thus choose - flight mode. This is much safer than standing on the top step of a - rickety step-ladder or hanging off the side of a launch tower with - a screw-driver trying to turn on your avionics before installing - igniters! - -
-
- GPS - - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! - - - TeleMetrum provides backup power to the GPS chip any time a LiPo - battery is connected. This allows the receiver to "warm start" on - the launch rail much faster than if every power-on were a "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe - preparation will be sufficient to allow the GPS receiver to cold - start and acquire lock. Then the board can be powered down during - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. - -
-
- 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 RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum-equipped rocket without as - much work as you may be accustomed to with other systems. It can - even be fun! - - - Just prep the rocket for flight, then power up TeleMetrum while the - airframe is horizontal. This will cause the firmware to go into - "idle" mode, in which the normal flight state machine is disabled and - charges will not fire without manual command. Then, establish an - RF packet connection from a TeleDongle-equipped computer using the - P command from a safe distance. You can now command TeleMetrum to - fire the apogee or main charges to complete your testing. - - - 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'. - -
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- Radio Link - - The chip our boards are based on incorporates an RF transceiver, but - it's not a full duplex system... each end can only be transmitting or - receiving at any given moment. So we had to decide how to manage the - link. - - - By design, TeleMetrum firmware listens for an RF connection when - it's in "idle mode" (turned on while the rocket is horizontal), which - allows us to use the RF link to configure the rocket, do things like - ejection tests, and extract data after a flight without having to - crack open the airframe. However, when the board is in "flight - mode" (turned on when the rocket is vertical) the TeleMetrum only - transmits and doesn't listen at all. That's because we want to put - ultimate priority on event detection and getting telemetry out of - the rocket and out over - the RF link in case the rocket crashes and we aren't able to extract - data later... - - - We don't use a 'normal packet radio' mode because they're just too - inefficient. The GFSK modulation we use is just FSK with the - baseband pulses passed through a - Gaussian filter before they go into the modulator to limit the - transmitted bandwidth. When combined with the hardware forward error - correction support in the cc1111 chip, this allows us to have a very - robust 38.4 kilobit data link with only 10 milliwatts of transmit power, - a whip antenna in the rocket, and a hand-held Yagi on the ground. We've - had flights to above 21k feet AGL with good reception, and calculations - suggest we should be good to well over 40k feet AGL with a 5-element yagi on - the ground. We hope to fly boards to higher altitudes soon, and would - of course appreciate customer feedback on performance in higher - altitude flights! - -
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- Configurable Parameters - - Configuring a TeleMetrum board for flight is very simple. Because we - have both acceleration and pressure sensors, there is no need to set - a "mach delay", for example. The few configurable parameters can all - be set using a simple terminal program over the USB port or RF link - via TeleDongle. - -
- Radio Channel - - Our firmware supports 10 channels. The default channel 0 corresponds - to a center frequency of 434.550 Mhz, and channels are spaced every - 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. - At any given launch, we highly recommend coordinating who will use - each channel and when to avoid interference. And of course, both - TeleMetrum and TeleDongle must be configured to the same channel to - successfully communicate with each other. - - - To set the radio channel, use the 'c r' command, like 'c r 3' to set - channel 3. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip on - your TeleMetrum board if you want the change to stay in place across reboots. - -
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- Apogee Delay - - Apogee delay is the number of seconds after TeleMetrum detects flight - apogee that the drogue charge should be fired. In most cases, this - should be left at the default of 0. However, if you are flying - redundant electronics such as for an L3 certification, you may wish - to set one of your altimeters to a positive delay so that both - primary and backup pyrotechnic charges do not fire simultaneously. - - - 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. - - - Please note that the TeleMetrum apogee detection algorithm always - fires a fraction of a second *after* apogee. If you are also flying - an altimeter like the PerfectFlite MAWD, which only supports selecting - 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 - seconds delay and set the TeleMetrum to fire your backup 2 or 3 - seconds later to avoid any chance of both charges firing - simultaneously. We've flown several airframes this way quite happily, - including Keith's successful L3 cert. - -
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- Main Deployment Altitude - - By default, TeleMetrum will fire the main deployment charge at an - elevation of 250 meters (about 820 feet) above ground. We think this - is a good elevation for most airframes, but feel free to change this - to suit. In particular, if you are flying two altimeters, you may - wish to set the - deployment elevation for the backup altimeter to be something lower - than the primary so that both pyrotechnic charges don't fire - simultaneously. - - - 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. - -
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- Calibration - - There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle. - -
- Radio Frequency - - The radio frequency is synthesized from a clock based on the 48 Mhz - crystal on the board. The actual frequency of this oscillator must be - measured to generate a calibration constant. While our GFSK modulation - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - - - To calibrate the radio frequency, connect the UHF antenna port to a - frequency counter, set the board to channel 0, and use the 'C' - command to generate a CW carrier. Wait for the transmitter temperature - to stabilize and the frequency to settle down. - Then, divide 434.550 Mhz by the - measured frequency and multiply by the current radio cal value show - in the 'c s' command. For an unprogrammed board, the default value - is 1186611. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - -
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- Accelerometer - - The accelerometer we use has its own 5 volt power supply and - the output must be passed through a resistive voltage divider to match - the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratiometric to - the ADC converter, and calibration is required. We also support the - use of any of several accelerometers from a Freescale family that - includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, - a simple 2-point calibration yields acceptable results capturing both - the different sensitivities and ranges of the different accelerometer - parts and any variation in power supply voltages or resistor values - in the divider network. - - - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - The +1g and -1g calibration points are included in each telemetry - frame and are part of the header extracted by ao-dumplog after flight. - Note that we always store and return raw ADC samples for each - sensor... nothing is permanently "lost" or "damaged" if the - calibration is poor. - - - In the unlikely event an accel cal that goes badly, it is possible - that TeleMetrum may always come up in 'pad mode' and as such not be - listening to either the USB or radio interfaces. 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). - -
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- Updating Device Firmware - - The big conceptual thing to realize is that you have to use a - TeleDongle as a programmer to update a TeleMetrum, and vice versa. - Due to limited memory resources in the cc1111, we don't support - programming either unit directly over USB. - - - 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 . - - - We recommend updating TeleMetrum first, before updating TeleDongle. - -
- Updating TeleMetrum 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 case to get access - to the circuit board. - - - Plug the 8-pin end of the programming cable to the - matching connector on the TeleDongle, and the 4-pin end to the - matching connector on the TeleMetrum. - 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 into your computer's USB port, and power - up the TeleMetrum. - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - Pick the TeleDongle 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-v1.0-0.7.1.ihx. It should be visible - in the default directory, if not you may have to poke around - your system to find it. - - - 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. - - -
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- Updating TeleDongle Firmware - - Updating TeleDongle's firmware is just like updating TeleMetrum - firmware, but you switch which board is the programmer and which - is the programming target. - - - - 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. - - - Take the 2 screws out of the TeleDongle case to get access - to the circuit board. - - - Plug the 8-pin end of the programming cable to the (latching) - matching connector on the TeleMetrum, and the 4-pin end to the - matching connector on the TeleDongle. - 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 both TeleMetrum and TeleDongle into your computer's USB - ports, and power up the TeleMetrum. - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - Pick the TeleMetrum device from the list, identifying it as the - programming device. - - - Select the image you want put on the TeleDongle, which should have a - name in the form teledongle-v0.2-0.7.1.ihx. It should be visible - in the default directory, if not you may have to poke around - your system to find it. - - - Make sure the configuration parameters are reasonable - looking. If the serial number and/or RF configuration - values aren't right, you'll need to change them. The TeleDongle - serial number is on the "bottom" of the circuit board, and can - usually be read through the translucent blue plastic case without - needing to remove the board from the case. - - - Hit the 'OK' button and the software should proceed to flash - the TeleDongle with new firmware, showing a progress bar. - - - Confirm that the TeleDongle board seems to have updated ok, which you - can do by plugging in to it over USB and using a terminal program - to connect to the board and issue the 'v' command to check - the version, etc. Once you're happy, remove the programming cable - and put the cover back on the TeleDongle. - - - 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. - -
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- - - - - - - AltosUI - - The AltosUI program provides a graphical user interface for - interacting with the Altus Metrum product family, including - TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, - configure TeleMetrum and TeleDongle devices and many other - tasks. The primary interface window provides a selection of - buttons, one for each major activity in the system. This manual - is split into chapters, each of which documents one of the tasks - provided from the top-level toolbar. - -
- Packet Command Mode - Controlling TeleMetrum Over The Radio Link - - One of the unique features of the Altos Metrum environment is - the ability to create a two way command link between TeleDongle - and TeleMetrum using the digital radio transceivers built into - each device. This allows you to interact with TeleMetrum from - afar, as if it were directly connected to the computer. - - - Any operation which can be performed with TeleMetrum - can either be done with TeleMetrum directly connected to - the computer via the USB cable, or through the packet - link. Simply select the appropriate TeleDongle device when - the list of devices is presented and AltosUI will use packet - command mode. - - - One oddity in the current interface is how AltosUI selects the - channel for packet mode communications. Instead of providing - an interface to specifically configure the channel, it uses - whatever channel 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, pick the - appropriate TeleDongle device. Once the flight monitoring - window is open, select the desired channel and then close it - down again. All Packet Command Mode operations will now use - that channel. - - - - - Save Flight Data—Recover flight data from the rocket without - opening it up. - - - - - Configure TeleMetrum—Reset apogee delays or main deploy - heights to respond to changing launch conditions. You can - also 'reboot' the TeleMetrum device. Use this to remotely - enable the flight computer by turning TeleMetrum on while - horizontal, then once the airframe is oriented for launch, - you can reboot TeleMetrum 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 airframe. Simply assembly the - rocket as if for flight with the apogee and main charges - loaded, then remotely command TeleMetrum to fire the - igniters. - - - - - Packet command mode uses the same RF channels as telemetry - mode. Configure the desired TeleDongle channel using the - flight monitor window channel selector and then close that - window before performing the desired operation. - - - TeleMetrum only enables packet command mode in 'idle' mode, so - make sure you have TeleMetrum lying horizontally when you turn - it on. Otherwise, TeleMetrum will start in 'pad' mode ready for - flight and will not be listening for command packets from TeleDongle. - - - When packet command mode is enabled, you can monitor the link - by watching the lights on the TeleDongle and TeleMetrum - devices. The red LED will flash each time TeleDongle or - TeleMetrum transmit a packet while the green LED will light up - on TeleDongle while it is waiting to receive a packet from - TeleMetrum. - -
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- Monitor Flight - Receive, Record and Display Telemetry Data - - Selecting this item brings up a dialog box listing all of the - connected TeleDongle devices. When you choose one of these, - AltosUI will create a window to display telemetry data as - received by the selected TeleDongle device. - - - All telemetry data received are automatically recorded in - suitable log files. The name of the files includes the current - date and rocket serial and flight numbers. - - - The radio channel being monitored by the TeleDongle device is - displayed at the top of the window. You can configure the - channel by clicking on the channel box and selecting the desired - channel. AltosUI remembers the last channel selected for each - TeleDongle and selects that automatically the next time you use - that device. - - - Below the TeleDongle channel selector, the window contains a few - significant pieces of information about the TeleMetrum providing - the telemetry data stream: - - - - The TeleMetrum callsign - - - The TeleMetrum serial number - - - The flight number. Each TeleMetrum 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. The - radio inside TeleDongle operates down to about -99dBm; - weaker signals may not be receiveable. The packet link uses - error correction and detection techniques which prevent - incorrect data from being reported. - - - - - 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 contains all of - the telemetry data in one place. - -
- Launch Pad - - The 'Launch Pad' tab shows information used to decide when the - rocket is ready for flight. The first elements include red/green - indicators, if any of these is red, you'll want to evaluate - whether the rocket is ready to launch: - - - - Battery Voltage. This indicates whether the LiPo battery - powering the TeleMetrum has sufficient charge to last for - the duration of the flight. A value of more than - 3.7V 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 LiPo 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 LiPo battery voltage. A value greater than 3.2V is - required for a 'GO' status. - - - - - GPS Locked. 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. 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. - - -
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- Ascent - - This tab is shown during Boost, Fast and Coast - phases. The information displayed here helps monitor the - rocket as it heads towards apogee. - - - The height, speed and acceleration are shown along with the - maxium 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. - -
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- Descent - - Once the rocket has reached apogee and (we hope) activated the - apogee charge, attention switches to tracking the rocket on - the way back to the ground, and for dual-deploy flights, - waiting for the main charge to fire. - - - To monitor whether the apogee charge operated correctly, the - current descent rate is reported along with the current - height. Good descent rates generally range from 15-30m/s. - - - To help locate the rocket in the sky, use 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. 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. - -
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- Landed - - Once the rocket is on the ground, attention switches to - recovery. While the radio signal is generally 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 you'll want to walk or hitch a ride. Take the reported - latitude and longitude and enter them into your handheld GPS - unit and have that compute a track to the landing location. - - - Finally, the maximum height, speed and acceleration reported - during the flight are displayed for your admiring observers. - -
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- Site Map - - When the rocket gets 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 colour: white for pad, red for - boost, pink for fast, yellow for coast, light blue for drogue, - dark blue for main, and black for landed. - - - The map's scale is approximately 3m (10ft) per pixel. The map - can be dragged using the left mouse button. The map will attempt - to keep the rocket roughly centred while data is being received. - - - Images are fetched automatically via the Google Maps Static API, - and are cached for reuse. If map images cannot be downloaded, - the rocket's path will be traced on a dark grey background - instead. - -
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- Save Flight Data - - TeleMetrum records flight data to its internal flash memory. - This 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 TeleMetrum and TeleDongle devices. If you select a - TeleMetrum device, the flight data will be downloaded from that - device directly. If you select a TeleDongle device, flight data - will be downloaded from a TeleMetrum device connected via the - packet command link to the specified TeleDongle. See the chapter - on Packet Command Mode for more information about this. - - - The filename for the data is computed automatically from the recorded - flight date, TeleMetrum serial number and flight number - information. - -
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- 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 TeleMetrum - 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. - -
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- 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 the TeleMetrum - flash memory. - - - Once a flight record is selected, the acceleration (blue), - velocity (green) and altitude (red) of the flight are plotted and - displayed, measured in metric units. - - - 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 popup menu to be displayed, giving - you the option save or print the plot. - - - Note that telemetry files will generally produce poor graphs - due to the lower sampling rate and missed telemetry packets, - and will also often have significant amounts of data received - while the rocket was waiting on the pad. Use saved flight data - for graphing where possible. - -
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- 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 (either .eeprom or .telem will do, remember that - .eeprom files contain higher resolution and more continuous - data). 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 TeleMetrum device, then - there is a single header line which labels all of the - fields. All of these lines start with a '#' character which - most 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. - -
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- Keyhole Markup Language (for Google Earth) - - This is the format used by - Googleearth to provide an overlay within that - application. With this, you can use Googleearth to see the - whole flight path in 3D. - -
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- Configure TeleMetrum - - Select this button and then select either a TeleMetrum or - TeleDongle Device from the list provided. Selecting a TeleDongle - device will use Packet Comamnd Mode to configure remote - TeleMetrum device. Learn how to use this in the Packet Command - Mode chapter. - - - The first few lines of the dialog provide information about the - connected TeleMetrum 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 TeleMetrum - 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 TeleMetrum device. Use this to - switch from idle to pad mode by rebooting once the rocket is - oriented for flight. - - - - - 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. - -
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- 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 overpressurize the apogee deployment - bay and cause a structural failure of the airframe. The Apogee - Delay parameter tells the flight computer to fire the apogee - charge a certain number of seconds after apogee has been - detected. - -
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- Radio Channel - - This configures which of the 10 radio channels to use for both - telemetry and packet command mode. Note that if you set this - value via packet command mode, you will have to reconfigure - the TeleDongle channel before you will be able to use packet - command mode again. - -
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- Radio Calibration - - The radios in every Altus Metrum device are calibrated at the - factory to ensure that they transmit and receive on the - specified frequency for each channel. You can adjust that - calibration by changing this value. To change the TeleDongle's - calibration, you must reprogram the unit completely. - -
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- Callsign - - This sets the callsign included in each telemetry packet. Set this - as needed to conform to your local radio regulations. - -
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- Configure AltosUI - - This button presents a dialog so that you can configure the AltosUI global settings. - -
- Voice Settings - - AltosUI provides voice annoucements 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 systme is working and the volume settings - are reasonable - - - -
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- 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. - -
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- Callsign - - This value is used in command packet mode and is transmitted - in each packet sent from TeleDongle and received from - TeleMetrum. It is not used in telemetry mode as that transmits - packets only from TeleMetrum to TeleDongle. Configure this - with the AltosUI operators callsign as needed to comply with - your local radio regulations. - -
-
-
- Flash Image - - This reprograms any Altus Metrum device by using a TeleMetrum or - TeleDongle as a programming dongle. Please read the directions - for connecting the programming cable in the main TeleMetrum - manual before reading these instructions. - - - Once you have the programmer and target devices connected, - push the 'Flash Image' button. That will present a dialog box - listing all of the connected devices. Carefully select the - programmer device, not the device to be programmed. - - - Next, select the image to flash to the device. These are named - with the product name and firmware version. The file selector - will start in the directory containing the firmware included - with the AltosUI package. Navigate to the directory containing - the desired firmware if it isn't there. - - - Next, a small dialog containing the device serial number and - RF calibration values should appear. If these values are - incorrect (possibly due to a corrupted image in the device), - enter the correct values here. - - - Finally, a dialog containing a progress bar will follow the - programming process. - - - When programming is complete, the target device will - reboot. Note that if the target device is connected via USB, you - will have to unplug it and then plug it back in for the USB - connection to reset so that you can communicate with the device - again. - -
-
- Fire Igniter - - This activates the igniter circuits in TeleMetrum 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 airframe. - - - Selecting the 'Fire Igniter' button brings up the usual device - selection dialog. Pick the desired TeleDongle or TeleMetrum - device. This brings up another window which shows the current - continutity test status for both apogee and main charges. - - - 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. - -
- - - Using Altus Metrum Products -
- Being Legal - - First off, in the US, you need an amateur radio license or - other authorization to legally operate the radio transmitters that are part - of our products. - -
- In the Rocket - - In the rocket itself, you just need a TeleMetrum board and - a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a TeleMetrum for hours. - - - By default, we ship TeleMetrum with a simple wire antenna. If your - electronics bay or the airframe it resides within is made of carbon fiber, - which is opaque to RF signals, you may choose to have an SMA connector - installed so that you can run a coaxial cable to an antenna mounted - elsewhere in the rocket. - -
-
- On the Ground - - To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our TeleDongle units. The - TeleDongle in turn plugs directly into the USB port on a notebook - computer. Because TeleDongle looks like a simple serial port, your computer - does not require special device drivers... just plug it in. - - - 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. - - - After the flight, you can use the RF link to extract the more detailed data - logged in the rocket, or you can use a mini USB cable to plug into the - TeleMetrum board directly. Pulling out the data without having to open up - the rocket is pretty cool! A USB cable is also how you charge the LiPo - battery, so you'll want one of those anyway... the same cable used by lots - of digital cameras and other modern electronic stuff will work fine. - - - If your rocket lands out of sight, you may enjoy having a hand-held GPS - receiver, so that you can put in a waypoint for the last reported rocket - position before touch-down. This makes looking for your rocket a lot like - Geo-Cacheing... just go to the waypoint and look around starting from there. - - - You may also enjoy having a ham radio "HT" that covers the 70cm band... you - can use that with your antenna to direction-find the rocket on the ground - the same way you can use a Walston or Beeline tracker. This can be handy - if the rocket is hiding in sage brush or a tree, or if the last GPS position - doesn't get you close enough because the rocket dropped into a canyon, or - the wind is blowing it across a dry lake bed, or something like that... Keith - and Bdale both currently own and use the Yaesu VX-7R at launches. - - - So, to recap, on the ground the hardware you'll need includes: - - - an antenna and feedline - - - a TeleDongle - - - a notebook computer - - - optionally, a handheld 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 - - Arrow Antennas. - - The 440-3 and 440-5 are both good choices for finding a - TeleMetrum-equipped rocket when used with a suitable 70cm HT. - -
-
- Data Analysis - - Our software makes it easy to log the data from each flight, both the - telemetry received over the RF link during the flight itself, and the more - complete data log recorded in the DataFlash memory on the TeleMetrum - board. Once this data is on your computer, our postflight tools make it - easy to quickly get to the numbers everyone wants, like apogee altitude, - max acceleration, and max velocity. You can also generate and view a - standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a data file - useable with Google Maps and Google Earth for visualizing the flight path - in two or three dimensions! - - - 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 - - In the future, we intend to offer "companion boards" for the rocket that will - plug in to TeleMetrum to collect additional data, provide more pyro channels, - and so forth. A reference design for a companion board will be documented - soon, and will be compatible with open source Arduino programming tools. - - - We are also working on the design of a hand-held ground terminal that will - allow monitoring the rocket's status, collecting data during flight, and - logging data after flight without the need for a notebook computer on the - flight line. Particularly since it is so difficult to read most notebook - screens in direct sunlight, we think this will be a great thing to have. - - - 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... - -
-
- - - -- cgit v1.2.3 From 13cea7a96821165a10a8b2433af1da7508882b0a Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sun, 28 Nov 2010 18:48:31 -0700 Subject: moved doc dir in web content to AltOS tree --- doc/Makefile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 14f9bee2..a64ae560 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -23,8 +23,8 @@ PDFSTYLE= all: $(HTML) $(PDF) publish: $(DOC) - cp $(DOC)altusmetrum.html home/bdale/web/altusmetrum/TeleMetrum/doc/ - (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/TeleMetrum/doc/* ; git push) + cp $(DOC)altusmetrum.html /home/bdale/web/altusmetrum/AltOS/doc/ + (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* ; git push) clean: rm -f *.html *.pdf *.fo -- cgit v1.2.3 From f39698bbc12afdfadfac56c90030e16db93cf4fc Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sun, 28 Nov 2010 19:46:03 -0700 Subject: fix publish target in doc/Makefile --- doc/Makefile | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index a64ae560..ef3ef6d1 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -23,8 +23,12 @@ PDFSTYLE= all: $(HTML) $(PDF) publish: $(DOC) - cp $(DOC)altusmetrum.html /home/bdale/web/altusmetrum/AltOS/doc/ - (cd /home/bdale/web/altusmetrum ; echo "update docs" | git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* ; git push) + cp $(DOC) /home/bdale/web/altusmetrum/AltOS/doc/ + (cd /home/bdale/web/altusmetrum ; \ + git add /home/bdale/web/altusmetrum/AltOS/doc/* ; \ + echo "update docs" | \ + git commit -F - /home/bdale/web/altusmetrum/AltOS/doc/* ; \ + git push) clean: rm -f *.html *.pdf *.fo -- cgit v1.2.3 From e840b6594b8a939f148fa7231e1b06a280d94074 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sun, 28 Nov 2010 22:42:43 -0700 Subject: fix section layering --- doc/altusmetrum.xsl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 8d4230f8..d90f331c 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1605,6 +1605,7 @@ NAR #88757, TRA #12200 other authorization to legally operate the radio transmitters that are part of our products. +
In the Rocket @@ -1728,7 +1729,6 @@ NAR #88757, TRA #12200 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... -
-- cgit v1.2.3 From 61a924099800494b589cbbb87c65b552ccbd8394 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Mon, 29 Nov 2010 14:40:27 -0700 Subject: fix an Altos vs Altus typo in the docs --- doc/altusmetrum.xsl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index d90f331c..7a80ba13 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -973,7 +973,7 @@ NAR #88757, TRA #12200 Packet Command Mode Controlling TeleMetrum Over The Radio Link - One of the unique features of the Altos Metrum environment is + One of the unique features of the Altus Metrum environment is the ability to create a two way command link between TeleDongle and TeleMetrum using the digital radio transceivers built into each device. This allows you to interact with TeleMetrum from -- cgit v1.2.3 From 35adb7c98fe02e84fff70c1bee22bfa019cfacc2 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 14 Jan 2011 21:44:59 -0800 Subject: doc: Add telemetrum mounting template in svg and pdf forms telemetrum-outline.svg and telemetrum-outline.pdf Signed-off-by: Keith Packard --- doc/telemetrum-outline.pdf | Bin 0 -> 2047 bytes doc/telemetrum-outline.svg | 207 +++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 207 insertions(+) create mode 100644 doc/telemetrum-outline.pdf create mode 100644 doc/telemetrum-outline.svg (limited to 'doc') diff --git a/doc/telemetrum-outline.pdf b/doc/telemetrum-outline.pdf new file mode 100644 index 00000000..09ce5577 Binary files /dev/null and b/doc/telemetrum-outline.pdf differ diff --git a/doc/telemetrum-outline.svg b/doc/telemetrum-outline.svg new file mode 100644 index 00000000..542df64c --- /dev/null +++ b/doc/telemetrum-outline.svg @@ -0,0 +1,207 @@ + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UP + + -- cgit v1.2.3 From b22ba359a02297e39a446cbd5ef51e63b795624a Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 15 Jan 2011 12:05:50 -0800 Subject: doc: inkscape tracks the filename inside the document telemetrum-outline.svg was renamed from telemetrum.svg and inkscape appears to care. Signed-off-by: Keith Packard --- doc/telemetrum-outline.svg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/telemetrum-outline.svg b/doc/telemetrum-outline.svg index 542df64c..aee63ed2 100644 --- a/doc/telemetrum-outline.svg +++ b/doc/telemetrum-outline.svg @@ -14,7 +14,7 @@ id="svg2" version="1.1" inkscape:version="0.47 r22583" - sodipodi:docname="telemetrum.svg"> + sodipodi:docname="telemetrum-outline.svg"> Date: Sun, 16 Jan 2011 23:23:45 -0800 Subject: doc: Remove mention of ao_wake_task This has been removed from the altos sources, so remove it from the docs too. Signed-off-by: Keith Packard --- doc/altos.xsl | 11 ----------- 1 file changed, 11 deletions(-) (limited to 'doc') diff --git a/doc/altos.xsl b/doc/altos.xsl index 295864fe..37bb58da 100644 --- a/doc/altos.xsl +++ b/doc/altos.xsl @@ -385,17 +385,6 @@ will abort the radio receive operation.
-
- ao_wake_task - - void - ao_wake_task(__xdata struct ao_task *task) - - - Force a specific task to wake up, independent of which - 'wchan' it is waiting for. - -
ao_start_scheduler -- cgit v1.2.3 From ea4cdfb87e03ecfb974f98305671265b6fb95372 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Mon, 17 Jan 2011 09:49:45 -0700 Subject: update documentation to reflect reality that modifying a board or separate pyro battery is not as simple as one trace cut on v1.0 and v1.1 boards --- doc/altusmetrum.xsl | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 7a80ba13..937be079 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -373,8 +373,8 @@ NAR #88757, TRA #12200 - Uses LiPo to fire e-matches, support for optional separate pyro - battery if needed. + Uses LiPo to fire e-matches, can be modiied to support + optional separate pyro battery if needed. @@ -449,11 +449,10 @@ NAR #88757, TRA #12200 to fire ejection charges. This works marvelously with standard low-current e-matches like the J-Tek from MJG Technologies, and with Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, you can do so by adding - a second 2mm connector to position B2 on the board and cutting the - thick pcb trace connecting the LiPo battery to the pyro circuit between - the two silk screen marks on the surface mount side of the board shown - here [insert photo] + want or need to use a separate pyro battery, the board can be factory + modified to do so. This involves cutting two traces and adding a jumper + in a densely populated part of the board on TeleMetrum v1.0 and v1.1, + along with installation of a pyro battery connector at location B2. We offer two choices of pyro and power switch connector, or you can -- cgit v1.2.3 From 92d7841edcfc8a841f71f7f97cc541f8e55c4627 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 18 Jan 2011 20:39:30 -0800 Subject: doc: Don't delete telemetrum-outline.pdf This has a drilling template for the board. Signed-off-by: Keith Packard --- doc/Makefile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index ef3ef6d1..ea030189 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -31,10 +31,10 @@ publish: $(DOC) git push) clean: - rm -f *.html *.pdf *.fo + rm -f $(HTML) $(PDF) *.fo distclean: - rm -f *.html *.pdf *.fo + rm -f $(HTML) $(PDF) *.fo indent: altusmetrum.xsl xmlindent -i 2 < altusmetrum.xsl > altusmetrum.new -- cgit v1.2.3 From 27e6dbbe95ae9b361d60576e0cbadb66792307f3 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 18 Jan 2011 20:39:58 -0800 Subject: doc: Add v0.9 features from altosui to documentation. New flight download UI and new config items. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 56 ++++++++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 53 insertions(+), 3 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 937be079..476b48aa 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1289,9 +1289,20 @@ NAR #88757, TRA #12200 on Packet Command Mode for more information about this. - The filename for the data is computed automatically from the recorded - flight date, TeleMetrum serial number and flight number - 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 you from 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 for a flight. + + + The filename for each flight log is computed automatically + from the recorded flight date, TeleMetrum serial number and + flight number information.
@@ -1476,6 +1487,35 @@ NAR #88757, TRA #12200 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. + + + During ascent, TeleMetrum records barometer and + accelerometer values 100 times per second, other analog + information (voltages and temperature) 6 times per second + and GPS data once per second. During descent, the non-GPS + data is recorded 1/10th as often. Each barometer + + accelerometer record takes 8 bytes. + + + The default, 192kB, will store over 200 seconds of data at + the ascent rate, or over 2000 seconds of data at the descent + rate. That's plenty for most flights. This leaves enough + storage for five flights in a 1MB system, or 10 flights in a + 2MB system. + + + The configuration block takes the last available block of + memory, on v1.0 boards that's just 256 bytes. However, the + flash part on the v1.1 boards uses 64kB for each block. + +
Configure AltosUI @@ -1527,6 +1567,16 @@ NAR #88757, TRA #12200 your local radio regulations.
+
+ 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. + +
Flash Image -- cgit v1.2.3 From e2e20f6ce8a9c2bca36fde5730ccd7151377ec6f Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 18 Jan 2011 23:18:42 -0700 Subject: add 0.9 revision entry, with caveat about telemetry format change --- doc/altusmetrum.xsl | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 476b48aa..a2a9e331 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -34,6 +34,17 @@ license. + + + 0.9 + 18 January 2011 + + 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. + + + 0.8 -- cgit v1.2.3 From 26c4cc3054b1c7c9ed6ce3c2f21f6254b3245718 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 18 Jan 2011 23:29:03 -0700 Subject: freshen copyright year --- debian/copyright | 4 ++-- doc/altusmetrum.xsl | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'doc') diff --git a/debian/copyright b/debian/copyright index 7d9a469e..50cbcd80 100644 --- a/debian/copyright +++ b/debian/copyright @@ -10,7 +10,7 @@ Upstream Authors: Copyright: - Copyright © 2009 Keith Packard + Copyright © 2009-2011 Keith Packard License: @@ -29,7 +29,7 @@ License: The Debian packaging is: - Copyright (C) 2009 Bdale Garbee + Copyright © 2009-2011 Bdale Garbee and is also licensed under the GPL version 2. diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index a2a9e331..25f24593 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -22,7 +22,7 @@ Towns - 2010 + 2011 Bdale Garbee and Keith Packard -- cgit v1.2.3 From 4ae724fe1d2ca0d712321c4fdc2200ff46d77428 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 18 Jan 2011 23:54:36 -0700 Subject: we need an install target to prevent parent dir make from failing --- doc/Makefile | 2 ++ 1 file changed, 2 insertions(+) (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index ea030189..80c84409 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -22,6 +22,8 @@ PDFSTYLE= all: $(HTML) $(PDF) +install: all + publish: $(DOC) cp $(DOC) /home/bdale/web/altusmetrum/AltOS/doc/ (cd /home/bdale/web/altusmetrum ; \ -- cgit v1.2.3 From 06e82bd2c2a5eea153a053e542df9bc3537e9a01 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 2 Jul 2011 01:50:33 -0700 Subject: doc: Add telemetry format description Document the telemetry packet contents. Signed-off-by: Keith Packard --- doc/Makefile | 10 +- doc/telemetry.xsl | 572 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 578 insertions(+), 4 deletions(-) create mode 100644 doc/telemetry.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 80c84409..b431f4ca 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,8 +2,8 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -HTML=altusmetrum.html altos.html -PDF=altusmetrum.pdf altos.pdf +HTML=altusmetrum.html altos.html telemetry.html +PDF=altusmetrum.pdf altos.pdf telemetry.pdf DOC=$(HTML) $(PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl FOSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl @@ -11,11 +11,13 @@ PDFSTYLE= .SUFFIXES: .xsl .html .fo .pdf +XSLTFLAGS=--stringparam section.autolabel 1 + .xsl.html: - xsltproc -o $@ $(HTMLSTYLE) $*.xsl + xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl .xsl.fo: - xsltproc -o $@ $(FOSTYLE) $*.xsl + xsltproc $(XSLTFLAGS) -o $@ $(FOSTYLE) $*.xsl .fo.pdf: fop -fo $*.fo -pdf $@ diff --git a/doc/telemetry.xsl b/doc/telemetry.xsl new file mode 100644 index 00000000..8f0c3ff0 --- /dev/null +++ b/doc/telemetry.xsl @@ -0,0 +1,572 @@ + + + +
+ + AltOS Telemetry + Packet Definitions + + Keith + Packard + + + 2011 + Keith Packard + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.1 + 01 July 2011 + Initial content + + + +
+ History and Motivation + + The original AltoOS telemetry mechanism encoded everything + available piece of information on the TeleMetrum hardware into a + single unified packet. Initially, the packets contained very + little data—some raw sensor readings along with the current GPS + coordinates when a GPS receiver was connected. Over time, the + amount of data grew to include sensor calibration data, GPS + satellite information and a host of internal state information + designed to help diagnose flight failures in case of a loss of + the on-board flight data. + + + Because every packet contained all of the data, packets were + huge—95 bytes long. Much of the information was also specific to + the TeleMetrum hardware. With the introduction of the TeleMini + flight computer, most of the data contained in the telemetry + packets was unavailable. Initially, a shorter, but still + comprehensive packet was implemented. This required that the + ground station be pre-configured as to which kind of packet to + expect. + + + The development of several companion boards also made the + shortcomings evident—each companion board would want to include + telemetry data in the radio link; with the original design, the + packet would have to hold the new data as well, requiring + additional TeleMetrum and ground station changes. + +
+
+ Packet Format Design + + AltOS telemetry data is split into multiple different packets, + all the same size, but each includs an identifier so that the + ground station can distinguish among different types. A single + flight board will transmit multiple packet types, each type on a + different schedule. The ground software need look for only a + single packet size, and then decode the information within the + packet and merge data from multiple packets to construct the + full flight computer state. + + + Each AltOS packet is 32 bytes long. This size was chosen based + on the known telemetry data requirements. The power of two size + allows them to be stored easily in flash memory without having + them split across blocks or leaving gaps at the end. + + + All packet types start with a five byte header which encodes the + device serial number, device clock value and the packet + type. The remaining 27 bytes encode type-specific data. + +
+
+ Packet Formats + This section first defines the packet header common to all packets + and then the per-packet data layout. +
+ Packet Header + + Telemetry Packet Header + + + + + + + + Offset + Data Type + Name + Description + + + + + 0 + uint16_t + serial + Device serial Number + + + 2 + uint16_t + tick + Device time in 100ths of a second + + + 4 + uint8_t + type + Packet type + + + 5 + + + +
+ + Each packet starts with these five bytes which serve to identify + which device has transmitted the packet, when it was transmitted + and what the rest of the packet contains. + +
+
+ Sensor Data + + + + + + + Type + Description + + + + + 0x01 + TeleMetrum Sensor Data + + + 0x02 + TeleMini Sensor Data + + + 0x03 + TeleNano Sensor Data + + + + + + TeleMetrum, TeleMini and TeleNano share this same packet + format for sensor data. Each uses a distinct packet type so + that the receiver knows which data values are valid and which + are undefined. + + + Sensor Packet Contents + + + + + + + + Offset + Data Type + Name + Description + + + + + 5uint8_tstateFlight state + + + 6int16_taccelaccelerometer (TM only) + + + 8int16_tprespressure sensor + + + 10int16_ttemptemperature sensor + + + 12int16_tv_battbattery voltage + + + 14int16_tsense_ddrogue continuity sense (TM/Tm) + + + 16int16_tsense_mmain continuity sense (TM/Tm) + + + 18int16_taccelm/s² * 16 + + + 20int16_tspeedm/s * 16 + + + 22int16_theightm + + + 24int16_tground_accelTM + + + 26int16_tground_presAverage barometer reading on ground + + + 28int16_taccel_plus_gTM + + + 30int16_taccel_minus_gTM + + + 32 + + + +
+
+
+ Configuration Data + + + + + + + Type + Description + + + + + 0x04 + Configuration Data + + + + + + Sensor Packet Contents + + + + + + + + Offset + Data Type + Name + Description + + + + + 5uint8_ttypeDevice type + + + 6uint16_tflightFlight number + + + 8uint8_tconfig_majorConfig major version + + + 9uint8_tconfig_minorConfig minor version + + + 10uint16_tmain_deployMain deploy alt in meters + + + 12uint32_tflight_log_maxMaximum flight log size (B) + + + 16charcallsign[8]Radio operator identifier + + + 24charversion[8]Software version identifier + + + 32 + + + +
+
+
+ GPS Location + + + + + + + Type + Description + + + + + 0x05 + GPS Location + + + + + + GPS Location Packet Contents + + + + + + + + Offset + Data Type + Name + Description + + + + + 5uint8_tflagsGPS Flags (see below) + + + 6int16_taltitudem + + + 8int32_tlatitudedegrees * 107 + + + 12int32_tlongitudedegrees * 107 + + + 16uint8_tyear + + + 17uint8_tmonth + + + 18uint8_tday + + + 19uint8_thour + + + 20uint8_tminute + + + 21uint8_tsecond + + + 22uint8_tpdop* 5 + + + 23uint8_thdop* 5 + + + 24uint8_tvdop* 5 + + + 25uint8_tmodeN, A, D, E, M, S + + + 26uint16_tground_speedcm/s + + + 28uint8_tcourse/ 2 + + + 29uint8_tunused[2] + + + 32 + + + +
+
+
+ GPS Satellite Data + + + + + + + Type + Description + + + + + 0x06 + GPS Satellite Data + + + + + + GPS Satellite Data Contents + + + + + + + + Offset + Data Type + Name + Description + + + + + 5uint8_tchannels + + + 6uint8_tsat_0_id + + + 7uint8_tsat_0_c_n_1 + + + 8uint8_tsat_1_id + + + 9uint8_tsat_1_c_n_1 + + + 10uint8_tsat_2_id + + + 11uint8_tsat_2_c_n_1 + + + 12uint8_tsat_3_id + + + 13uint8_tsat_3_c_n_1 + + + 14uint8_tsat_4_id + + + 15uint8_tsat_4_c_n_1 + + + 16uint8_tsat_5_id + + + 17uint8_tsat_5_c_n_1 + + + 18uint8_tsat_6_id + + + 19uint8_tsat_6_c_n_1 + + + 20uint8_tsat_7_id + + + 21uint8_tsat_7_c_n_1 + + + 22uint8_tsat_8_id + + + 23uint8_tsat_8_c_n_1 + + + 24uint8_tsat_9_id + + + 25uint8_tsat_9_c_n_1 + + + 26uint8_tsat_10_id + + + 27uint8_tsat_10_c_n_1 + + + 28uint8_tsat_11_id + + + 29uint8_tsat_11_c_n_1 + + + 30uin8_tunused30 + + + 31uin8_tunused31 + + + 32 + + + +
+
+
+
+ + \ No newline at end of file -- cgit v1.2.3 From 98df3ba984acf3b47a09949bbea0f3264f711f5b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 4 Jul 2011 14:17:55 -0700 Subject: doc: Complete initial telemetry description Finish describing the contents and modulation scheme for telemetry data. Signed-off-by: Keith Packard --- doc/telemetry.xsl | 420 +++++++++++++++++++++++++++++++++++++----------------- 1 file changed, 289 insertions(+), 131 deletions(-) (limited to 'doc') diff --git a/doc/telemetry.xsl b/doc/telemetry.xsl index 8f0c3ff0..d2b17126 100644 --- a/doc/telemetry.xsl +++ b/doc/telemetry.xsl @@ -31,37 +31,6 @@ -
- History and Motivation - - The original AltoOS telemetry mechanism encoded everything - available piece of information on the TeleMetrum hardware into a - single unified packet. Initially, the packets contained very - little data—some raw sensor readings along with the current GPS - coordinates when a GPS receiver was connected. Over time, the - amount of data grew to include sensor calibration data, GPS - satellite information and a host of internal state information - designed to help diagnose flight failures in case of a loss of - the on-board flight data. - - - Because every packet contained all of the data, packets were - huge—95 bytes long. Much of the information was also specific to - the TeleMetrum hardware. With the introduction of the TeleMini - flight computer, most of the data contained in the telemetry - packets was unavailable. Initially, a shorter, but still - comprehensive packet was implemented. This required that the - ground station be pre-configured as to which kind of packet to - expect. - - - The development of several companion boards also made the - shortcomings evident—each companion board would want to include - telemetry data in the radio link; with the original design, the - packet would have to hold the new data as well, requiring - additional TeleMetrum and ground station changes. - -
Packet Format Design @@ -95,7 +64,7 @@ Telemetry Packet Header - + @@ -172,10 +141,15 @@ that the receiver knows which data values are valid and which are undefined. + + Sensor Data packets are transmitted once per second on the + ground, 10 times per second during ascent and once per second + during descent and landing +
Sensor Packet Contents - + @@ -257,10 +231,18 @@ + + This provides a description of the software installed on the + flight computer as well as any user-specified configuration data. + + + Configuration data packets are transmitted once per second + during all phases of the flight +
Sensor Packet Contents - + @@ -324,10 +306,19 @@ + + This packet provides all of the information available from the + Venus SkyTraq GPS receiver—position, time, speed and precision + estimates. + + + GPS Location packets are transmitted once per second during + all phases of the flight +
GPS Location Packet Contents - + @@ -341,7 +332,8 @@ - 5uint8_tflagsGPS Flags (see below) + 5uint8_tflags + See GPS Flags table below 6int16_taltitudem @@ -380,7 +372,8 @@ 24uint8_tvdop* 5 - 25uint8_tmodeN, A, D, E, M, S + 25uint8_tmode + See GPS Mode table below 26uint16_tground_speedcm/s @@ -389,7 +382,7 @@ 28uint8_tcourse/ 2 - 29uint8_tunused[2] + 29uint8_tunused[3] 32 @@ -397,6 +390,116 @@
+ + Packed into a one byte field are status flags and the count of + satellites used to compute the position fix. Note that this + number may be lower than the number of satellites being + tracked; the receiver will not use information from satellites + with weak signals or which are close enough to the horizon to + have significantly degraded position accuracy. + + + GPS Flags + + + + + + + Bits + Name + Description + + + + + 0-3 + nsats + Number of satellites in solution + + + 4 + valid + GPS solution is valid + + + 5 + running + GPS receiver is operational + + + 6 + date_valid + Reported date is valid + + + 7 + course_valid + ground speed, course and climb rates are valid + + + +
+ + Here are all of the valid GPS operational modes. Altus Metrum + products will only ever report 'N' (not valid), 'A' + (Autonomous) modes or 'E' (Estimated). The remaining modes + are either testing modes or require additional data. + + + GPS Mode + + + + + + + Mode + Name + Decsription + + + + + N + Not Valid + All data are invalid + + + A + Autonomous mode + Data are derived from satellite data + + + D + Differential Mode + + Data are augmented with differential data from a + known ground station. The SkyTraq unit in TeleMetrum + does not support this mode + + + + E + Estimated + + Data are estimated using dead reckoning from the + last known data + + + + M + Manual + Data were entered manually + + + S + Simulated + GPS receiver testing mode + + + +
GPS Satellite Data @@ -418,6 +521,15 @@ + + This packet provides space vehicle identifiers and signal + quality information in the form of a C/N1 number for up to 12 + satellites. The order of the svids is not specified. + + + GPS Satellite data are transmitted once per second during all + phases of the flight. + GPS Satellite Data Contents @@ -436,137 +548,183 @@ 5uint8_tchannels + Number of reported satellite information - 6uint8_tsat_0_id + 6sat_info_tsats[12] + See Per-Satellite data table below - 7uint8_tsat_0_c_n_1 + 30uint8_tunused[2] - 8uint8_tsat_1_id - - - 9uint8_tsat_1_c_n_1 - - - 10uint8_tsat_2_id - - - 11uint8_tsat_2_c_n_1 - - - 12uint8_tsat_3_id - - - 13uint8_tsat_3_c_n_1 - - - 14uint8_tsat_4_id - - - 15uint8_tsat_4_c_n_1 - - - 16uint8_tsat_5_id - - - 17uint8_tsat_5_c_n_1 - - - 18uint8_tsat_6_id + 32 + + +
+ + GPS Per-Satellite data (sat_info_t) + + + + + + - 19uint8_tsat_6_c_n_1 + Offset + Data Type + Name + Description + + - 20uint8_tsat_7_id + 0uint8_tsvid + Space Vehicle Identifier - 21uint8_tsat_7_c_n_1 + 1uint8_tc_n_1 + C/N1 signal quality indicator - 22uint8_tsat_8_id + 2 + + +
+
+
+
+ Data Transmission + + Altus Metrum devices use the Texas Instruments CC1111 + microcontroller which includes an integrated sub-GHz digital + transceiver. This transceiver is used to both transmit and + receive the telemetry packets. This section discusses what + modulation scheme is used and how this device is configured. + +
+ Modulation Scheme + + Texas Instruments provides a tool for computing modulation + parameters given a desired modulation format and basic bit + rate. For AltOS, the basic bit rate was specified as 38 kBaud, + resulting in the following signal parmeters: + + + + + + + - 23uint8_tsat_8_c_n_1 + Parameter + Value + Description + + - 24uint8_tsat_9_id + Modulation + GFSK + Gaussian Frequency Shift Keying - 25uint8_tsat_9_c_n_1 + Deviation + 20.507812 kHz + Frequency modulation - 26uint8_tsat_10_id + Data rate + 38.360596 kBaud + Raw bit rate - 27uint8_tsat_10_c_n_1 + RX Filter Bandwidth + 93.75 kHz + Receiver Band pass filter bandwidth - 28uint8_tsat_11_id + IF Frequency + 140.62 kHz + Receiver intermediate frequency + + +
+
+
+ + The cc1111 provides forward error correction in hardware, + which AltOS uses to improve reception of weak signals. The + overall effect of this is to halve the available bandwidth for + data from 38 kBaud to 19 kBaud. + + Error Correction + + + + + + - 29uint8_tsat_11_c_n_1 + Parameter + Value + Description + + - 30uin8_tunused30 + Error Correction + Convolutional coding FEC + 1/2 code, constraint length m=4 - 31uin8_tunused31 + Interleaving + 4 x 4 + Reduce effect of noise burst - 32 + Data Whitening + XOR with 9-bit PNR + Rotate right with bit 8 = bit 0 xor bit 5, initial + value 111111111
+
+ History and Motivation + + The original AltoOS telemetry mechanism encoded everything + available piece of information on the TeleMetrum hardware into a + single unified packet. Initially, the packets contained very + little data—some raw sensor readings along with the current GPS + coordinates when a GPS receiver was connected. Over time, the + amount of data grew to include sensor calibration data, GPS + satellite information and a host of internal state information + designed to help diagnose flight failures in case of a loss of + the on-board flight data. + + + Because every packet contained all of the data, packets were + huge—95 bytes long. Much of the information was also specific to + the TeleMetrum hardware. With the introduction of the TeleMini + flight computer, most of the data contained in the telemetry + packets was unavailable. Initially, a shorter, but still + comprehensive packet was implemented. This required that the + ground station be pre-configured as to which kind of packet to + expect. + + + The development of several companion boards also made the + shortcomings evident—each companion board would want to include + telemetry data in the radio link; with the original design, the + packet would have to hold the new data as well, requiring + additional TeleMetrum and ground station changes. + +
- - \ No newline at end of file -- cgit v1.2.3 From a08173197d5533ecb395102ed34e751135660d06 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 4 Jul 2011 18:01:59 -0700 Subject: doc: Fix a few minor telemetry doc mistakes Multiple 'accel' entries in the Sensor packet. Swap ground_accel and ground_pres to group accel cal data Signed-off-by: Keith Packard --- doc/telemetry.xsl | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'doc') diff --git a/doc/telemetry.xsl b/doc/telemetry.xsl index d2b17126..a0b9f6e7 100644 --- a/doc/telemetry.xsl +++ b/doc/telemetry.xsl @@ -184,7 +184,7 @@ 16int16_tsense_mmain continuity sense (TM/Tm) - 18int16_taccelm/s² * 16 + 18int16_taccelerationm/s² * 16 20int16_tspeedm/s * 16 @@ -193,10 +193,10 @@ 22int16_theightm - 24int16_tground_accelTM + 24int16_tground_presAverage barometer reading on ground - 26int16_tground_presAverage barometer reading on ground + 26int16_tground_accelTM 28int16_taccel_plus_gTM -- cgit v1.2.3 From 938949e39aac834a1c0912f8f307f74fe41418cc Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 5 Jul 2011 21:42:22 -0700 Subject: doc: Chang Config and Location packets Config packets get apogee delay, and have flight_log_max shrunk to two bytes. Location packets get climb_rate added. Signed-off-by: Keith Packard --- doc/telemetry.xsl | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) (limited to 'doc') diff --git a/doc/telemetry.xsl b/doc/telemetry.xsl index a0b9f6e7..73a9f900 100644 --- a/doc/telemetry.xsl +++ b/doc/telemetry.xsl @@ -268,10 +268,15 @@ 9uint8_tconfig_minorConfig minor version - 10uint16_tmain_deployMain deploy alt in meters + 10uint16_tapogee_delay + Apogee deploy delay in seconds - 12uint32_tflight_log_maxMaximum flight log size (B) + 12uint16_tmain_deployMain deploy alt in meters + + + 14uint16_tflight_log_max + Maximum flight log size (kB) 16charcallsign[8]Radio operator identifier @@ -379,10 +384,13 @@ 26uint16_tground_speedcm/s - 28uint8_tcourse/ 2 + 28int16_tclimb_ratecm/s + + + 30uint8_tcourse/ 2 - 29uint8_tunused[3] + 31uint8_tunused[1] 32 -- cgit v1.2.3 From 6ac34f9c8efd464194137ac4ce8228bf9d7d83be Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 5 Jul 2011 23:35:02 -0700 Subject: doc: Add section about TeleDongle USB line format Describe the format of the TELEM lines sent over USB from TeleDongle to the host. Signed-off-by: Keith Packard --- doc/telemetry.xsl | 68 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 68 insertions(+) (limited to 'doc') diff --git a/doc/telemetry.xsl b/doc/telemetry.xsl index 73a9f900..fa66bff9 100644 --- a/doc/telemetry.xsl +++ b/doc/telemetry.xsl @@ -704,6 +704,74 @@ +
+ TeleDongle packet format + + TeleDongle does not do any interpretation of the packet data, + instead it is configured to receive packets of a specified + length (32 bytes in this case). For each received packet, + TeleDongle produces a single line of text. This line starts with + the string "TELEM " and is followed by a list of hexadecimal + encoded bytes. + + TELEM 224f01080b05765e00701f1a1bbeb8d7b60b070605140c000600000000000000003fa988 + + The hexadecimal encoded string of bytes contains a length byte, + the packet data, two bytes added by the cc1111 radio receiver + hardware and finally a checksum so that the host software can + validate that the line was transmitted without any errors. + + + + + + + + + + Offset + Name + Example + Description + + + + + 0 + length + 22 + Total length of data bytes in the line. Note that + this includes the added RSSI and status bytes + + + 1 ·· length-3 + packet + 4f ·· 00 + Bytes of actual packet data + + + length-2 + rssi + 3f + Received signal strength. dBm = rssi / 2 - 74 + + + length-1 + lqi + a9 + Link Quality Indicator and CRC status. Bit 7 + is set when the CRC is correct + + + length + checksum + 88 + (0x5a + sum(bytes 1 ·· length-1)) % 256 + + + +
+
History and Motivation -- cgit v1.2.3 From 967c9d5ee691f87bf0d1e49ba055eb366e513e6a Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 10 Aug 2011 17:43:58 -0700 Subject: doc: Update altusmetrum.xsl for v1.0 software and TeleMini Add TeleMini references and sections as appropriate, update AltosUI docs to describe new bits. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 835 ++++++++++++++++++++++++++++++++++------------------ 1 file changed, 549 insertions(+), 286 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 25f24593..0ee9d163 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -3,7 +3,7 @@ "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd"> The Altus Metrum System - An Owner's Manual for TeleMetrum and TeleDongle Devices + An Owner's Manual for TeleMetrum, TeleMini and TeleDongle Devices Bdale @@ -35,6 +35,15 @@ + + 1.0 + 10 August 2011 + + 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. + + 0.9 18 January 2011 @@ -44,8 +53,6 @@ TeleDongle) must be updated or communications will fail. - - 0.8 24 November 2010 @@ -92,14 +99,19 @@ NAR #88757, TRA #12200 future as you wish! - The focal point of our community is 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 first device created for our community is 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 newest device is TeleMini, a dual deploy altimeter with + radio telemetry and radio direction finding. This device is only + 13mm by 38mm (½ inch by 1½ inches) and can fit easily in an 18mm airframe. - Complementing TeleMetrum is TeleDongle, a USB to RF interface for - communicating with TeleMetrum. Combined with your choice of antenna and + Complementing TeleMetrum and TeleMini is TeleDongle, a USB to RF interface 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 @@ -115,13 +127,19 @@ NAR #88757, TRA #12200 Getting Started The first thing to do after you check the inventory of parts in your - "starter kit" is to charge the battery by plugging it into the + "starter kit" is to charge the battery. + + + The TeleMetrum battery can be charged by plugging it into the corresponding socket of the TeleMetrum and then using the USB A to mini B cable to plug the Telemetrum into your computer's USB socket. The TeleMetrum circuitry will charge the battery whenever it is plugged in, because the TeleMetrum's on-off switch does NOT control the - charging circuitry. When the GPS chip is initially searching for + charging circuitry. + + + When the GPS chip is initially searching for satellites, TeleMetrum will consume more current than it can pull 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 @@ -132,6 +150,12 @@ NAR #88757, TRA #12200 battery is nearly full and the charger goes to trickle charge. It can take several hours to fully recharge a deeply discharged battery. + + The TeleMini battery can be charged by disconnecting it from the + TeleMini board and plugging it into the battery charger board, + and connecting that via a USB cable to a laptop or other USB + power source + 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 @@ -144,7 +168,7 @@ NAR #88757, TRA #12200 Next you should obtain and install the AltOS utilities. These include the AltosUI ground station program, current firmware images for - TeleMetrum and TeleDongle, and a number of standalone utilities that + TeleMetrum, TeleMini and TeleDongle, and a number of standalone utilities that are rarely needed. Pre-built binary packages are available for Debian Linux, Microsoft Windows, and recent MacOSX versions. Full sourcecode and build instructions for some other Linux variants are also available. @@ -161,6 +185,15 @@ NAR #88757, TRA #12200 respective on-board firmware and data using other command line programs in the AltOS software suite. + + 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. + 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 @@ -179,7 +212,7 @@ NAR #88757, TRA #12200 second use will be outlined later. - Both TeleMetrum and TeleDongle share the concept of a two level + 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 '?' @@ -189,10 +222,8 @@ NAR #88757, TRA #12200 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 DataFlash memory, and only TeleMetrum has this - memory to save the various values entered like the channel number - and your callsign when powered off. TeleDongle requires that you - set these each time you plug it in, which ao-view can help with. + 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. Try setting these config ('c' or second level menu) values. A good @@ -206,38 +237,40 @@ NAR #88757, TRA #12200 terminal program by sending the escape-disconnect mentioned above. - Note that the 'reboot' command, which is very useful on TeleMetrum, + 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. 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 rf-link access - of the TeleMetrum from the TeleDongle. Be aware that you *must* create + 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. Now might be a good time to take a break and read the rest of this - manual, particularly about the two "modes" that the TeleMetrum - can be placed in and how the position of the TeleMetrum when booting - up will determine whether the unit is in "pad" or "idle" mode. + 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. - You can access a TeleMetrum in idle mode from the Teledongle's USB + You can access an altimeter in idle mode from the Teledongle's USB connection using the rf link by issuing a 'p' command to the TeleDongle. Practice connecting and - disconnecting ('~~' while using 'cu') from the TeleMetrum. If + 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. - Using this rf link allows you to configure the TeleMetrum, test + Using this rf 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 TeleMetrum will reboot and start sending data + 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 @@ -245,7 +278,7 @@ NAR #88757, TRA #12200 TeleDongle, unplug it, and try again after plugging it back in. - Eventually the GPS will find enough satellites, lock in on them, + On TeleMetrum, the GPS will eventually find enough satellites, lock in on them, and 'ao-view' will both auditorially announce and visually indicate that GPS is ready. Now you can launch knowing that you have a good data path and @@ -254,8 +287,13 @@ NAR #88757, TRA #12200 order for ao-view to be able to receive data. - Both RDF (radio direction finding) tones from the TeleMetrum and - GPS trekking data are available and together are very useful in + 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. + + + TeleMetrum also provides GPS trekking 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'.) @@ -281,7 +319,7 @@ NAR #88757, TRA #12200
FAQ - The altimeter (TeleMetrum) seems to shut off when disconnected from the + TeleMetrum seems to shut off when disconnected from the computer. 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 @@ -298,17 +336,18 @@ NAR #88757, TRA #12200 communication. - The amber LED (on the TeleMetrum/altimeter) lights up when both + The amber LED (on the TeleMetrum) lights up when both battery and USB are connected. Does this mean it's charging? 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. - There are no "dit-dah-dah-dit" sound like the manual mentions? + There are no "dit-dah-dah-dit" sound or lights like the manual mentions? That's the "pad" mode. Weak batteries might be the problem. - It is also possible that the unit is horizontal and the output - is instead a "dit-dit" meaning 'idle'. + It is also possible that the Telemetrum 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. It's unclear how to use 'ao-view' and other programs when 'cu' @@ -335,76 +374,130 @@ NAR #88757, TRA #12200 Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm ham-band transceiver for telemetry downlink. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - - - - - On-board, integrated GPS receiver with 5hz update rate capability. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for LiPo rechargeable batteries. - - - - - Uses LiPo to fire e-matches, can be modiied to support - optional separate pyro battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - - - +
+ TeleMetrum Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, can be modiied to support + optional separate pyro battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + +
+
+ TeleMini Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + On-board 5 kilobyte non-volatile memory for flight data storage. + + + + + RF interface for battery charging, configuration, and data recovery. + + + + + Support for LiPo rechargeable batteries, using an external charger. + + + + + Uses LiPo to fire e-matches, can be modiied to support + optional separate pyro battery if needed. + + + + + 1.5 x .5 inch board designed to fit inside 18mm airframe coupler tube. + + + +
Handling Precautions - TeleMetrum is a sophisticated electronic device. When handled gently and - properly installed in an airframe, it will deliver impressive results. + All Altus Metrum products are sophisticated electronic device. When handled gently and + properly installed in an airframe, theywill deliver impressive results. However, like all electronic devices, there are some precautions you must take. - The Lithium Polymer rechargeable batteries used with TeleMetrum have an + 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 @@ -416,22 +509,22 @@ NAR #88757, TRA #12200 strapping them down, for example. - The TeleMetrum barometric sensor is sensitive to sunlight. In normal + The barometric sensor is sensitive to sunlight. In normal mounting situations, it and all of the other surface mount components are "down" towards whatever the underlying mounting surface is, so this is not normally a problem. Please consider this, though, when - designing an installation, for example, in a 29mm airframe with a + designing an installation, for example, in an airframe with a see-through plastic payload bay. - The TeleMetrum barometric sensor sampling port must be able to + 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, but also by having a suitable static vent to outside air. - As with all other rocketry electronics, TeleMetrum must be protected + As with all other rocketry electronics, Altus Metrum altimeters must be protected from exposure to corrosive motor exhaust and ejection charge gasses. @@ -449,7 +542,18 @@ NAR #88757, TRA #12200 bay for TeleMetrum should have at least 10 inches of interior length. - A typical TeleMetrum installation using the on-board GPS antenna and + TeleMini is a 0.5 inch by 1.5 inch circuit board. It was designed to + fit inside an 18mm airframe tube, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMini should have at least 9 inches of interior length. + + + A typical TeleMetrum or TeleMini installation using the on-board devices and default wire UHF antenna involves attaching only a suitable Lithium Polymer battery, a single pole switch for power on/off, and two pairs of wires connecting e-matches for the apogee and main ejection @@ -460,38 +564,32 @@ NAR #88757, TRA #12200 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, the board can be factory - modified to do so. This involves cutting two traces and adding a jumper - in a densely populated part of the board on TeleMetrum v1.0 and v1.1, - along with installation of a pyro battery connector at location B2. + 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 up to 15V. - We offer two choices of pyro and power switch connector, or you can - choose neither and solder wires directly to the board. All three choices - are reasonable depending on the constraints of your airframe. Our - favorite option when there is sufficient room above the board is to use - the Tyco pin header with polarization and locking. If you choose this - option, you crimp individual wires for the power switch and e-matches - into a mating connector, and installing and removing the TeleMetrum - board from an airframe is as easy as plugging or unplugging two - connectors. If the airframe will not support this much height or if - you want to be able to directly attach e-match leads to the board, we - offer a screw terminal block. This is very similar to what most other - altimeter vendors provide and so may be the most familiar option. - You'll need a very small straight blade screwdriver to connect - and disconnect the board in this case, such as you might find in a - jeweler's screwdriver set. Finally, you can forego both options and - solder wires directly to the board, which may be the best choice for - minimum diameter and/or minimum mass designs. + Ejection charges are wired directly to the screw terminal block + at the aft end of the altimeter. This is very similar to what + most other altimeter vendors provide and so may be the most + familiar option. You'll need a very small straight blade + screwdriver to connect and disconnect the board in this case, + such as you might find in a jeweler's screwdriver set. - For most airframes, the integrated GPS antenna and wire UHF antenna are - a great combination. However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to use - off-board external antennas instead. In this case, you can order - TeleMetrum with an SMA connector for the UHF antenna connection, and - you can unplug the integrated GPS antenna and select an appropriate - off-board GPS antenna with cable terminating in a U.FL connector. + TeleMetrum also uses the screw terminal block for the power + switch leads. On TeleMini, the power switch leads are soldered + directly to the board and can be connected directly to the switch. + + + For most airframes, the integrated antennas are more than + adequate However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to + use off-board external antennas instead. In this case, you can + order an altimeter with an SMA connector for the UHF antenna + connection, and, on TeleMetrum, you can unplug the integrated GPS + antenna and select an appropriate off-board GPS antenna with + cable terminating in a U.FL connector. @@ -499,53 +597,59 @@ NAR #88757, TRA #12200
Firmware Modes - The AltOS firmware build for TeleMetrum has two fundamental modes, - "idle" and "flight". Which of these modes the firmware operates in - is determined by the orientation of the rocket (well, actually the - board, of course...) at the time power is switched on. If the rocket - is "nose up", then TeleMetrum assumes it's on a rail or rod being - prepared for launch, so the firmware chooses flight mode. However, - if the rocket is more or less horizontal, the firmware instead enters - idle mode. + 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 startup time. For + TeleMetrum, 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 + TeleMetrum assumes it's on a rail or rod being prepared for + launch, so the firmware chooses flight mode. However, if the + rocket is more or less horizontal, the firmware instead enters + idle mode. For TeleMini, "idle" mode is selected when the + board receives a command packet within the first five seconds + of operation; if no packet is received, the board enters + "flight" mode. - At power on, you will hear three beeps + At power on, you will hear three beeps or see three flashes ("S" in Morse code for startup) and then a pause while - TeleMetrum completes initialization and self tests, and decides which + the altimeter completes initialization and self tests, and decides which mode to enter next. - In flight or "pad" mode, TeleMetrum turns on the GPS system, - engages the flight - state machine, goes into transmit-only mode on the RF link sending - telemetry, and waits for launch to be detected. Flight mode is - indicated by an audible "di-dah-dah-dit" ("P" for pad) on the - beeper, followed by - beeps indicating the state of the pyrotechnic igniter continuity. - One beep indicates apogee continuity, two beeps indicate - main continuity, three beeps indicate both apogee and main continuity, - and one longer "brap" sound indicates no continuity. For a dual - deploy flight, make sure you're getting three beeps before launching! - For apogee-only or motor eject flights, do what makes sense. + In flight or "pad" mode, the altimeter engages the flight + state machine, goes into transmit-only mode on the RF link + sending telemetry, and waits for launch to be detected. + Flight mode is indicated by an "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 or + rapidly alternating lights 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. - In idle mode, you will hear an audible "di-dit" ("I" for idle), and + In idle mode, you will hear an audible "di-dit" or see two short flashes ("I" for idle), and the normal flight state machine is disengaged, thus - no ejection charges will fire. TeleMetrum also listens on the RF + no ejection charges will fire. The altimeters also listen on the RF link when in idle mode for packet mode requests sent from TeleDongle. Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. - Idle mode is useful for configuring TeleMetrum, for extracting data + USB or the RF link equivalently. TeleMini uses only the RF 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. - One "neat trick" of particular value when TeleMetrum is used with very + One "neat trick" of particular value when the altimeter is used with very large airframes, is that you can power the board up while the rocket is horizontal, such that it comes up in idle mode. Then you can raise the airframe to launch position, use a TeleDongle to open a packet connection, and issue a 'reset' command which will cause - TeleMetrum to reboot, realize it's now nose-up, and thus choose + 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 @@ -582,18 +686,20 @@ NAR #88757, TRA #12200 An important aspect of preparing a rocket using electronic deployment for flight is ground testing the recovery system. Thanks to the bi-directional RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum-equipped rocket without as + this can be accomplished in a TeleMetrum- or TeleMini- equipped rocket without as much work as you may be accustomed to with other systems. It can even be fun! - Just prep the rocket for flight, then power up TeleMetrum while the - airframe is horizontal. This will cause the firmware to go into - "idle" mode, in which the normal flight state machine is disabled and - charges will not fire without manual command. Then, establish an - RF packet connection from a TeleDongle-equipped computer using the - P command from a safe distance. You can now command TeleMetrum to - fire the apogee or main charges to complete your testing. + Just prep the rocket for flight, then power up the altimeter + in "idle" mode (placing airframe horizontal for TeleMetrum or + starting the RF packet connection 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. Then, establish an RF packet connection from + a TeleDongle-equipped computer using the P command from a safe + distance. You can now command the altimeter to fire the apogee + or main charges to complete your testing. In order to reduce the chance of accidental firing of pyrotechnic @@ -614,12 +720,12 @@ NAR #88757, TRA #12200 link. - By design, TeleMetrum firmware listens for an RF connection when - it's in "idle mode" (turned on while the rocket is horizontal), which + By design, the altimeter firmware listens for an RF connection when + it's in "idle mode", which allows us to use the RF link to configure the rocket, do things like ejection tests, and extract data after a flight without having to crack open the airframe. However, when the board is in "flight - mode" (turned on when the rocket is vertical) the TeleMetrum only + 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 and out over @@ -645,35 +751,43 @@ NAR #88757, TRA #12200
Configurable Parameters - Configuring a TeleMetrum board for flight is very simple. Because we - have both acceleration and pressure sensors, there is no need to set - a "mach delay", for example. The few configurable parameters can all - be set using a simple terminal program over the USB port or RF link - via TeleDongle. + Configuring an Altus Metrum altimeter for flight is very + simple. Through the use of a Kalman filter, there is no need + to set a "mach delay" . The few configurable parameters can + all be set using a simple terminal program over the USB port + or RF link via TeleDongle.
- Radio Channel - - Our firmware supports 10 channels. The default channel 0 corresponds - to a center frequency of 434.550 Mhz, and channels are spaced every - 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. - At any given launch, we highly recommend coordinating who will use - each channel and when to avoid interference. And of course, both - TeleMetrum and TeleDongle must be configured to the same channel to - successfully communicate with each other. - - - To set the radio channel, use the 'c r' command, like 'c r 3' to set - channel 3. + Radio Frequencies + + The Altus Metrum boards support frequencies in the 70cm + band. By default, the configuration interface provides a + list of 10 common frequencies -- 100kHz channels starting at + 434.550MHz. However, you can configure the firmware to use + any 50kHz multiple within the 70cm band. At any given + launch, we highly recommend coordinating who will use each + frequency and when to avoid interference. And of course, both + altimeter and TeleDongle must be configured to the same + frequency to successfully communicate with each other. + + + 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): + + R = F / S * C + + 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 DataFlash chip on - your TeleMetrum board if you want the change to stay in place across reboots. + 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.
Apogee Delay - Apogee delay is the number of seconds after TeleMetrum detects flight + 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 @@ -686,20 +800,21 @@ NAR #88757, TRA #12200 change to the parameter block in the on-board DataFlash chip. - Please note that the TeleMetrum apogee detection algorithm always - fires a fraction of a second *after* apogee. If you are also flying - an altimeter like the PerfectFlite MAWD, which only supports selecting - 0 or 1 seconds of apogee delay, you may wish to set the MAWD to 0 - seconds delay and set the TeleMetrum to fire your backup 2 or 3 - seconds later to avoid any chance of both charges firing - simultaneously. We've flown several airframes this way quite happily, - including Keith's successful L3 cert. + Please note that 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 + airframes this way quite happily, including Keith's + successful L3 cert.
Main Deployment Altitude - By default, TeleMetrum will fire the main deployment charge at an + 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 airframes, but feel free to change this to suit. In particular, if you are flying two altimeters, you may @@ -719,7 +834,7 @@ NAR #88757, TRA #12200 Calibration There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle. + only one for TeleDongle and TeleMini.
Radio Frequency @@ -737,7 +852,7 @@ NAR #88757, TRA #12200 To calibrate the radio frequency, connect the UHF antenna port to a - frequency counter, set the board to channel 0, and use the 'C' + 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 @@ -749,11 +864,17 @@ NAR #88757, TRA #12200 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. + + when the radio calibration value is changed, the radio + frequency value is reset to the same value, so you'll need + to recompute and reset the radio frequency value using the + new radio calibration value. +
- Accelerometer + TeleMetrum Accelerometer - The accelerometer we use has its own 5 volt power supply and + The TeleMerum accelerometer we use has its own 5 volt power supply and the output must be passed through a resistive voltage divider to match the input of our 3.3 volt ADC. This means that unlike the barometric sensor, the output of the acceleration sensor is not ratiometric to @@ -804,9 +925,10 @@ NAR #88757, TRA #12200 Updating Device Firmware The big conceptual thing to realize is that you have to use a - TeleDongle as a programmer to update a TeleMetrum, and vice versa. + TeleDongle as a programmer to update a TeleMetrum or TeleMini, + and a TeleMetrum or other TeleDongle to program the TeleDongle Due to limited memory resources in the cc1111, we don't support - programming either unit directly over USB. + programming directly over USB. You may wish to begin by ensuring you have current firmware images. @@ -818,7 +940,7 @@ NAR #88757, TRA #12200 version from . - We recommend updating TeleMetrum first, before updating TeleDongle. + We recommend updating the altimeter first, before updating TeleDongle.
Updating TeleMetrum Firmware @@ -856,7 +978,7 @@ NAR #88757, TRA #12200 Select the image you want put on the TeleMetrum, which should have a - name in the form telemetrum-v1.0-0.7.1.ihx. It should be visible + name in the form telemetrum-v1.1-1.0.0.ihx. It should be visible in the default directory, if not you may have to poke around your system to find it. @@ -880,12 +1002,72 @@ NAR #88757, TRA #12200
+
+ Updating TeleMini Firmware + + + You'll need a special 'programming cable' to reprogram the + TeleMini. It's available on the Altus Metrum web store, or + 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 case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the matching + connector on the TeleDongle, and the 4-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 into your computer's USB port, and power + up the TeleMini + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleDongle 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 RF 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 Firmware - Updating TeleDongle's firmware is just like updating TeleMetrum - firmware, but you switch which board is the programmer and which - is the programming target. + Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini + firmware, but you use either a TeleMetrum or another TeleDongle as the programmer. @@ -895,37 +1077,37 @@ NAR #88757, TRA #12200 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. + plug the "mini" end in to the mating connector on TeleMetrum or TeleDongle. Take the 2 screws out of the TeleDongle case to get access to the circuit board. - Plug the 8-pin end of the programming cable to the (latching) - matching connector on the TeleMetrum, and the 4-pin end to the + 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. 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. + Attach a battery to the TeleMetrum board if you're using one. - Plug both TeleMetrum and TeleDongle into your computer's USB - ports, and power up the TeleMetrum. + 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 TeleMetrum device from the list, identifying it as the + Pick the programmer device from the list, identifying it as the programming device. Select the image you want put on the TeleDongle, which should have a - name in the form teledongle-v0.2-0.7.1.ihx. It should be visible + 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. @@ -963,8 +1145,6 @@ NAR #88757, TRA #12200
- - @@ -972,8 +1152,8 @@ NAR #88757, TRA #12200 The AltosUI program provides a graphical user interface for interacting with the Altus Metrum product family, including - TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, - configure TeleMetrum and TeleDongle devices and many other + TeleMetrum, TeleMini and TeleDongle. AltosUI can monitor telemetry data, + configure TeleMetrum, TeleMini and TeleDongle devices and many other tasks. The primary interface window provides a selection of buttons, one for each major activity in the system. This manual is split into chapters, each of which documents one of the tasks @@ -981,12 +1161,12 @@ NAR #88757, TRA #12200
Packet Command Mode - Controlling TeleMetrum Over The Radio Link + Controlling An Altimeter Over The Radio Link One of the unique features of the Altus Metrum environment is the ability to create a two way command link between TeleDongle - and TeleMetrum using the digital radio transceivers built into - each device. This allows you to interact with TeleMetrum from + 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. @@ -999,16 +1179,16 @@ NAR #88757, TRA #12200 One oddity in the current interface is how AltosUI selects the - channel for packet mode communications. Instead of providing - an interface to specifically configure the channel, it uses - whatever channel was most recently selected for the target + frequency for packet mode 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, pick the appropriate TeleDongle device. Once the flight monitoring - window is open, select the desired channel and then close it + window is open, select the desired frequency and then close it down again. All Packet Command Mode operations will now use - that channel. + that frequency. @@ -1019,12 +1199,12 @@ NAR #88757, TRA #12200 - Configure TeleMetrum—Reset apogee delays or main deploy - heights to respond to changing launch conditions. You can - also 'reboot' the TeleMetrum device. Use this to remotely - enable the flight computer by turning TeleMetrum on while - horizontal, then once the airframe is oriented for launch, - you can reboot TeleMetrum and have it restart in pad mode + Configure altimeter apogee delays or main deploy heights + to respond to changing launch conditions. You can also + 'reboot' the altimeter. Use this to remotely enable the + flight computer by turning TeleMetrum on in "idle" mode, + then once the airframe is oriented for launch, you can + reboot the altimeter and have it restart in pad mode without having to climb the scary ladder. @@ -1033,15 +1213,15 @@ NAR #88757, TRA #12200 Fire Igniters—Test your deployment charges without snaking wires out through holes in the airframe. Simply assembly the rocket as if for flight with the apogee and main charges - loaded, then remotely command TeleMetrum to fire the + loaded, then remotely command the altimeter to fire the igniters. - Packet command mode uses the same RF channels as telemetry - mode. Configure the desired TeleDongle channel using the - flight monitor window channel selector and then close that + Packet command mode uses the same RF frequencies as telemetry + mode. Configure the desired TeleDongle frequency using the + flight monitor window frequency selector and then close that window before performing the desired operation. @@ -1050,13 +1230,19 @@ NAR #88757, TRA #12200 it on. Otherwise, TeleMetrum 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. + When packet command mode is enabled, you can monitor the link - by watching the lights on the TeleDongle and TeleMetrum - devices. The red LED will flash each time TeleDongle or - TeleMetrum transmit a packet while the green LED will light up + by watching the lights on the + devices. The red LED will flash each time they + transmit a packet while the green LED will light up on TeleDongle while it is waiting to receive a packet from - TeleMetrum. + the altimeter.
@@ -1074,27 +1260,27 @@ NAR #88757, TRA #12200 date and rocket serial and flight numbers. - The radio channel being monitored by the TeleDongle device is + The radio frequency being monitored by the TeleDongle device is displayed at the top of the window. You can configure the - channel by clicking on the channel box and selecting the desired - channel. AltosUI remembers the last channel selected for each + frequecy 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 channel selector, the window contains a few - significant pieces of information about the TeleMetrum providing + Below the TeleDongle frequency selector, the window contains a few + significant pieces of information about the altimeter providing the telemetry data stream: - The TeleMetrum callsign + The configured callsign - The TeleMetrum serial number + The device serial number - The flight number. Each TeleMetrum remembers how many + The flight number. Each altimeter remembers how many times it has flown. @@ -1161,14 +1347,14 @@ NAR #88757, TRA #12200 - GPS Locked. This indicates whether the GPS receiver is + GPS Locked. For a TeleMetrum 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. This indicates whether GPS has reported at least + GPS Ready. For a TeleMetrum 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. @@ -1196,7 +1382,7 @@ NAR #88757, TRA #12200 flight. - The current latitude and longitude reported by the GPS are + The current latitude and longitude reported by the TeleMetrum 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 @@ -1222,7 +1408,8 @@ NAR #88757, TRA #12200 height. Good descent rates generally range from 15-30m/s. - To help locate the rocket in the sky, use the elevation and + For TeleMetrum altimeters, 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 @@ -1252,6 +1439,13 @@ NAR #88757, TRA #12200 latitude and longitude and enter them into your handheld GPS unit and have that compute a track to the landing location. + + Both TeleMini and TeleMetrum will continue to transmit RDF + tones after landing, allowing you to locate the rocket by + following the radio signal. 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) to receive the RDF signal. + Finally, the maximum height, speed and acceleration reported during the flight are displayed for your admiring observers. @@ -1260,7 +1454,7 @@ NAR #88757, TRA #12200
Site Map - When the rocket gets a GPS fix, the Site Map tab will map + When the TeleMetrum gets 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 colour: white for pad, red for @@ -1278,24 +1472,30 @@ NAR #88757, TRA #12200 the rocket's path will be traced on a dark grey background instead. + + You can pre-load images for your favorite launch sites + before you leave home; check out the 'Preload Maps' section below. +
Save Flight Data - TeleMetrum records flight data to its internal flash memory. - This data is recorded at a much higher rate than the telemetry + The altimeter records flight data to its internal flash memory. + The 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. + flash memory and write it to disk. As TeleMini has only a barometer, it + records data at the same rate as the telemetry signal, but there will be + no data lost due to telemetry drop-outs. Clicking on the 'Save Flight Data' button brings up a list of connected TeleMetrum and TeleDongle devices. If you select a TeleMetrum device, the flight data will be downloaded from that device directly. If you select a TeleDongle device, flight data - will be downloaded from a TeleMetrum device connected via the + will be downloaded from a TeleMetrum or TeleMini device connected via the packet command link to the specified TeleDongle. See the chapter on Packet Command Mode for more information about this. @@ -1312,7 +1512,7 @@ NAR #88757, TRA #12200 The filename for each flight log is computed automatically - from the recorded flight date, TeleMetrum serial number and + from the recorded flight date, altimeter serial number and flight number information.
@@ -1321,7 +1521,7 @@ NAR #88757, TRA #12200 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 TeleMetrum + .eeprom file containing flight data saved from the altimeter flash memory. @@ -1335,7 +1535,7 @@ NAR #88757, TRA #12200 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 TeleMetrum + .eeprom file containing flight data saved from flash memory. @@ -1353,10 +1553,8 @@ NAR #88757, TRA #12200 Note that telemetry files will generally produce poor graphs - due to the lower sampling rate and missed telemetry packets, - and will also often have significant amounts of data received - while the rocket was waiting on the pad. Use saved flight data - for graphing where possible. + due to the lower sampling rate and missed telemetry packets. + Use saved flight data for graphing where possible.
@@ -1376,7 +1574,7 @@ NAR #88757, TRA #12200 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 TeleMetrum device, then + 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 most tools can be configured to skip over. @@ -1400,17 +1598,17 @@ NAR #88757, TRA #12200
- Configure TeleMetrum + Configure Altimeter Select this button and then select either a TeleMetrum or TeleDongle Device from the list provided. Selecting a TeleDongle - device will use Packet Comamnd Mode to configure remote - TeleMetrum device. Learn how to use this in the Packet Command + device will use Packet Comamnd Mode to configure a remote + altimeter. Learn how to use this in the Packet Command Mode chapter. The first few lines of the dialog provide information about the - connected TeleMetrum device, including the product name, + connected device, including the product name, software version and hardware serial number. Below that are the individual configuration entries. @@ -1420,7 +1618,7 @@ NAR #88757, TRA #12200 - Save. This writes any changes to the TeleMetrum + 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. @@ -1433,7 +1631,7 @@ NAR #88757, TRA #12200 - Reboot. This reboots the TeleMetrum device. Use this to + Reboot. This reboots the device. Use this to switch from idle to pad mode by rebooting once the rocket is oriented for flight. @@ -1472,12 +1670,12 @@ NAR #88757, TRA #12200
- Radio Channel + Radio Frequency - This configures which of the 10 radio channels to use for both + This configures which of the configured frequencies to use for both telemetry and packet command mode. Note that if you set this value via packet command mode, you will have to reconfigure - the TeleDongle channel before you will be able to use packet + the TeleDongle frequency before you will be able to use packet command mode again.
@@ -1486,7 +1684,7 @@ NAR #88757, TRA #12200 The radios in every Altus Metrum device are calibrated at the factory to ensure that they transmit and receive on the - specified frequency for each channel. You can adjust that + specified frequency. You can adjust that calibration by changing this value. To change the TeleDongle's calibration, you must reprogram the unit completely. @@ -1526,6 +1724,11 @@ NAR #88757, TRA #12200 memory, on v1.0 boards that's just 256 bytes. However, the flash part on the v1.1 boards uses 64kB for each block. + + TeleMini has 5kB of on-board storage, which is plenty for a + single flight. Make sure you download and delete the data + before a subsequent flight or it will not log any data. +
@@ -1588,6 +1791,17 @@ NAR #88757, TRA #12200 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. + +
Flash Image @@ -1655,6 +1869,52 @@ NAR #88757, TRA #12200 selecting the desired igniter.
+
+ Scan Channels + + This listens for telemetry packets on all of the configured + frequencies, displaying information about each device it + receives a packet from. You can select which of the three + telemetry formats should be tried; by default, it only listens + for the standard telemetry packets used in v1.0 and later + firmware. + +
+
+ Load Maps + + Before heading out to a new launch site, you can use this to + load satellite images in case you don't have internet + connectivity at the site. This loads a fairly large area + around the launch site, which should cover any flight you're likely to make. + + + There's a drop-down menu of launch sites we know about; if + your favorites aren't there, please let us know the lat/lon + and name of the site. The contents of this list are actually + downloaded at run-time, so as new sites are sent in, they'll + get automatically added to this list. + + + If the launch site isn't in the list, you can manually enter the lat/lon values + + + Clicking the 'Load Map' button will fetch images from Google + Maps; note that Google limits how many images you can fetch at + once, so if you load more than one launch site, you may get + some gray areas in the map which indicate that Google is tired + of sending data to you. Try again later. + +
+
+ Monitor Idle + + 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. + +
Using Altus Metrum Products @@ -1669,12 +1929,15 @@ NAR #88757, TRA #12200
In the Rocket - In the rocket itself, you just need a TeleMetrum board and + In the rocket itself, you just need a TeleMetrum or + TeleMini board and a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a TeleMetrum for hours. + alkaline battery, and will run a TeleMetrum for hours. + A 110mAh battery weighs less than a triple A battery and will run a TeleMetrum for + a few hours, or a TeleMini for much (much) longer. - By default, we ship TeleMetrum with a simple wire antenna. If your + By default, we ship the altimeters with a simple wire antenna. If your electronics bay or the airframe it resides within is made of carbon fiber, which is opaque to RF signals, you may choose to have an SMA connector installed so that you can run a coaxial cable to an antenna mounted @@ -1697,14 +1960,14 @@ NAR #88757, TRA #12200 After the flight, you can use the RF link to extract the more detailed data - logged in the rocket, or you can use a mini USB cable to plug into the + 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 LiPo battery, so you'll want one of those anyway... the same cable used by lots of digital cameras and other modern electronic stuff will work fine. - If your rocket lands out of sight, you may enjoy having a hand-held GPS + If your TeleMetrum-equiped rocket lands out of sight, you may enjoy having a hand-held GPS receiver, so that you can put in a waypoint for the last reported rocket position before touch-down. This makes looking for your rocket a lot like Geo-Cacheing... just go to the waypoint and look around starting from there. @@ -1745,7 +2008,7 @@ NAR #88757, TRA #12200 Arrow Antennas. The 440-3 and 440-5 are both good choices for finding a - TeleMetrum-equipped rocket when used with a suitable 70cm HT. + TeleMetrum- or TeleMini- equipped rocket when used with a suitable 70cm HT.
@@ -1753,12 +2016,12 @@ NAR #88757, TRA #12200 Our software makes it easy to log the data from each flight, both the telemetry received over the RF link during the flight itself, and the more - complete data log recorded in the DataFlash memory on the TeleMetrum + complete data log recorded in the flash memory on the altimeter board. Once this data is on your computer, our postflight tools make it easy to quickly get to the numbers everyone wants, like apogee altitude, max acceleration, and max velocity. You can also generate and view a standard set of plots showing the altitude, acceleration, and - velocity of the rocket during flight. And you can even export a data file + velocity of the rocket during flight. And you can even export a TeleMetrum data file useable with Google Maps and Google Earth for visualizing the flight path in two or three dimensions! -- cgit v1.2.3 From 21837e0026c87635abf4baf2c6c574a7b274f449 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 10 Aug 2011 18:14:10 -0700 Subject: doc: Document Ignite Mode and Pad Orientation configuration options Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 61 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 61 insertions(+) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 0ee9d163..17984336 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1730,6 +1730,67 @@ NAR #88757, TRA #12200 before a subsequent flight or it will not log any data.
+
+ Ignite Mode + + TeleMetrum and TeleMini provide two igniter channels as they + were originally designed as dual-deploy flight + computers. This configuration parameter allows the two + channels 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 it includes an accelerometer, TeleMetrum is + sensitive to the orientation of the board. By default, it + expects 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 + TeleMetrum board must point forward, in line with the + expected flight path. + + + + + Antenna Down. In this mode, the antenna end of the + TeleMetrum board must point aft, in line with the + expected flight path. + + + +
Configure AltosUI -- cgit v1.2.3 From 7283deaa91e752acc45018ef2ea2f560b09af354 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 10 Aug 2011 18:22:16 -0700 Subject: doc: Describe 'stats' tab in Graph UI, 'Graph Flight' button. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 17984336..a3078b82 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1447,9 +1447,14 @@ NAR #88757, TRA #12200 your neighbor's RV) to receive the RDF signal. - Finally, the maximum height, speed and acceleration reported + The maximum height, speed and acceleration reported during the flight are displayed for your admiring observers. + + 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. +
Site Map @@ -1539,9 +1544,14 @@ NAR #88757, TRA #12200 flash memory. - Once a flight record is selected, the acceleration (blue), - velocity (green) and altitude (red) of the flight are plotted and - displayed, measured in metric units. + Once a flight record is selected, a window with two tabs is + opened. The first tab contains a graph with acceleration + (blue), velocity (green) and altitude (red) of the flight are + plotted and displayed, measured in metric units. The + apogee(yellow) and main(magenta) igniter voltages are also + displayed; high voltages indicate continuity, low voltages + indicate open circuits. The second tab contains some basic + flight statistics. The graph can be zoomed into a particular area by clicking and -- cgit v1.2.3 From a07b07d48f71b9a11e73a82db075cc57bad0c09f Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 10 Aug 2011 22:14:32 -0700 Subject: doc: Add release notes, include them in altusmetrum doc. Shuffle altusmetrum This adds release notes and includes them in the main altusmetrum doc as well as making stand-alone html available for inclusion in the website. Signed-off-by: Keith Packard --- doc/Makefile | 9 +- doc/altusmetrum.xsl | 1213 ++++++++++++++++++++++--------------------- doc/release-notes-0.7.1.xsl | 57 ++ doc/release-notes-0.8.xsl | 56 ++ doc/release-notes-0.9.2.xsl | 20 + doc/release-notes-0.9.xsl | 31 ++ 6 files changed, 783 insertions(+), 603 deletions(-) create mode 100644 doc/release-notes-0.7.1.xsl create mode 100644 doc/release-notes-0.8.xsl create mode 100644 doc/release-notes-0.9.2.xsl create mode 100644 doc/release-notes-0.9.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index b431f4ca..6d9ea8eb 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -2,7 +2,12 @@ # http://docbook.sourceforge.net/release/xsl/current/README # -HTML=altusmetrum.html altos.html telemetry.html +RELNOTES=\ + release-notes-0.7.1.html \ + release-notes-0.8.html \ + release-notes-0.9.html \ + release-notes-0.9.2.html +HTML=altusmetrum.html altos.html telemetry.html $(RELNOTES) PDF=altusmetrum.pdf altos.pdf telemetry.pdf DOC=$(HTML) $(PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl @@ -11,7 +16,7 @@ PDFSTYLE= .SUFFIXES: .xsl .html .fo .pdf -XSLTFLAGS=--stringparam section.autolabel 1 +XSLTFLAGS=--stringparam section.autolabel 1 --xinclude .xsl.html: xsltproc $(XSLTFLAGS) -o $@ $(HTMLSTYLE) $*.xsl diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index a3078b82..88c9b80a 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -175,541 +175,229 @@ NAR #88757, TRA #12200 The latest version may always be downloaded from . + + + Handling Precautions - 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. - - - 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. - - - 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. - - - 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. + All Altus Metrum products are sophisticated electronic device. When handled gently and + properly installed in an airframe, theywill deliver impressive results. + However, like all electronic devices, there are some precautions you + must take. - Try setting these config ('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. + 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 airframe. We + often wrap them in suitable scraps of closed-cell packing foam before + strapping them down, for example. - 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. + The barometric sensor is sensitive to sunlight. In normal + mounting situations, it and all of the other surface mount components + are "down" towards whatever the underlying mounting surface is, so + this is not normally a problem. Please consider this, though, when + designing an installation, for example, in an airframe with a + see-through plastic payload bay. - 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 rf-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. + 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, but also by having a + suitable static vent to outside air. - 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. + As with all other rocketry electronics, Altus Metrum altimeters must be protected + from exposure to corrosive motor exhaust and ejection charge gasses. + + + Hardware Overview - You can access an altimeter in idle mode from the Teledongle's USB - connection using the rf 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. + TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to + fit inside coupler for 29mm airframe tubing, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMetrum should have at least 10 inches of interior length. - Using this rf 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. + TeleMini is a 0.5 inch by 1.5 inch circuit board. It was designed to + fit inside an 18mm airframe tube, but using it in a tube that + small in diameter may require some creativity in mounting and wiring + to succeed! The default 1/4 + wave UHF wire antenna attached to the center of the nose-cone end of + the board is about 7 inches long, and wiring for a power switch and + the e-matches for apogee and main ejection charges depart from the + fin can end of the board. Given all this, an ideal "simple" avionics + bay for TeleMini should have at least 9 inches of interior length. - On TeleMetrum, the GPS will eventually find enough satellites, lock in on them, - and 'ao-view' will both auditorially 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. + A typical TeleMetrum or TeleMini installation using the on-board devices and + default wire UHF antenna involves attaching only a suitable + Lithium Polymer battery, a single pole switch for power on/off, and + two pairs of wires connecting e-matches for the apogee and main ejection + charges. - 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. + By default, we use the unregulated output of the LiPo battery directly + to fire ejection charges. This works marvelously with standard + low-current e-matches like the J-Tek from MJG Technologies, and with + Quest Q2G2 igniters. However, if you + want or need to use a separate pyro battery, 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 up to 15V. - TeleMetrum also provides GPS trekking 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'.) + Ejection charges are wired directly to the screw terminal block + at the aft end of the altimeter. This is very similar to what + most other altimeter vendors provide and so may be the most + familiar option. You'll need a very small straight blade + screwdriver to connect and disconnect the board in this case, + such as you might find in a jeweler's screwdriver set. - 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.) + TeleMetrum also uses the screw terminal block for the power + switch leads. On TeleMini, the power switch leads are soldered + directly to the board and can be connected directly to the switch. - 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! + For most airframes, the integrated antennas are more than + adequate However, if you are installing in a carbon-fiber + electronics bay which is opaque to RF signals, you may need to + use off-board external antennas instead. In this case, you can + order an altimeter with an SMA connector for the UHF antenna + connection, and, on TeleMetrum, you can unplug the integrated GPS + antenna and select an appropriate off-board GPS antenna with + cable terminating in a U.FL connector. + + + System Operation
- FAQ - - TeleMetrum seems to shut off when disconnected from the - computer. 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. - + Firmware Modes - It's impossible to stop the TeleDongle when it's in "p" mode, I have - to unplug the USB cable? 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. + 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 startup time. For + TeleMetrum, 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 + TeleMetrum assumes it's on a rail or rod being prepared for + launch, so the firmware chooses flight mode. However, if the + rocket is more or less horizontal, the firmware instead enters + idle mode. For TeleMini, "idle" mode is selected when the + board receives a command packet within the first five seconds + of operation; if no packet is received, the board enters + "flight" mode. - The amber LED (on the TeleMetrum) lights up when both - battery and USB are connected. Does this mean it's charging? - 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. + At power on, you will hear three beeps or see three flashes + ("S" in Morse code for startup) and then a pause while + the altimeter completes initialization and self tests, and decides which + mode to enter next. - There are no "dit-dah-dah-dit" sound or lights like the manual mentions? - That's the "pad" mode. Weak batteries might be the problem. - It is also possible that the Telemetrum 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. + In flight or "pad" mode, the altimeter engages the flight + state machine, goes into transmit-only mode on the RF link + sending telemetry, and waits for launch to be detected. + Flight mode is indicated by an "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 or + rapidly alternating lights 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. - It's unclear how to use 'ao-view' and other programs when 'cu' - is running. You cannot have more than one program connected to - the TeleDongle at one time without apparent data loss as the - incoming data will not make it to both programs intact. - Disconnect whatever programs aren't currently being used. + In idle mode, you will hear an audible "di-dit" or see two short flashes ("I" for idle), and + the normal flight state machine is disengaged, thus + no ejection charges will fire. The altimeters also listen on the RF + link when in idle mode for packet mode requests sent from TeleDongle. + Commands can be issued to a TeleMetrum in idle mode over either + USB or the RF link equivalently. TeleMini uses only the RF 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. - How do I save flight data? - Live telemetry is written to file(s) whenever 'ao-view' is connected - to the TeleDongle. The file area defaults to ~/altos - but is easily changed using the menus in 'ao-view'. The files that - are written end in '.telem'. The after-flight - data-dumped files will end in .eeprom and represent continuous data - unlike the rf-linked .telem files that are subject to the - turnarounds/data-packaging time slots in the half-duplex rf data path. - See the above instructions on what and how to save the eeprom stored - data after physically retrieving your TeleMetrum. Make sure to save - the on-board data after each flight, as the current firmware will - over-write any previous flight data during a new flight. + One "neat trick" of particular value when the altimeter is used with very + large airframes, is that you can power the board up while the rocket + is horizontal, such that it comes up in idle mode. Then you can + raise the airframe to launch position, use a TeleDongle to open + a packet connection, and issue a 'reset' command which will cause + 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!
- - - Specifications
- TeleMetrum Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm ham-band transceiver for telemetry downlink. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - 1-axis high-g accelerometer for motor characterization, capable of - +/- 50g using default part. - - - - - On-board, integrated GPS receiver with 5hz update rate capability. - - - - - On-board 1 megabyte non-volatile memory for flight data storage. - - - - - USB interface for battery charging, configuration, and data recovery. - - - - - Fully integrated support for LiPo rechargeable batteries. - - - - - Uses LiPo to fire e-matches, can be modiied to support - optional separate pyro battery if needed. - - - - - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. - - - + GPS + + TeleMetrum includes a complete GPS receiver. See a later section for + a brief explanation of how GPS works that will help you understand + the information in the telemetry stream. The bottom line is that + the TeleMetrum GPS receiver needs to lock onto at least four + satellites to obtain a solid 3 dimensional position fix and know + what time it is! + + + TeleMetrum provides backup power to the GPS chip any time a LiPo + battery is connected. This allows the receiver to "warm start" on + the launch rail much faster than if every power-on were a "cold start" + for the GPS receiver. In typical operations, powering up TeleMetrum + on the flight line in idle mode while performing final airframe + preparation will be sufficient to allow the GPS receiver to cold + start and acquire lock. Then the board can be powered down during + RSO review and installation on a launch rod or rail. When the board + is turned back on, the GPS system should lock very quickly, typically + long before igniter installation and return to the flight line are + complete. +
- TeleMini Specifications - - - - Recording altimeter for model rocketry. - - - - - Supports dual deployment (can fire 2 ejection charges). - - - - - 70cm ham-band transceiver for telemetry downlink. - - - - - Barometric pressure sensor good to 45k feet MSL. - - - - - On-board 5 kilobyte non-volatile memory for flight data storage. - - - - - RF interface for battery charging, configuration, and data recovery. - - - - - Support for LiPo rechargeable batteries, using an external charger. - - - - - Uses LiPo to fire e-matches, can be modiied to support - optional separate pyro battery if needed. - - - - - 1.5 x .5 inch board designed to fit inside 18mm airframe coupler tube. - - - -
- - - Handling Precautions - - All Altus Metrum products are sophisticated electronic device. When handled gently and - properly installed in an airframe, theywill deliver impressive results. - However, like 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 airframe. We - often wrap them in suitable scraps of closed-cell packing foam before - strapping them down, for example. - - - The barometric sensor is sensitive to sunlight. In normal - mounting situations, it and all of the other surface mount components - are "down" towards whatever the underlying mounting surface is, so - this is not normally a problem. Please consider this, though, when - designing an installation, for example, in an airframe with a - see-through plastic payload bay. - - - 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, but 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. - - - - Hardware Overview - - TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMetrum should have at least 10 inches of interior length. - - - TeleMini is a 0.5 inch by 1.5 inch circuit board. It was designed to - fit inside an 18mm airframe tube, but using it in a tube that - small in diameter may require some creativity in mounting and wiring - to succeed! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and - the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics - bay for TeleMini should have at least 9 inches of interior length. - - - A typical TeleMetrum or TeleMini installation using the on-board devices and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. - - - By default, we use the unregulated output of the LiPo battery directly - to fire ejection charges. This works marvelously with standard - low-current e-matches like the J-Tek from MJG Technologies, and with - Quest Q2G2 igniters. However, if you - want or need to use a separate pyro battery, 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 up to 15V. - - - Ejection charges are wired directly to the screw terminal block - at the aft end of the altimeter. This is very similar to what - most other altimeter vendors provide and so may be the most - familiar option. You'll need a very small straight blade - screwdriver to connect and disconnect the board in this case, - such as you might find in a jeweler's screwdriver set. - - - TeleMetrum also uses the screw terminal block for the power - switch leads. On TeleMini, the power switch leads are soldered - directly to the board and can be connected directly to the switch. - - - For most airframes, the integrated antennas are more than - adequate However, if you are installing in a carbon-fiber - electronics bay which is opaque to RF signals, you may need to - use off-board external antennas instead. In this case, you can - order an altimeter with an SMA connector for the UHF antenna - connection, and, on TeleMetrum, you can unplug the integrated GPS - antenna and select an appropriate off-board GPS antenna with - cable terminating in a U.FL connector. - - - - 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 startup time. For - TeleMetrum, 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 - TeleMetrum assumes it's on a rail or rod being prepared for - launch, so the firmware chooses flight mode. However, if the - rocket is more or less horizontal, the firmware instead enters - idle mode. For TeleMini, "idle" mode is selected when the - board receives a command packet within the first five seconds - of operation; if no packet is received, the board enters - "flight" mode. - - - At power on, you will hear three beeps or see three flashes - ("S" in Morse code for startup) and then a pause while - the altimeter completes initialization and self tests, and decides which - mode to enter next. - - - In flight or "pad" mode, the altimeter engages the flight - state machine, goes into transmit-only mode on the RF link - sending telemetry, and waits for launch to be detected. - Flight mode is indicated by an "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 or - rapidly alternating lights 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. - - - In idle mode, you will hear an audible "di-dit" or see two short flashes ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. The altimeters also listen on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. TeleMini uses only the RF 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. - - - One "neat trick" of particular value when the altimeter is used with very - large airframes, is that you can power the board up while the rocket - is horizontal, such that it comes up in idle mode. Then you can - raise the airframe to launch position, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will cause - 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! - -
-
- GPS - - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! - - - TeleMetrum provides backup power to the GPS chip any time a LiPo - battery is connected. This allows the receiver to "warm start" on - the launch rail much faster than if every power-on were a "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe - preparation will be sufficient to allow the GPS receiver to cold - start and acquire lock. Then the board can be powered down during - RSO review and installation on a launch rod or rail. When the board - is turned back on, the GPS system should lock very quickly, typically - long before igniter installation and return to the flight line are - complete. - -
-
- 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 RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum- or TeleMini- equipped rocket without as - much work as 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 airframe horizontal for TeleMetrum or - starting the RF packet connection 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. Then, establish an RF packet connection from - a TeleDongle-equipped computer using the P command from a safe - distance. You can now command the altimeter to fire the apogee - or main charges to complete your testing. - - - 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'. - + 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 RF link central to the Altus Metrum system, + this can be accomplished in a TeleMetrum- or TeleMini- equipped rocket without as + much work as 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 airframe horizontal for TeleMetrum or + starting the RF packet connection 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. Then, establish an RF packet connection from + a TeleDongle-equipped computer using the P command from a safe + distance. You can now command the altimeter to fire the apogee + or main charges to complete your testing. + + + 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'. +
Radio Link @@ -918,9 +606,6 @@ NAR #88757, TRA #12200
- - -
Updating Device Firmware @@ -1159,92 +844,6 @@ NAR #88757, TRA #12200 is split into chapters, each of which documents one of the tasks provided from the top-level toolbar. -
- Packet Command Mode - Controlling An Altimeter Over The Radio Link - - One of the unique features of the Altus Metrum environment 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 TeleMetrum - can either be done with TeleMetrum directly connected to - the computer via the USB cable, or through the packet - link. Simply select the appropriate TeleDongle device when - the list of devices is presented and AltosUI will use packet - command mode. - - - One oddity in the current interface is how AltosUI selects the - frequency for packet mode 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, pick the - appropriate TeleDongle device. Once the flight monitoring - window is open, select the desired frequency and then close it - down again. All Packet Command Mode operations will now use - that frequency. - - - - - Save Flight Data—Recover flight data from the rocket without - opening it up. - - - - - Configure altimeter apogee delays or main deploy heights - to respond to changing launch conditions. You can also - 'reboot' the altimeter. Use this to remotely enable the - flight computer by turning TeleMetrum on in "idle" mode, - then once the airframe 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 airframe. Simply assembly the - rocket as if for flight with the apogee and main charges - loaded, then remotely command the altimeter to fire the - igniters. - - - - - Packet command mode uses the same RF frequencies as telemetry - mode. Configure the desired TeleDongle frequency using the - flight monitor window frequency selector and then close that - window before performing the desired operation. - - - TeleMetrum only enables packet command mode in 'idle' mode, so - make sure you have TeleMetrum lying horizontally when you turn - it on. Otherwise, TeleMetrum 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. - - - When packet command mode is enabled, you can monitor the link - by watching the lights on the - devices. The red LED will flash each time they - transmit a packet while the green LED will light up - on TeleDongle while it is waiting to receive a packet from - the altimeter. - -
Monitor Flight Receive, Record and Display Telemetry Data @@ -1484,19 +1083,105 @@ NAR #88757, TRA #12200
- Save Flight Data - - The altimeter records flight data to its internal flash memory. - The 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. As TeleMini has only a barometer, it - records data at the same rate as the telemetry signal, but there will be - no data lost due to telemetry drop-outs. - + Packet Command Mode + Controlling An Altimeter Over The Radio Link - Clicking on the 'Save Flight Data' button brings up a list of + One of the unique features of the Altus Metrum environment 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 TeleMetrum + can either be done with TeleMetrum directly connected to + the computer via the USB cable, or through the packet + link. Simply select the appropriate TeleDongle device when + the list of devices is presented and AltosUI will use packet + command mode. + + + One oddity in the current interface is how AltosUI selects the + frequency for packet mode 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, pick the + appropriate TeleDongle device. Once the flight monitoring + window is open, select the desired frequency and then close it + down again. All Packet Command Mode operations will now use + that frequency. + + + + + Save Flight Data—Recover flight data from the rocket without + opening it up. + + + + + Configure altimeter apogee delays or main deploy heights + to respond to changing launch conditions. You can also + 'reboot' the altimeter. Use this to remotely enable the + flight computer by turning TeleMetrum on in "idle" mode, + then once the airframe 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 airframe. Simply assembly the + rocket as if for flight with the apogee and main charges + loaded, then remotely command the altimeter to fire the + igniters. + + + + + Packet command mode uses the same RF frequencies as telemetry + mode. Configure the desired TeleDongle frequency using the + flight monitor window frequency selector and then close that + window before performing the desired operation. + + + TeleMetrum only enables packet command mode in 'idle' mode, so + make sure you have TeleMetrum lying horizontally when you turn + it on. Otherwise, TeleMetrum 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. + + + When packet command mode is enabled, you can monitor the link + by watching the lights on the + devices. The red LED will flash each time they + transmit a packet while the green LED will light up + on TeleDongle while it is waiting to receive a packet from + the altimeter. + +
+
+ Save Flight Data + + The altimeter records flight data to its internal flash memory. + The 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. As TeleMini has only a barometer, it + records data at the same rate as the telemetry signal, but there will be + no data lost due to telemetry drop-outs. + + + Clicking on the 'Save Flight Data' button brings up a list of connected TeleMetrum and TeleDongle devices. If you select a TeleMetrum device, the flight data will be downloaded from that device directly. If you select a TeleDongle device, flight data @@ -1877,10 +1562,10 @@ NAR #88757, TRA #12200
Flash Image - This reprograms any Altus Metrum device by using a TeleMetrum or - TeleDongle as a programming dongle. Please read the directions - for connecting the programming cable in the main TeleMetrum - manual before reading these instructions. + This reprograms any Altus Metrum device by using a TeleMetrum + or TeleDongle as a programming dongle. Please read the + directions for flashing devices in the Updating Device + Firmware section above Once you have the programmer and target devices connected, @@ -2125,4 +1810,330 @@ NAR #88757, TRA #12200
+ + Hardware Specifications +
+ TeleMetrum Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + 1-axis high-g accelerometer for motor characterization, capable of + +/- 50g using default part. + + + + + On-board, integrated GPS receiver with 5hz update rate capability. + + + + + On-board 1 megabyte non-volatile memory for flight data storage. + + + + + USB interface for battery charging, configuration, and data recovery. + + + + + Fully integrated support for LiPo rechargeable batteries. + + + + + Uses LiPo to fire e-matches, can be modiied to support + optional separate pyro battery if needed. + + + + + 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + + + +
+
+ TeleMini Specifications + + + + Recording altimeter for model rocketry. + + + + + Supports dual deployment (can fire 2 ejection charges). + + + + + 70cm ham-band transceiver for telemetry downlink. + + + + + Barometric pressure sensor good to 45k feet MSL. + + + + + On-board 5 kilobyte non-volatile memory for flight data storage. + + + + + RF interface for battery charging, configuration, and data recovery. + + + + + Support for LiPo rechargeable batteries, using an external charger. + + + + + Uses LiPo to fire e-matches, can be modiied to support + optional separate pyro battery if needed. + + + + + 1.5 x .5 inch board designed to fit inside 18mm airframe coupler tube. + + + +
+ + + FAQ + + TeleMetrum seems to shut off when disconnected from the + computer. 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. + + + It's impossible to stop the TeleDongle when it's in "p" mode, I have + to unplug the USB cable? 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. + + + The amber LED (on the TeleMetrum) lights up when both + battery and USB are connected. Does this mean it's charging? + 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. + + + There are no "dit-dah-dah-dit" sound or lights like the manual mentions? + That's the "pad" mode. Weak batteries might be the problem. + It is also possible that the Telemetrum 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. + + + How do I save flight data? + 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 rf-linked .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... + + + + Notes for Older Software + + + 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. + + + + 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. + + + 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. + + + 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. + + + 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. + + + Try setting these config ('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. + + + 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. + + + 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 rf-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. + + + 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. + + + You can access an altimeter in idle mode from the Teledongle's USB + connection using the rf 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. + + + Using this rf 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. + + + On TeleMetrum, the GPS will eventually find enough satellites, lock in on them, + and 'ao-view' will both auditorially 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. + + + 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. + + + TeleMetrum also provides GPS trekking 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'.) + + + 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.) + + + 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! + + + + Release Notes + + + + + diff --git a/doc/release-notes-0.7.1.xsl b/doc/release-notes-0.7.1.xsl new file mode 100644 index 00000000..75158a02 --- /dev/null +++ b/doc/release-notes-0.7.1.xsl @@ -0,0 +1,57 @@ + + + +
+ +Version 0.7.1 is the first release containing our new cross-platform Java-based user interface. AltosUI can: + + + + 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-0.8.xsl b/doc/release-notes-0.8.xsl new file mode 100644 index 00000000..c54f97e9 --- /dev/null +++ b/doc/release-notes-0.8.xsl @@ -0,0 +1,56 @@ + + + +
+ + Version 0.8 offers a major upgrade in the AltosUI + interface. Significant new features include: + + + + 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-0.9.2.xsl b/doc/release-notes-0.9.2.xsl new file mode 100644 index 00000000..e5f66c60 --- /dev/null +++ b/doc/release-notes-0.9.2.xsl @@ -0,0 +1,20 @@ + + + +
+ + Version 0.9.2 is an AltosUI bug-fix release, with no firmware changes. + + + + 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.xsl b/doc/release-notes-0.9.xsl new file mode 100644 index 00000000..547f46b1 --- /dev/null +++ b/doc/release-notes-0.9.xsl @@ -0,0 +1,31 @@ + + + +
+ + Version 0.9 adds a few new firmware features and accompanying + AltosUI changes, along with new hardware support. + + + + 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. + + +
-- cgit v1.2.3 From 566b16e67be38c6425e616a5c38d641c4e1a9b12 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 10 Aug 2011 22:43:26 -0700 Subject: doc: Add 1.0 release notes. Signed-off-by: Keith Packard --- doc/Makefile | 8 +++- doc/altusmetrum.xsl | 1 + doc/release-notes-1.0.xsl | 96 +++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 104 insertions(+), 1 deletion(-) create mode 100644 doc/release-notes-1.0.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 6d9ea8eb..35858b15 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -6,7 +6,10 @@ 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-0.9.2.html \ + release-notes-1.0.html + +RELNOTES_XSL=$(RELNOTES:.html=.xsl) HTML=altusmetrum.html altos.html telemetry.html $(RELNOTES) PDF=altusmetrum.pdf altos.pdf telemetry.pdf DOC=$(HTML) $(PDF) @@ -45,6 +48,9 @@ clean: distclean: rm -f $(HTML) $(PDF) *.fo +altusmetrum.html: $(RELNOTES_XSL) +altusmetrum.fo: $(RELNOTES_XSL) + indent: altusmetrum.xsl xmlindent -i 2 < altusmetrum.xsl > altusmetrum.new diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 88c9b80a..e97666ae 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -2131,6 +2131,7 @@ NAR #88757, TRA #12200 Release Notes + diff --git a/doc/release-notes-1.0.xsl b/doc/release-notes-1.0.xsl new file mode 100644 index 00000000..b42917c5 --- /dev/null +++ b/doc/release-notes-1.0.xsl @@ -0,0 +1,96 @@ + + + +
+ + Version 1.0 is a major release, adding support for the TeleMini + device and lots of new AltosUI features + + + AltOS Firmware Changes + + + Add TeleMini v1.0 support. Firmware images for TeleMini are + included in AltOS releases. + + + 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. + + + 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. + + + 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. + + + 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 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. + + + 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. + + + +
-- cgit v1.2.3 From a0f62b8569c5535a2598cfb6ab52db79f0a52f92 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 22 Aug 2011 17:17:43 -0700 Subject: doc: Add note about telemetry disable mode to 1.0 release notes Signed-off-by: Keith Packard --- doc/release-notes-1.0.xsl | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'doc') diff --git a/doc/release-notes-1.0.xsl b/doc/release-notes-1.0.xsl index b42917c5..a3fc22d9 100644 --- a/doc/release-notes-1.0.xsl +++ b/doc/release-notes-1.0.xsl @@ -25,6 +25,13 @@ 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 packet mode in idle mode. + Arbitrary frequency selection. The radios in Altus Metrum devices can be programmed to a wide range of frequencies, so -- cgit v1.2.3 From b83d8eca433ed5796835f6a09271f50c7f27cc81 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 22 Aug 2011 17:18:02 -0700 Subject: doc: Add Installation Recommendations chapter Document installation suggestions, including mounting, RFI, antenna issues and ground testing. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 214 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 214 insertions(+) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index e97666ae..601b62eb 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1810,6 +1810,220 @@ NAR #88757, TRA #12200
+ + Altimeter Installation Recommendations + + Building high-power rockets that fly safely is hard enough. Mix + in some sophisticated electronics and a bunch of radio energy + and oftentimes you find few perfect solutions. This chapter + contains some suggestions about how to install AltusMetrum + products into the rocket airframe, including how to safely and + reliably mix a variety of electronics into the same airframe. + +
+ Mounting the Altimeter + + The first consideration is to ensure that the altimeter is + securely fastened to the airframe. For TeleMetrum, we use + nylon standoffs and nylon screws; they're good to at least 50G + and cannot cause any electrical issues on the board. For + TeleMini, we usually cut small pieces of 1/16" 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. + + + + Make sure TeleMetrum is aligned precisely along the axis of + acceleration so that the accelerometer can accurately + capture data during the flight. + + + 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. + + +
+
+ Dealing with the Antenna + + 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 + impedence, making it a less efficient radiator and thus + reducing the range of the telemetry signal. + + + Keeping metal away from the antenna will provide better range + and a more even radiation pattern. In most rockets, it's not + entirely possible to isolate the antenna from metal + components; there are often bolts, all-thread and wires from other + electronics to contend with. Just be aware that the more stuff + like this around the antenna, the lower the range. + + + Make sure the antenna is not inside a tube made or covered + with conducting material. Carbon fibre is the most common + culprit here -- CF is a good conductor and will effectively + shield the antenna, dramatically reducing signal strength and + range. Metalic flake paint is another effective shielding + material which is to be avoided around any antennas. + + + If the ebay is large enough, it can be convenient to simply + mount the altimeter at one end and stretch the antenna out + inside. Taping the antenna to the sled can keep it straight + under acceleration. If there are metal rods, keep the + antenna as far away as possible. + + + For a shorter ebay, it's quite practical to have the antenna + run through a bulkhead and into an adjacent bay. Drill a small + hole in the bulkhead, pass the antenna wire through it and + then seal it up with glue or clay. We've also used acrylic + tubing to create a cavity for the antenna wire. This works a + bit better in that the antenna is known to stay straight and + not get folded by recovery components in the bay. Angle the + tubing towards the side wall of the rocket and it ends up + consuming very little space. + + + If you need to place the 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. + +
+
+ Preserving GPS Reception + + The GPS antenna and receiver in TeleMetrum are highly + sensitive and normally have no trouble tracking enough + satellites to provide accurate position information for + recovering the rocket. However, there are many ways to + attenuate the GPS signal. + + + Conductive tubing or coatings. Carbon fiber and metal + tubing, or metalic paint will all dramatically attenuate the + GPS signal. We've never heard of anyone successfully + receiving GPS from inside these materials. + + + 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. + + + +
+
+ Radio Frequency Interference + + Any altimeter will generate RFI; the digital circuits use + high-frequency clocks that spray radio interference across a + wide band. Altusmetrum altimeters generate intentional radio + signals as well, increasing the amount of RF energy around the board. + + + Rocketry altimeters also use precise sensors measuring air + pressure and acceleration. Tiny changes in voltage can cause + these sensor readings to vary by a huge amount. When the + sensors start mis-reporting data, the altimeter can either + fire the igniters at the wrong time, or not fire them at all. + + + Voltages are induced when radio frequency energy is + transmitted from one circuit to another. Here are things that + increase the induced voltage and current: + + + + Keep wires from different circuits apart. Moving circuits + further apart will reduce RFI. + + + 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. + + + 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. + + + Avoid resonant lengths. Know what frequencies are present + in the environment and avoid having wire lengths near a + natural resonant length. Altusmetrum products transmit on the + 70cm amateur band, so you should avoid lengths that are a + simple ratio of that length; essentially any multiple of 1/4 + of the wavelength (17.5cm). + + +
+
+ The Barometric Sensor + + Altusmetrum altimeters measure altitude with a barometric + sensor, essentially measuring the amount of air above the + rocket to figure out how high it is. A large number of + measurements are taken as the altimeter initializes itself to + figure out the pad altitude. Subsequent measurements are then + used to compute the height above the pad. + + + To accurately measure atmospheric pressure, the ebay + containing the altimeter must be vented outside the + airframe. The vent must be placed in a region of linear + airflow, smooth and not in an area of increasing or decreasing + pressure. + + + The barometric sensor in the altimeter is 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. + +
+
+ Ground Testing + + The most important aspect of any installation is careful + ground testing. Bringing an airframe up to the LCO table which + hasn't been ground tested can lead to delays or ejection + charges firing on the pad, or, even worse, a recovery system + failure. + + + Do a 'full systems' test that includes wiring up all igniters + without any BP and turning on all of the electronics in flight + mode. This will catch any mistakes in wiring and any residual + RFI issues that might accidentally fire igniters at the wrong + time. Let the airframe sit for several minutes, checking for + adequate telemetry signal strength and GPS lock. + + + Ground test the ejection charges. Prepare the rocket for + flight, loading ejection charges and igniters. Completely + assemble the airframe 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 airframe and deploy the recovery system. + +
+ Hardware Specifications
-- cgit v1.2.3 From cbfbaabb39f9f7709d00cf3dc63cc1bc7563062e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 19:13:03 -0700 Subject: altosui: Make flight monitor font size configurable Tiny netbooks aren't tall enough for the 'usual' font size, so provide a smaller option. Then provide a bigger option, just because. Signed-off-by: Keith Packard --- altosui/Altos.java | 42 ++++++++++++++++++++++++++-- altosui/AltosAscent.java | 30 +++++++++++++++++++- altosui/AltosCompanionInfo.java | 15 +++++----- altosui/AltosConfigureUI.java | 61 +++++++++++++++++++++++++++++++---------- altosui/AltosDescent.java | 28 +++++++++++++++++++ altosui/AltosFlightDisplay.java | 2 ++ altosui/AltosFlightStatus.java | 14 ++++++++++ altosui/AltosFlightUI.java | 21 +++++++++++++- altosui/AltosFontListener.java | 22 +++++++++++++++ altosui/AltosIdleMonitorUI.java | 5 ++++ altosui/AltosInfoTable.java | 12 ++++---- altosui/AltosLanded.java | 23 ++++++++++++---- altosui/AltosPad.java | 22 +++++++++++++++ altosui/AltosPreferences.java | 42 ++++++++++++++++++++++++++++ altosui/AltosSiteMap.java | 4 +++ altosui/Makefile.am | 1 + doc/altusmetrum.xsl | 7 +++++ 17 files changed, 314 insertions(+), 37 deletions(-) create mode 100644 altosui/AltosFontListener.java (limited to 'doc') diff --git a/altosui/Altos.java b/altosui/Altos.java index ddf1005a..e4f974f9 100644 --- a/altosui/Altos.java +++ b/altosui/Altos.java @@ -97,9 +97,45 @@ public class Altos { static final int tab_elt_pad = 5; - static final Font label_font = new Font("Dialog", Font.PLAIN, 22); - static final Font value_font = new Font("Monospaced", Font.PLAIN, 22); - static final Font status_font = new Font("SansSerif", Font.BOLD, 24); + static Font label_font; + static Font value_font; + static Font status_font; + static Font table_label_font; + static Font table_value_font; + + final static int font_size_small = 1; + final static int font_size_medium = 2; + final static int font_size_large = 3; + + static void set_fonts(int size) { + int brief_size; + int table_size; + int status_size; + + switch (size) { + case font_size_small: + brief_size = 16; + status_size = 18; + table_size = 11; + break; + default: + case font_size_medium: + brief_size = 22; + status_size = 24; + table_size = 14; + break; + case font_size_large: + brief_size = 26; + status_size = 30; + table_size = 17; + break; + } + label_font = new Font("Dialog", Font.PLAIN, brief_size); + value_font = new Font("Monospaced", Font.PLAIN, brief_size); + status_font = new Font("SansSerif", Font.BOLD, status_size); + table_label_font = new Font("SansSerif", Font.PLAIN, table_size); + table_value_font = new Font("Monospaced", Font.PLAIN, table_size); + } static final int text_width = 20; diff --git a/altosui/AltosAscent.java b/altosui/AltosAscent.java index d607b0c5..c8e5f3af 100644 --- a/altosui/AltosAscent.java +++ b/altosui/AltosAscent.java @@ -30,6 +30,7 @@ import java.util.concurrent.LinkedBlockingQueue; public class AltosAscent extends JComponent implements AltosFlightDisplay { GridBagLayout layout; + JLabel cur, max; public class AscentStatus { JLabel label; @@ -54,6 +55,11 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { lights.set(false); } + void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + public AscentStatus (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -109,6 +115,11 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { label.setVisible(false); value.setVisible(false); } + void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + public AscentValue (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -151,6 +162,12 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { max = AltosRecord.MISSING; } + void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + max_value.setFont(Altos.value_font); + } + void show(String format, double v) { if (v == AltosRecord.MISSING) { value.setText("Missing"); @@ -314,6 +331,18 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { accel.reset(); } + public void set_font() { + cur.setFont(Altos.label_font); + max.setFont(Altos.label_font); + lat.set_font(); + lon.set_font(); + main.set_font(); + apogee.set_font(); + height.set_font(); + speed.set_font(); + accel.set_font(); + } + public void show(AltosState state, int crc_errors) { if (state.gps != null && state.gps.connected) { lat.show(state, crc_errors); @@ -337,7 +366,6 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { public void labels(GridBagLayout layout, int y) { GridBagConstraints c; - JLabel cur, max; cur = new JLabel("Current"); cur.setFont(Altos.label_font); diff --git a/altosui/AltosCompanionInfo.java b/altosui/AltosCompanionInfo.java index f287a8ea..82bde623 100644 --- a/altosui/AltosCompanionInfo.java +++ b/altosui/AltosCompanionInfo.java @@ -31,25 +31,26 @@ import java.util.concurrent.LinkedBlockingQueue; public class AltosCompanionInfo extends JTable { private AltosFlightInfoTableModel model; - private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14); - private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14); - static final int info_columns = 2; static final int info_rows = 17; int desired_row_height() { - FontMetrics infoValueMetrics = getFontMetrics(infoValueFont); + FontMetrics infoValueMetrics = getFontMetrics(Altos.table_value_font); return (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 18 / 10; } + public void set_font() { + setFont(Altos.table_value_font); + setRowHeight(desired_row_height()); + doLayout(); + } + public AltosCompanionInfo() { super(new AltosFlightInfoTableModel(info_rows, info_columns)); model = (AltosFlightInfoTableModel) getModel(); - setFont(infoValueFont); setAutoResizeMode(AUTO_RESIZE_ALL_COLUMNS); setShowGrid(true); - setRowHeight(desired_row_height()); - doLayout(); + set_font(); } public Dimension getPreferredScrollableViewportSize() { diff --git a/altosui/AltosConfigureUI.java b/altosui/AltosConfigureUI.java index 0c865d0e..bcb9636b 100644 --- a/altosui/AltosConfigureUI.java +++ b/altosui/AltosConfigureUI.java @@ -47,12 +47,17 @@ public class AltosConfigureUI JLabel callsign_label; JTextField callsign_value; + JLabel font_size_label; + JComboBox font_size_value; + JRadioButton serial_debug; // BLUETOOTH // JButton manage_bluetooth; JButton manage_frequencies; + final static String[] font_size_names = { "Small", "Medium", "Large" }; + /* DocumentListener interface methods */ public void changedUpdate(DocumentEvent e) { AltosPreferences.set_callsign(callsign_value.getText()); @@ -73,6 +78,8 @@ public class AltosConfigureUI Insets insets = new Insets(4, 4, 4, 4); + int row = 0; + owner = in_owner; voice = in_voice; pane = getContentPane(); @@ -85,14 +92,14 @@ public class AltosConfigureUI /* Nice label at the top */ c.gridx = 0; - c.gridy = 0; + c.gridy = row++; c.gridwidth = 3; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.CENTER; pane.add(new JLabel ("Configure AltOS UI"), c); c.gridx = 0; - c.gridy = 1; + c.gridy = row++; c.gridwidth = 3; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.CENTER; @@ -100,7 +107,7 @@ public class AltosConfigureUI /* Voice settings */ c.gridx = 0; - c.gridy = 2; + c.gridy = row; c.gridwidth = 1; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.WEST; @@ -119,7 +126,7 @@ public class AltosConfigureUI } }); c.gridx = 1; - c.gridy = 2; + c.gridy = row; c.gridwidth = 1; c.weightx = 1; c.fill = GridBagConstraints.NONE; @@ -128,7 +135,7 @@ public class AltosConfigureUI enable_voice.setToolTipText("Enable/Disable all audio in-flight announcements"); c.gridx = 2; - c.gridy = 2; + c.gridy = row++; c.gridwidth = 1; c.weightx = 1; c.fill = GridBagConstraints.NONE; @@ -144,7 +151,7 @@ public class AltosConfigureUI /* Log directory settings */ c.gridx = 0; - c.gridy = 3; + c.gridy = row; c.gridwidth = 1; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.WEST; @@ -158,7 +165,7 @@ public class AltosConfigureUI } }); c.gridx = 1; - c.gridy = 3; + c.gridy = row++; c.gridwidth = 2; c.fill = GridBagConstraints.BOTH; c.anchor = GridBagConstraints.WEST; @@ -167,7 +174,7 @@ public class AltosConfigureUI /* Callsign setting */ c.gridx = 0; - c.gridy = 4; + c.gridy = row; c.gridwidth = 1; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.WEST; @@ -176,16 +183,42 @@ public class AltosConfigureUI callsign_value = new JTextField(AltosPreferences.callsign()); callsign_value.getDocument().addDocumentListener(this); c.gridx = 1; - c.gridy = 4; + c.gridy = row++; c.gridwidth = 2; c.fill = GridBagConstraints.BOTH; c.anchor = GridBagConstraints.WEST; pane.add(callsign_value, c); callsign_value.setToolTipText("Callsign sent in packet mode"); + /* Font size setting */ + c.gridx = 0; + c.gridy = row; + c.gridwidth = 1; + c.fill = GridBagConstraints.NONE; + c.anchor = GridBagConstraints.WEST; + pane.add(new JLabel("Font size"), c); + + font_size_value = new JComboBox(font_size_names); + int font_size = AltosPreferences.font_size(); + font_size_value.setSelectedIndex(font_size - Altos.font_size_small); + font_size_value.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + int size = font_size_value.getSelectedIndex() + Altos.font_size_small; + + AltosPreferences.set_font_size(size); + } + }); + c.gridx = 1; + c.gridy = row++; + c.gridwidth = 2; + c.fill = GridBagConstraints.BOTH; + c.anchor = GridBagConstraints.WEST; + pane.add(font_size_value, c); + font_size_value.setToolTipText("Font size used in telemetry window"); + /* Serial debug setting */ c.gridx = 0; - c.gridy = 5; + c.gridy = row; c.gridwidth = 1; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.WEST; @@ -202,7 +235,7 @@ public class AltosConfigureUI serial_debug.setToolTipText("Enable/Disable USB I/O getting sent to the console"); c.gridx = 1; - c.gridy = 5; + c.gridy = row++; c.gridwidth = 3; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.WEST; @@ -216,7 +249,7 @@ public class AltosConfigureUI // } // }); // c.gridx = 0; -// c.gridy = 6; +// c.gridy = row++; // c.gridwidth = 2; // c.fill = GridBagConstraints.NONE; // c.anchor = GridBagConstraints.WEST; @@ -232,7 +265,7 @@ public class AltosConfigureUI // BLUETOOTH // c.gridx = 2; c.gridx = 1; - c.gridy = 6; + c.gridy = row++; c.gridwidth = 2; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.WEST; @@ -246,7 +279,7 @@ public class AltosConfigureUI } }); c.gridx = 0; - c.gridy = 7; + c.gridy = row++; c.gridwidth = 3; c.fill = GridBagConstraints.NONE; c.anchor = GridBagConstraints.CENTER; diff --git a/altosui/AltosDescent.java b/altosui/AltosDescent.java index 2a9e7eef..0fcd690b 100644 --- a/altosui/AltosDescent.java +++ b/altosui/AltosDescent.java @@ -55,6 +55,11 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { lights.set(false); } + void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + public DescentStatus (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -121,6 +126,11 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { value.setText(v); } + void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + public DescentValue (GridBagLayout layout, int x, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -169,6 +179,12 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { value2.setVisible(false); } + void set_font() { + label.setFont(Altos.label_font); + value1.setFont(Altos.value_font); + value2.setFont(Altos.value_font); + } + abstract void show(AltosState state, int crc_errors); void show(String v1, String v2) { @@ -361,6 +377,18 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { apogee.reset(); } + public void set_font() { + lat.set_font(); + lon.set_font(); + height.set_font(); + speed.set_font(); + bearing.set_font(); + range.set_font(); + elevation.set_font(); + main.set_font(); + apogee.set_font(); + } + public void show(AltosState state, int crc_errors) { height.show(state, crc_errors); speed.show(state, crc_errors); diff --git a/altosui/AltosFlightDisplay.java b/altosui/AltosFlightDisplay.java index d18d1d1f..f633c8e6 100644 --- a/altosui/AltosFlightDisplay.java +++ b/altosui/AltosFlightDisplay.java @@ -21,4 +21,6 @@ public interface AltosFlightDisplay { void reset(); void show(AltosState state, int crc_errors); + + void set_font(); } diff --git a/altosui/AltosFlightStatus.java b/altosui/AltosFlightStatus.java index 59c9e9db..ed273384 100644 --- a/altosui/AltosFlightStatus.java +++ b/altosui/AltosFlightStatus.java @@ -40,6 +40,12 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay void reset() { value.setText(""); } + + void set_font() { + label.setFont(Altos.status_font); + value.setFont(Altos.status_font); + } + public FlightValue (GridBagLayout layout, int x, String text) { GridBagConstraints c = new GridBagConstraints(); c.insets = new Insets(5, 5, 5, 5); @@ -127,6 +133,14 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay rssi.reset(); } + public void set_font () { + call.set_font(); + serial.set_font(); + flight.set_font(); + flight_state.set_font(); + rssi.set_font(); + } + public void show (AltosState state, int crc_errors) { call.show(state, crc_errors); serial.show(state, crc_errors); diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java index abe08a18..b44b9d43 100644 --- a/altosui/AltosFlightUI.java +++ b/altosui/AltosFlightUI.java @@ -28,7 +28,7 @@ import java.text.*; import java.util.prefs.*; import java.util.concurrent.*; -public class AltosFlightUI extends JFrame implements AltosFlightDisplay { +public class AltosFlightUI extends JFrame implements AltosFlightDisplay, AltosFontListener { AltosVoice voice; AltosFlightReader reader; AltosDisplayThread thread; @@ -83,6 +83,21 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay { sitemap.reset(); } + public void set_font() { + pad.set_font(); + ascent.set_font(); + descent.set_font(); + landed.set_font(); + flightStatus.set_font(); + flightInfo.set_font(); + sitemap.set_font(); + companion.set_font(); + } + + public void font_size_changed(int font_size) { + set_font(); + } + public void show(AltosState state, int crc_errors) { JComponent tab = which_tab(state); try { @@ -254,12 +269,16 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay { bag.add(pane, c); setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE); + + AltosPreferences.register_font_listener(this); + addWindowListener(new WindowAdapter() { @Override public void windowClosing(WindowEvent e) { disconnect(); setVisible(false); dispose(); + AltosPreferences.unregister_font_listener(AltosFlightUI.this); if (exit_on_close) System.exit(0); } diff --git a/altosui/AltosFontListener.java b/altosui/AltosFontListener.java new file mode 100644 index 00000000..0dda0f29 --- /dev/null +++ b/altosui/AltosFontListener.java @@ -0,0 +1,22 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package altosui; + +public interface AltosFontListener { + void font_size_changed(int font_size); +} diff --git a/altosui/AltosIdleMonitorUI.java b/altosui/AltosIdleMonitorUI.java index 142f0278..988a797c 100644 --- a/altosui/AltosIdleMonitorUI.java +++ b/altosui/AltosIdleMonitorUI.java @@ -284,6 +284,11 @@ public class AltosIdleMonitorUI extends JFrame implements AltosFlightDisplay { flightInfo.clear(); } + public void set_font() { + pad.set_font(); + flightInfo.set_font(); + } + public void show(AltosState state, int crc_errors) { try { pad.show(state, crc_errors); diff --git a/altosui/AltosInfoTable.java b/altosui/AltosInfoTable.java index 8ebeaba1..c023369e 100644 --- a/altosui/AltosInfoTable.java +++ b/altosui/AltosInfoTable.java @@ -31,27 +31,29 @@ import java.util.concurrent.LinkedBlockingQueue; public class AltosInfoTable extends JTable { private AltosFlightInfoTableModel model; - private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14); - private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14); - static final int info_columns = 3; static final int info_rows = 17; int desired_row_height() { - FontMetrics infoValueMetrics = getFontMetrics(infoValueFont); + FontMetrics infoValueMetrics = getFontMetrics(Altos.table_value_font); return (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 18 / 10; } public AltosInfoTable() { super(new AltosFlightInfoTableModel(info_rows, info_columns)); model = (AltosFlightInfoTableModel) getModel(); - setFont(infoValueFont); + setFont(Altos.table_value_font); setAutoResizeMode(AUTO_RESIZE_ALL_COLUMNS); setShowGrid(true); setRowHeight(desired_row_height()); doLayout(); } + public void set_font() { + setFont(Altos.table_value_font); + doLayout(); + } + public Dimension getPreferredScrollableViewportSize() { return getPreferredSize(); } diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java index 71c10663..50e6b542 100644 --- a/altosui/AltosLanded.java +++ b/altosui/AltosLanded.java @@ -30,8 +30,6 @@ import java.util.concurrent.LinkedBlockingQueue; public class AltosLanded extends JComponent implements AltosFlightDisplay, ActionListener { GridBagLayout layout; - Font label_font; - Font value_font; public class LandedValue { JLabel label; @@ -47,6 +45,11 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio value.setVisible(true); } + public void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + void hide() { label.setVisible(false); value.setVisible(false); @@ -63,7 +66,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio c.weighty = 1; label = new JLabel(text); - label.setFont(label_font); + label.setFont(Altos.label_font); label.setHorizontalAlignment(SwingConstants.LEFT); c.gridx = 0; c.gridy = y; c.insets = new Insets(10, 10, 10, 10); @@ -74,7 +77,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio add(label); value = new JTextField(Altos.text_width); - value.setFont(value_font); + value.setFont(Altos.value_font); value.setHorizontalAlignment(SwingConstants.RIGHT); c.gridx = 1; c.gridy = y; c.anchor = GridBagConstraints.WEST; @@ -199,6 +202,16 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio accel.reset(); } + public void set_font() { + lat.set_font(); + lon.set_font(); + bearing.set_font(); + distance.set_font(); + height.set_font(); + speed.set_font(); + accel.set_font(); + } + public void show(AltosState state, int crc_errors) { if (state.gps != null && state.gps.connected) { bearing.show(state, crc_errors); @@ -259,8 +272,6 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio reader = in_reader; - label_font = new Font("Dialog", Font.PLAIN, 22); - value_font = new Font("Monospaced", Font.PLAIN, 22); setLayout(layout); /* Elements in descent display */ diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java index 3a8d04fe..6ef66f7a 100644 --- a/altosui/AltosPad.java +++ b/altosui/AltosPad.java @@ -54,6 +54,11 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { lights.setVisible(false); } + public void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + public LaunchStatus (GridBagLayout layout, int y, String text) { GridBagConstraints c = new GridBagConstraints(); c.weighty = 1; @@ -105,6 +110,11 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { value.setVisible(false); } + public void set_font() { + label.setFont(Altos.label_font); + value.setFont(Altos.value_font); + } + void reset() { value.setText(""); } @@ -282,6 +292,18 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { pad_alt.reset(); } + public void set_font() { + battery.set_font(); + apogee.set_font(); + main.set_font(); + logging_ready.set_font(); + gps_locked.set_font(); + gps_ready.set_font(); + pad_lat.set_font(); + pad_lon.set_font(); + pad_alt.set_font(); + } + public void show(AltosState state, int crc_errors) { battery.show(state, crc_errors); if (state.drogue_sense == AltosRecord.MISSING) diff --git a/altosui/AltosPreferences.java b/altosui/AltosPreferences.java index de926b38..716559ab 100644 --- a/altosui/AltosPreferences.java +++ b/altosui/AltosPreferences.java @@ -55,6 +55,9 @@ class AltosPreferences { /* scanning telemetry preferences name */ final static String scanningTelemetryPreference = "SCANNING-TELEMETRY"; + /* font size preferences name */ + final static String fontSizePreference = "FONT-SIZE"; + /* Default logdir is ~/TeleMetrum */ final static String logdirName = "TeleMetrum"; @@ -88,6 +91,10 @@ class AltosPreferences { /* Scanning telemetry */ static int scanning_telemetry; + static LinkedList font_listeners; + + static int font_size = Altos.font_size_medium; + /* List of frequencies */ final static String common_frequencies_node_name = "COMMON-FREQUENCIES"; static AltosFrequency[] common_frequencies; @@ -164,6 +171,11 @@ class AltosPreferences { scanning_telemetry = preferences.getInt(scanningTelemetryPreference,(1 << Altos.ao_telemetry_standard)); + font_listeners = new LinkedList(); + + font_size = preferences.getInt(fontSizePreference, Altos.font_size_medium); + Altos.set_fonts(font_size); + String firmwaredir_string = preferences.get(firmwaredirPreference, null); if (firmwaredir_string != null) firmwaredir = new File(firmwaredir_string); @@ -335,6 +347,36 @@ class AltosPreferences { return firmwaredir; } + public static int font_size() { + return font_size; + } + + static void set_fonts() { + } + + public static void set_font_size(int new_font_size) { + font_size = new_font_size; + synchronized (preferences) { + preferences.putInt(fontSizePreference, font_size); + flush_preferences(); + Altos.set_fonts(font_size); + for (AltosFontListener l : font_listeners) + l.font_size_changed(font_size); + } + } + + public static void register_font_listener(AltosFontListener l) { + synchronized (preferences) { + font_listeners.add(l); + } + } + + public static void unregister_font_listener(AltosFontListener l) { + synchronized (preferences) { + font_listeners.remove(l); + } + } + public static void set_serial_debug(boolean new_serial_debug) { serial_debug = new_serial_debug; AltosSerial.set_debug(serial_debug); diff --git a/altosui/AltosSiteMap.java b/altosui/AltosSiteMap.java index b3fb3c54..c258b3e5 100644 --- a/altosui/AltosSiteMap.java +++ b/altosui/AltosSiteMap.java @@ -146,6 +146,10 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { // nothing } + public void set_font() { + // nothing + } + private void loadMap(final AltosSiteMapTile tile, File pngfile, String pngurl) { diff --git a/altosui/Makefile.am b/altosui/Makefile.am index f626d3fa..ba1c830c 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -57,6 +57,7 @@ altosui_JAVA = \ AltosFlightStatsTable.java \ AltosFlightStatus.java \ AltosFlightUI.java \ + AltosFontListener.java \ AltosFrequency.java \ AltosFreqList.java \ AltosGPS.java \ diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 601b62eb..df1e6635 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1537,6 +1537,13 @@ NAR #88757, TRA #12200 your local radio regulations.
+
+ Font Size + + Selects the set of fonts used in the flight monitor + window. Choose between the small, medium and large sets. + +
Serial Debug -- cgit v1.2.3 From 963649aa064acfe75d2ff4babd9a0d35dc254e86 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 21:39:21 -0600 Subject: doc tweaks through chap 3 --- doc/altusmetrum.xsl | 45 +++++++++++++++++++++++++++------------------ 1 file changed, 27 insertions(+), 18 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index df1e6635..9c13bd89 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -99,7 +99,7 @@ NAR #88757, TRA #12200 future as you wish! - The first device created for our community is TeleMetrum, a dual + 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. @@ -152,8 +152,8 @@ NAR #88757, TRA #12200 The TeleMini battery can be charged by disconnecting it from the - TeleMini board and plugging it into the battery charger board, - and connecting that via a USB cable to a laptop or other USB + TeleMini board and plugging it into a standalone battery charger + board, and connecting that via a USB cable to a laptop or other USB power source @@ -161,9 +161,11 @@ NAR #88757, TRA #12200 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. If you are using Linux and are - having problems, try moving to a fresher kernel (2.6.33 or newer), as - the USB serial driver had ugly bugs in some earlier versions. + 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 Linux and are having problems, try moving + to a fresher kernel (2.6.33 or newer), as the USB serial driver had + ugly bugs in some earlier versions. Next you should obtain and install the AltOS utilities. These include @@ -179,10 +181,10 @@ NAR #88757, TRA #12200 Handling Precautions - All Altus Metrum products are sophisticated electronic device. When handled gently and - properly installed in an airframe, theywill deliver impressive results. - However, like all electronic devices, there are some precautions you - must take. + All Altus Metrum products are sophisticated electronic devices. + When handled gently and properly installed in an airframe, they + will deliver impressive results. However, like all electronic + devices, there are some precautions you must take. The Lithium Polymer rechargeable batteries have an @@ -197,23 +199,30 @@ NAR #88757, TRA #12200 strapping them down, for example. - The barometric sensor is sensitive to sunlight. In normal - mounting situations, it and all of the other surface mount components + The barometric sensors used on both TeleMetrum and TeleMini are + sensitive to sunlight. In normal TeleMetrum mounting situations, it + and all of the other surface mount components are "down" towards whatever the underlying mounting surface is, so this is not normally a problem. Please consider this, though, when designing an installation, for example, in an airframe with a - see-through plastic payload bay. + see-through plastic payload bay. It is particularly important to + consider this with TeleMini, 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", + 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, but also by having a + 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. + As with all other rocketry electronics, Altus Metrum altimeters must + be protected from exposure to corrosive motor exhaust and ejection + charge gasses. -- cgit v1.2.3 From ca0879ba6e5295b4fa790705f742eb647a462ea0 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 20:42:09 -0700 Subject: doc: Spelling corrections in altusmetrum.xsl Lots of minor spelling errors. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 213 ++++++++++++++++++++++++++-------------------------- 1 file changed, 108 insertions(+), 105 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 9c13bd89..ddb40719 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -67,7 +67,7 @@ Kit" which has turned into the Getting Started chapter in this book. Bob was one of our first customers for a production TeleMetrum, and the enthusiasm that led to his contribution of - this section is immensely gratifying and highy appreciated! + this section is immensely gratifying and highly appreciated! And thanks to Anthony (AJ) Towns for contributing the @@ -107,7 +107,7 @@ NAR #88757, TRA #12200 The newest device is TeleMini, a dual deploy altimeter with radio telemetry and radio direction finding. This device is only - 13mm by 38mm (½ inch by 1½ inches) and can fit easily in an 18mm airframe. + 13mm by 38mm (½ inch by 1½ inches) and can fit easily in an 18mm air-frame. Complementing TeleMetrum and TeleMini is TeleDongle, a USB to RF interface for @@ -133,7 +133,7 @@ NAR #88757, TRA #12200 The TeleMetrum battery can be charged by plugging it into the corresponding socket of the TeleMetrum and then using the USB A to mini B - cable to plug the Telemetrum into your computer's USB socket. The + cable to plug the TeleMetrum into your computer's USB socket. The TeleMetrum circuitry will charge the battery whenever it is plugged in, because the TeleMetrum's on-off switch does NOT control the charging circuitry. @@ -141,7 +141,7 @@ NAR #88757, TRA #12200 When the GPS chip is initially searching for satellites, TeleMetrum will consume more current than it can pull - from the usb port, so the battery must be attached in order to get + 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 @@ -172,7 +172,7 @@ NAR #88757, TRA #12200 the AltosUI ground station program, current firmware images for TeleMetrum, TeleMini and TeleDongle, and a number of standalone utilities that are rarely needed. Pre-built binary packages are available for Debian - Linux, Microsoft Windows, and recent MacOSX versions. Full sourcecode + Linux, Microsoft Windows, and recent MacOSX versions. Full source code and build instructions for some other Linux variants are also available. The latest version may always be downloaded from . @@ -182,7 +182,7 @@ NAR #88757, TRA #12200 Handling Precautions All Altus Metrum products are sophisticated electronic devices. - When handled gently and properly installed in an airframe, they + When handled gently and properly installed in an air-frame, they will deliver impressive results. However, like all electronic devices, there are some precautions you must take. @@ -194,7 +194,7 @@ NAR #88757, TRA #12200 or their leads are allowed to short, they can and will release their energy very rapidly! Thus we recommend that you take some care when handling our batteries - and consider giving them some extra protection in your airframe. We + 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. @@ -204,7 +204,7 @@ NAR #88757, TRA #12200 and all of the other surface mount components are "down" towards whatever the underlying mounting surface is, so this is not normally a problem. Please consider this, though, when - designing an installation, for example, in an airframe with a + designing an installation, for example, in an air-frame with a see-through plastic payload bay. It is particularly important to consider this with TeleMini, both because the baro sensor is on the "top" of the board, and because many model rockets with payload bays @@ -229,7 +229,7 @@ NAR #88757, TRA #12200 Hardware Overview TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to - fit inside coupler for 29mm airframe tubing, but using it in a tube that + 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 default 1/4 wave UHF wire antenna attached to the center of the nose-cone end of @@ -240,7 +240,7 @@ NAR #88757, TRA #12200 TeleMini is a 0.5 inch by 1.5 inch circuit board. It was designed to - fit inside an 18mm airframe tube, but using it in a tube that + 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! The default 1/4 wave UHF wire antenna attached to the center of the nose-cone end of @@ -257,7 +257,7 @@ NAR #88757, TRA #12200 charges. - By default, we use the unregulated output of the LiPo battery directly + By default, we use the unregulated output of the Li-Po 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 @@ -279,7 +279,7 @@ NAR #88757, TRA #12200 directly to the board and can be connected directly to the switch. - For most airframes, the integrated antennas are more than + For most air-frames, the integrated antennas are more than adequate However, if you are installing in a carbon-fiber electronics bay which is opaque to RF signals, you may need to use off-board external antennas instead. In this case, you can @@ -296,7 +296,7 @@ NAR #88757, TRA #12200 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 startup time. For + the firmware operates in is determined at start up time. For TeleMetrum, 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 @@ -310,7 +310,7 @@ NAR #88757, TRA #12200 At power on, you will hear three beeps or see three flashes - ("S" in Morse code for startup) and then a pause while + ("S" in Morse code for start up) and then a pause while the altimeter completes initialization and self tests, and decides which mode to enter next. @@ -342,9 +342,9 @@ NAR #88757, TRA #12200 One "neat trick" of particular value when the altimeter is used with very - large airframes, is that you can power the board up while the rocket + 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 airframe to launch position, use a TeleDongle to open + raise the air-frame to launch position, use a TeleDongle to open a packet connection, and issue a 'reset' command which will cause the altimeter to reboot and come up in flight mode. This is much safer than standing on the top step of a @@ -364,11 +364,11 @@ NAR #88757, TRA #12200 what time it is! - TeleMetrum provides backup power to the GPS chip any time a LiPo + TeleMetrum provides backup power to the GPS chip any time a Li-Po battery is connected. This allows the receiver to "warm start" on the launch rail much faster than if every power-on were a "cold start" for the GPS receiver. In typical operations, powering up TeleMetrum - on the flight line in idle mode while performing final airframe + 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 @@ -389,7 +389,7 @@ NAR #88757, TRA #12200 Just prep the rocket for flight, then power up the altimeter - in "idle" mode (placing airframe horizontal for TeleMetrum or + in "idle" mode (placing air-frame horizontal for TeleMetrum or starting the RF packet connection 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 @@ -421,7 +421,7 @@ NAR #88757, TRA #12200 it's in "idle mode", which allows us to use the RF link to configure the rocket, do things like ejection tests, and extract data after a flight without having to - crack open the airframe. However, when the board is in "flight + 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 @@ -432,7 +432,7 @@ NAR #88757, TRA #12200 We don't use a 'normal packet radio' mode because they're just too inefficient. The GFSK modulation we use is just FSK with the - baseband pulses passed through a + base-band pulses passed through a Gaussian filter before they go into the modulator to limit the transmitted bandwidth. When combined with the hardware forward error correction support in the cc1111 chip, this allows us to have a very @@ -471,7 +471,7 @@ NAR #88757, TRA #12200 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): + the standard calibration reference frequency, 'S', (normally 434.550MHz): R = F / S * C @@ -504,7 +504,7 @@ NAR #88757, TRA #12200 set the MAWD to 0 seconds delay and set the TeleMetrum to fire your backup 2 or 3 seconds later to avoid any chance of both charges firing simultaneously. We've flown several - airframes this way quite happily, including Keith's + air-frames this way quite happily, including Keith's successful L3 cert.
@@ -513,7 +513,7 @@ NAR #88757, TRA #12200 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 airframes, but feel free to change 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 @@ -536,7 +536,7 @@ NAR #88757, TRA #12200
Radio Frequency - The radio frequency is synthesized from a clock based on the 48 Mhz + The radio frequency is synthesized from a clock based on the 48 MHz crystal on the board. The actual frequency of this oscillator must be measured to generate a calibration constant. While our GFSK modulation bandwidth is wide enough to allow boards to communicate even when @@ -552,7 +552,7 @@ NAR #88757, TRA #12200 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 + 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' @@ -571,10 +571,10 @@ NAR #88757, TRA #12200
TeleMetrum Accelerometer - The TeleMerum accelerometer we use has its own 5 volt power supply and + The TeleMetrum accelerometer we use has its own 5 volt power supply and the output must be passed through a resistive voltage divider to match the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratiometric to + sensor, the output of the acceleration sensor is not ratio-metric to the ADC converter, and calibration is required. We also support the use of any of several accelerometers from a Freescale family that includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, @@ -686,7 +686,7 @@ NAR #88757, TRA #12200 the TeleMetrum with new firmware, showing a progress bar. - Confirm that the TeleMetrum board seems to have updated ok, which you + 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. @@ -748,7 +748,7 @@ NAR #88757, TRA #12200 the TeleMini with new firmware, showing a progress bar. - Confirm that the TeleMini board seems to have updated ok, which you + Confirm that the TeleMini board seems to have updated OK, which you can do by configuring it over the RF link through the TeleDongle, or letting it come up in "flight" mode and listening for telemetry. @@ -818,7 +818,7 @@ NAR #88757, TRA #12200 the TeleDongle with new firmware, showing a progress bar. - Confirm that the TeleDongle board seems to have updated ok, which you + Confirm that the TeleDongle board seems to have updated OK, which you can do by plugging in to it over USB and using a terminal program to connect to the board and issue the 'v' command to check the version, etc. Once you're happy, remove the programming cable @@ -870,7 +870,7 @@ NAR #88757, TRA #12200 The radio frequency being monitored by the TeleDongle device is displayed at the top of the window. You can configure the - frequecy by clicking on the frequency box and selecting the desired + 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. @@ -882,7 +882,7 @@ NAR #88757, TRA #12200 - The configured callsign + The configured call-sign The device serial number @@ -904,7 +904,7 @@ NAR #88757, TRA #12200 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 -99dBm; - weaker signals may not be receiveable. The packet link uses + weaker signals may not be receivable. The packet link uses error correction and detection techniques which prevent incorrect data from being reported. @@ -929,7 +929,7 @@ NAR #88757, TRA #12200 - Battery Voltage. This indicates whether the LiPo battery + Battery Voltage. This indicates whether the Li-Po battery powering the TeleMetrum has sufficient charge to last for the duration of the flight. A value of more than 3.7V is required for a 'GO' status. @@ -940,7 +940,7 @@ NAR #88757, TRA #12200 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 LiPo battery voltage. A value greater than 3.2V is + to the Li-Po battery voltage. A value greater than 3.2V is required for a 'GO' status. @@ -949,7 +949,7 @@ NAR #88757, TRA #12200 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 LiPo battery voltage. A value greater than 3.2V is + to the Li-Po battery voltage. A value greater than 3.2V is required for a 'GO' status. @@ -970,7 +970,7 @@ NAR #88757, TRA #12200 - The LaunchPad tab also shows the computed launch pad position + The Launchpad tab also shows the computed launch pad position and altitude, averaging many reported positions to improve the accuracy of the fix. @@ -985,7 +985,7 @@ NAR #88757, TRA #12200 The height, speed and acceleration are shown along with the - maxium values for each of them. This allows you to quickly + maximum values for each of them. This allows you to quickly answer the most commonly asked questions you'll hear during flight. @@ -1044,7 +1044,7 @@ NAR #88757, TRA #12200 latitude and longitude as well as a bearing and distance from the launch pad. The distance should give you a good idea of whether you'll want to walk or hitch a ride. Take the reported - latitude and longitude and enter them into your handheld GPS + latitude and longitude and enter them into your hand-held GPS unit and have that compute a track to the landing location. @@ -1070,19 +1070,19 @@ NAR #88757, TRA #12200 When the TeleMetrum gets 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 colour: white for pad, red for + rocket's state is indicated by color: white for pad, red for boost, pink for fast, yellow for coast, light blue for drogue, dark blue for main, and black for landed. The map's scale is approximately 3m (10ft) per pixel. The map can be dragged using the left mouse button. The map will attempt - to keep the rocket roughly centred while data is being received. + to keep the rocket roughly centered while data is being received. Images are fetched automatically via the Google Maps Static API, and are cached for reuse. If map images cannot be downloaded, - the rocket's path will be traced on a dark grey background + the rocket's path will be traced on a dark gray background instead. @@ -1135,7 +1135,7 @@ NAR #88757, TRA #12200 to respond to changing launch conditions. You can also 'reboot' the altimeter. Use this to remotely enable the flight computer by turning TeleMetrum on in "idle" mode, - then once the airframe is oriented for launch, you can + 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. @@ -1143,7 +1143,7 @@ NAR #88757, TRA #12200 Fire Igniters—Test your deployment charges without snaking - wires out through holes in the airframe. Simply assembly the + wires out through holes in the air-frame. Simply assembly the rocket as if for flight with the apogee and main charges loaded, then remotely command the altimeter to fire the igniters. @@ -1210,7 +1210,7 @@ NAR #88757, TRA #12200 data will be recorded for a flight. - The filename for each flight log is computed automatically + The file name for each flight log is computed automatically from the recorded flight date, altimeter serial number and flight number information. @@ -1252,7 +1252,7 @@ NAR #88757, TRA #12200 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 popup menu to be displayed, giving + The right mouse button causes a pop-up menu to be displayed, giving you the option save or print the plot. @@ -1306,7 +1306,7 @@ NAR #88757, TRA #12200 Select this button and then select either a TeleMetrum or TeleDongle Device from the list provided. Selecting a TeleDongle - device will use Packet Comamnd Mode to configure a remote + device will use Packet Command Mode to configure a remote altimeter. Learn how to use this in the Packet Command Mode chapter. @@ -1366,8 +1366,8 @@ NAR #88757, TRA #12200 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 overpressurize the apogee deployment - bay and cause a structural failure of the airframe. The Apogee + 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. @@ -1396,7 +1396,7 @@ NAR #88757, TRA #12200
Callsign - This sets the callsign included in each telemetry packet. Set this + This sets the call sign included in each telemetry packet. Set this as needed to conform to your local radio regulations.
@@ -1504,7 +1504,7 @@ NAR #88757, TRA #12200
Voice Settings - AltosUI provides voice annoucements during flight so that you + 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. @@ -1516,7 +1516,7 @@ NAR #88757, TRA #12200 Test Voice—Plays a short message allowing you to verify - that the audio systme is working and the volume settings + that the audio system is working and the volume settings are reasonable @@ -1542,7 +1542,7 @@ NAR #88757, TRA #12200 in each packet sent from TeleDongle and received from TeleMetrum. It is not used in telemetry mode as that transmits packets only from TeleMetrum to TeleDongle. Configure this - with the AltosUI operators callsign as needed to comply with + with the AltosUI operators call sign as needed to comply with your local radio regulations.
@@ -1621,13 +1621,13 @@ NAR #88757, TRA #12200 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 airframe. + to snake wires inside the air-frame. Selecting the 'Fire Igniter' button brings up the usual device selection dialog. Pick the desired TeleDongle or TeleMetrum device. This brings up another window which shows the current - continutity test status for both apogee and main charges. + continuity test status for both apogee and main charges. Next, select the desired igniter to fire. This will enable the @@ -1703,14 +1703,14 @@ NAR #88757, TRA #12200 In the rocket itself, you just need a TeleMetrum or TeleMini board and - a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V + a Li-Po rechargeable battery. An 860mAh battery weighs less than a 9V alkaline battery, and will run a TeleMetrum for hours. A 110mAh battery weighs less than a triple A battery and will run a TeleMetrum for a few hours, or a TeleMini for much (much) longer. By default, we ship the altimeters with a simple wire antenna. If your - electronics bay or the airframe it resides within is made of carbon fiber, + electronics bay or the air-frame it resides within is made of carbon fiber, which is opaque to RF signals, you may choose to have an SMA connector installed so that you can run a coaxial cable to an antenna mounted elsewhere in the rocket. @@ -1720,7 +1720,7 @@ NAR #88757, TRA #12200 On the Ground To receive the data stream from the rocket, you need an antenna and short - feedline connected to one of our TeleDongle units. The + feed-line connected to one of our TeleDongle units. The TeleDongle in turn plugs directly into the USB port on a notebook computer. Because TeleDongle looks like a simple serial port, your computer does not require special device drivers... just plug it in. @@ -1734,15 +1734,15 @@ NAR #88757, TRA #12200 After the flight, you can use the RF 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 LiPo + 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 TeleMetrum-equiped rocket lands out of sight, you may enjoy having a hand-held GPS - receiver, so that you can put in a waypoint for the last reported rocket + If your TeleMetrum-equipped 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-Cacheing... just go to the waypoint and look around starting from there. + Geo-Caching... just go to the way-point and look around starting from there. You may also enjoy having a ham radio "HT" that covers the 70cm band... you @@ -1757,7 +1757,7 @@ NAR #88757, TRA #12200 So, to recap, on the ground the hardware you'll need includes: - an antenna and feedline + an antenna and feed-line a TeleDongle @@ -1766,10 +1766,10 @@ NAR #88757, TRA #12200 a notebook computer - optionally, a handheld GPS receiver + optionally, a hand-held GPS receiver - optionally, an HT or receiver covering 435 Mhz + optionally, an HT or receiver covering 435 MHz @@ -1789,12 +1789,12 @@ NAR #88757, TRA #12200 Our software makes it easy to log the data from each flight, both the telemetry received over the RF link during the flight itself, and the more complete data log recorded in the flash memory on the altimeter - board. Once this data is on your computer, our postflight tools make it + 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 - useable with Google Maps and Google Earth for visualizing the flight path + usable with Google Maps and Google Earth for visualizing the flight path in two or three dimensions! @@ -1832,15 +1832,15 @@ NAR #88757, TRA #12200 Building high-power rockets that fly safely is hard enough. Mix in some sophisticated electronics and a bunch of radio energy and oftentimes you find few perfect solutions. This chapter - contains some suggestions about how to install AltusMetrum - products into the rocket airframe, including how to safely and - reliably mix a variety of electronics into the same airframe. + contains some suggestions about how to install Altus Metrum + products into the rocket air-frame, including how to safely and + reliably mix a variety of electronics into the same air-frame.
Mounting the Altimeter The first consideration is to ensure that the altimeter is - securely fastened to the airframe. For TeleMetrum, we use + securely fastened to the air-frame. For TeleMetrum, we use nylon standoffs and nylon screws; they're good to at least 50G and cannot cause any electrical issues on the board. For TeleMini, we usually cut small pieces of 1/16" balsa to fit @@ -1868,7 +1868,7 @@ NAR #88757, TRA #12200 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 - impedence, making it a less efficient radiator and thus + impedance, making it a less efficient radiator and thus reducing the range of the telemetry signal. @@ -1881,10 +1881,10 @@ NAR #88757, TRA #12200 Make sure the antenna is not inside a tube made or covered - with conducting material. Carbon fibre is the most common + 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. Metalic flake paint is another effective shielding + range. Metallic flake paint is another effective shielding material which is to be avoided around any antennas. @@ -1924,7 +1924,7 @@ NAR #88757, TRA #12200 Conductive tubing or coatings. Carbon fiber and metal - tubing, or metalic paint will all dramatically attenuate the + tubing, or metallic paint will all dramatically attenuate the GPS signal. We've never heard of anyone successfully receiving GPS from inside these materials. @@ -2002,7 +2002,7 @@ NAR #88757, TRA #12200 To accurately measure atmospheric pressure, the ebay containing the altimeter must be vented outside the - airframe. The vent must be placed in a region of linear + air-frame. The vent must be placed in a region of linear airflow, smooth and not in an area of increasing or decreasing pressure. @@ -2017,7 +2017,7 @@ NAR #88757, TRA #12200 Ground Testing The most important aspect of any installation is careful - ground testing. Bringing an airframe up to the LCO table which + 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. @@ -2027,16 +2027,16 @@ NAR #88757, TRA #12200 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 airframe sit for several minutes, checking for + time. Let the air-frame sit for several minutes, checking for adequate telemetry signal strength and GPS lock. Ground test the ejection charges. Prepare the rocket for flight, loading ejection charges and igniters. Completely - assemble the airframe and then use the 'Fire Igniters' + 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 airframe and deploy the recovery system. + the air-frame and deploy the recovery system.
@@ -2057,7 +2057,7 @@ NAR #88757, TRA #12200 - 70cm ham-band transceiver for telemetry downlink. + 70cm ham-band transceiver for telemetry down-link. @@ -2073,7 +2073,7 @@ NAR #88757, TRA #12200 - On-board, integrated GPS receiver with 5hz update rate capability. + On-board, integrated GPS receiver with 5Hz update rate capability. @@ -2088,18 +2088,18 @@ NAR #88757, TRA #12200 - Fully integrated support for LiPo rechargeable batteries. + Fully integrated support for Li-Po rechargeable batteries. - Uses LiPo to fire e-matches, can be modiied to support + Uses Li-Po to fire e-matches, can be modified to support optional separate pyro battery if needed. - 2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. + 2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube. @@ -2119,7 +2119,7 @@ NAR #88757, TRA #12200 - 70cm ham-band transceiver for telemetry downlink. + 70cm ham-band transceiver for telemetry down-link. @@ -2139,18 +2139,18 @@ NAR #88757, TRA #12200 - Support for LiPo rechargeable batteries, using an external charger. + Support for Li-Po rechargeable batteries, using an external charger. - Uses LiPo to fire e-matches, can be modiied to support + Uses Li-Po to fire e-matches, can be modified to support optional separate pyro battery if needed. - 1.5 x .5 inch board designed to fit inside 18mm airframe coupler tube. + 1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube. @@ -2185,7 +2185,7 @@ NAR #88757, TRA #12200 There are no "dit-dah-dah-dit" sound or lights like the manual mentions? That's the "pad" mode. Weak batteries might be the problem. - It is also possible that the Telemetrum is horizontal and the output + It is also possible that the TeleMetrum 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. @@ -2196,8 +2196,8 @@ NAR #88757, TRA #12200 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 rf-linked .telem files that are subject to losses - along the rf data path. + unlike the RF-linked .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 @@ -2217,9 +2217,9 @@ NAR #88757, TRA #12200 - Both Telemetrum and TeleDongle can be directly communicated + 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 + 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 @@ -2267,7 +2267,7 @@ NAR #88757, TRA #12200 for these options and so they'll all be lost when you unplug it. - Try setting these config ('c' or second level menu) values. A good + 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 @@ -2284,7 +2284,7 @@ NAR #88757, TRA #12200 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 rf-link access + learning how to use these units is to play with the RF-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. @@ -2298,29 +2298,29 @@ NAR #88757, TRA #12200 of being powered up, otherwise it enters "pad" mode. - You can access an altimeter in idle mode from the Teledongle's USB - connection using the rf link + You can access an altimeter in idle mode from the TeleDongle's USB + connection using the RF 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. - Using this rf link allows you to configure the altimeter, test + Using this RF 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 + 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. On TeleMetrum, the GPS will eventually find enough satellites, lock in on them, - and 'ao-view' will both auditorially announce and visually indicate + 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 @@ -2343,9 +2343,9 @@ NAR #88757, TRA #12200 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 + 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.) @@ -2368,3 +2368,6 @@ NAR #88757, TRA #12200 + + -- cgit v1.2.3 From 6eff8d5831dde8e690586cd2a97ddf1595cd2674 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 20:59:28 -0700 Subject: doc: Document pad-mode 'on-board data logging' indicator There wasn't any documentation for this field in the 'Launch Pad' tab. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 15 +++++++++++++++ 1 file changed, 15 insertions(+) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index ddb40719..0fe0dc79 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -953,6 +953,21 @@ NAR #88757, TRA #12200 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. TeleMetrum can store multiple flights, depending + on the configured maximum flight log size. 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 device, this indicates whether the GPS receiver is -- cgit v1.2.3 From d4e1aa92b6ce2f3e4c51029595d1d44a7f2f14a0 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 22:27:35 -0600 Subject: more doc tweaking --- doc/altusmetrum.xsl | 138 ++++++++++++++++++++++++++-------------------------- 1 file changed, 68 insertions(+), 70 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 0fe0dc79..af892e0f 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -231,57 +231,56 @@ NAR #88757, TRA #12200 TeleMetrum is a 1 inch by 2.75 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 default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of - the board is about 7 inches long, and wiring for a power switch and + to succeed! The presence of an accelerometer means TeleMetrum should + be aligned along the flight axis of the airframe, and by default the 1/4 + 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. Given all this, an ideal "simple" avionics + fin can end of the board, meaning an ideal "simple" avionics bay for TeleMetrum should have at least 10 inches of interior length. TeleMini is a 0.5 inch by 1.5 inch circuit board. 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! The default 1/4 - wave UHF wire antenna attached to the center of the nose-cone end of + to succeed! Since there is no accelerometer, TeleMini can be mounted + in any convenient orientation. The default 1/4 + wave UHF wire antenna attached to the center of one end of the board is about 7 inches long, and wiring for a power switch and the e-matches for apogee and main ejection charges depart from the - fin can end of the board. Given all this, an ideal "simple" avionics + other end of the board, meaning an ideal "simple" avionics bay for TeleMini should have at least 9 inches of interior length. - A typical TeleMetrum or TeleMini installation using the on-board devices and - default wire UHF antenna involves attaching only a suitable - Lithium Polymer battery, a single pole switch for power on/off, and - two pairs of wires connecting e-matches for the apogee and main ejection - charges. + A typical TeleMetrum or TeleMini installation involves attaching + only a suitable Lithium Polymer battery, a single pole switch for + power on/off, and two pairs of wires connecting e-matches for the + apogee and main ejection charges. By default, we use the unregulated output of the Li-Po 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 up to 15V. + 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. This is very similar to what - most other altimeter vendors provide and so may be the most - familiar option. You'll need a very small straight blade - screwdriver to connect and disconnect the board in this case, - such as you might find in a jeweler's screwdriver set. + 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. TeleMetrum also uses the screw terminal block for the power switch leads. On TeleMini, the power switch leads are soldered - directly to the board and can be connected directly to the switch. + 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 - electronics bay which is opaque to RF signals, you may need to + 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 order an altimeter with an SMA connector for the UHF antenna connection, and, on TeleMetrum, you can unplug the integrated GPS @@ -303,7 +302,8 @@ NAR #88757, TRA #12200 TeleMetrum assumes it's on a rail or rod being prepared for launch, so the firmware chooses flight mode. However, if the rocket is more or less horizontal, the firmware instead enters - idle mode. For TeleMini, "idle" mode is selected when the + idle mode. Since TeleMini doesn't have an accelerometer we can + use to determine orientation, "idle" mode is selected when the board receives a command packet within the first five seconds of operation; if no packet is received, the board enters "flight" mode. @@ -311,8 +311,8 @@ NAR #88757, TRA #12200 At power on, you will hear three beeps or see three flashes ("S" in Morse code for start up) and then a pause while - the altimeter completes initialization and self tests, and decides which - mode to enter next. + the altimeter completes initialization and self test, and decides + which mode to enter next. In flight or "pad" mode, the altimeter engages the flight @@ -330,44 +330,43 @@ NAR #88757, TRA #12200 flights, do what makes sense. - In idle mode, you will hear an audible "di-dit" or see two short flashes ("I" for idle), and - the normal flight state machine is disengaged, thus - no ejection charges will fire. The altimeters also listen on the RF - link when in idle mode for packet mode requests sent from TeleDongle. - Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. TeleMini uses only the RF link. + 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 on the RF link when in idle mode for requests sent via + TeleDongle. Commands can be issued to a TeleMetrum in idle mode + over either + USB or the RF link equivalently. TeleMini only has the RF 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. - One "neat trick" of particular value when the altimeter is 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, use a TeleDongle to open - a packet connection, and issue a 'reset' command which will 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! + One "neat trick" of particular value when TeleMetrum is 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 RF 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!
GPS - TeleMetrum includes a complete GPS receiver. See a later section for - a brief explanation of how GPS works that will help you understand - the information in the telemetry stream. The bottom line is that - the TeleMetrum GPS receiver needs to lock onto at least four - satellites to obtain a solid 3 dimensional position fix and know - what time it is! + TeleMetrum includes 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 TeleMetrum GPS receiver needs to lock onto at least + four satellites to obtain a solid 3 dimensional position fix and know + what time it is. - TeleMetrum provides backup power to the GPS chip any time a Li-Po + TeleMetrum provides 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 "cold start" - for the GPS receiver. In typical operations, powering up TeleMetrum + the launch rail much faster than if every power-on were a GPS + "cold start". In typical operations, powering up TeleMetrum 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 @@ -383,29 +382,19 @@ NAR #88757, TRA #12200 An important aspect of preparing a rocket using electronic deployment for flight is ground testing the recovery system. Thanks to the bi-directional RF link central to the Altus Metrum system, - this can be accomplished in a TeleMetrum- or TeleMini- equipped rocket without as - much work as you may be accustomed to with other systems. It can - even be fun! + this can be accomplished in a 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 - starting the RF packet connection for TeleMini). This will cause the - firmware to go into "idle" mode, in which the normal flight + selected 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. Then, establish an RF packet connection from - a TeleDongle-equipped computer using the P command from a safe - distance. You can now command the altimeter to fire the apogee - or main charges to complete your testing. - - - 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'. + 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.
@@ -2333,6 +2322,15 @@ NAR #88757, TRA #12200 inside 'ao-view'. If this doesn't work, disconnect from the TeleDongle, unplug it, and try again after plugging it back in. + + 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'. + On TeleMetrum, the GPS will eventually find enough satellites, lock in on them, and 'ao-view' will both auditorily announce and visually indicate -- cgit v1.2.3 From 221157af586c6fd7368ee858a390f38bc5ed50f5 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 21:31:05 -0700 Subject: doc: Describe packet command mode a bit better. Include comments about TeleMini in the introduction, and then explain a bit better what the best method of reliably initiating packet command mode are (start operation, then boot telemini). Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index af892e0f..231371c7 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1106,12 +1106,13 @@ NAR #88757, TRA #12200 afar, as if it were directly connected to the computer. - Any operation which can be performed with TeleMetrum - can either be done with TeleMetrum directly connected to - the computer via the USB cable, or through the packet - link. Simply select the appropriate TeleDongle device when - the list of devices is presented and AltosUI will use packet - command mode. + Any operation which can be performed with TeleMetrum can + either be done with TeleMetrum directly connected to the + computer via the USB cable, or through the packet + link. TeleMini doesn't provide a USB connector and so it can + only be controlled through the packet link. Select the + appropriate TeleDongle device when the list of devices is + presented and AltosUI will use packet command mode. One oddity in the current interface is how AltosUI selects the @@ -1170,7 +1171,12 @@ NAR #88757, TRA #12200 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. + 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. When packet command mode is enabled, you can monitor the link -- cgit v1.2.3 From 03c8b2702a45a12c4748cd1ec801d720c816d9e9 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 21:39:48 -0700 Subject: doc: Move Packet Command Mode section to System Operations chapter It makes far more sense here. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 184 ++++++++++++++++++++++++++-------------------------- 1 file changed, 92 insertions(+), 92 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 231371c7..f1dff1f5 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -376,6 +376,98 @@ NAR #88757, TRA #12200 complete.
+
+ Packet Command Mode + Controlling An Altimeter Over The Radio Link + + One of the unique features of the Altus Metrum environment 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 TeleMetrum can + either be done with TeleMetrum directly connected to the + computer via the USB cable, or through the packet + link. TeleMini doesn't provide a USB connector and so it is + always controlled through the packet link. Select the + appropriate TeleDongle device when the list of devices is + presented and AltosUI will use packet command mode. + + + One oddity in the current interface is how AltosUI selects the + frequency for packet mode 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, pick the + appropriate TeleDongle device. Once the flight monitoring + window is open, select the desired frequency and then close it + down again. All Packet Command Mode operations will now use + that frequency. + + + + + Save Flight Data—Recover flight data from the rocket without + opening it up. + + + + + Configure altimeter apogee delays or main deploy heights + to respond to changing launch conditions. You can also + 'reboot' the altimeter. Use this to remotely enable the + flight computer by turning TeleMetrum 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 assembly the + rocket as if for flight with the apogee and main charges + loaded, then remotely command the altimeter to fire the + igniters. + + + + + Packet command mode uses the same RF frequencies as telemetry + mode. Configure the desired TeleDongle frequency using the + flight monitor window frequency selector and then close that + window before performing the desired operation. + + + TeleMetrum only enables packet command mode in 'idle' mode, so + make sure you have TeleMetrum lying horizontally when you turn + it on. Otherwise, TeleMetrum 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. + + + When packet command mode is enabled, you can monitor the link + by watching the lights on the + devices. The red LED will flash each time they + transmit a packet while the green LED will light up + on TeleDongle while it is waiting to receive a packet from + the altimeter. + +
Ground Testing @@ -1095,98 +1187,6 @@ NAR #88757, TRA #12200
-
- Packet Command Mode - Controlling An Altimeter Over The Radio Link - - One of the unique features of the Altus Metrum environment 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 TeleMetrum can - either be done with TeleMetrum directly connected to the - computer via the USB cable, or through the packet - link. TeleMini doesn't provide a USB connector and so it can - only be controlled through the packet link. Select the - appropriate TeleDongle device when the list of devices is - presented and AltosUI will use packet command mode. - - - One oddity in the current interface is how AltosUI selects the - frequency for packet mode 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, pick the - appropriate TeleDongle device. Once the flight monitoring - window is open, select the desired frequency and then close it - down again. All Packet Command Mode operations will now use - that frequency. - - - - - Save Flight Data—Recover flight data from the rocket without - opening it up. - - - - - Configure altimeter apogee delays or main deploy heights - to respond to changing launch conditions. You can also - 'reboot' the altimeter. Use this to remotely enable the - flight computer by turning TeleMetrum 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 assembly the - rocket as if for flight with the apogee and main charges - loaded, then remotely command the altimeter to fire the - igniters. - - - - - Packet command mode uses the same RF frequencies as telemetry - mode. Configure the desired TeleDongle frequency using the - flight monitor window frequency selector and then close that - window before performing the desired operation. - - - TeleMetrum only enables packet command mode in 'idle' mode, so - make sure you have TeleMetrum lying horizontally when you turn - it on. Otherwise, TeleMetrum 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. - - - When packet command mode is enabled, you can monitor the link - by watching the lights on the - devices. The red LED will flash each time they - transmit a packet while the green LED will light up - on TeleDongle while it is waiting to receive a packet from - the altimeter. - -
Save Flight Data -- cgit v1.2.3 From a476e76622b6fa70bf7c8883d2a2a64a382fbd78 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 22:42:33 -0600 Subject: more doc tweaks --- doc/altusmetrum.xsl | 66 +++++++++++++++++++++++++++-------------------------- 1 file changed, 34 insertions(+), 32 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index af892e0f..6a56a4ff 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -37,11 +37,12 @@ 1.0 - 10 August 2011 + 24 August 2011 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. + telemetry format change, meaning both ends of a link + (TeleMetrum/TeleMini and TeleDongle) must be updated or + communications will fail. @@ -64,17 +65,17 @@ 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 has turned into the Getting Started chapter in this - book. Bob was one of our first customers for a production - TeleMetrum, and the enthusiasm that led to his contribution of - this section is immensely gratifying and highly appreciated! + Kit" which formed the basis of the original Getting Started chapter + in this book. 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 contributing the - AltosUI graphing and site map code and documentation. Free - software means that our customers and friends can become our + 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. + contribution! Have fun using these products, and we hope to meet all of you @@ -110,8 +111,9 @@ NAR #88757, TRA #12200 13mm by 38mm (½ inch by 1½ inches) and can fit easily in an 18mm air-frame. - Complementing TeleMetrum and TeleMini is TeleDongle, a USB to RF interface for - communicating with the altimeters. Combined with your choice of antenna and + Complementing TeleMetrum and TeleMini is TeleDongle, a USB to RF + interface 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 @@ -168,12 +170,12 @@ NAR #88757, TRA #12200 ugly bugs in some earlier versions. - Next you should obtain and install the AltOS utilities. These include + Next you should obtain and install the AltOS software. These include the AltosUI ground station program, current firmware images for - TeleMetrum, TeleMini and TeleDongle, and a number of standalone utilities that - are rarely needed. Pre-built binary packages are available for Debian - Linux, Microsoft Windows, and recent MacOSX versions. Full source code - and build instructions for some other Linux variants are also available. + TeleMetrum, TeleMini and TeleDongle, 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 . @@ -419,28 +421,28 @@ NAR #88757, TRA #12200 data later... - We don't use a 'normal packet radio' mode because they're just too - inefficient. The GFSK modulation we use is just FSK with the + We don't 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 the hardware forward error correction support in the cc1111 chip, this allows us to have a very - robust 38.4 kilobit data link with only 10 milliwatts of transmit power, - a whip antenna in the rocket, and a hand-held Yagi on the ground. We've - had flights to above 21k feet AGL with good reception, and calculations - suggest we should be good to well over 40k feet AGL with a 5-element yagi on - the ground. We hope to fly boards to higher altitudes soon, and would - of course appreciate customer feedback on performance in higher - altitude flights! + robust 38.4 kilobit data link with only 10 milliwatts of transmit + power, a whip antenna in the rocket, and a hand-held Yagi on the + ground. We've had flights to above 21k feet AGL with great reception, + and calculations suggest we should be good to well over 40k feet AGL + with a 5-element yagi on the ground. We hope to fly boards to higher + altitudes over time, and would of course appreciate customer feedback + on performance in higher altitude flights!
Configurable Parameters Configuring an Altus Metrum altimeter for flight is very - simple. Through the use of a Kalman filter, there is no need - to set a "mach delay" . The few configurable parameters can - all be set using a simple terminal program over the USB port + simple. Even on our baro-only TeleMini board, 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 RF link via TeleDongle.
@@ -448,8 +450,8 @@ NAR #88757, TRA #12200 The Altus Metrum boards support frequencies in the 70cm band. By default, the configuration interface provides a - list of 10 common frequencies -- 100kHz channels starting at - 434.550MHz. However, you can configure the firmware to use + list of 10 common 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 who will use each frequency and when to avoid interference. And of course, both -- cgit v1.2.3 From 65ca6f0d7c96432413868274b2cfdea4b76683e4 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 23:03:23 -0600 Subject: more tweaks --- doc/altusmetrum.xsl | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index b42a8ca7..b8aee238 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -108,7 +108,8 @@ NAR #88757, TRA #12200 The newest device is TeleMini, a dual deploy altimeter with radio telemetry and radio direction finding. This device is only - 13mm by 38mm (½ inch by 1½ inches) and can fit easily in an 18mm air-frame. + 13mm by 38mm (½ inch by 1½ inches) and can fit easily in an 18mm + air-frame. Complementing TeleMetrum and TeleMini is TeleDongle, a USB to RF @@ -379,10 +380,9 @@ NAR #88757, TRA #12200
- Packet Command Mode - Controlling An Altimeter Over The Radio Link + Controlling An Altimeter Over The Radio Link - One of the unique features of the Altus Metrum environment is + 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 @@ -391,11 +391,12 @@ NAR #88757, TRA #12200 Any operation which can be performed with TeleMetrum can either be done with TeleMetrum directly connected to the - computer via the USB cable, or through the packet + computer via the USB cable, or through the radio link. TeleMini doesn't provide a USB connector and so it is - always controlled through the packet link. Select the + always controlled through the radio link. Select the appropriate TeleDongle device when the list of devices is - presented and AltosUI will use packet command mode. + presented and AltosUI will interact with an altimter over the + radio link. One oddity in the current interface is how AltosUI selects the -- cgit v1.2.3 From d92c173615a5fb0278ff6878595bed3f8d813e03 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 22:12:39 -0700 Subject: doc: use 'radio link' to refer to packet command mode Make sure 'radio link' doesn't refer to telemetry and eliminate use of 'RF link' and other similar but not identical phrases. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 38 +++++++++++++++++++------------------- 1 file changed, 19 insertions(+), 19 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index b8aee238..1b036220 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -319,8 +319,8 @@ NAR #88757, TRA #12200 In flight or "pad" mode, the altimeter engages the flight - state machine, goes into transmit-only mode on the RF link - sending telemetry, and waits for launch to be detected. + 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. @@ -336,10 +336,10 @@ NAR #88757, TRA #12200 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 on the RF link when in idle mode for requests sent via + listen for the radio link when in idle mode for requests sent via TeleDongle. Commands can be issued to a TeleMetrum in idle mode over either - USB or the RF link equivalently. TeleMini only has the RF link. + USB or the radio link equivalently. TeleMini 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. @@ -349,7 +349,7 @@ NAR #88757, TRA #12200 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 RF link to cause the altimeter to reboot and + 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 @@ -476,7 +476,7 @@ NAR #88757, TRA #12200 An important aspect of preparing a rocket using electronic deployment for flight is ground testing the recovery system. Thanks - to the bi-directional RF link central to the Altus Metrum system, + to the bi-directional radio link central to the Altus Metrum system, this can be accomplished in a TeleMetrum or TeleMini equipped rocket with less work than you may be accustomed to with other systems. It can even be fun! @@ -501,16 +501,16 @@ NAR #88757, TRA #12200 link. - By design, the altimeter firmware listens for an RF connection when + By design, the altimeter firmware listens for the radio link when it's in "idle mode", which - allows us to use the RF link to configure the rocket, do things like + 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 and out over - the RF link in case the rocket crashes and we aren't able to extract + the rocket through + the radio in case the rocket crashes and we aren't able to extract data later... @@ -536,7 +536,7 @@ NAR #88757, TRA #12200 simple. Even on our baro-only TeleMini board, 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 RF link via TeleDongle. + or radio link via TeleDongle.
Radio Frequencies @@ -685,7 +685,7 @@ NAR #88757, TRA #12200 In the unlikely event an accel cal that goes badly, it is possible that TeleMetrum may always come up in 'pad mode' and as such not be - listening to either the USB or radio interfaces. If that happens, + 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 @@ -833,7 +833,7 @@ NAR #88757, TRA #12200 Confirm that the TeleMini board seems to have updated OK, which you - can do by configuring it over the RF link through the TeleDongle, or + can do by configuring it over the radio link through the TeleDongle, or letting it come up in "flight" mode and listening for telemetry. @@ -1744,7 +1744,7 @@ NAR #88757, TRA #12200 for Linux which can perform most of the same tasks. - After the flight, you can use the RF link to extract the more detailed data + 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 @@ -1800,7 +1800,7 @@ NAR #88757, TRA #12200 Data Analysis Our software makes it easy to log the data from each flight, both the - telemetry received over the RF link during the flight itself, and the more + 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, @@ -2209,7 +2209,7 @@ NAR #88757, TRA #12200 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 RF-linked .telem files that are subject to losses + 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 @@ -2297,7 +2297,7 @@ NAR #88757, TRA #12200 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 RF-link access + 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. @@ -2312,14 +2312,14 @@ NAR #88757, TRA #12200 You can access an altimeter in idle mode from the TeleDongle's USB - connection using the RF link + 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. - Using this RF link allows you to configure the altimeter, test + 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 -- cgit v1.2.3 From 425fa995aeaccc1ec9ecf011f185b4406df61541 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 23:15:15 -0600 Subject: more tweaking --- doc/altusmetrum.xsl | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index b8aee238..752012d0 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -66,7 +66,7 @@ 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 book. Bob was one of our first customers for a production + 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! @@ -186,7 +186,7 @@ NAR #88757, TRA #12200 All Altus Metrum products are sophisticated electronic devices. When handled gently and properly installed in an air-frame, they - will deliver impressive results. However, like all electronic + will deliver impressive results. However, as with all electronic devices, there are some precautions you must take. @@ -393,23 +393,21 @@ NAR #88757, TRA #12200 either be done with TeleMetrum directly connected to the computer via the USB cable, or through the radio link. TeleMini doesn't provide a USB connector and so it is - always controlled through the radio link. Select the - appropriate TeleDongle device when the list of devices is - presented and AltosUI will interact with an altimter over the - radio link. + 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 packet mode communications. Instead of providing + 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, pick the - appropriate TeleDongle device. Once the flight monitoring + 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 Packet Command Mode operations will now use - that frequency. + down again. All radio communications will now use that frequency. @@ -440,10 +438,11 @@ NAR #88757, TRA #12200 - Packet command mode uses the same RF frequencies as telemetry - mode. Configure the desired TeleDongle frequency using the - flight monitor window frequency selector and then close that - window before performing the desired operation. + 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. TeleMetrum only enables packet command mode in 'idle' mode, so -- cgit v1.2.3 From 11099fab63d32f53d0f2e04a7ab04392e39b5963 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 22:18:29 -0700 Subject: doc: Move updating device firmware section to separate chapter This isn't central to operation of the devices, so move it out to a separate chapter Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 446 ++++++++++++++++++++++++++-------------------------- 1 file changed, 223 insertions(+), 223 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 791fd8ed..08787369 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -698,229 +698,6 @@ NAR #88757, TRA #12200
-
- Updating Device Firmware - - The big conceptual thing to realize is that you have to use a - TeleDongle as a programmer to update a TeleMetrum or TeleMini, - and a TeleMetrum or other TeleDongle to program the TeleDongle - Due to limited memory resources in the cc1111, we don't support - programming directly over USB. - - - 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 . - - - We recommend updating the altimeter first, before updating TeleDongle. - -
- Updating TeleMetrum 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 case to get access - to the circuit board. - - - Plug the 8-pin end of the programming cable to the - matching connector on the TeleDongle, and the 4-pin end to the - matching connector on the TeleMetrum. - 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 into your computer's USB port, and power - up the TeleMetrum. - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - Pick the TeleDongle 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-v1.1-1.0.0.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. It's available on the Altus Metrum web store, or - 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 case to get access - to the circuit board. - - - Plug the 8-pin end of the programming cable to the matching - connector on the TeleDongle, and the 4-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 into your computer's USB port, and power - up the TeleMini - - - Run AltosUI, and select 'Flash Image' from the File menu. - - - Pick the TeleDongle 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 Firmware - - Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini - firmware, but you use either a TeleMetrum or another TeleDongle 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 or TeleDongle. - - - Take the 2 screws out of the TeleDongle case to get access - to the circuit board. - - - Plug the 8-pin end of the programming cable to the - matching connector on the programmer, and the 4-pin end to the - matching connector on the TeleDongle. - 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 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, 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 - 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 with new firmware, showing a progress bar. - - - Confirm that the TeleDongle board seems to have updated OK, which you - can do by plugging in to it over USB and using a terminal program - to connect to the board and issue the 'v' command to check - the version, etc. Once you're happy, remove the programming cable - and put the cover back on the TeleDongle. - - - 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. - -
-
@@ -2052,6 +1829,229 @@ NAR #88757, TRA #12200
+ + Updating Device Firmware + + The big conceptual thing to realize is that you have to use a + TeleDongle as a programmer to update a TeleMetrum or TeleMini, + and a TeleMetrum or other TeleDongle to program the TeleDongle + Due to limited memory resources in the cc1111, we don't support + programming directly over USB. + + + 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 . + + + We recommend updating the altimeter first, before updating TeleDongle. + +
+ Updating TeleMetrum 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 case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the + matching connector on the TeleDongle, and the 4-pin end to the + matching connector on the TeleMetrum. + 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 into your computer's USB port, and power + up the TeleMetrum. + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleDongle 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-v1.1-1.0.0.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. It's available on the Altus Metrum web store, or + 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 case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the matching + connector on the TeleDongle, and the 4-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 into your computer's USB port, and power + up the TeleMini + + + Run AltosUI, and select 'Flash Image' from the File menu. + + + Pick the TeleDongle 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 Firmware + + Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini + firmware, but you use either a TeleMetrum or another TeleDongle 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 or TeleDongle. + + + Take the 2 screws out of the TeleDongle case to get access + to the circuit board. + + + Plug the 8-pin end of the programming cable to the + matching connector on the programmer, and the 4-pin end to the + matching connector on the TeleDongle. + 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 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, 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 + 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 with new firmware, showing a progress bar. + + + Confirm that the TeleDongle board seems to have updated OK, which you + can do by plugging in to it over USB and using a terminal program + to connect to the board and issue the 'v' command to check + the version, etc. Once you're happy, remove the programming cable + and put the cover back on the TeleDongle. + + + 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. + +
+ Hardware Specifications
-- cgit v1.2.3 From ec96f11666f9cbd98e16caeccd5d399978bde81b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 22:20:29 -0700 Subject: doc: Updating Firmware is now a separate chapter The Flash Image paragraph references it, change the reference wording. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 08787369..d5418f24 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -1370,7 +1370,7 @@ NAR #88757, TRA #12200 This reprograms any Altus Metrum device by using a TeleMetrum or TeleDongle as a programming dongle. Please read the directions for flashing devices in the Updating Device - Firmware section above + Firmware chapter below. Once you have the programmer and target devices connected, -- cgit v1.2.3 From c74ab82a7b7a6ad6f79129a9ef5954270e7e8f11 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 23:23:45 -0600 Subject: more changes --- doc/altusmetrum.xsl | 22 ++++++++++------------ 1 file changed, 10 insertions(+), 12 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 791fd8ed..40c91bc1 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -445,10 +445,10 @@ NAR #88757, TRA #12200 close the window before performing other desired radio operations. - TeleMetrum only enables packet command mode in 'idle' mode, so + TeleMetrum only enables radio commanding in 'idle' mode, so make sure you have TeleMetrum lying horizontally when you turn it on. Otherwise, TeleMetrum will start in 'pad' mode ready for - flight and will not be listening for command packets from TeleDongle. + flight, and will not be listening for command packets from TeleDongle. TeleMini listens for a command packet for five seconds after @@ -462,12 +462,10 @@ NAR #88757, TRA #12200 operation can be performed. - When packet command mode is enabled, you can monitor the link - by watching the lights on the - devices. The red LED will flash each time they - transmit a packet while the green LED will light up - on TeleDongle while it is waiting to receive a packet from - the altimeter. + 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 tramsitted, while the green LED will light up on TeleDongle when + it is waiting to receive a packet from the altimeter.
@@ -540,13 +538,13 @@ NAR #88757, TRA #12200
Radio Frequencies - The Altus Metrum boards support frequencies in the 70cm + Altus Metrum boards support radio frequencies in the 70cm band. By default, the configuration interface provides a - list of 10 common frequencies in 100kHz channels starting at + 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 who will use each - frequency and when to avoid interference. And of course, both + 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. -- cgit v1.2.3 From 94a1b220bbfbb64b9772f3ee64a8e9d353d65e94 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 22:29:56 -0700 Subject: doc: Move the remaining command-mode descriptions to the appendix Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 95 ++++++++++++++++++++++++++--------------------------- 1 file changed, 47 insertions(+), 48 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 3a8f51d3..1b1f76a4 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -548,19 +548,6 @@ NAR #88757, TRA #12200 altimeter and TeleDongle must be configured to the same frequency to successfully communicate with each other. - - 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): - - R = F / S * C - - 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. -
Apogee Delay @@ -573,20 +560,14 @@ NAR #88757, TRA #12200 primary and backup pyrotechnic charges do not fire simultaneously. - 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. - - - Please note that 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. + 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.
@@ -601,11 +582,6 @@ NAR #88757, TRA #12200 than the primary so that both pyrotechnic charges don't fire simultaneously. - - 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. -
@@ -628,22 +604,8 @@ NAR #88757, TRA #12200 temperature changes is small enough that re-calibration by customers should generally not be required. - - 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. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - when the radio calibration value is changed, the radio + When the radio calibration value is changed, the radio frequency value is reset to the same value, so you'll need to recompute and reset the radio frequency value using the new radio calibration value. @@ -2287,6 +2249,43 @@ NAR #88757, TRA #12200 Verify you can connect and disconnect from the units while in your terminal program by sending the escape-disconnect mentioned above. + + 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): + + R = F / S * C + + 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. + + + 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. + + + 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. + + + 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. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + Note that the 'reboot' command, which is very useful on the altimeters, will likely just cause problems with the dongle. The *correct* way @@ -2353,7 +2352,7 @@ NAR #88757, TRA #12200 strength providing an indication of the direction from receiver to rocket. - TeleMetrum also provides GPS trekking data, which can further simplify + 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'.) -- cgit v1.2.3 From 5c1cf7492b82e63a9db9d0238ecbcd2b59486893 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 24 Aug 2011 23:50:31 -0600 Subject: tweak tweak tweak --- doc/altusmetrum.xsl | 201 +++++++++++++++++++++++++--------------------- doc/release-notes-1.0.xsl | 2 +- 2 files changed, 110 insertions(+), 93 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 3a8f51d3..2a02421b 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -608,94 +608,6 @@ NAR #88757, TRA #12200
-
- Calibration - - There are only two calibrations required for a TeleMetrum board, and - only one for TeleDongle and TeleMini. - -
- Radio Frequency - - The radio frequency is synthesized from a clock based on the 48 MHz - crystal on the board. The actual frequency of this oscillator must be - measured to generate a calibration constant. While our GFSK modulation - bandwidth is wide enough to allow boards to communicate even when - their oscillators are not on exactly the same frequency, performance - is best when they are closely matched. - Radio frequency calibration requires a calibrated frequency counter. - Fortunately, once set, the variation in frequency due to aging and - temperature changes is small enough that re-calibration by customers - should generally not be required. - - - 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. Take the resulting integer and program it using the 'c f' - command. Testing with the 'C' command again should show a carrier - within a few tens of Hertz of the intended frequency. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - when the radio calibration value is changed, the radio - frequency value is reset to the same value, so you'll need - to recompute and reset the radio frequency value using the - new radio calibration value. - -
-
- TeleMetrum Accelerometer - - The TeleMetrum accelerometer we use has its own 5 volt power supply and - the output must be passed through a resistive voltage divider to match - the input of our 3.3 volt ADC. This means that unlike the barometric - sensor, the output of the acceleration sensor is not ratio-metric to - the ADC converter, and calibration is required. We also support the - use of any of several accelerometers from a Freescale family that - includes at least +/- 40g, 50g, 100g, and 200g parts. Using gravity, - a simple 2-point calibration yields acceptable results capturing both - the different sensitivities and ranges of the different accelerometer - parts and any variation in power supply voltages or resistor values - in the divider network. - - - To calibrate the acceleration sensor, use the 'c a 0' command. You - will be prompted to orient the board vertically with the UHF antenna - up and press a key, then to orient the board vertically with the - UHF antenna down and press a key. - As with all 'c' sub-commands, follow this with a 'c w' to write the - change to the parameter block in the on-board DataFlash chip. - - - The +1g and -1g calibration points are included in each telemetry - frame and are part of the header extracted by ao-dumplog after flight. - Note that we always store and return raw ADC samples for each - sensor... nothing is permanently "lost" or "damaged" if the - calibration is poor. - - - In the unlikely event an accel cal that goes badly, it is possible - that TeleMetrum 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). - -
-
@@ -1325,10 +1237,10 @@ NAR #88757, TRA #12200
Callsign - This value is used in command packet mode and is transmitted - in each packet sent from TeleDongle and received from - TeleMetrum. It is not used in telemetry mode as that transmits - packets only from TeleMetrum to TeleDongle. Configure this + 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. @@ -2377,6 +2289,111 @@ NAR #88757, TRA #12200 once you enable the voice output! + + Calibration + + There are only two calibrations required for a TeleMetrum board, and + only one for TeleDongle and TeleMini. 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. + +
+ Radio Frequency + + The radio frequency is synthesized from a clock based on the 48 MHz + crystal on the board. The actual frequency of this oscillator + must be measured to generate a calibration constant. While our + GFSK modulation + bandwidth is wide enough to allow boards to communicate even when + their oscillators are not on exactly the same frequency, performance + is best when they are closely matched. + Radio frequency calibration requires a calibrated frequency counter. + Fortunately, once set, the variation in frequency due to aging and + temperature changes is small enough that re-calibration by customers + should generally not be required. + + + 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 TeleMetrum, this is best done over USB. For TeleMini, + 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. + + + Wait for the transmitter temperature to stabilize and the frequency + to settle down. Then, divide 434.550 MHz by the + measured frequency and multiply by the current radio cal value show + in the 'c s' command. For an unprogrammed board, the default value + is 1186611. Take the resulting integer and program it using the 'c f' + command. Testing with the 'C' command again should show a carrier + within a few tens of Hertz of the intended frequency. + As with all 'c' sub-commands, follow this with a 'c w' to write the + change to the parameter block in the on-board DataFlash chip. + + + 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. + +
+
+ TeleMetrum Accelerometer + + The TeleMetrum accelerometer we use has its own 5 volt power + supply and + the output must be passed through a resistive voltage divider to match + the input of our 3.3 volt ADC. This means that unlike the barometric + sensor, the output of the acceleration sensor is not ratio-metric to + the ADC converter, and calibration is required. Explicitly + calibrating the accelerometers also allows us to load any device + from a Freescale family that includes at least +/- 40g, 50g, 100g, + and 200g parts. Using gravity, + a simple 2-point calibration yields acceptable results capturing both + the different sensitivities and ranges of the different accelerometer + parts and any variation in power supply voltages or resistor values + in the divider network. + + + 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. + + + 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. + + + In the unlikely event an accel cal goes badly, it is possible + that TeleMetrum 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. + +
+ Release Notes diff --git a/doc/release-notes-1.0.xsl b/doc/release-notes-1.0.xsl index a3fc22d9..1a06a43d 100644 --- a/doc/release-notes-1.0.xsl +++ b/doc/release-notes-1.0.xsl @@ -30,7 +30,7 @@ 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 packet mode in idle mode. + enable the radio link in idle mode. Arbitrary frequency selection. The radios in Altus Metrum -- cgit v1.2.3 From 458f816ad23fd6784757b13b244057d4be64260e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 23:06:01 -0700 Subject: doc: Describe max flight log, ignite mode and pad orientation These describe what these configuration parmaeters do, not how to set them. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 75 ++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 74 insertions(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 1b1f76a4..c778b1e1 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -536,7 +536,7 @@ NAR #88757, TRA #12200 or radio link via TeleDongle.
- Radio Frequencies + Radio Frequency Altus Metrum boards support radio frequencies in the 70cm band. By default, the configuration interface provides a @@ -583,6 +583,79 @@ NAR #88757, TRA #12200 simultaneously.
+
+ Maximum Flight Log + + TeleMetrum version 1.1 has 2MB of on-board flash storage, + enough to hold over 40 minutes of data at full data rate + (100 samples/second). TeleMetrum 1.0 has 1MB of on-board + storage. As data are stored at a reduced rate during + descent, there's plenty of space to store many flights worth + of 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 TeleMetrum can store more + flights. + + + All of the configuration data is also stored in the flash + memory, which consumes 64kB on TeleMetrum v1.1 and 256B on + TeleMetrum v1.0. This configuration space is not available + for storing flight log data. + + + To compute the amount of space needed for a single flight, + you can multiply the expected ascent time (in seconds) by + 800, multiply the expected descent time (in seconds) by 80 + and add the two together. That will slightly under-estimate + the storage (in bytes) needed for the flight. For instance, + a flight spending 20 seconds in ascent and 150 seconds in + descent will take about (20 * 800) + (150 * 80) = 28000 + bytes of storage. You could store dozens of these flights in + the on-board flash. + + + The default size, 192kB, allows for 10 flights of storage on + TeleMetrum v1.1 and 5 flights on TeleMetrum v1.0. This + ensures that you won't need to erase the memory before + flying each time while still allowing more than sufficient + storage for 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 that has two + TeleMetrum computers, 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 measures 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, TeleMetrum must be + explicitly configured for either Antenna Up or Antenna + Down. The default, Antenna Up, expects the end of the + TeleMetrum board connected to the 70cm antenna to be nearest + the nose of the rocket, with the end containing the screw + terminals nearest the tail. + +
Calibration -- cgit v1.2.3 From 5158493c8df527e7527057c719c75248609eb3dc Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 24 Aug 2011 23:21:02 -0700 Subject: doc: Remove duplicate documentation about max flight log This was described in detail in both the System Operation and AltosUI chapters. Remove the duplicate from the AltosUI chapter. Signed-off-by: Keith Packard --- doc/altusmetrum.xsl | 42 ++++++++++++++---------------------------- 1 file changed, 14 insertions(+), 28 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index aeb43acb..329739e0 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -589,9 +589,9 @@ NAR #88757, TRA #12200 TeleMetrum version 1.1 has 2MB of on-board flash storage, enough to hold over 40 minutes of data at full data rate (100 samples/second). TeleMetrum 1.0 has 1MB of on-board - storage. As data are stored at a reduced rate during - descent, there's plenty of space to store many flights worth - of data. + storage. As data are stored at a reduced rate during descent + (10 samples/second), there's plenty of space to store many + flights worth of data. The on-board flash is partitioned into separate flight logs, @@ -624,6 +624,17 @@ NAR #88757, TRA #12200 flying each time while still allowing more than sufficient storage for each flight. + + As TeleMini does not contain an accelerometer, it stores + data at 10 samples per second during ascent and one sample + per second during descent. Each sample is a two byte reading + from the barometer. These are stored in 5kB of + on-chip flash memory which can hold 256 seconds at the + ascent rate or 2560 seconds at the descent rate. Because of + the limited storage, TeleMini cannot hold data for more than + one flight, and so must be erased after each flight or it + will not capture data for subsequent flights. +
Ignite Mode @@ -1156,31 +1167,6 @@ NAR #88757, TRA #12200 size. A smaller value will allow more flights to be stored, a larger value will record data from longer flights. - - During ascent, TeleMetrum records barometer and - accelerometer values 100 times per second, other analog - information (voltages and temperature) 6 times per second - and GPS data once per second. During descent, the non-GPS - data is recorded 1/10th as often. Each barometer + - accelerometer record takes 8 bytes. - - - The default, 192kB, will store over 200 seconds of data at - the ascent rate, or over 2000 seconds of data at the descent - rate. That's plenty for most flights. This leaves enough - storage for five flights in a 1MB system, or 10 flights in a - 2MB system. - - - The configuration block takes the last available block of - memory, on v1.0 boards that's just 256 bytes. However, the - flash part on the v1.1 boards uses 64kB for each block. - - - TeleMini has 5kB of on-board storage, which is plenty for a - single flight. Make sure you download and delete the data - before a subsequent flight or it will not log any data. -
Ignite Mode -- cgit v1.2.3 From 1bd781da934c738e0c9294197c7eb622b0710a9a Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 25 Aug 2011 00:32:47 -0600 Subject: more tweaks --- doc/altusmetrum.xsl | 105 +++++++++++++++++++++++++++++----------------------- 1 file changed, 58 insertions(+), 47 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index c8ffedac..66c2b339 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -651,7 +651,7 @@ NAR #88757, TRA #12200 you know how strong a signal TeleDongle is receiving. The radio inside TeleDongle operates down to about -99dBm; weaker signals may not be receivable. The packet link uses - error correction and detection techniques which prevent + error detection and correction techniques which prevent incorrect data from being reported. @@ -662,8 +662,8 @@ NAR #88757, TRA #12200 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 contains all of - the telemetry data in one place. + 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 @@ -774,7 +774,9 @@ NAR #88757, TRA #12200 To monitor whether the apogee charge operated correctly, the current descent rate is reported along with the current - height. Good descent rates generally range from 15-30m/s. + 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. For TeleMetrum altimeters, you can locate the rocket in the sky @@ -789,14 +791,17 @@ NAR #88757, TRA #12200 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. + 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 Once the rocket is on the ground, attention switches to - recovery. While the radio signal is generally lost once the + 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. @@ -804,20 +809,24 @@ NAR #88757, TRA #12200 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 you'll want to walk or hitch a ride. Take the reported + 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. Both TeleMini and TeleMetrum will continue to transmit RDF tones after landing, allowing you to locate the rocket by - following the radio signal. 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) to receive the RDF signal. + 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 will likely yield + more precise results. To get more detailed information about the flight, you can @@ -828,7 +837,7 @@ NAR #88757, TRA #12200
Site Map - When the TeleMetrum gets a GPS fix, the Site Map tab will map + When the TeleMetrum has a GPS fix, the Site Map tab will map the rocket's position to make it easier for you to locate the rocket, both while it is in the air, and when it has landed. The rocket's state is indicated by color: white for pad, red for @@ -842,7 +851,7 @@ NAR #88757, TRA #12200 Images are fetched automatically via the Google Maps Static API, - and are cached for reuse. If map images cannot be downloaded, + 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. @@ -856,7 +865,7 @@ NAR #88757, TRA #12200 Save Flight Data The altimeter records flight data to its internal flash memory. - The TeleMetrum data is recorded at a much higher rate than the telemetry + 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 @@ -869,9 +878,9 @@ NAR #88757, TRA #12200 connected TeleMetrum and TeleDongle devices. If you select a TeleMetrum device, the flight data will be downloaded from that device directly. If you select a TeleDongle device, flight data - will be downloaded from a TeleMetrum or TeleMini device connected via the - packet command link to the specified TeleDongle. See the chapter - on Packet Command Mode for more information about this. + will be downloaded from an altimeter 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 @@ -879,10 +888,10 @@ NAR #88757, TRA #12200 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 you from accidentally losing flight data + 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 for a flight. + data will be recorded during the next flight. The file name for each flight log is computed automatically @@ -915,8 +924,8 @@ NAR #88757, TRA #12200 Once a flight record is selected, a window with two tabs is opened. The first tab contains a graph with acceleration - (blue), velocity (green) and altitude (red) of the flight are - plotted and displayed, measured in metric units. The + (blue), velocity (green) and altitude (red) of the flight, + measured in metric units. The apogee(yellow) and main(magenta) igniter voltages are also displayed; high voltages indicate continuity, low voltages indicate open circuits. The second tab contains some basic @@ -933,14 +942,15 @@ NAR #88757, TRA #12200 Note that telemetry files will generally produce poor graphs due to the lower sampling rate and missed telemetry packets. - Use saved flight data for graphing where possible. + Use saved flight data in .eeprom files for graphing where possible.
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 + external analysis. When you select this button, you are prompted to + select a flight data file (either .eeprom or .telem will do, remember that .eeprom files contain higher resolution and more continuous data). Next, a second dialog appears which is used to select @@ -956,7 +966,7 @@ NAR #88757, TRA #12200 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 - most tools can be configured to skip over. + many tools can be configured to skip over. The remaining lines of the file contain the data, with each @@ -969,10 +979,9 @@ NAR #88757, TRA #12200
Keyhole Markup Language (for Google Earth) - This is the format used by - Googleearth to provide an overlay within that - application. With this, you can use Googleearth 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.
@@ -981,9 +990,7 @@ NAR #88757, TRA #12200 Select this button and then select either a TeleMetrum or TeleDongle Device from the list provided. Selecting a TeleDongle - device will use Packet Command Mode to configure a remote - altimeter. Learn how to use this in the Packet Command - Mode chapter. + device will use the radio link to configure a remote altimeter. The first few lines of the dialog provide information about the @@ -1012,7 +1019,8 @@ NAR #88757, TRA #12200 Reboot. This reboots the device. Use this to switch from idle to pad mode by rebooting once the rocket is - oriented for flight. + oriented for flight, or to confirm changes you think you saved + are really saved. @@ -1041,7 +1049,7 @@ NAR #88757, TRA #12200 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 + 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 @@ -1063,9 +1071,11 @@ NAR #88757, TRA #12200 The radios in every Altus Metrum device are calibrated at the factory to ensure that they transmit and receive on the - specified frequency. You can adjust that - calibration by changing this value. To change the TeleDongle's - calibration, you must reprogram the unit completely. + 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.
@@ -1095,8 +1105,8 @@ NAR #88757, TRA #12200 The default, 192kB, will store over 200 seconds of data at the ascent rate, or over 2000 seconds of data at the descent rate. That's plenty for most flights. This leaves enough - storage for five flights in a 1MB system, or 10 flights in a - 2MB system. + storage for five flights in 1MB systems, or 10 flights in 2MB + systems. The configuration block takes the last available block of @@ -1106,7 +1116,7 @@ NAR #88757, TRA #12200 TeleMini has 5kB of on-board storage, which is plenty for a single flight. Make sure you download and delete the data - before a subsequent flight or it will not log any data. + before subsequent flights, or TeleMini will not log any data.
@@ -1483,8 +1493,7 @@ NAR #88757, TRA #12200 In the future, we intend to offer "companion boards" for the rocket that will plug in to TeleMetrum to collect additional data, provide more pyro channels, - and so forth. A reference design for a companion board will be documented - soon, and will be compatible with open source Arduino programming tools. + and so forth. We are also working on the design of a hand-held ground terminal that will @@ -1619,7 +1628,7 @@ NAR #88757, TRA #12200 Any altimeter will generate RFI; the digital circuits use high-frequency clocks that spray radio interference across a - wide band. Altusmetrum altimeters generate intentional radio + wide band. Altus Metrum altimeters generate intentional radio signals as well, increasing the amount of RF energy around the board. @@ -1632,7 +1641,7 @@ NAR #88757, TRA #12200 Voltages are induced when radio frequency energy is transmitted from one circuit to another. Here are things that - increase the induced voltage and current: + influence the induced voltage and current: @@ -1678,8 +1687,8 @@ NAR #88757, TRA #12200 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, smooth and not in an area of increasing or decreasing - pressure. + airflow, have smooth edges, and away from areas of increasing or + decreasing pressure. The barometric sensor in the altimeter is quite sensitive to @@ -1703,7 +1712,9 @@ NAR #88757, TRA #12200 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. + adequate telemetry signal strength and GPS lock. If any igniters + fire unexpectedly, find and resolve the issue before loading any + BP charges! Ground test the ejection charges. Prepare the rocket for @@ -1718,11 +1729,11 @@ NAR #88757, TRA #12200 Updating Device Firmware - The big conceptual thing to realize is that you have to use a + The big concept to understand is that you have to use a TeleDongle as a programmer to update a TeleMetrum or TeleMini, and a TeleMetrum or other TeleDongle to program the TeleDongle Due to limited memory resources in the cc1111, we don't support - programming directly over USB. + programming directly over USB. You may wish to begin by ensuring you have current firmware images. -- cgit v1.2.3 From 13e6e799070a1469cbc2ff990379ee520b8f0e6a Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Fri, 26 Aug 2011 10:29:58 -0600 Subject: roll release notes version from 1.0 to 1.0.1 --- doc/Makefile | 2 +- doc/release-notes-1.0.1.xsl | 103 ++++++++++++++++++++++++++++++++++++++++++++ doc/release-notes-1.0.xsl | 103 -------------------------------------------- 3 files changed, 104 insertions(+), 104 deletions(-) create mode 100644 doc/release-notes-1.0.1.xsl delete mode 100644 doc/release-notes-1.0.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 35858b15..14bce5c9 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -7,7 +7,7 @@ RELNOTES=\ release-notes-0.8.html \ release-notes-0.9.html \ release-notes-0.9.2.html \ - release-notes-1.0.html + release-notes-1.0.1.html RELNOTES_XSL=$(RELNOTES:.html=.xsl) HTML=altusmetrum.html altos.html telemetry.html $(RELNOTES) diff --git a/doc/release-notes-1.0.1.xsl b/doc/release-notes-1.0.1.xsl new file mode 100644 index 00000000..1e9fcabc --- /dev/null +++ b/doc/release-notes-1.0.1.xsl @@ -0,0 +1,103 @@ + + + +
+ + Version 1.0.1 is a major release, adding support for the TeleMini + device and lots of new AltosUI features + + + AltOS Firmware Changes + + + Add TeleMini v1.0 support. Firmware images for TeleMini are + included in AltOS releases. + + + 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. + + + 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. + + + 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 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. + + + 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. + + + +
diff --git a/doc/release-notes-1.0.xsl b/doc/release-notes-1.0.xsl deleted file mode 100644 index 1a06a43d..00000000 --- a/doc/release-notes-1.0.xsl +++ /dev/null @@ -1,103 +0,0 @@ - - - -
- - Version 1.0 is a major release, adding support for the TeleMini - device and lots of new AltosUI features - - - AltOS Firmware Changes - - - Add TeleMini v1.0 support. Firmware images for TeleMini are - included in AltOS releases. - - - 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. - - - 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. - - - 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 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. - - - 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. - - - -
-- cgit v1.2.3 From 0552fbed34c9698dac30c239df2a823a8502b3f3 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Tue, 30 Aug 2011 16:59:53 -0600 Subject: include 1.0.1 release notes in docs, closes: #642705 --- doc/altusmetrum.xsl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 5a60da7a..606c8b99 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -2480,7 +2480,7 @@ NAR #88757, TRA #12200 Release Notes - + -- cgit v1.2.3 From eff8611e3eb19853b06acfcd7e978c9046cd5f78 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 17 Dec 2011 17:05:06 -0800 Subject: altos: Create TeleMetrum v1.2 directory The hardware is software-compatible with v1.1, but it's nice to have the right version number in all of the files. Signed-off-by: Keith Packard --- altosui/Makefile.am | 3 ++- altosui/altos-windows.nsi | 1 + doc/altusmetrum.xsl | 8 ++++---- src/Makefile | 2 +- src/cc1111/ao_pins.h | 37 +++++++++++++++++++++++++++++++++++++ src/core/ao_telemetry.c | 2 +- src/telemetrum-v1.2/.gitignore | 2 ++ src/telemetrum-v1.2/.sdcdbrc | 1 + src/telemetrum-v1.2/Makefile | 16 ++++++++++++++++ 9 files changed, 65 insertions(+), 7 deletions(-) create mode 100644 src/telemetrum-v1.2/.gitignore create mode 100644 src/telemetrum-v1.2/.sdcdbrc create mode 100644 src/telemetrum-v1.2/Makefile (limited to 'doc') diff --git a/altosui/Makefile.am b/altosui/Makefile.am index 7cd383ac..fc024fff 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -171,7 +171,8 @@ FIRMWARE_TD=$(FIRMWARE_TD_0_2) FIRMWARE_TM_1_0=$(top_srcdir)/src/telemetrum-v1.0-$(VERSION).ihx FIRMWARE_TM_1_1=$(top_srcdir)/src/telemetrum-v1.1-$(VERSION).ihx -FIRMWARE_TM=$(FIRMWARE_TM_1_0) $(FIRMWARE_TM_1_1) +FIRMWARE_TM_1_2=$(top_srcdir)/src/telemetrum-v1.2-$(VERSION).ihx +FIRMWARE_TM=$(FIRMWARE_TM_1_0) $(FIRMWARE_TM_1_1) $(FIRMWARE_TM_1_2) FIRMWARE_TELEMINI_1_0=$(top_srcdir)/src/telemini-v1.0-$(VERSION).ihx FIRMWARE_TELEMINI=$(FIRMWARE_TELEMINI_1_0) diff --git a/altosui/altos-windows.nsi b/altosui/altos-windows.nsi index cbcb389d..e5e01d79 100644 --- a/altosui/altos-windows.nsi +++ b/altosui/altos-windows.nsi @@ -112,6 +112,7 @@ Section "TeleMetrum and TeleDongle Firmware" File "../src/telemetrum-v1.0/telemetrum-v1.0-${VERSION}.ihx" File "../src/telemetrum-v1.1/telemetrum-v1.1-${VERSION}.ihx" + File "../src/telemetrum-v1.2/telemetrum-v1.2-${VERSION}.ihx" File "../src/telemini-v1.0/telemini-v1.0-${VERSION}.ihx" File "../src/teledongle-v0.2/teledongle-v0.2-${VERSION}.ihx" diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 606c8b99..5c18fec3 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -586,7 +586,7 @@ NAR #88757, TRA #12200
Maximum Flight Log - TeleMetrum version 1.1 has 2MB of on-board flash storage, + TeleMetrum version 1.1 and 1.2 have 2MB of on-board flash storage, enough to hold over 40 minutes of data at full data rate (100 samples/second). TeleMetrum 1.0 has 1MB of on-board storage. As data are stored at a reduced rate during descent @@ -602,7 +602,7 @@ NAR #88757, TRA #12200 All of the configuration data is also stored in the flash - memory, which consumes 64kB on TeleMetrum v1.1 and 256B on + memory, which consumes 64kB on TeleMetrum v1.1/v1.2 and 256B on TeleMetrum v1.0. This configuration space is not available for storing flight log data. @@ -619,7 +619,7 @@ NAR #88757, TRA #12200 The default size, 192kB, allows for 10 flights of storage on - TeleMetrum v1.1 and 5 flights on TeleMetrum v1.0. This + TeleMetrum v1.1/v1.2 and 5 flights on TeleMetrum v1.0. This ensures that you won't need to erase the memory before flying each time while still allowing more than sufficient storage for each flight. @@ -1842,7 +1842,7 @@ NAR #88757, TRA #12200 Select the image you want put on the TeleMetrum, which should have a - name in the form telemetrum-v1.1-1.0.0.ihx. It should be visible + 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. diff --git a/src/Makefile b/src/Makefile index 61b1a835..d3173254 100644 --- a/src/Makefile +++ b/src/Makefile @@ -13,7 +13,7 @@ vpath matrix.5c kalman include Version SUBDIRS=\ - telemetrum-v1.1 telemetrum-v1.0 \ + telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \ teledongle-v0.2 teledongle-v0.1 \ telemini-v1.0 telenano-v0.1 \ telebt-v0.0 telebt-v0.1 \ diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index ca85c39f..a18c74c8 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -89,6 +89,43 @@ #define HAS_MONITOR 0 #endif +#if defined(TELEMETRUM_V_1_2) + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define USE_SERIAL_STDIN 0 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + + #define HAS_COMPANION 1 + #define COMPANION_CS_ON_P1 1 + #define COMPANION_CS_MASK 0x4 /* CS1 is P1_2 */ + #define COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 1 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define M25_CS_MASK 0x02 /* CS0 is P1_1 */ + #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 1 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 +#endif + #if defined(TELEDONGLE_V_0_2) #define HAS_FLIGHT 0 #define HAS_USB 1 diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index c68f1589..eb614b0f 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -35,7 +35,7 @@ static __pdata uint16_t ao_rdf_time; #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) #define AO_RDF_LENGTH_MS 500 -#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) +#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2) #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM #endif diff --git a/src/telemetrum-v1.2/.gitignore b/src/telemetrum-v1.2/.gitignore new file mode 100644 index 00000000..c2212151 --- /dev/null +++ b/src/telemetrum-v1.2/.gitignore @@ -0,0 +1,2 @@ +telemetrum-* +ao_product.h diff --git a/src/telemetrum-v1.2/.sdcdbrc b/src/telemetrum-v1.2/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telemetrum-v1.2/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telemetrum-v1.2/Makefile b/src/telemetrum-v1.2/Makefile new file mode 100644 index 00000000..4b650adf --- /dev/null +++ b/src/telemetrum-v1.2/Makefile @@ -0,0 +1,16 @@ +# +# AltOS build +# +# + +TM_VER=1.2 +TM_DEF=1_2 + +TM_INC = + +TM_SRC = \ + ao_companion.c \ + ao_gps_skytraq.c \ + ao_m25.c + +include ../product/Makefile.telemetrum -- cgit v1.2.3 From 1b4a4c7b6a0c3f93267f33482f490e7aa25c2158 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 13 Jan 2012 10:40:30 -0800 Subject: doc: Add companion SPI message protocol doc Signed-off-by: Keith Packard --- doc/Makefile | 4 +- doc/companion.xsl | 347 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 349 insertions(+), 2 deletions(-) create mode 100644 doc/companion.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 14bce5c9..6c77f0ee 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -10,8 +10,8 @@ RELNOTES=\ release-notes-1.0.1.html RELNOTES_XSL=$(RELNOTES:.html=.xsl) -HTML=altusmetrum.html altos.html telemetry.html $(RELNOTES) -PDF=altusmetrum.pdf altos.pdf telemetry.pdf +HTML=altusmetrum.html altos.html telemetry.html companion.html $(RELNOTES) +PDF=altusmetrum.pdf altos.pdf telemetry.pdf companion.pdf DOC=$(HTML) $(PDF) HTMLSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/html/docbook.xsl FOSTYLE=/usr/share/xml/docbook/stylesheet/docbook-xsl/fo/docbook.xsl diff --git a/doc/companion.xsl b/doc/companion.xsl new file mode 100644 index 00000000..1215d9af --- /dev/null +++ b/doc/companion.xsl @@ -0,0 +1,347 @@ + + + +
+ + AltOS Companion Port + Protocol Definitions + + Keith + Packard + + + 2012 + Keith Packard + + + + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. + + + + + 0.1 + 13 January 2012 + Initial content + + + +
+ Companion Port + + Many Altus Metrum products come with an eight pin Micro MaTch + connector, called the Companion Port. This is often used to + program devices using a programming cable. However, it can also + be used to connect TeleMetrum to external companion boards + (hence the name). + + + The Companion Port provides two different functions: + + + Power. Both battery-level and 3.3V regulated power are + available. Note that the amount of regulated power is not + huge; TeleMetrum contains a 150mA regulator and uses, at + peak, about 120mA or so. For applications needing more than + a few dozen mA, placing a separate regulator on them and + using the battery for power is probably a good idea. + + + SPI. The flight computer operates as a SPI master, using + a protocol defined in this document. Companion boards + provide a matching SPI slave implementation which supplies + telemetry information for the radio downlink during flight + + + +
+
+ Companion SPI Protocol + + The flight computer implements a SPI master communications + channel over the companion port, and uses this to get + information about a connected companion board and then to get + telemetry data for transmission during flight. + + + At startup time, the flight computer sends a setup request + packet, and the companion board returns a board identifier, the + desired telemetry update period and the number of data channels + provided. The flight computer doesn't interpret the telemetry + data at all, simply packing it up and sending it over the link. + Telemetry packets are 32 bytes long, and companion packets use 8 + bytes as a header leaving room for a maximum of 12 16-bit data + values. + + + Because of the limits of the AVR processors used in the first + two companion boards, the SPI data rate is set to 187.5kbaud. + +
+
+ SPI Message Formats + This section first defines the command message format sent from + the flight computer to the companion board, and then the various + reply message formats for each type of command message. +
+ Command Message + + Companion Command Message + + + + + + + + Offset + Data Type + Name + Description + + + + + 0 + uint8_t + command + Command identifier + + + 1 + uint8_t + flight_state + Current flight computer state + + + 2 + uint16_t + tick + Flight computer clock (100 ticks/second) + + + 4 + uint16_t + serial + Flight computer serial number + + + 6 + uint16_t + flight + Flight number + + + 8 + + + +
+ + Companion Command Identifiers + + + + + + + Value + Name + Description + + + + + 1 + SETUP + Supply the flight computer with companion + information + + + 2 + FETCH + Return telemetry information + + + 3 + NOTIFY + Tell companion board when flight state + changes + + + +
+ + The flight computer will send a SETUP message shortly after + power-up and will then send FETCH messages no more often than + the rate specified in the SETUP reply. NOTIFY messages will be + sent whenever the flight state changes. + + + 'flight_state' records the current state of the flight, + whether on the pad, under power, coasting to apogee or + descending on the drogue or main chute. + + + 'tick' provides the current flight computer clock, which + be used to synchronize data recorded on the flight computer + with that recorded on the companion board in post-flight analysis. + + + 'serial' is the product serial number of the flight computer, + 'flight' is the flight sequence number. Together, these two + uniquely identify the flight and can be recorded with any + companion board data logging to associate the companion data + with the proper flight. + + + NOTIFY commands require no reply at all, they are used solely + to inform the companion board when the state of the flight, as + computed by the flight computer, changes. Companion boards can + use this to change data collection parameters, disabling data + logging until the flight starts and terminating it when the + flight ends. + +
+
+ SETUP reply message + + SETUP reply contents + + + + + + + + Offset + Data Type + Name + Description + + + + + 0 + uint16_t + board_id + Board identifier + + + 2 + uint16_t + board_id_inverse + ~board_id—used to tell if a board is present + + + 4 + uint8_t + update_period + Minimum time (in 100Hz ticks) between FETCH commands + + + 5 + uint8_t + channels + Number of data channels to retrieve in FETCH command + + + 6 + + + +
+ + The SETUP reply contains enough information to uniquely + identify the companion board to the end user as well as for + the flight computer to know how many data values to expect in + reply to a FETCH command, and how often to fetch that data. + + + To detect the presence of a companion board, the flight + computer checks to make sure that board_id_inverse is the + bit-wise inverse of board_id. Current companion boards use + USB product ID as the board_id, but the flight computer does + not interpret this data and so it can be any value. + +
+
+ FETCH reply message + + FETCH reply contents + + + + + + + + Offset + Data Type + Name + Description + + + + + 0 + uint16_t + data0 + 0th data item + + + 2 + uint16_t + data1 + 1st data item + + + ... + + + +
+ + The FETCH reply contains arbitrary data to be reported over + the flight computer telemetry link. The number of 16-bit data items + must match the 'channels' value provided in the SETUP reply + message. + +
+
+
+ History and Motivation + + To allow cross-programming, the original TeleMetrum and + TeleDongle designs needed to include some kind of + connector. With that in place, adding the ability to connect + external cards to TeleMetrum was fairly simple. We set the + software piece of this puzzle aside until we had a companion + board to use. + + + The first companion board was TeleScience. Designed to collect + temperature data from the nose and fin of the airframe, the main + requirement for the companion port was that it be able to report + telemetry data during flight as a back-up in case the + TeleScience on-board data was lost. + + + The second companion board, TelePyro, provides 8 additional + channels for deployment, staging or other activities. To avoid + re-programming the TeleMetrum to use TelePyro, we decided to + provide enough information over the companion link for it to + independently control those channels. + + + Providing a standard, constant interface between the flight + computer and companion boards allows for the base flight + computer firmware to include support for companion boards. + +
+
-- cgit v1.2.3 From 440226df03a85cd0047d876b57b2a3410bfb2b02 Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sat, 31 Mar 2012 17:53:25 -0600 Subject: be explicit in a couple places about only using single-cell LiPo batteries --- doc/altusmetrum.xsl | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'doc') diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 5c18fec3..ad08aecc 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -258,7 +258,8 @@ NAR #88757, TRA #12200 A typical TeleMetrum or TeleMini installation involves attaching only a suitable Lithium Polymer battery, a single pole switch for power on/off, and two pairs of wires connecting e-matches for the - apogee and main ejection charges. + apogee and main ejection charges. All Altus Metrum products are + designed for use with single-cell batteries with 3.7 volts nominal. By default, we use the unregulated output of the Li-Po battery directly @@ -1447,8 +1448,9 @@ NAR #88757, TRA #12200 In the rocket itself, you just need a TeleMetrum or TeleMini board and - a Li-Po rechargeable battery. An 860mAh battery weighs less than a 9V - alkaline battery, and will run a TeleMetrum for hours. + 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 for hours. A 110mAh battery weighs less than a triple A battery and will run a TeleMetrum for a few hours, or a TeleMini for much (much) longer. -- cgit v1.2.3 From 7be98836e69a222b2f9f4baacddcf12d168e2207 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 11 Jul 2012 13:40:54 -0700 Subject: Add megametrum outline to doc dir And install it alongside telemetrum-outline Signed-off-by: Keith Packard --- altosui/Makefile.am | 2 +- altosui/altos-windows.nsi | 1 + debian/docs | 1 + doc/megametrum-outline.pdf | Bin 0 -> 4349 bytes doc/megametrum-outline.svg | 244 +++++++++++++++++++++++++++++++++++++++++++++ 5 files changed, 247 insertions(+), 1 deletion(-) create mode 100644 doc/megametrum-outline.pdf create mode 100644 doc/megametrum-outline.svg (limited to 'doc') diff --git a/altosui/Makefile.am b/altosui/Makefile.am index b22405aa..1c8ea491 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -151,7 +151,7 @@ FIRMWARE=$(FIRMWARE_TM) $(FIRMWARE_TELEMINI) $(FIRMWARE_TD) ALTUSMETRUM_DOC=$(top_srcdir)/doc/altusmetrum.pdf ALTOS_DOC=$(top_srcdir)/doc/altos.pdf TELEMETRY_DOC=$(top_srcdir)/doc/telemetry.pdf -TEMPLATE_DOC=$(top_srcdir)/doc/telemetrum-outline.pdf +TEMPLATE_DOC=$(top_srcdir)/doc/telemetrum-outline.pdf $(top_srcdir)/doc/megametrum-outline.pdf DOC=$(ALTUSMETRUM_DOC) $(ALTOS_DOC) $(TELEMETRY_DOC) $(TEMPLATE_DOC) diff --git a/altosui/altos-windows.nsi b/altosui/altos-windows.nsi index e5e01d79..92c985a9 100644 --- a/altosui/altos-windows.nsi +++ b/altosui/altos-windows.nsi @@ -126,6 +126,7 @@ Section "Documentation" File "../doc/altos.pdf" File "../doc/telemetry.pdf" File "../doc/telemetrum-outline.pdf" + File "../doc/megametrum-outline.pdf" SectionEnd Section "Uninstaller" diff --git a/debian/docs b/debian/docs index 6652abf7..3ac75ad4 100644 --- a/debian/docs +++ b/debian/docs @@ -7,3 +7,4 @@ doc/telemetry.pdf doc/altos.html doc/altos.pdf doc/telemetrum-outline.pdf +doc/megametrum-outline.pdf diff --git a/doc/megametrum-outline.pdf b/doc/megametrum-outline.pdf new file mode 100644 index 00000000..f8fc26e2 Binary files /dev/null and b/doc/megametrum-outline.pdf differ diff --git a/doc/megametrum-outline.svg b/doc/megametrum-outline.svg new file mode 100644 index 00000000..e8d74d38 --- /dev/null +++ b/doc/megametrum-outline.svg @@ -0,0 +1,244 @@ + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UP + + -- cgit v1.2.3 From 73d05650eae1d3958e02e9ffde2020a2438eccbb Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 11 Sep 2012 15:30:45 -0700 Subject: Add Version 1.1 release notes. Signed-off-by: Keith Packard --- doc/Makefile | 3 +- doc/altusmetrum.xsl | 1 + doc/release-notes-1.1.xsl | 94 +++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 97 insertions(+), 1 deletion(-) create mode 100644 doc/release-notes-1.1.xsl (limited to 'doc') diff --git a/doc/Makefile b/doc/Makefile index 6c77f0ee..fbe8bc11 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -7,7 +7,8 @@ RELNOTES=\ release-notes-0.8.html \ release-notes-0.9.html \ release-notes-0.9.2.html \ - release-notes-1.0.1.html + release-notes-1.0.1.html \ + release-notes-1.1.html RELNOTES_XSL=$(RELNOTES:.html=.xsl) HTML=altusmetrum.html altos.html telemetry.html companion.html $(RELNOTES) diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index ad08aecc..8339ca43 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -2482,6 +2482,7 @@ NAR #88757, TRA #12200 Release Notes + diff --git a/doc/release-notes-1.1.xsl b/doc/release-notes-1.1.xsl new file mode 100644 index 00000000..79ea39ee --- /dev/null +++ b/doc/release-notes-1.1.xsl @@ -0,0 +1,94 @@ + + + +
+ + Version 1.1 is a minor release. It provides a few new features in AltosUI + and the AltOS firmware and fixes bugs. + + + AltOS Firmware Changes + + + Add apogee-lockout value. Overrides the apogee detection logic to + prevent incorrect apogee charge firing. + + + Fix a bug where the data reported in telemetry packets was + from 320ms ago. + + + 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. + + + 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 Changes + + + 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. + + + 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. + + + 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. + + + Add Imperial units mode to present data in feet instead of + meters. + + + +
-- cgit v1.2.3