path: root/doc/altusmetrum.xsl

<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
<book>
  <title>The Altus Metrum System</title>
  <subtitle>An Owner's Manual for Altus Metrum Rocketry Electronics</subtitle>
  <bookinfo>
    <author>
      <firstname>Bdale</firstname>
      <surname>Garbee</surname>
    </author>
    <author>
      <firstname>Keith</firstname>
      <surname>Packard</surname>
    </author>
    <author>
      <firstname>Bob</firstname>
      <surname>Finch</surname>
    </author>
    <author>
      <firstname>Anthony</firstname>
      <surname>Towns</surname>
    </author>
    <copyright>
      <year>2013</year>
      <holder>Bdale Garbee and Keith Packard</holder>
    </copyright>
    <legalnotice>
      <para>
        This document is released under the terms of the
        <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
          Creative Commons ShareAlike 3.0
        </ulink>
        license.
      </para>
    </legalnotice>
    <revhistory>
      <revision>
	<revnumber>1.3</revnumber>
	<date>12 November 2013</date>
	<revremark>
	  Updated for software version 1.3. Version 1.3 adds support
	  for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini
	  and fixes bugs in AltosUI and the AltOS firmware.
	</revremark>
      </revision>
      <revision>
	<revnumber>1.2.1</revnumber>
	<date>21 May 2013</date>
	<revremark>
	  Updated for software version 1.2. Version 1.2 adds support
	  for TeleBT and AltosDroid. It also adds a few minor features
	  and fixes bugs in AltosUI and the AltOS firmware.
	</revremark>
      </revision>
      <revision>
	<revnumber>1.2</revnumber>
	<date>18 April 2013</date>
	<revremark>
	  Updated for software version 1.2. Version 1.2 adds support
	  for MicroPeak and the MicroPeak USB interface.
	</revremark>
      </revision>
      <revision>
	<revnumber>1.1.1</revnumber>
	<date>16 September 2012</date>
	<revremark>
	  Updated for software version 1.1.1 Version 1.1.1 fixes a few
	  bugs found in version 1.1.
	</revremark>
      </revision>
      <revision>
	<revnumber>1.1</revnumber>
	<date>13 September 2012</date>
	<revremark>
	  Updated for software version 1.1. Version 1.1 has new
	  features but is otherwise compatible with version 1.0.
	</revremark>
      </revision>
      <revision>
        <revnumber>1.0</revnumber>
        <date>24 August 2011</date>
	<revremark>
	  Updated for software version 1.0.  Note that 1.0 represents a
	  telemetry format change, meaning both ends of a link 
	  (TeleMetrum/TeleMini and TeleDongle) must be updated or 
          communications will fail.
	</revremark>
      </revision>
      <revision>
        <revnumber>0.9</revnumber>
        <date>18 January 2011</date>
	<revremark>
	  Updated for software version 0.9.  Note that 0.9 represents a
	  telemetry format change, meaning both ends of a link (TeleMetrum and
	  TeleDongle) must be updated or communications will fail.
	</revremark>
      </revision>
      <revision>
        <revnumber>0.8</revnumber>
        <date>24 November 2010</date>
	<revremark>Updated for software version 0.8 </revremark>
      </revision>
    </revhistory>
  </bookinfo>
  <dedication>
    <title>Acknowledgments</title>
    <para>
      Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing “The
      Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
      Kit” which formed the basis of the original Getting Started chapter 
      in this manual.  Bob was one of our first customers for a production
      TeleMetrum, and his continued enthusiasm and contributions
      are immensely gratifying and highly appreciated!
    </para>
    <para>
      And thanks to Anthony (AJ) Towns for major contributions including
      the AltosUI graphing and site map code and associated documentation. 
      Free software means that our customers and friends can become our
      collaborators, and we certainly appreciate this level of
      contribution!
    </para>
    <para>
      Have fun using these products, and we hope to meet all of you
      out on the rocket flight line somewhere.
      <literallayout>
Bdale Garbee, KB0G
NAR #87103, TRA #12201

Keith Packard, KD7SQG
NAR #88757, TRA #12200
      </literallayout>
    </para>
  </dedication>
  <chapter>
    <title>Introduction and Overview</title>
    <para>
      Welcome to the Altus Metrum community!  Our circuits and software reflect
      our passion for both hobby rocketry and Free Software.  We hope their
      capabilities and performance will delight you in every way, but by
      releasing all of our hardware and software designs under open licenses,
      we also hope to empower you to take as active a role in our collective
      future as you wish!
    </para>
    <para>
      The first device created for our community was TeleMetrum, a dual
      deploy altimeter with fully integrated GPS and radio telemetry
      as standard features, and a “companion interface” that will
      support optional capabilities in the future. The latest version
      of TeleMetrum, v2.0, has all of the same features but with
      improved sensors and radio to offer increased performance.
    </para>
    <para>
      Our second device was TeleMini, a dual deploy altimeter with
      radio telemetry and radio direction finding. The first version
      of this device was only 13mm by 38mm (½ inch by 1½ inches) and
      could fit easily in an 18mm air-frame. The latest version, v2.0,
      includes a beeper, USB data download and extended on-board
      flight logging, along with an improved barometric sensor.
    </para>
    <para>
      TeleMega is our most sophisticated device, including six pyro
      channels (four of which are fully programmable), integrated GPS,
      integrated gyroscopes for staging/air-start inhibit and high
      performance telemetry.
    </para>
    <para>
      EasyMini is a dual-deploy altimeter with logging and built-in
      USB data download.
    </para>
    <para>
      TeleDongle was our first ground station, providing a USB to RF
      interfaces for communicating with the altimeters. Combined with
      your choice of antenna and notebook computer, TeleDongle and our
      associated user interface software form a complete ground
      station capable of logging and displaying in-flight telemetry,
      aiding rocket recovery, then processing and archiving flight
      data for analysis and review.
    </para>
    <para>
      For a slightly more portable ground station experience that also
      provides direct rocket recovery support, TeleBT offers flight
      monitoring and data logging using a  Bluetooth™ connection between
      the receiver and an Android device that has the AltosDroid
      application installed from the Google Play store.
    </para>
    <para>
      More products will be added to the Altus Metrum family over time, and
      we currently envision that this will be a single, comprehensive manual
      for the entire product family.
    </para>
  </chapter>
  <chapter>
    <title>Getting Started</title>
    <para>
      The first thing to do after you check the inventory of parts in your
      “starter kit” is to charge the battery.
    </para>
    <para>
      For TeleMetrum and TeleMega, the battery can be charged by plugging it into the
      corresponding socket of the device and then using the USB
      cable to plug the flight computer into your computer's USB socket. The
      on-board circuitry will charge the battery whenever it is plugged
      in, because the on-off switch does NOT control the
      charging circuitry.
    </para>
    <para>
      On TeleMetrum v1 boards, when the GPS chip is initially
      searching for satellites, TeleMetrum will consume more current
      than it pulls from the USB port, so the battery must be
      attached in order to get satellite lock.  Once GPS is locked,
      the current consumption goes back down enough to enable charging
      while running. So it's a good idea to fully charge the battery
      as your first item of business so there is no issue getting and
      maintaining satellite lock.  The yellow charge indicator led
      will go out when the battery is nearly full and the charger goes
      to trickle charge. It can take several hours to fully recharge a
      deeply discharged battery.
    </para>
    <para>
      TeleMetrum v2.0 and TeleMega use a higher power battery charger,
      allowing them to charge the battery while running the board at
      maximum power. When the battery is charging, or when the board
      is consuming a lot of power, the red LED will be lit. When the
      battery is fully charged, the green LED will be lit. When the
      battery is damaged or missing, both LEDs will be lit, which
      appears yellow.
    </para>
    <para>
      The Lithium Polymer TeleMini and EasyMini battery can be charged by
      disconnecting it from the board and plugging it into a
      standalone battery charger such as the LipoCharger product
      included in TeleMini Starter Kits, and connecting that via a USB
      cable to a laptop or other USB power source.
    </para>
    <para>
      You can also choose to use another battery with TeleMini v2.0
      and EasyMini, anything supplying between 4 and 12 volts should
      work fine (like a standard 9V battery), but if you are planning
      to fire pyro charges, ground testing is required to verify that
      the battery supplies enough current to fire your chosen e-matches.
    </para>
    <para>
      The other active device in the starter kit is the TeleDongle USB to
      RF interface.  If you plug it in to your Mac or Linux computer it should
      “just work”, showing up as a serial port device.  Windows systems need
      driver information that is part of the AltOS download to know that the
      existing USB modem driver will work.  We therefore recommend installing
      our software before plugging in TeleDongle if you are using a Windows
      computer.  If you are using an older version of Linux and are having 
      problems, try moving to a fresher kernel (2.6.33 or newer). 
    </para>
    <para>
      Next you should obtain and install the AltOS software.  The AltOS
      distribution includes the AltosUI ground station program, current 
      firmware
      images for all of the hardware, and a number of standalone
      utilities that are rarely needed.  Pre-built binary packages are
      available for Linux, Microsoft Windows, and recent MacOSX
      versions.  Full source code and build instructions are also
      available.  The latest version may always be downloaded from
      <ulink url="http://altusmetrum.org/AltOS"/>.
    </para>
    <para>
      If you're using a TeleBT instead of the TeleDongle, you'll want to 
      install the AltosDroid application from the Google Play store on an 
      Android device. You don't need a data plan to use AltosDroid, but 
      without network access, the Map view will be less useful as it
      won't contain any map data. You can also use TeleBT connected
      over USB with your laptop computer; it acts exactly like a
      TeleDongle. Anywhere this manual talks about TeleDongle, you can
      also read that as 'and TeleBT when connected via USB'.
    </para>
  </chapter>
  <chapter>
    <title>Handling Precautions</title>
    <para>
      All Altus Metrum products are sophisticated electronic devices.  
      When handled gently and properly installed in an air-frame, they
      will deliver impressive results.  However, as with all electronic 
      devices, there are some precautions you must take.
    </para>
    <para>
      The Lithium Polymer rechargeable batteries have an
      extraordinary power density.  This is great because we can fly with
      much less battery mass than if we used alkaline batteries or previous
      generation rechargeable batteries... but if they are punctured
      or their leads are allowed to short, they can and will release their
      energy very rapidly!
      Thus we recommend that you take some care when handling our batteries
      and consider giving them some extra protection in your air-frame.  We
      often wrap them in suitable scraps of closed-cell packing foam before
      strapping them down, for example.
    </para>
    <para>
      The barometric sensors used on all of our flight computers are 
      sensitive to sunlight.  In normal mounting situations, the baro sensor
      and all of the other surface mount components
      are “down” towards whatever the underlying mounting surface is, so
      this is not normally a problem.  Please consider this when designing an 
      installation in an air-frame with a see-through plastic payload bay.  It
      is particularly important to
      consider this with TeleMini v1.0, both because the baro sensor is on the
      “top” of the board, and because many model rockets with payload bays
      use clear plastic for the payload bay!  Replacing these with an opaque
      cardboard tube, painting them, or wrapping them with a layer of masking
      tape are all reasonable approaches to keep the sensor out of direct
      sunlight.
    </para>
    <para>
      The barometric sensor sampling port must be able to “breathe”,
      both by not being covered by foam or tape or other materials that might
      directly block the hole on the top of the sensor, and also by having a
      suitable static vent to outside air.
    </para>
    <para>
      As with all other rocketry electronics, Altus Metrum altimeters must 
      be protected from exposure to corrosive motor exhaust and ejection 
      charge gasses.
    </para>
  </chapter>
  <chapter>
    <title>Altus Metrum Hardware</title>
    <section>
      <title>Overview</title>
      <para>
	Here's the full set of Altus Metrum products, both in
	production and retired.
      </para>
      <table frame='all'>
	<title>Altus Metrum Electronics</title>
	<?dbfo keep-together="always"?>
	<tgroup cols='8' align='center' colsep='1' rowsep='1'>
	  <colspec align='center' colwidth='*' colname='Device'/>
	  <colspec align='center' colwidth='*' colname='Barometer'/>
	  <colspec align='center' colwidth='*' colname='Z-axis accelerometer'/>
	  <colspec align='center' colwidth='*' colname='GPS'/>
	  <colspec align='center' colwidth='*' colname='3D sensors'/>
	  <colspec align='center' colwidth='*' colname='Storage'/>
	  <colspec align='center' colwidth='*' colname='RF'/>
	  <colspec align='center' colwidth='*' colname='Battery'/>
	  <thead>
	    <row>
	      <entry align='center'>Device</entry>
	      <entry align='center'>Barometer</entry>
	      <entry align='center'>Z-axis accelerometer</entry>
	      <entry align='center'>GPS</entry>
	      <entry align='center'>3D sensors</entry>
	      <entry align='center'>Storage</entry>
	      <entry align='center'>RF Output</entry>
	      <entry align='center'>Battery</entry>
	    </row>
	  </thead>
	  <tbody>
	    <row>
	      <entry>TeleMetrum v1.0</entry>
	      <entry><para>MP3H6115 10km (33k')</para></entry>
	      <entry><para>MMA2202 50g</para></entry>
	      <entry>SkyTraq</entry>
	      <entry>-</entry>
	      <entry>1MB</entry>
	      <entry>10mW</entry>
	      <entry>3.7V</entry>
	    </row>
	    <row>
	      <entry>TeleMetrum v1.1</entry>
	      <entry><para>MP3H6115 10km (33k')</para></entry>
	      <entry><para>MMA2202 50g</para></entry>
	      <entry>SkyTraq</entry>
	      <entry>-</entry>
	      <entry>2MB</entry>
	      <entry>10mW</entry>
	      <entry>3.7V</entry>
	    </row>
	    <row>
	      <entry>TeleMetrum v1.2</entry>
	      <entry><para>MP3H6115 10km (33k')</para></entry>
	      <entry><para>ADXL78 70g</para></entry>
	      <entry>SkyTraq</entry>
	      <entry>-</entry>
	      <entry>2MB</entry>
	      <entry>10mW</entry>
	      <entry>3.7V</entry>
	    </row>
	    <row>
	      <entry>TeleMetrum v2.0</entry>
	      <entry><para>MS5607 30km (100k')</para></entry>
	      <entry><para>MMA6555 102g</para></entry>
	      <entry>uBlox Max-7Q</entry>
	      <entry>-</entry>
	      <entry>8MB</entry>
	      <entry>40mW</entry>
	      <entry>3.7V</entry>
	    </row>
	    <row>
	      <entry><para>TeleMini <?linebreak?>v1.0</para></entry>
	      <entry><para>MP3H6115 10km (33k')</para></entry>
	      <entry>-</entry>
	      <entry>-</entry>
	      <entry>-</entry>
	      <entry>5kB</entry>
	      <entry>10mW</entry>
	      <entry>3.7V</entry>
	    </row>
	    <row>
	      <entry>TeleMini <?linebreak?>v2.0</entry>
	      <entry><para>MS5607 30km (100k')</para></entry>
	      <entry>-</entry>
	      <entry>-</entry>
	      <entry>-</entry>
	      <entry>1MB</entry>
	      <entry>10mW</entry>
	      <entry>3.7-12V</entry>
	    </row>
	    <row>
	      <entry>EasyMini <?linebreak?>v1.0</entry>
	      <entry><para>MS5607 30km (100k')</para></entry>
	      <entry>-</entry>
	      <entry>-</entry>
	      <entry>-</entry>
	      <entry>1MB</entry>
	      <entry>-</entry>
	      <entry>3.7-12V</entry>
	    </row>
	    <row>
	      <entry>TeleMega <?linebreak?>v1.0</entry>
	      <entry><para>MS5607 30km (100k')</para></entry>
	      <entry><para>MMA6555 102g</para></entry>
	      <entry>uBlox Max-7Q</entry>
	      <entry><para>MPU6000 HMC5883</para></entry>
	      <entry>8MB</entry>
	      <entry>40mW</entry>
	      <entry>3.7V</entry>
	    </row>
	  </tbody>
	</tgroup>
      </table>
      <table frame='all'>
	<title>Altus Metrum Boards</title>
	<?dbfo keep-together="always"?>
	<tgroup cols='6' align='center' colsep='1' rowsep='1'>
	  <colspec align='center' colwidth='*' colname='Device'/>
	  <colspec align='center' colwidth='*' colname='Connectors'/>
	  <colspec align='center' colwidth='*' colname='Screw Terminals'/>
	  <colspec align='center' colwidth='*' colname='Width'/>
	  <colspec align='center' colwidth='*' colname='Length'/>
	  <colspec align='center' colwidth='*' colname='Tube Size'/>
	  <thead>
	    <row>
	      <entry align='center'>Device</entry>
	      <entry align='center'>Connectors</entry>
	      <entry align='center'>Screw Terminals</entry>
	      <entry align='center'>Width</entry>
	      <entry align='center'>Length</entry>
	      <entry align='center'>Tube Size</entry>
	    </row>
	  </thead>
	  <tbody>
	    <row>
	      <entry>TeleMetrum</entry>
	      <entry><para>
		Antenna<?linebreak?>
		Debug<?linebreak?>
		Companion<?linebreak?>
		USB<?linebreak?>
		Battery
	      </para></entry>
	      <entry><para>Apogee pyro <?linebreak?>Main pyro <?linebreak?>Switch</para></entry>
	      <entry>1 inch (2.54cm)</entry>
	      <entry>2 ¾ inch (6.99cm)</entry>
	      <entry>29mm coupler</entry>
	    </row>
	    <row>
	      <entry><para>TeleMini <?linebreak?>v1.0</para></entry>
	      <entry><para>
		Antenna<?linebreak?>
		Debug<?linebreak?>
		Battery
	      </para></entry>
	      <entry><para>
		Apogee pyro <?linebreak?>
		Main pyro
	      </para></entry>
	      <entry>½ inch (1.27cm)</entry>
	      <entry>1½ inch (3.81cm)</entry>
	      <entry>18mm coupler</entry>
	    </row>
	    <row>
	      <entry>TeleMini <?linebreak?>v2.0</entry>
	      <entry><para>
		Antenna<?linebreak?>
		Debug<?linebreak?>
		USB<?linebreak?>
		Battery
	      </para></entry>
	      <entry><para>
		Apogee pyro <?linebreak?>
		Main pyro <?linebreak?>
		Battery <?linebreak?>
		Switch
		</para></entry>
	      <entry>0.8 inch (2.03cm)</entry>
	      <entry>1½ inch (3.81cm)</entry>
	      <entry>24mm coupler</entry>
	    </row>
	    <row>
	      <entry>EasyMini</entry>
	      <entry><para>
		Debug<?linebreak?>
		USB<?linebreak?>
		Battery
	      </para></entry>
	      <entry><para>
		Apogee pyro <?linebreak?>
		Main pyro <?linebreak?>
		Battery <?linebreak?>
		Switch
		</para></entry>
	      <entry>0.8 inch (2.03cm)</entry>
	      <entry>1½ inch (3.81cm)</entry>
	      <entry>24mm coupler</entry>
	    </row>
	    <row>
	      <entry>TeleMega</entry>
	      <entry><para>
		Antenna<?linebreak?>
		Debug<?linebreak?>
		Companion<?linebreak?>
		USB<?linebreak?>
		Battery
	      </para></entry>
	      <entry><para>
		Apogee pyro <?linebreak?>
		Main pyro<?linebreak?>
		Pyro A-D<?linebreak?>
		Switch<?linebreak?>
		Pyro battery
	      </para></entry>
	      <entry>1¼ inch (3.18cm)</entry>
	      <entry>3¼ inch (8.26cm)</entry>
	      <entry>38mm coupler</entry>
	    </row>
	  </tbody>
	</tgroup>
      </table>
    </section>
    <section>
      <title>TeleMetrum</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="telemetrum-v1.1-thside.jpg" width="5.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	TeleMetrum is a 1 inch by 2¾ inch circuit board.  It was designed to
	fit inside coupler for 29mm air-frame tubing, but using it in a tube that
	small in diameter may require some creativity in mounting and wiring
	to succeed!  The presence of an accelerometer means TeleMetrum should
	be aligned along the flight axis of the airframe, and by default the ¼
	wave UHF wire antenna should be on the nose-cone end of the board.  The
	antenna wire is about 7 inches long, and wiring for a power switch and
	the e-matches for apogee and main ejection charges depart from the
	fin can end of the board, meaning an ideal “simple” avionics
	bay for TeleMetrum should have at least 10 inches of interior length.
      </para>
    </section>
    <section>
      <title>TeleMini</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="telemini-v1-top.jpg" width="5.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	TeleMini v1.0 is ½ inches by 1½ inches.  It was
	designed to fit inside an 18mm air-frame tube, but using it in
	a tube that small in diameter may require some creativity in
	mounting and wiring to succeed!  Since there is no
	accelerometer, TeleMini can be mounted in any convenient
	orientation.  The default ¼ wave UHF wire antenna attached to
	the center of one end of the board is about 7 inches long. Two
	wires for the power switch are connected to holes in the
	middle of the board. Screw terminals for the e-matches for
	apogee and main ejection charges depart from the other end of
	the board, meaning an ideal “simple” avionics bay for TeleMini
	should have at least 9 inches of interior length.
      </para>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="telemini-v2-top.jpg" width="5.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	TeleMini v2.0 is 0.8 inches by 1½ inches. It adds more
	on-board data logging memory, a built-in USB connector and
	screw terminals for the battery and power switch. The larger
	board fits in a 24mm coupler. There's also a battery connector
	for a LiPo battery if you want to use one of those.
      </para>
    </section>
    <section>
      <title>EasyMini</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="easymini-top.jpg" width="5.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	EasyMini is built on a 0.8 inch by 1½ inch circuit board. It's
	designed to fit in a 24mm coupler tube. The connectors and
	screw terminals match TeleMini v2.0, so you can easily swap between
	EasyMini and TeleMini.
      </para>
    </section>
    <section>
      <title>TeleMega</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="telemega-v1.0-top.jpg" width="5.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	TeleMega is a 1¼ inch by 3¼ inch circuit board. It was
	designed to easily fit in a 38mm coupler. Like TeleMetrum,
	TeleMega has an accelerometer and so it must be mounted so that
	the board is aligned with the flight axis. It can be mounted
	either antenna up or down.
      </para>
    </section>
    <section>
      <title>Flight Data Recording</title>
      <para>
	Each flight computer logs data at 100 samples per second
	during ascent and 10 samples per second during descent, except
	for TeleMini v1.0, which records ascent at 10 samples per
	second and descent at 1 sample per second. Data are logged to
	an on-board flash memory part, which can be partitioned into
	several equal-sized blocks, one for each flight.
      </para>
      <table frame='all'>
	<title>Data Storage on Altus Metrum altimeters</title>
	<?dbfo keep-together="always"?>
	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
	  <colspec align='center' colwidth='*' colname='Device'/>
	  <colspec align='center' colwidth='*' colname='Bytes per sample'/>
	  <colspec align='center' colwidth='*' colname='Total storage'/>
	  <colspec align='center' colwidth='*' colname='Minutes of
							full-rate'/>
	  <thead>
	    <row>
	      <entry align='center'>Device</entry>
	      <entry align='center'>Bytes per Sample</entry>
	      <entry align='center'>Total Storage</entry>
	      <entry align='center'>Minutes at Full Rate</entry>
	    </row>
	  </thead>
	  <tbody>
	    <row>
	      <entry>TeleMetrum v1.0</entry>
	      <entry>8</entry>
	      <entry>1MB</entry>
	      <entry>20</entry>
	    </row>
	    <row>
	      <entry>TeleMetrum v1.1 v1.2</entry>
	      <entry>8</entry>
	      <entry>2MB</entry>
	      <entry>40</entry>
	    </row>
	    <row>
	      <entry>TeleMetrum v2.0</entry>
	      <entry>16</entry>
	      <entry>8MB</entry>
	      <entry>80</entry>
	    </row>
	    <row>
	      <entry>TeleMini v1.0</entry>
	      <entry>2</entry>
	      <entry>5kB</entry>
	      <entry>4</entry>
	    </row>
	    <row>
	      <entry>TeleMini v2.0</entry>
	      <entry>16</entry>
	      <entry>1MB</entry>
	      <entry>10</entry>
	    </row>
	    <row>
	      <entry>EasyMini</entry>
	      <entry>16</entry>
	      <entry>1MB</entry>
	      <entry>10</entry>
	    </row>
	    <row>
	      <entry>TeleMega</entry>
	      <entry>32</entry>
	      <entry>8MB</entry>
	      <entry>40</entry>
	    </row>
	  </tbody>
	</tgroup>
      </table>
      <para>
	The on-board flash is partitioned into separate flight logs,
	each of a fixed maximum size. Increase the maximum size of
	each log and you reduce the number of flights that can be
	stored. Decrease the size and you can store more flights.
      </para>
      <para>
	Configuration data is also stored in the flash memory on
	TeleMetrum v1.x, TeleMini and EasyMini. This consumes 64kB
	of flash space.  This configuration space is not available
	for storing flight log data. TeleMetrum v2.0 and TeleMega
	store configuration data in a bit of eeprom available within
	the processor chip, leaving that space available in flash for
	more flight data.
      </para>
      <para>
	To compute the amount of space needed for a single flight, you
	can multiply the expected ascent time (in seconds) by 100
	times bytes-per-sample, multiply the expected descent time (in
	seconds) by 10 times the bytes per sample and add the two
	together. That will slightly under-estimate the storage (in
	bytes) needed for the flight. For instance, a TeleMetrum v2.0 flight spending
	20 seconds in ascent and 150 seconds in descent will take
	about (20 * 1600) + (150 * 160) = 56000 bytes of storage. You
	could store dozens of these flights in the on-board flash.
      </para>
      <para>
	The default size allows for several flights on each flight
	computer, except for TeleMini v1.0, which only holds data for a
	single flight. You can adjust the size.
      </para>
      <para>
	Altus Metrum flight computers will not overwrite existing
	flight data, so be sure to download flight data and erase it
	from the flight computer before it fills up. The flight
	computer will still successfully control the flight even if it
	cannot log data, so the only thing you will lose is the data.
      </para>
    </section>
    <section>
      <title>Installation</title>
      <para>
	A typical installation involves attaching 
	only a suitable battery, a single pole switch for 
	power on/off, and two pairs of wires connecting e-matches for the 
	apogee and main ejection charges.  All Altus Metrum products are 
	designed for use with single-cell batteries with 3.7 volts
	nominal. TeleMini v2.0 and EasyMini may also be used with other
	batteries as long as they supply between 4 and 12 volts. 
      </para>
      <para>
	The battery connectors are a standard 2-pin JST connector and
	match batteries sold by Spark Fun. These batteries are
	single-cell Lithium Polymer batteries that nominally provide 3.7
	volts.  Other vendors sell similar batteries for RC aircraft
	using mating connectors, however the polarity for those is
	generally reversed from the batteries used by Altus Metrum
	products. In particular, the Tenergy batteries supplied for use
	in Featherweight flight computers are not compatible with Altus
	Metrum flight computers or battery chargers. <emphasis>Check
	polarity and voltage before connecting any battery not purchased
	from Altus Metrum or Spark Fun.</emphasis>
      </para>
      <para>
	By default, we use the unregulated output of the battery directly
	to fire ejection charges.  This works marvelously with standard
	low-current e-matches like the J-Tek from MJG Technologies, and with
	Quest Q2G2 igniters.  However, if you want or need to use a separate 
	pyro battery, check out the “External Pyro Battery” section in this 
	manual for instructions on how to wire that up. The altimeters are 
	designed to work with an external pyro battery of no more than 15 volts.

      </para>
      <para>
	Ejection charges are wired directly to the screw terminal block
	at the aft end of the altimeter.  You'll need a very small straight 
	blade screwdriver for these screws, such as you might find in a 
	jeweler's screwdriver set.
      </para>
      <para>
	Except for TeleMini v1.0, the flight computers also use the
	screw terminal block for the power switch leads. On TeleMini v1.0,
	the power switch leads are soldered directly to the board and
	can be connected directly to a switch.
      </para>
      <para>
	For most air-frames, the integrated antennas are more than
	adequate.   However, if you are installing in a carbon-fiber or
	metal electronics bay which is opaque to RF signals, you may need to
	use off-board external antennas instead.  In this case, you can
	replace the stock UHF antenna wire with an edge-launched SMA connector,
	and, on TeleMetrum v1, you can unplug the integrated GPS
	antenna and select an appropriate off-board GPS antenna with
	cable terminating in a U.FL connector.
      </para>
    </section>
  </chapter>
  <chapter>
    <title>System Operation</title>
    <section>
      <title>Firmware Modes </title>
      <para>
        The AltOS firmware build for the altimeters has two
        fundamental modes, “idle” and “flight”.  Which of these modes
        the firmware operates in is determined at start up time. For
        TeleMetrum and TeleMega, which have accelerometers, the mode is 
	controlled by the orientation of the
        rocket (well, actually the board, of course...) at the time
        power is switched on.  If the rocket is “nose up”, then
        the flight computer assumes it's on a rail or rod being prepared for
        launch, so the firmware chooses flight mode.  However, if the
        rocket is more or less horizontal, the firmware instead enters
        idle mode.  Since TeleMini v2.0 and EasyMini don't have an
        accelerometer we can use to determine orientation, “idle” mode
        is selected if the board is connected via USB to a computer,
        otherwise the board enters “flight” mode. TeleMini v1.0
        selects “idle” mode if it receives a command packet within the
        first five seconds of operation.
      </para>
      <para>
        At power on, 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 test, and decides 
	which mode to enter next.
      </para>
      <para>
	Here's a short summary of all of the modes and the beeping (or
	flashing, in the case of TeleMini v1) that accompanies each
	mode. In the description of the beeping pattern, “dit” means a
	short beep while "dah" means a long beep (three times as
	long). “Brap” means a long dissonant tone.
	<table frame='all'>
	  <title>AltOS Modes</title>
	  <?dbfo keep-together="always"?>
	  <tgroup cols='4' align='center' colsep='1' rowsep='1'>
	    <colspec align='center' colwidth='*' colname='Mode Name'/>
	    <colspec align='center' colwidth='*' colname='Letter'/>
	    <colspec align='center' colwidth='*' colname='Beeps'/>
	    <colspec align='center' colwidth='*' colname='Description'/>
	    <thead>
	      <row>
		<entry>Mode Name</entry>
		<entry>Abbreviation</entry>
		<entry>Beeps</entry>
		<entry>Description</entry>
	      </row>
	    </thead>
	    <tbody>
	      <row>
		<entry>Startup</entry>
		<entry>S</entry>
		<entry>dit dit dit</entry>
		<entry>
		  <para>
		    Calibrating sensors, detecting orientation.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Idle</entry>
		<entry>I</entry>
		<entry>dit dit</entry>
		<entry>
		  <para>
		    Ready to accept commands over USB or radio link.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Pad</entry>
		<entry>P</entry>
		<entry>dit dah dah dit</entry>
		<entry>
		  <para>
		    Waiting for launch. Not listening for commands.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Boost</entry>
		<entry>B</entry>
		<entry>dah dit dit dit</entry>
		<entry>
		  <para>
		    Accelerating upwards.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Fast</entry>
		<entry>F</entry>
		<entry>dit dit dah dit</entry>
		<entry>
		  <para>
		    Decellerating, but moving faster than 200m/s.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Coast</entry>
		<entry>C</entry>
		<entry>dah dit dah dit</entry>
		<entry>
		  <para>
		    Decellerating, moving slower than 200m/s
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Drogue</entry>
		<entry>D</entry>
		<entry>dah dit dit</entry>
		<entry>
		  <para>
		    Descending after apogee. Above main height.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Main</entry>
		<entry>M</entry>
		<entry>dah dah</entry>
		<entry>
		  <para>
		    Descending. Below main height.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Landed</entry>
		<entry>L</entry>
		<entry>dit dah dit dit</entry>
		<entry>
		  <para>
		    Stable altitude for at least ten seconds.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Sensor error</entry>
		<entry>X</entry>
		<entry>dah dit dit dah</entry>
		<entry>
		  <para>
		    Error detected during sensor calibration.
		  </para>
		</entry>
	      </row>
	    </tbody>
	  </tgroup>
	</table>
      </para>
      <para>
        In flight or “pad” mode, the altimeter engages the flight
        state machine, goes into transmit-only mode to send telemetry,
        and waits for launch to be detected.  Flight mode is indicated
        by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights,
        followed by beeps or flashes indicating the state of the
        pyrotechnic igniter continuity.  One beep/flash indicates
        apogee continuity, two beeps/flashes indicate main continuity,
        three beeps/flashes indicate both apogee and main continuity,
        and one longer “brap” sound which is made by rapidly
        alternating between two tones indicates no continuity.  For a
        dual deploy flight, make sure you're getting three beeps or
        flashes before launching!  For apogee-only or motor eject
        flights, do what makes sense.
      </para>
      <para>
        If idle mode is entered, you will hear an audible “di-dit” or
        see two short flashes (“I” for idle), and the flight state
        machine is disengaged, thus no ejection charges will fire.
        The altimeters also listen for the radio link when in idle
        mode for requests sent via TeleDongle.  Commands can be issued
        in idle mode over either USB or the radio link
        equivalently. TeleMini v1.0 only has the radio link.  Idle
        mode is useful for configuring the altimeter, for extracting
        data from the on-board storage chip after flight, and for
        ground testing pyro charges.
      </para>
      <para>
	In “Idle” and “Pad” modes, once the mode indication
	beeps/flashes and continuity indication has been sent, if
	there is no space available to log the flight in on-board
	memory, the flight computer will emit a warbling tone (much
	slower than the “no continuity tone”)
      </para>
      <para>
	Here's a summary of all of the “pad” and “idle” mode indications.
	<table frame='all'>
	  <title>Pad/Idle Indications</title>
	  <?dbfo keep-together="always"?>
	  <tgroup cols='3' align='center' colsep='1' rowsep='1'>
	    <colspec align='center' colwidth='*' colname='Name'/>
	    <colspec align='center' colwidth='*' colname='Beeps'/>
	    <colspec align='center' colwidth='*' colname='Description'/>
	    <thead>
	      <row>
		<entry>Name</entry>
		<entry>Beeps</entry>
		<entry>Description</entry>
	      </row>
	    </thead>
	    <tbody>
	      <row>
		<entry>Neither</entry>
		<entry>brap</entry>
		<entry>
		  <para>
		    No continuity detected on either apogee or main
		    igniters.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Apogee</entry>
		<entry>dit</entry>
		<entry>
		  <para>
		    Continuity detected only on apogee igniter.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Main</entry>
		<entry>dit dit</entry>
		<entry>
		  <para>
		    Continuity detected only on main igniter.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Both</entry>
		<entry>dit dit dit</entry>
		<entry>
		  <para>
		    Continuity detected on both igniters.
		  </para>
		</entry>
	      </row>
	      <row>
		<entry>Storage Full</entry>
		<entry>warble</entry>
		<entry>
		  <para>
		    On-board data logging storage is full. This will
		    not prevent the flight computer from safely
		    controlling the flight or transmitting telemetry
		    signals, but no record of the flight will be
		    stored in on-board flash.
		  </para>
		</entry>
	      </row>
	    </tbody>
	  </tgroup>
	</table>
      </para>
      <para>
	Once landed, the flight computer will signal that by emitting
	the “Landed” sound described above, after which it will beep
	out the apogee height (in meters). Each digit is represented
	by a sequence of short “dit” beeps, with a pause between
	digits. A zero digit is represented with one long “dah”
	beep. The flight computer will continue to report landed mode
	and beep out the maximum height until turned off.
      </para>
      <para>
        One “neat trick” of particular value when TeleMetrum or TeleMega are used with 
        very large air-frames, is that you can power the board up while the 
        rocket is horizontal, such that it comes up in idle mode.  Then you can
        raise the air-frame to launch position, and issue a 'reset' command 
	via TeleDongle over the radio link to cause the altimeter to reboot and 
        come up in flight mode.  This is much safer than standing on the top 
        step of a rickety step-ladder or hanging off the side of a launch 
        tower with a screw-driver trying to turn on your avionics before 
        installing igniters!
      </para>
      <para>
	TeleMini v1.0 is configured solely via the radio link. Of course, that
	means you need to know the TeleMini radio configuration values
	or you won't be able to communicate with it. For situations
	when you don't have the radio configuration values, TeleMini v1.0
	offers an 'emergency recovery' mode. In this mode, TeleMini is
	configured as follows:
	<itemizedlist>
	  <listitem>
	    <para>
	    Sets the radio frequency to 434.550MHz
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	    Sets the radio calibration back to the factory value.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	    Sets the callsign to N0CALL
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	    Does not go to 'pad' mode after five seconds.
	    </para>
	  </listitem>
	</itemizedlist>
      </para>
      <para>
	To get into 'emergency recovery' mode, first find the row of
	four small holes opposite the switch wiring. Using a short
	piece of small gauge wire, connect the outer two holes
	together, then power TeleMini up. Once the red LED is lit,
	disconnect the wire and the board should signal that it's in
	'idle' mode after the initial five second startup period.
      </para>
    </section>
    <section>
      <title>GPS </title>
      <para>
        TeleMetrum and TeleMega include a complete GPS receiver.  A
        complete explanation of how GPS works is beyond the scope of
        this manual, but the bottom line is that the GPS receiver
        needs to lock onto at least four satellites to obtain a solid
        3 dimensional position fix and know what time it is.
      </para>
      <para>
        The flight computers provide backup power to the GPS chip any time a 
        battery is connected.  This allows the receiver to “warm start” on
        the launch rail much faster than if every power-on were a GPS 
	“cold start”.  In typical operations, powering up
        on the flight line in idle mode while performing final air-frame
        preparation will be sufficient to allow the GPS receiver to cold
        start and acquire lock.  Then the board can be powered down during
        RSO review and installation on a launch rod or rail.  When the board
        is turned back on, the GPS system should lock very quickly, typically
        long before igniter installation and return to the flight line are
        complete.
      </para>
    </section>
    <section>
      <title>Controlling An Altimeter Over The Radio Link</title>
      <para>
        One of the unique features of the Altus Metrum system is the
        ability to create a two way command link between TeleDongle
        and an altimeter using the digital radio transceivers
        built into each device. This allows you to interact with the
        altimeter from afar, as if it were directly connected to the
        computer.
      </para>
      <para>
        Any operation which can be performed with a flight computer can
        either be done with the device directly connected to the
        computer via the USB cable, or through the radio
        link. TeleMini v1.0 doesn't provide a USB connector and so it is
        always communicated with over radio.  Select the appropriate 
        TeleDongle device when the list of devices is presented and 
        AltosUI will interact with an altimeter over the radio link.
      </para>
      <para>
	One oddity in the current interface is how AltosUI selects the
	frequency for radio communications. Instead of providing
	an interface to specifically configure the frequency, it uses
	whatever frequency was most recently selected for the target
	TeleDongle device in Monitor Flight mode. If you haven't ever
	used that mode with the TeleDongle in question, select the
	Monitor Flight button from the top level UI, and pick the
	appropriate TeleDongle device.  Once the flight monitoring
	window is open, select the desired frequency and then close it
	down again. All radio communications will now use that frequency.
      </para>
      <itemizedlist>
        <listitem>
          <para>
            Save Flight Data—Recover flight data from the rocket without
            opening it up.
          </para>
        </listitem>
        <listitem>
          <para>
            Configure altimeter apogee delays, main deploy heights
	    and additional pyro event conditions
            to respond to changing launch conditions. You can also
            'reboot' the altimeter. Use this to remotely enable the
            flight computer by turning TeleMetrum or TeleMega on in “idle” mode,
            then once the air-frame is oriented for launch, you can
            reboot the altimeter and have it restart in pad mode
            without having to climb the scary ladder.
          </para>
        </listitem>
        <listitem>
          <para>
            Fire Igniters—Test your deployment charges without snaking
            wires out through holes in the air-frame. Simply assemble the
            rocket as if for flight with the apogee and main charges
            loaded, then remotely command the altimeter to fire the
            igniters.
          </para>
        </listitem>
      </itemizedlist>
      <para>
        Operation over the radio link for configuring an altimeter, ground
        testing igniters, and so forth uses the same RF frequencies as flight
        telemetry.  To configure the desired TeleDongle frequency, select
        the monitor flight tab, then use the frequency selector and 
        close the window before performing other desired radio operations.
      </para>
      <para>
        The flight computers only enable radio commanding in 'idle' mode.
	TeleMetrum and TeleMega use the accelerometer to detect which orientation they
	start up in, so make sure you have the flight computer lying horizontally when you turn
        it on. Otherwise, it will start in 'pad' mode ready for
        flight, and will not be listening for command packets from TeleDongle.
      </para>
      <para>
	TeleMini listens for a command packet for five seconds after
	first being turned on, if it doesn't hear anything, it enters
	'pad' mode, ready for flight and will no longer listen for
	command packets. The easiest way to connect to TeleMini is to
	initiate the command and select the TeleDongle device. At this
	point, the TeleDongle will be attempting to communicate with
	the TeleMini. Now turn TeleMini on, and it should immediately
	start communicating with the TeleDongle and the desired
	operation can be performed.
      </para>
      <para>
        You can monitor the operation of the radio link by watching the 
        lights on the devices. The red LED will flash each time a packet
        is transmitted, while the green LED will light up on TeleDongle when 
        it is waiting to receive a packet from the altimeter.
      </para>
    </section>
    <section>
      <title>Ground Testing </title>
      <para>
        An important aspect of preparing a rocket using electronic deployment
        for flight is ground testing the recovery system.  Thanks
        to the bi-directional radio link central to the Altus Metrum system,
        this can be accomplished in a TeleMega, TeleMetrum or TeleMini equipped rocket 
        with less work than you may be accustomed to with other systems.  It 
        can even be fun!
      </para>
      <para>
        Just prep the rocket for flight, then power up the altimeter
        in “idle” mode (placing air-frame horizontal for TeleMetrum or TeleMega, or
        selecting the Configure Altimeter tab for TeleMini).  This will cause 
        the firmware to go into “idle” mode, in which the normal flight
        state machine is disabled and charges will not fire without
        manual command.  You can now command the altimeter to fire the apogee
        or main charges from a safe distance using your computer and 
        TeleDongle and the Fire Igniter tab to complete ejection testing.
      </para>
    </section>
    <section>
      <title>Radio Link </title>
      <para>
        Our flight computers all incorporate an RF transceiver, but
        it's not a full duplex system... each end can only be transmitting or
        receiving at any given moment.  So we had to decide how to manage the
        link.
      </para>
      <para>
        By design, the altimeter firmware listens for the radio link when
        it's in “idle mode”, which
        allows us to use the radio link to configure the rocket, do things like
        ejection tests, and extract data after a flight without having to
        crack open the air-frame.  However, when the board is in “flight
        mode”, the altimeter only
        transmits and doesn't listen at all.  That's because we want to put
        ultimate priority on event detection and getting telemetry out of
        the rocket through
        the radio in case the rocket crashes and we aren't able to extract
        data later...
      </para>
      <para>
        We don't generally use a 'normal packet radio' mode like APRS
        because they're just too inefficient.  The GFSK modulation we
        use is FSK with the base-band pulses passed through a Gaussian
        filter before they go into the modulator to limit the
        transmitted bandwidth.  When combined with forward error
        correction and interleaving, this allows us to have a very
        robust 19.2 kilobit data link with only 10-40 milliwatts of
        transmit power, a whip antenna in the rocket, and a hand-held
        Yagi on the ground.  We've had flights to above 21k feet AGL
        with great reception, and calculations suggest we should be
        good to well over 40k feet AGL with a 5-element yagi on the
        ground with our 10mW units and over 100k feet AGL with the
        40mW devices.  We hope to fly boards to higher altitudes over
        time, and would of course appreciate customer feedback on
        performance in higher altitude flights!
      </para>
      <para>
	TeleMetrum v2.0 and TeleMega can send APRS if desired, and the
	interval between APRS packets can be configured. As each APRS
	packet takes a full second to transmit, we recommend an
	interval of at least 5 seconds to avoid consuming too much
	battery power or radio channel bandwidth.
      </para>
    </section>
    <section>
      <title>Configurable Parameters</title>
      <para>
        Configuring an Altus Metrum altimeter for flight is very
        simple.  Even on our baro-only TeleMini and EasyMini boards, the use of a Kalman 
        filter means there is no need to set a “mach delay”.  The few 
        configurable parameters can all be set using AltosUI over USB or
        or radio link via TeleDongle.
      </para>
      <section>
        <title>Radio Frequency</title>
        <para>
	  Altus Metrum boards support radio frequencies in the 70cm
	  band. By default, the configuration interface provides a
	  list of 10 “standard” frequencies in 100kHz channels starting at
	  434.550MHz.  However, the firmware supports use of
	  any 50kHz multiple within the 70cm band. At any given
	  launch, we highly recommend coordinating when and by whom each
	  frequency will be used to avoid interference.  And of course, both
	  altimeter and TeleDongle must be configured to the same
	  frequency to successfully communicate with each other.
        </para>
      </section>
      <section>
        <title>Apogee Delay</title>
        <para>
          Apogee delay is the number of seconds after the altimeter detects flight
          apogee that the drogue charge should be fired.  In most cases, this
          should be left at the default of 0.  However, if you are flying
          redundant electronics such as for an L3 certification, you may wish
          to set one of your altimeters to a positive delay so that both
          primary and backup pyrotechnic charges do not fire simultaneously.
        </para>
        <para>
          The Altus Metrum apogee detection algorithm fires exactly at
          apogee.  If you are also flying an altimeter like the
          PerfectFlite MAWD, which only supports selecting 0 or 1
          seconds of apogee delay, you may wish to set the MAWD to 0
          seconds delay and set the TeleMetrum to fire your backup 2
          or 3 seconds later to avoid any chance of both charges
          firing simultaneously.  We've flown several air-frames this
          way quite happily, including Keith's successful L3 cert.
        </para>
      </section>
      <section>
        <title>Main Deployment Altitude</title>
        <para>
          By default, the altimeter will fire the main deployment charge at an
          elevation of 250 meters (about 820 feet) above ground.  We think this
          is a good elevation for most air-frames, but feel free to change this
          to suit.  In particular, if you are flying two altimeters, you may
          wish to set the
          deployment elevation for the backup altimeter to be something lower
          than the primary so that both pyrotechnic charges don't fire
          simultaneously.
        </para>
      </section>
      <section>
	<title>Maximum Flight Log</title>
	<para>
	  Changing this value will set the maximum amount of flight
	  log storage that an individual flight will use. The
	  available storage is divided into as many flights of the
	  specified size as can fit in the available space. You can
	  download and erase individual flight logs. If you fill up
	  the available storage, future flights will not get logged
	  until you erase some of the stored ones.
	</para>
	<para>
	  Even though our flight computers (except TeleMini v1.0) can store
	  multiple flights, we strongly recommend downloading and saving
	  flight data after each flight.
	</para>
      </section>
      <section>
	<title>Ignite Mode</title>
	<para>
	  Instead of firing one charge at apogee and another charge at
	  a fixed height above the ground, you can configure the
	  altimeter to fire both at apogee or both during
	  descent. This was added to support an airframe Bdale designed that 
	  had two altimeters, one in the fin can and one in the nose.
	</para>
	<para>
	  Providing the ability to use both igniters for apogee or
	  main allows some level of redundancy without needing two
	  flight computers.  In Redundant Apogee or Redundant Main
	  mode, the two charges will be fired two seconds apart.
	</para>
      </section>
      <section>
	<title>Pad Orientation</title>
	<para>
	  TeleMetrum and TeleMega measure acceleration along the axis
	  of the board. Which way the board is oriented affects the
	  sign of the acceleration value. Instead of trying to guess
	  which way the board is mounted in the air frame, the
	  altimeter must be explicitly configured for either Antenna
	  Up or Antenna Down. The default, Antenna Up, expects the end
	  of the board connected to the 70cm antenna to be nearest the
	  nose of the rocket, with the end containing the screw
	  terminals nearest the tail.
	</para>
      </section>
      <section>
	<title>Configurable Pyro Channels</title>
	<para>
	  In addition to the usual Apogee and Main pyro channels,
	  TeleMega has four additional channels that can be configured
	  to activate when various flight conditions are
	  satisfied. You can select as many conditions as necessary;
	  all of them must be met in order to activate the
	  channel. The conditions available are:
	</para>
	<itemizedlist>
	  <listitem>
	    <para>
	      Acceleration away from the ground. Select a value, and
	      then choose whether acceleration should be above or
	      below that value. Acceleration is positive upwards, so
	      accelerating towards the ground would produce negative
	      numbers. Acceleration during descent is noisy and
	      inaccurate, so be careful when using it during these
	      phases of the flight.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Vertical speed.  Select a value, and then choose whether
	      vertical speed should be above or below that
	      value. Speed is positive upwards, so moving towards the
	      ground would produce negative numbers. Speed during
	      descent is a bit noisy and so be careful when using it
	      during these phases of the flight.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Height. Select a value, and then choose whether the
	      height above the launch pad should be above or below
	      that value.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Orientation. TeleMega contains a 3-axis gyroscope and
	      accelerometer which is used to measure the current
	      angle. Note that this angle is not the change in angle
	      from the launch pad, but rather absolute relative to
	      gravity; the 3-axis accelerometer is used to compute the
	      angle of the rocket on the launch pad and initialize the
	      system. Because this value is computed by integrating
	      rate gyros, it gets progressively less accurate as the
	      flight goes on. It should have an accumulated error of
	      less than 0.2°/second (after 10 seconds of flight, the
	      error should be less than 2°).
	    </para>
	    <para>
	      The usual use of the orientation configuration is to
	      ensure that the rocket is traveling mostly upwards when
	      deciding whether to ignite air starts or additional
	      stages. For that, choose a reasonable maximum angle
	      (like 20°) and set the motor igniter to require an angle
	      of less than that value.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Flight Time. Time since boost was detected. Select a
	      value and choose whether to activate the pyro channel
	      before or after that amount of time.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Ascending. A simple test saying whether the rocket is
	      going up or not. This is exactly equivalent to testing
	      whether the speed is &gt; 0.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Descending. A simple test saying whether the rocket is
	      going down or not. This is exactly equivalent to testing
	      whether the speed is &lt; 0.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      After Motor. The flight software counts each time the
	      rocket starts accelerating (presumably due to a motor or
	      motors igniting). Use this value to count ignitions for
	      multi-staged or multi-airstart launches.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Delay. This value doesn't perform any checks, instead it
	      inserts a delay between the time when the other
	      parameters become true and when the pyro channel is
	      activated.
	    </para>
	  </listitem>
	  <listitem>
	    <para>
	      Flight State. The flight software tracks the flight
	      through a sequence of states:
	      <orderedlist>
		<listitem>
		  <para>
		    Boost. The motor has lit and the rocket is
		    accelerating upwards.
		  </para>
		</listitem>
		<listitem>
		  <para>
		    Fast. The motor has burned out and the rocket is
		    descellerating, but it is going faster than 200m/s.
		  </para>
		</listitem>
		<listitem>
		  <para>
		    Coast. The rocket is still moving upwards and
		    decelerating, but the speed is less than 200m/s.
		  </para>
		</listitem>
		<listitem>
		  <para>
		    Drogue. The rocket has reached apogee and is heading
		    back down, but is above the configured Main
		    altitude.
		  </para>
		</listitem>
		<listitem>
		  <para>
		    Main. The rocket is still descending, and is below
		    the Main altitude
		  </para>
		</listitem>
		<listitem>
		  <para>
		    Landed. The rocket is no longer moving.
		  </para>
		</listitem>
	      </orderedlist>
	    </para>
	    <para>
	      You can select a state to limit when the pyro channel
	      may activate; note that the check is based on when the
	      rocket transitions <emphasis>into</emphasis> the state, and so checking for
	      “greater than Boost” means that the rocket is currently
	      in boost or some later state.
	    </para>
	    <para>
	      When a motor burns out, the rocket enters either Fast or
	      Coast state (depending on how fast it is moving). If the
	      computer detects upwards acceleration again, it will
	      move back to Boost state.
	    </para>
	  </listitem>
	</itemizedlist>
      </section>
    </section>

  </chapter>
  <chapter>
    <title>AltosUI</title>
    <informalfigure>
      <mediaobject>
	<imageobject>
	  <imagedata fileref="altosui.png" width="5.5in"/>
	</imageobject>
      </mediaobject>
    </informalfigure>
    <para>
      The AltosUI program provides a graphical user interface for
      interacting with the Altus Metrum product family. AltosUI can
      monitor telemetry data, configure devices and many other
      tasks. The primary interface window provides a selection of
      buttons, one for each major activity in the system.  This chapter
      is split into sections, each of which documents one of the tasks
      provided from the top-level toolbar.
    </para>
    <section>
      <title>Monitor Flight</title>
      <subtitle>Receive, Record and Display Telemetry Data</subtitle>
      <para>
        Selecting this item brings up a dialog box listing all of the
        connected TeleDongle devices. When you choose one of these,
        AltosUI will create a window to display telemetry data as
        received by the selected TeleDongle device.
      </para>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="device-selection.png" width="3.5in"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
        All telemetry data received are automatically recorded in
        suitable log files. The name of the files includes the current
        date and rocket serial and flight numbers.
      </para>
      <para>
        The radio frequency being monitored by the TeleDongle device is
        displayed at the top of the window. You can configure the
        frequency by clicking on the frequency box and selecting the desired
        frequency. AltosUI remembers the last frequency selected for each
        TeleDongle and selects that automatically the next time you use
        that device.
      </para>
      <para>
        Below the TeleDongle frequency selector, the window contains a few
        significant pieces of information about the altimeter providing
        the telemetry data stream:
      </para>
      <itemizedlist>
        <listitem>
          <para>The configured call-sign</para>
        </listitem>
        <listitem>
          <para>The device serial number</para>
        </listitem>
        <listitem>
          <para>The flight number. Each altimeter remembers how many
            times it has flown.
          </para>
        </listitem>
        <listitem>
          <para>
            The rocket flight state. Each flight passes through several
            states including Pad, Boost, Fast, Coast, Drogue, Main and
            Landed.
          </para>
        </listitem>
        <listitem>
          <para>
            The Received Signal Strength Indicator value. This lets
            you know how strong a signal TeleDongle is receiving. The
            radio inside TeleDongle operates down to about -99dBm;
            weaker signals may not be receivable. The packet link uses
            error detection and correction techniques which prevent
            incorrect data from being reported.
          </para>
        </listitem>
        <listitem>
          <para>
            The age of the displayed data, in seconds since the last 
	    successfully received telemetry packet.  In normal operation
	    this will stay in the low single digits.  If the number starts
	    counting up, then you are no longer receiving data over the radio
	    link from the flight computer.
          </para>
        </listitem>
      </itemizedlist>
      <para>
        Finally, the largest portion of the window contains a set of
        tabs, each of which contain some information about the rocket.
        They're arranged in 'flight order' so that as the flight
        progresses, the selected tab automatically switches to display
        data relevant to the current state of the flight. You can select
        other tabs at any time. The final 'table' tab displays all of
        the raw telemetry values in one place in a spreadsheet-like format.
      </para>
      <section>
        <title>Launch Pad</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="launch-pad.png" width="5.5in"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
        <para>
          The 'Launch Pad' tab shows information used to decide when the
          rocket is ready for flight. The first elements include red/green
          indicators, if any of these is red, you'll want to evaluate
          whether the rocket is ready to launch:
          <variablelist>
	    <varlistentry>
	      <term>Battery Voltage</term>
	      <listitem>
		<para>
		  This indicates whether the Li-Po battery powering the 
		  flight computer has sufficient charge to last for
		  the duration of the flight. A value of more than
		  3.8V is required for a 'GO' status.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>Apogee Igniter Voltage</term>
	      <listitem>
		<para>
		  This indicates whether the apogee
		  igniter has continuity. If the igniter has a low
		  resistance, then the voltage measured here will be close
		  to the Li-Po battery voltage. A value greater than 3.2V is
		  required for a 'GO' status.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>Main Igniter Voltage</term>
	      <listitem>
		<para>
		  This indicates whether the main
		  igniter has continuity. If the igniter has a low
		  resistance, then the voltage measured here will be close
		  to the Li-Po battery voltage. A value greater than 3.2V is
		  required for a 'GO' status.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>On-board Data Logging</term>
	      <listitem>
		<para>
		  This indicates whether there is
		  space remaining on-board to store flight data for the
		  upcoming flight. If you've downloaded data, but failed
		  to erase flights, there may not be any space
		  left. Most of our flight computers can store multiple 
		  flights, depending on the configured maximum flight log 
		  size. TeleMini v1.0 stores only a single flight, so it 
		  will need to be
		  downloaded and erased after each flight to capture
		  data. This only affects on-board flight logging; the
		  altimeter will still transmit telemetry and fire
		  ejection charges at the proper times even if the flight
		  data storage is full.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>GPS Locked</term>
	      <listitem>
		<para>
		  For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
		  currently able to compute position information. GPS requires
		  at least 4 satellites to compute an accurate position.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>GPS Ready</term>
	      <listitem>
		<para>
		  For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
		  10 consecutive positions without losing lock. This ensures
		  that the GPS receiver has reliable reception from the
		  satellites.
		</para>
	      </listitem>
	    </varlistentry>
          </variablelist>
        </para>
	<para>
	  The Launchpad tab also shows the computed launch pad position
	  and altitude, averaging many reported positions to improve the
	  accuracy of the fix.
	</para>
      </section>
      <section>
        <title>Ascent</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="ascent.png" width="5.5in"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
        <para>
          This tab is shown during Boost, Fast and Coast
          phases. The information displayed here helps monitor the
          rocket as it heads towards apogee.
        </para>
        <para>
          The height, speed and acceleration are shown along with the
          maximum values for each of them. This allows you to quickly
          answer the most commonly asked questions you'll hear during
          flight.
        </para>
        <para>
          The current latitude and longitude reported by the GPS are
          also shown. Note that under high acceleration, these values
          may not get updated as the GPS receiver loses position
          fix. Once the rocket starts coasting, the receiver should
          start reporting position again.
        </para>
        <para>
          Finally, the current igniter voltages are reported as in the
          Launch Pad tab. This can help diagnose deployment failures
          caused by wiring which comes loose under high acceleration.
        </para>
      </section>
      <section>
        <title>Descent</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="descent.png" width="5.5in"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
        <para>
          Once the rocket has reached apogee and (we hope) activated the
          apogee charge, attention switches to tracking the rocket on
          the way back to the ground, and for dual-deploy flights,
          waiting for the main charge to fire.
        </para>
        <para>
          To monitor whether the apogee charge operated correctly, the
          current descent rate is reported along with the current
          height. Good descent rates vary based on the choice of recovery
	  components, but generally range from 15-30m/s on drogue and should
	  be below 10m/s when under the main parachute in a dual-deploy flight.
        </para>
        <para>
          With GPS-equipped flight computers, you can locate the rocket in the
          sky using the elevation and bearing information to figure
          out where to look. Elevation is in degrees above the
          horizon. Bearing is reported in degrees relative to true
          north. Range can help figure out how big the rocket will
          appear. Ground Distance shows how far it is to a point
          directly under the rocket and can help figure out where the
          rocket is likely to land. Note that all of these values are
          relative to the pad location. If the elevation is near 90°,
          the rocket is over the pad, not over you.
        </para>
        <para>
          Finally, the igniter voltages are reported in this tab as
          well, both to monitor the main charge as well as to see what
          the status of the apogee charge is.  Note that some commercial
	  e-matches are designed to retain continuity even after being
	  fired, and will continue to show as green or return from red to
	  green after firing.
        </para>
      </section>
      <section>
        <title>Landed</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="landed.png" width="5.5in"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
        <para>
          Once the rocket is on the ground, attention switches to
          recovery. While the radio signal is often lost once the
          rocket is on the ground, the last reported GPS position is
          generally within a short distance of the actual landing location.
        </para>
        <para>
          The last reported GPS position is reported both by
          latitude and longitude as well as a bearing and distance from
          the launch pad. The distance should give you a good idea of
          whether to walk or hitch a ride.  Take the reported
          latitude and longitude and enter them into your hand-held GPS
          unit and have that compute a track to the landing location.
        </para>
	<para>
	  Our flight computers will continue to transmit RDF
	  tones after landing, allowing you to locate the rocket by
	  following the radio signal if necessary. You may need to get 
	  away from the clutter of the flight line, or even get up on 
	  a hill (or your neighbor's RV roof) to receive the RDF signal.
	</para>
        <para>
          The maximum height, speed and acceleration reported
          during the flight are displayed for your admiring observers.
	  The accuracy of these immediate values depends on the quality
	  of your radio link and how many packets were received.  
	  Recovering the on-board data after flight may yield
	  more precise results.
        </para>
	<para>
	  To get more detailed information about the flight, you can
	  click on the 'Graph Flight' button which will bring up a
	  graph window for the current flight.
	</para>
      </section>
      <section>
	<title>Table</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="table.png" width="5.5in"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
	<para>
	  The table view shows all of the data available from the
	  flight computer. Probably the most useful data on
	  this tab is the detailed GPS information, which includes
	  horizontal dilution of precision information, and
	  information about the signal being received from the satellites.
	</para>
      </section>
      <section>
        <title>Site Map</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="site-map.png" width="5.5in"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
        <para>
          When the TeleMetrum has a GPS fix, the Site Map tab will map
          the rocket's position to make it easier for you to locate the
          rocket, both while it is in the air, and when it has landed. The
          rocket's state is indicated by color: white for pad, red for
          boost, pink for fast, yellow for coast, light blue for drogue,
          dark blue for main, and black for landed.
        </para>
        <para>
          The map's scale is approximately 3m (10ft) per pixel. The map
          can be dragged using the left mouse button. The map will attempt
          to keep the rocket roughly centered while data is being received.
        </para>
        <para>
          Images are fetched automatically via the Google Maps Static API,
          and cached on disk for reuse. If map images cannot be downloaded,
          the rocket's path will be traced on a dark gray background
          instead.
        </para>
	<para>
	  You can pre-load images for your favorite launch sites
	  before you leave home; check out the 'Preload Maps' section below.
	</para>
      </section>
    </section>
    <section>
      <title>Save Flight Data</title>
      <para>
        The altimeter records flight data to its internal flash memory.
        TeleMetrum data is recorded at a much higher rate than the telemetry
        system can handle, and is not subject to radio drop-outs. As
        such, it provides a more complete and precise record of the
        flight. The 'Save Flight Data' button allows you to read the
        flash memory and write it to disk. 
      </para>
      <para>
        Clicking on the 'Save Flight Data' button brings up a list of
        connected flight computers and TeleDongle devices. If you select a
        flight computer, the flight data will be downloaded from that
        device directly. If you select a TeleDongle device, flight data
        will be downloaded from a flight computer over radio link via the 
	specified TeleDongle. See the chapter on Controlling An Altimeter 
	Over The Radio Link for more information.
      </para>
      <para>
	After the device has been selected, a dialog showing the
	flight data saved in the device will be shown allowing you to
	select which flights to download and which to delete. With
	version 0.9 or newer firmware, you must erase flights in order
	for the space they consume to be reused by another
	flight. This prevents accidentally losing flight data
	if you neglect to download data before flying again. Note that
	if there is no more space available in the device, then no
	data will be recorded during the next flight.
      </para>
      <para>
        The file name for each flight log is computed automatically
        from the recorded flight date, altimeter serial number and
        flight number information.
      </para>
    </section>
    <section>
      <title>Replay Flight</title>
      <para>
        Select this button and you are prompted to select a flight
        record file, either a .telem file recording telemetry data or a
        .eeprom file containing flight data saved from the altimeter
        flash memory.
      </para>
      <para>
        Once a flight record is selected, the flight monitor interface
        is displayed and the flight is re-enacted in real time. Check
        the Monitor Flight chapter above to learn how this window operates.
      </para>
    </section>
    <section>
      <title>Graph Data</title>
      <para>
        Select this button and you are prompted to select a flight
        record file, either a .telem file recording telemetry data or a
        .eeprom file containing flight data saved from
        flash memory.
      </para>
      <para>
        Note that telemetry files will generally produce poor graphs
        due to the lower sampling rate and missed telemetry packets.
        Use saved flight data in .eeprom files for graphing where possible.
      </para>
      <para>
        Once a flight record is selected, a window with multiple tabs is
        opened.
      </para>
      <section>
	<title>Flight Graph</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="graph.png" width="5.5in" scalefit="1"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
	<para>
	  By default, the graph contains acceleration (blue),
	  velocity (green) and altitude (red).
	</para>
      <para>
        The graph can be zoomed into a particular area by clicking and
        dragging down and to the right. Once zoomed, the graph can be
        reset by clicking and dragging up and to the left. Holding down
        control and clicking and dragging allows the graph to be panned.
        The right mouse button causes a pop-up menu to be displayed, giving
        you the option save or print the plot.
      </para>
      </section>
      <section>
	<title>Configure Graph</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="graph-configure.png" width="5.5in" scalefit="1"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
	<para>
	  This selects which graph elements to show, and, at the
	  very bottom, lets you switch between metric and
	  imperial units
	</para>
      </section>
      <section>
	<title>Flight Statistics</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="graph-stats.png" width="5.5in" scalefit="1"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
	<para>
	  Shows overall data computed from the flight.
	</para>
      </section>
      <section>
	<title>Map</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="graph-map.png" width="5.5in" scalefit="1"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
	<para>
	  Shows a satellite image of the flight area overlaid
	  with the path of the flight. The red concentric
	  circles mark the launch pad, the black concentric
	  circles mark the landing location.
	</para>
      </section>
    </section>
    <section>
      <title>Export Data</title>
      <para>
        This tool takes the raw data files and makes them available for
        external analysis. When you select this button, you are prompted to 
	select a flight data file, which can be either a .eeprom or .telem.
	The .eeprom files contain higher resolution and more continuous data, 
	while .telem files contain receiver signal strength information.  
	Next, a second dialog appears which is used to select
        where to write the resulting file. It has a selector to choose
        between CSV and KML file formats.
      </para>
      <section>
        <title>Comma Separated Value Format</title>
        <para>
          This is a text file containing the data in a form suitable for
          import into a spreadsheet or other external data analysis
          tool. The first few lines of the file contain the version and
          configuration information from the altimeter, then
          there is a single header line which labels all of the
          fields. All of these lines start with a '#' character which
          many tools can be configured to skip over.
        </para>
        <para>
          The remaining lines of the file contain the data, with each
          field separated by a comma and at least one space. All of
          the sensor values are converted to standard units, with the
          barometric data reported in both pressure, altitude and
          height above pad units.
        </para>
      </section>
      <section>
        <title>Keyhole Markup Language (for Google Earth)</title>
        <para>
          This is the format used by Google Earth to provide an overlay 
	  within that application. With this, you can use Google Earth to 
	  see the whole flight path in 3D.
        </para>
      </section>
    </section>
    <section>
      <title>Configure Altimeter</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="configure-altimeter.png" width="3in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
        Select this button and then select either an altimeter or
        TeleDongle Device from the list provided. Selecting a TeleDongle
        device will use the radio link to configure a remote altimeter. 
      </para>
      <para>
        The first few lines of the dialog provide information about the
        connected device, including the product name,
        software version and hardware serial number. Below that are the
        individual configuration entries.
      </para>
      <para>
        At the bottom of the dialog, there are four buttons:
      </para>
      <variablelist>
	<varlistentry>
	  <term>Save</term>
	  <listitem>
	    <para>
	      This writes any changes to the
	      configuration parameter block in flash memory. If you don't
	      press this button, any changes you make will be lost.
	    </para>
	  </listitem>
	</varlistentry>
	<varlistentry>
	  <term>Reset</term>
	  <listitem>
	    <para>
	      This resets the dialog to the most recently saved values,
	      erasing any changes you have made.
	    </para>
	  </listitem>
	</varlistentry>
	<varlistentry>
	  <term>Reboot</term>
	  <listitem>
	    <para>
	      This reboots the device. Use this to
	      switch from idle to pad mode by rebooting once the rocket is
	      oriented for flight, or to confirm changes you think you saved 
	      are really saved.
	    </para>
	  </listitem>
	</varlistentry>
	<varlistentry>
	  <term>Close</term>
	  <listitem>
	    <para>
	      This closes the dialog. Any unsaved changes will be
	      lost.
	    </para>
	  </listitem>
	</varlistentry>
      </variablelist>
      <para>
        The rest of the dialog contains the parameters to be configured.
      </para>
      <section>
        <title>Main Deploy Altitude</title>
        <para>
          This sets the altitude (above the recorded pad altitude) at
          which the 'main' igniter will fire. The drop-down menu shows
          some common values, but you can edit the text directly and
          choose whatever you like. If the apogee charge fires below
          this altitude, then the main charge will fire two seconds
          after the apogee charge fires.
        </para>
      </section>
      <section>
        <title>Apogee Delay</title>
        <para>
          When flying redundant electronics, it's often important to
          ensure that multiple apogee charges don't fire at precisely
          the same time, as that can over pressurize the apogee deployment
          bay and cause a structural failure of the air-frame. The Apogee
          Delay parameter tells the flight computer to fire the apogee
          charge a certain number of seconds after apogee has been
          detected.
        </para>
      </section>
      <section>
        <title>Radio Frequency</title>
        <para>
          This configures which of the frequencies to use for both
          telemetry and packet command mode. Note that if you set this
          value via packet command mode, the TeleDongle frequency will
          also be automatically reconfigured to match so that
          communication will continue afterwards.
        </para>
      </section>
      <section>
        <title>RF Calibration</title>
        <para>
          The radios in every Altus Metrum device are calibrated at the
          factory to ensure that they transmit and receive on the
          specified frequency.  If you need to you can adjust the calibration 
	  by changing this value.  Do not do this without understanding what
	  the value means, read the appendix on calibration and/or the source
	  code for more information.  To change a TeleDongle's calibration, 
	  you must reprogram the unit completely.
        </para>
      </section>
      <section>
	<title>Telemetry/RDF/APRS Enable</title>
	<para>
	  Enables the radio for transmission during flight. When
	  disabled, the radio will not transmit anything during flight
	  at all.
	</para>
      </section>
      <section>
	<title>APRS Interval</title>
	<para>
	  How often to transmit GPS information via APRS. This option
	  is available on TeleMetrum v2 and TeleMega
	  boards. TeleMetrum v1 boards cannot transmit APRS
	  packets. Note that a single APRS packet takes nearly a full
	  second to transmit, so enabling this option will prevent
	  sending any other telemetry during that time.
	</para>
      </section>
      <section>
        <title>Callsign</title>
        <para>
          This sets the call sign included in each telemetry packet. Set this
          as needed to conform to your local radio regulations.
        </para>
      </section>
      <section>
        <title>Maximum Flight Log Size</title>
        <para>
          This sets the space (in kilobytes) allocated for each flight
          log. The available space will be divided into chunks of this
          size. A smaller value will allow more flights to be stored,
          a larger value will record data from longer flights.
	</para>
      </section>
      <section>
        <title>Ignite Mode</title>
	<para>
	  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.
	</para>
          <variablelist>
	    <varlistentry>
	      <term>Dual Deploy</term>
	      <listitem>
		<para>
		  This is the usual mode of operation; the
		  'apogee' channel is fired at apogee and the 'main'
		  channel at the height above ground specified by the
		  'Main Deploy Altitude' during descent.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>Redundant Apogee</term>
	      <listitem>
		<para>
		  This fires both channels at
		  apogee, the 'apogee' channel first followed after a two second
		  delay by the 'main' channel.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>Redundant Main</term>
	      <listitem>
		<para>
		  This fires both channels at the
		  height above ground specified by the Main Deploy
		  Altitude setting during descent. The 'apogee'
		  channel is fired first, followed after a two second
		  delay by the 'main' channel.
		</para>
	      </listitem>
	    </varlistentry>
	</variablelist>
      </section>
      <section>
        <title>Pad Orientation</title>
	<para>
	  Because they include accelerometers, TeleMetrum and
	  TeleMega are sensitive to the orientation of the board. By
	  default, they expect the antenna end to point forward. This
	  parameter allows that default to be changed, permitting the
	  board to be mounted with the antenna pointing aft instead.
	</para>
	<variablelist>
	  <varlistentry>
	    <term>Antenna Up</term>
	    <listitem>
	      <para>
		In this mode, the antenna end of the
		flight computer must point forward, in line with the
		expected flight path.
	      </para>
	    </listitem>
	  </varlistentry>
	  <varlistentry>
	    <term>Antenna Down</term>
	    <listitem>
	      <para>
		In this mode, the antenna end of the
		flight computer must point aft, in line with the
		expected flight path.
	      </para>
	    </listitem>
	  </varlistentry>
	</variablelist>
      </section>
      <section>
	<title>Configure Pyro Channels</title>
	<informalfigure>
	  <mediaobject>
	    <imageobject>
	      <imagedata fileref="configure-pyro.png" width="6in" scalefit="1"/>
	    </imageobject>
	  </mediaobject>
	</informalfigure>
	<para>
	  This opens a separate window to configure the additional
	  pyro channels available on TeleMega.  One column is
	  presented for each channel. Each row represents a single
	  parameter, if enabled the parameter must meet the specified
	  test for the pyro channel to be fired. See the Pyro Channels
	  section in the System Operation chapter above for a
	  description of these parameters.
	</para>
	<para>
	  Select conditions and set the related value; the pyro
	  channel will be activated when <emphasis>all</emphasis> of the
	  conditions are met. Each pyro channel has a separate set of
	  configuration values, so you can use different values for
	  the same condition with different channels.
	</para>
	<para>
	  Once you have selected the appropriate configuration for all
	  of the necessary pyro channels, you can save the pyro
	  configuration along with the rest of the flight computer
	  configuration by pressing the 'Save' button in the main
	  Configure Flight Computer window.
	</para>
      </section>
    </section>
    <section>
      <title>Configure AltosUI</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="configure-altosui.png" width="2.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
        This button presents a dialog so that you can configure the AltosUI global settings.
      </para>
      <section>
        <title>Voice Settings</title>
        <para>
          AltosUI provides voice announcements during flight so that you
          can keep your eyes on the sky and still get information about
          the current flight status. However, sometimes you don't want
          to hear them.
        </para>
        <variablelist>
	  <varlistentry>
	    <term>Enable</term>
	    <listitem>
	      <para>Turns all voice announcements on and off</para>
	    </listitem>
	  </varlistentry>
	  <varlistentry>
	    <term>Test Voice</term>
	    <listitem>
	      <para>
		Plays a short message allowing you to verify
		that the audio system is working and the volume settings
		are reasonable
	      </para>
	    </listitem>
	  </varlistentry>
        </variablelist>
      </section>
      <section>
        <title>Log Directory</title>
        <para>
          AltosUI logs all telemetry data and saves all TeleMetrum flash
          data to this directory. This directory is also used as the
          staring point when selecting data files for display or export.
        </para>
        <para>
          Click on the directory name to bring up a directory choosing
          dialog, select a new directory and click 'Select Directory' to
          change where AltosUI reads and writes data files.
        </para>
      </section>
      <section>
        <title>Callsign</title>
        <para>
          This value is transmitted in each command packet sent from 
	  TeleDongle and received from an altimeter.  It is not used in 
	  telemetry mode, as the callsign configured in the altimeter board
	  is included in all telemetry packets.  Configure this
          with the AltosUI operators call sign as needed to comply with
          your local radio regulations.
        </para>
        <para>
	  Note that to successfully command a flight computer over the radio
	  (to configure the altimeter, monitor idle, or fire pyro charges), 
	  the callsign configured here must exactly match the callsign
	  configured in the flight computer.  This matching is case 
	  sensitive.
        </para>
      </section>
      <section>
	<title>Imperial Units</title>
	<para>
	  This switches between metric units (meters) and imperial
	  units (feet and miles). This affects the display of values
	  use during flight monitoring, configuration, data graphing
	  and all of the voice announcements. It does not change the
	  units used when exporting to CSV files, those are always
	  produced in metric units.
	</para>
      </section>
      <section>
	<title>Font Size</title>
	<para>
	  Selects the set of fonts used in the flight monitor
	  window. Choose between the small, medium and large sets.
	</para>
      </section>
      <section>
        <title>Serial Debug</title>
        <para>
          This causes all communication with a connected device to be
          dumped to the console from which AltosUI was started. If
          you've started it from an icon or menu entry, the output
          will simply be discarded. This mode can be useful to debug
          various serial communication issues.
        </para>
      </section>
      <section>
	<title>Manage Frequencies</title>
	<para>
	  This brings up a dialog where you can configure the set of
	  frequencies shown in the various frequency menus. You can
	  add as many as you like, or even reconfigure the default
	  set. Changing this list does not affect the frequency
	  settings of any devices, it only changes the set of
	  frequencies shown in the menus.
	</para>
      </section>
    </section>
    <section>
      <title>Configure Groundstation</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="configure-groundstation.png" width="3in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
        Select this button and then select a TeleDongle Device from the list provided.
      </para>
      <para>
        The first few lines of the dialog provide information about the
        connected device, including the product name,
        software version and hardware serial number. Below that are the
        individual configuration entries.
      </para>
      <para>
	Note that the TeleDongle itself doesn't save any configuration
	data, the settings here are recorded on the local machine in
	the Java preferences database. Moving the TeleDongle to
	another machine, or using a different user account on the same
	machine will cause settings made here to have no effect.
      </para>
      <para>
        At the bottom of the dialog, there are three buttons:
      </para>
      <variablelist>
	<varlistentry>
	  <term>Save</term>
	  <listitem>
	    <para>
	      This writes any changes to the
	      local Java preferences file. If you don't
	      press this button, any changes you make will be lost.
	    </para>
	  </listitem>
	</varlistentry>
	<varlistentry>
	  <term>Reset</term>
	  <listitem>
	    <para>
	      This resets the dialog to the most recently saved values,
	      erasing any changes you have made.
	    </para>
	  </listitem>
	</varlistentry>
	<varlistentry>
	  <term>Close</term>
	  <listitem>
	    <para>
	      This closes the dialog. Any unsaved changes will be
	      lost.
	    </para>
	  </listitem>
	</varlistentry>
      </variablelist>
      <para>
        The rest of the dialog contains the parameters to be configured.
      </para>
      <section>
        <title>Frequency</title>
        <para>
          This configures the frequency to use for both telemetry and
          packet command mode. Set this before starting any operation
          involving packet command mode so that it will use the right
          frequency. Telemetry monitoring mode also provides a menu to
          change the frequency, and that menu also sets the same Java
          preference value used here.
        </para>
      </section>
      <section>
        <title>Radio Calibration</title>
        <para>
          The radios in every Altus Metrum device are calibrated at the
          factory to ensure that they transmit and receive on the
          specified frequency.  To change a TeleDongle's calibration, 
	  you must reprogram the unit completely, so this entry simply
	  shows the current value and doesn't allow any changes.
        </para>
      </section>
    </section>
    <section>
      <title>Flash Image</title>
      <para>
        This reprograms Altus Metrum devices with new
        firmware. TeleMetrum v1.x, TeleDongle, TeleMini and TeleBT are
        all reprogrammed by using another similar unit as a
        programming dongle (pair programming). TeleMega, TeleMetrum v2
        and EasyMini are all programmed directly over their USB ports
        (self programming).  Please read the directions for flashing
        devices in the Updating Device Firmware chapter below.
      </para>
    </section>
    <section>
      <title>Fire Igniter</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="fire-igniter.png" width="1in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	This activates the igniter circuits in the flight computer to help 
	test recovery systems deployment. Because this command can operate
	over the Packet Command Link, you can prepare the rocket as
	for flight and then test the recovery system without needing
	to snake wires inside the air-frame.
      </para>
      <para>
	Selecting the 'Fire Igniter' button brings up the usual device
	selection dialog. Pick the desired device. This brings up another 
	window which shows the current continuity test status for both 
	apogee and main charges.
      </para>
      <para>
	Next, select the desired igniter to fire. This will enable the
	'Arm' button.
      </para>
      <para>
	Select the 'Arm' button. This enables the 'Fire' button. The
	word 'Arm' is replaced by a countdown timer indicating that
	you have 10 seconds to press the 'Fire' button or the system
	will deactivate, at which point you start over again at
	selecting the desired igniter.
      </para>
    </section>
    <section>
      <title>Scan Channels</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="scan-channels.png" width="2.75in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	This listens for telemetry packets on all of the configured
	frequencies, displaying information about each device it
	receives a packet from. You can select which of the three
	telemetry formats should be tried; by default, it only listens
	for the standard telemetry packets used in v1.0 and later
	firmware.
      </para>
    </section>
    <section>
      <title>Load Maps</title>
      <informalfigure>
	<mediaobject>
	  <imageobject>
	    <imagedata fileref="load-maps.png" width="5.5in" scalefit="1"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
      <para>
	Before heading out to a new launch site, you can use this to
	load satellite images in case you don't have internet
	connectivity at the site. This loads a fairly large area
	around the launch site, which should cover any flight you're likely to make.
      </para>
      <para>
	There's a drop-down menu of launch sites we know about; if
	your favorites aren't there, please let us know the lat/lon
	and name of the site. The contents of this list are actually
	downloaded from our server at run-time, so as new sites are sent 
	in, they'll get automatically added to this list.
      </para>
      <para>
	If the launch site isn't in the list, you can manually enter the lat/lon values
      </para>
      <para>
	Clicking the 'Load Map' button will fetch images from Google
	Maps; note that Google limits how many images you can fetch at
	once, so if you load more than one launch site, you may get
	some gray areas in the map which indicate that Google is tired
	of sending data to you. Try again later.
      </para>
    </section>
    <section>
      <title>Monitor Idle</title>
      <para>
	This brings up a dialog similar to the Monitor Flight UI,
	except it works with the altimeter in “idle” mode by sending
	query commands to discover the current state rather than
	listening for telemetry packets. Because this uses command
	mode, it needs to have the TeleDongle and flight computer
	callsigns match exactly. If you can receive telemetry, but
	cannot manage to run Monitor Idle, then it's very likely that
	your callsigns are different in some way.
      </para>
    </section>
  </chapter>
  <chapter>
    <title>AltosDroid</title>
    <para>
      AltosDroid provides the same flight monitoring capabilities as
      AltosUI, but runs on Android devices and is designed to connect
      to a TeleBT receiver over Bluetooth™. AltosDroid monitors
      telemetry data, logging it to internal storage in the Android
      device, and presents that data in a UI the same way the 'Monitor
      Flight' window does in AltosUI.
    </para>
    <para>
      This manual will explain how to configure AltosDroid, connect
      to TeleBT, operate the flight monitoring interface and describe
      what the displayed data means.
    </para>
    <section>
      <title>Installing AltosDroid</title>
      <para>
	AltosDroid is available from the Google Play store. To install
	it on your Android device, open the Google Play Store
	application and search for “altosdroid”. Make sure you don't
	have a space between “altos” and “droid” or you probably won't
	find what you want. That should bring you to the right page
	from which you can download and install the application.
      </para>
    </section>
    <section>
      <title>Connecting to TeleBT</title>
      <para>
	Press the Android 'Menu' button or soft-key to see the
	configuration options available. Select the 'Connect a device'
	option and then the 'Scan for devices' entry at the bottom to
	look for your TeleBT device. Select your device, and when it
	asks for the code, enter '1234'.
      </para>
      <para>
	Subsequent connections will not require you to enter that
	code, and your 'paired' device will appear in the list without
	scanning.
      </para>
    </section>
    <section>
      <title>Configuring AltosDroid</title>
      <para>
	The only configuration option available for AltosDroid is
	which frequency to listen on. Press the Android 'Menu' button
	or soft-key and pick the 'Select radio frequency' entry. That
	brings up a menu of pre-set radio frequencies; pick the one
	which matches your altimeter.
      </para>
    </section>
    <section>
      <title>AltosDroid Flight Monitoring</title>
      <para>
	AltosDroid is designed to mimic the AltosUI flight monitoring
	display, providing separate tabs for each stage of your rocket
	flight along with a tab containing a map of the local area
	with icons marking the current location of the altimeter and
	the Android device.
      </para>
      <section>
	<title>Pad</title>
        <para>
          The 'Launch Pad' tab shows information used to decide when the
          rocket is ready for flight. The first elements include red/green
          indicators, if any of these is red, you'll want to evaluate
          whether the rocket is ready to launch:
          <variablelist>
	    <varlistentry>
	      <term>Battery Voltage</term>
	      <listitem>
		<para>
		  This indicates whether the Li-Po battery
		  powering the TeleMetrum has sufficient charge to last for
		  the duration of the flight. A value of more than
		  3.8V is required for a 'GO' status.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>Apogee Igniter Voltage</term>
	      <listitem>
		<para>
		  This indicates whether the apogee
		  igniter has continuity. If the igniter has a low
		  resistance, then the voltage measured here will be close
		  to the Li-Po battery voltage. A value greater than 3.2V is
		  required for a 'GO' status.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>Main Igniter Voltage</term>
	      <listitem>
		<para>
		  This indicates whether the main
		  igniter has continuity. If the igniter has a low
		  resistance, then the voltage measured here will be close
		  to the Li-Po battery voltage. A value greater than 3.2V is
		  required for a 'GO' status.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>On-board Data Logging</term>
	      <listitem>
		<para>
		  This indicates whether there is
		  space remaining on-board to store flight data for the
		  upcoming flight. If you've downloaded data, but failed
		  to erase flights, there may not be any space
		  left. 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.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>GPS Locked</term>
	      <listitem>
		<para>
		  For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
		  currently able to compute position information. GPS requires
		  at least 4 satellites to compute an accurate position.
		</para>
	      </listitem>
	    </varlistentry>
	    <varlistentry>
	      <term>GPS Ready</term>
	      <listitem>
		<para>
		  For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
		  10 consecutive positions without losing lock. This ensures
		  that the GPS receiver has reliable reception from the
		  satellites.
		</para>
	      </listitem>
	    </varlistentry>
          </variablelist>
	</para>
	<para>
	  The Launchpad tab also shows the computed launch pad position
	  and altitude, averaging many reported positions to improve the
	  accuracy of the fix.
	</para>
      </section>
    </section>
    <section>
      <title>Downloading Flight Logs</title>
      <para>
	AltosDroid always saves every bit of telemetry data it
	receives. To download that to a computer for use with AltosUI,
	simply remove the SD card from your Android device, or connect
	your device to your computer's USB port and browse the files
	on that device. You will find '.telem' files in the TeleMetrum
	directory that will work with AltosUI directly.
      </para>
    </section>
  </chapter>
  <chapter>
    <title>Using Altus Metrum Products</title>
    <section>
      <title>Being Legal</title>
      <para>
        First off, in the US, you need an <ulink url="http://www.altusmetrum.org/Radio/">amateur radio license</ulink> or
        other authorization to legally operate the radio transmitters that are part
        of our products.
      </para>
      </section>
      <section>
        <title>In the Rocket</title>
        <para>
          In the rocket itself, you just need a flight computer and
          a single-cell, 3.7 volt nominal Li-Po rechargeable battery.  An 
	  850mAh battery weighs less than a 9V alkaline battery, and will 
	  run a TeleMetrum or TeleMega for hours.
	  A 110mAh battery weighs less than a triple A battery and is a good
	  choice for use with TeleMini.
        </para>
        <para>
          By default, we ship flight computers with a simple wire antenna.  
	  If your electronics bay or the air-frame it resides within is made 
	  of carbon fiber, which is opaque to RF signals, you may prefer to 
	  install an SMA connector so that you can run a coaxial cable to an 
	  antenna mounted elsewhere in the rocket.  However, note that the 
	  GPS antenna is fixed on all current products, so you really want
	  to install the flight computer in a bay made of RF-transparent
	  materials if at all possible.
        </para>
      </section>
      <section>
        <title>On the Ground</title>
        <para>
          To receive the data stream from the rocket, you need an antenna and short
          feed-line connected to one of our <ulink url="http://www.altusmetrum.org/TeleDongle/">TeleDongle</ulink> units.  If possible, use an SMA to BNC 
	adapter instead of feedline between the antenna feedpoint and 
	TeleDongle, as this will give you the best performance.  The
          TeleDongle in turn plugs directly into the USB port on a notebook
          computer.  Because TeleDongle looks like a simple serial port, your computer
          does not require special device drivers... just plug it in.
        </para>
        <para>
	  The GUI tool, AltosUI, is written in Java and runs across
	  Linux, Mac OS and Windows. There's also a suite of C tools
	  for Linux which can perform most of the same tasks.
        </para>
        <para>
	  Alternatively, a TeleBT attached with an SMA to BNC adapter at the
	  feed point of a hand-held yagi used in conjunction with an Android
	  device running AltosDroid makes an outstanding ground station.
        </para>
        <para>
          After the flight, you can use the radio link to extract the more detailed data
          logged in either TeleMetrum or TeleMini devices, or you can use a mini USB cable to plug into the
          TeleMetrum board directly.  Pulling out the data without having to open up
          the rocket is pretty cool!  A USB cable is also how you charge the Li-Po
          battery, so you'll want one of those anyway... the same cable used by lots
          of digital cameras and other modern electronic stuff will work fine.
        </para>
        <para>
          If your rocket lands out of sight, you may enjoy having a hand-held 
	  GPS receiver, so that you can put in a way-point for the last 
	  reported rocket position before touch-down.  This makes looking for 
	  your rocket a lot like Geo-Caching... just go to the way-point and 
	  look around starting from there.  AltosDroid on an Android device
	  with GPS receiver works great for this, too!
        </para>
        <para>
          You may also enjoy having a ham radio “HT” that covers the 70cm band... you
          can use that with your antenna to direction-find the rocket on the ground
          the same way you can use a Walston or Beeline tracker.  This can be handy
          if the rocket is hiding in sage brush or a tree, or if the last GPS position
          doesn't get you close enough because the rocket dropped into a canyon, or
          the wind is blowing it across a dry lake bed, or something like that...  Keith
          currently uses a Yaesu VX-7R, Bdale has a Baofung UV-5R
	  which isn't as nice, but was a whole lot cheaper.
        </para>
        <para>
          So, to recap, on the ground the hardware you'll need includes:
          <orderedlist inheritnum='inherit' numeration='arabic'>
            <listitem>
              <para>
	      an antenna and feed-line or adapter
	      </para>
            </listitem>
            <listitem>
              <para>
	      a TeleDongle
	      </para>
            </listitem>
            <listitem>
              <para>
	      a notebook computer
	      </para>
            </listitem>
            <listitem>
              <para>
	      optionally, a hand-held GPS receiver
	      </para>
            </listitem>
            <listitem>
              <para>
	      optionally, an HT or receiver covering 435 MHz
	      </para>
            </listitem>
          </orderedlist>
        </para>
        <para>
          The best hand-held commercial directional antennas we've found for radio
          direction finding rockets are from
          <ulink url="http://www.arrowantennas.com/" >
            Arrow Antennas.
          </ulink>
          The 440-3 and 440-5 are both good choices for finding a
          TeleMetrum- or TeleMini- equipped rocket when used with a suitable 
	  70cm HT.  TeleDongle and an SMA to BNC adapter fit perfectly
	  between the driven element and reflector of Arrow antennas.
        </para>
      </section>
      <section>
        <title>Data Analysis</title>
        <para>
          Our software makes it easy to log the data from each flight, both the
          telemetry received during the flight itself, and the more
          complete data log recorded in the flash memory on the altimeter
          board.  Once this data is on your computer, our post-flight tools make it
          easy to quickly get to the numbers everyone wants, like apogee altitude,
          max acceleration, and max velocity.  You can also generate and view a
          standard set of plots showing the altitude, acceleration, and
          velocity of the rocket during flight.  And you can even export a TeleMetrum data file
          usable with Google Maps and Google Earth for visualizing the flight path
          in two or three dimensions!
        </para>
        <para>
          Our ultimate goal is to emit a set of files for each flight that can be
          published as a web page per flight, or just viewed on your local disk with
          a web browser.
        </para>
      </section>
      <section>
        <title>Future Plans</title>
	<para>
	  We've designed a simple GPS based radio tracker called TeleGPS.  
	  If all goes well, we hope to introduce this in the first
	  half of 2014.
	</para>
        <para>
          We have designed and prototyped several “companion boards” that 
	  can attach to the companion connector on TeleMetrum and TeleMega
	  flight computers to collect more data, provide more pyro channels, 
	  and so forth.  We do not yet know if or when any of these boards
	  will be produced in enough quantity to sell.  If you have specific
	  interests for data collection or control of events in your rockets
	  beyond the capabilities of our existing productions, please let 
	  us know!
        </para>
        <para>
          Because all of our work is open, both the hardware designs and the 
	  software, if you have some great idea for an addition to the current 
	  Altus Metrum family, feel free to dive in and help!  Or let us know 
	  what you'd like to see that we aren't already working on, and maybe 
	  we'll get excited about it too...
        </para>
        <para>
	  Watch our 
	  <ulink url="http://altusmetrum.org/">web site</ulink> for more news 
	  and information as our family of products evolves!
        </para>
    </section>
  </chapter>
  <chapter>
    <title>Altimeter Installation Recommendations</title>
    <para>
      Building high-power rockets that fly safely is hard enough. Mix
      in some sophisticated electronics and a bunch of radio energy
      and some creativity and/or compromise may be required. This chapter
      contains some suggestions about how to install Altus Metrum
      products into a rocket air-frame, including how to safely and
      reliably mix a variety of electronics into the same air-frame.
    </para>
    <section>
      <title>Mounting the Altimeter</title>
      <para>
	The first consideration is to ensure that the altimeter is
	securely fastened to the air-frame. For most of our products, we 
	prefer nylon standoffs and nylon screws; they're good to at least 50G
	and cannot cause any electrical issues on the board.  Metal screws
	and standoffs are fine, too, just be careful to avoid electrical
	shorts!  For TeleMini v1.0, we usually cut small pieces of 1/16 inch 
	balsa to fit
	under the screw holes, and then take 2x56 nylon screws and
	screw them through the TeleMini mounting holes, through the
	balsa and into the underlying material.
      </para>
      <orderedlist inheritnum='inherit' numeration='arabic'>
	<listitem>
	  <para>
	    Make sure accelerometer-equipped products like TeleMetrum and
	    TeleMega are aligned precisely along the axis of
	    acceleration so that the accelerometer can accurately
	    capture data during the flight.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Watch for any metal touching components on the
	    board. Shorting out connections on the bottom of the board
	    can cause the altimeter to fail during flight.
	  </para>
	</listitem>
      </orderedlist>
    </section>
    <section>
      <title>Dealing with the Antenna</title>
      <para>
	The antenna supplied is just a piece of solid, insulated,
	wire. If it gets damaged or broken, it can be easily
	replaced. It should be kept straight and not cut; bending or
	cutting it will change the resonant frequency and/or
	impedance, making it a less efficient radiator and thus
	reducing the range of the telemetry signal.
      </para>
      <para>
	Keeping metal away from the antenna will provide better range
	and a more even radiation pattern. In most rockets, it's not
	entirely possible to isolate the antenna from metal
	components; there are often bolts, all-thread and wires from other
	electronics to contend with. Just be aware that the more stuff
	like this around the antenna, the lower the range.
      </para>
      <para>
	Make sure the antenna is not inside a tube made or covered
	with conducting material. Carbon fiber is the most common
	culprit here -- CF is a good conductor and will effectively
	shield the antenna, dramatically reducing signal strength and
	range. Metallic flake paint is another effective shielding
	material which should be avoided around any antennas.
      </para>
      <para>
	If the ebay is large enough, it can be convenient to simply
	mount the altimeter at one end and stretch the antenna out
	inside. Taping the antenna to the sled can keep it straight
	under acceleration. If there are metal rods, keep the
	antenna as far away as possible.
      </para>
      <para>
	For a shorter ebay, it's quite practical to have the antenna
	run through a bulkhead and into an adjacent bay. Drill a small
	hole in the bulkhead, pass the antenna wire through it and
	then seal it up with glue or clay. We've also used acrylic
	tubing to create a cavity for the antenna wire. This works a
	bit better in that the antenna is known to stay straight and
	not get folded by recovery components in the bay. Angle the
	tubing towards the side wall of the rocket and it ends up
	consuming very little space.
      </para>
      <para>
	If you need to place the UHF antenna at a distance from the
	altimeter, you can replace the antenna with an edge-mounted
	SMA connector, and then run 50Ω coax from the board to the
	antenna. Building a remote antenna is beyond the scope of this
	manual.
      </para>
    </section>
    <section>
      <title>Preserving GPS Reception</title>
      <para>
	The GPS antenna and receiver used in TeleMetrum and TeleMega is 
	highly sensitive and normally have no trouble tracking enough
	satellites to provide accurate position information for
	recovering the rocket. However, there are many ways the GPS signal
	can end up attenuated, negatively affecting GPS performance. 
      <orderedlist inheritnum='inherit' numeration='arabic'>
	<listitem>
	  <para>
	    Conductive tubing or coatings. Carbon fiber and metal
	    tubing, or metallic paint will all dramatically attenuate the
	    GPS signal. We've never heard of anyone successfully
	    receiving GPS from inside these materials.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Metal components near the GPS patch antenna. These will
	    de-tune the patch antenna, changing the resonant frequency
	    away from the L1 carrier and reduce the effectiveness of the
	    antenna. You can place as much stuff as you like beneath the
	    antenna as that's covered with a ground plane. But, keep
	    wires and metal out from above the patch antenna.
	  </para>
	</listitem>
      </orderedlist>
      </para>
    </section>
    <section>
      <title>Radio Frequency Interference</title>
      <para>
	Any altimeter will generate RFI; the digital circuits use
	high-frequency clocks that spray radio interference across a
	wide band. Altus Metrum altimeters generate intentional radio
	signals as well, increasing the amount of RF energy around the board.
      </para>
      <para>
	Rocketry altimeters also use precise sensors measuring air
	pressure and acceleration. Tiny changes in voltage can cause
	these sensor readings to vary by a huge amount. When the
	sensors start mis-reporting data, the altimeter can either
	fire the igniters at the wrong time, or not fire them at all.
      </para>
      <para>
	Voltages are induced when radio frequency energy is
	transmitted from one circuit to another. Here are things that
	influence the induced voltage and current:
      </para>
      <itemizedlist>
	<listitem>
	  <para>
	    Keep wires from different circuits apart. Moving circuits
	    further apart will reduce RFI.
	  </para>
	</listitem>
	<listitem>
	  <para>
	  Avoid parallel wires from different circuits. The longer two
	  wires run parallel to one another, the larger the amount of
	  transferred energy. Cross wires at right angles to reduce
	  RFI.
	  </para>
	</listitem>
	<listitem>
	  <para>
	  Twist wires from the same circuits. Two wires the same
	  distance from the transmitter will get the same amount of
	  induced energy which will then cancel out. Any time you have
	  a wire pair running together, twist the pair together to
	  even out distances and reduce RFI. For altimeters, this
	  includes battery leads, switch hookups and igniter
	  circuits.
	  </para>
	</listitem>
	<listitem>
	  <para>
	  Avoid resonant lengths. Know what frequencies are present
	  in the environment and avoid having wire lengths near a
	  natural resonant length. Altus Metrum products transmit on the
	  70cm amateur band, so you should avoid lengths that are a
	  simple ratio of that length; essentially any multiple of ¼
	  of the wavelength (17.5cm).
	  </para>
	</listitem>
      </itemizedlist>
    </section>
    <section>
      <title>The Barometric Sensor</title>
      <para>
	Altusmetrum altimeters measure altitude with a barometric
	sensor, essentially measuring the amount of air above the
	rocket to figure out how high it is. A large number of
	measurements are taken as the altimeter initializes itself to
	figure out the pad altitude. Subsequent measurements are then
	used to compute the height above the pad.
      </para>
      <para>
	To accurately measure atmospheric pressure, the ebay
	containing the altimeter must be vented outside the
	air-frame. The vent must be placed in a region of linear
	airflow, have smooth edges, and away from areas of increasing or 
	decreasing pressure.
      </para>
      <para>
	All barometric sensors are quite sensitive to chemical damage from 
	the products of APCP or BP combustion, so make sure the ebay is 
	carefully sealed from any compartment which contains ejection 
	charges or motors.
      </para>
    </section>
    <section>
      <title>Ground Testing</title>
      <para>
	The most important aspect of any installation is careful
	ground testing. Bringing an air-frame up to the LCO table which
	hasn't been ground tested can lead to delays or ejection
	charges firing on the pad, or, even worse, a recovery system
	failure.
      </para>
      <para>
	Do a 'full systems' test that includes wiring up all igniters
	without any BP and turning on all of the electronics in flight
	mode. This will catch any mistakes in wiring and any residual
	RFI issues that might accidentally fire igniters at the wrong
	time. Let the air-frame sit for several minutes, checking for
	adequate telemetry signal strength and GPS lock.  If any igniters
	fire unexpectedly, find and resolve the issue before loading any
	BP charges!
      </para>
      <para>
	Ground test the ejection charges. Prepare the rocket for
	flight, loading ejection charges and igniters. Completely
	assemble the air-frame and then use the 'Fire Igniters'
	interface through a TeleDongle to command each charge to
	fire. Make sure the charge is sufficient to robustly separate
	the air-frame and deploy the recovery system.
      </para>
    </section>
  </chapter>
  <chapter>
    <title>Updating Device Firmware</title>
    <para>
      TeleMega, TeleMetrum v2 and EasyMini are all programmed directly
      over their USB connectors (self programming). TeleMetrum v1, TeleMini and
      TeleDongle are all programmed by using another device as a
      programmer (pair programming). It's important to recognize which
      kind of devices you have before trying to reprogram them.
    </para>
    <para>
      You may wish to begin by ensuring you have current firmware images.
      These are distributed as part of the AltOS software bundle that
      also includes the AltosUI ground station program.  Newer ground
      station versions typically work fine with older firmware versions,
      so you don't need to update your devices just to try out new
      software features.  You can always download the most recent
      version from <ulink url="http://www.altusmetrum.org/AltOS/"/>.
    </para>
    <para>
      If you need to update the firmware on a TeleDongle, we recommend 
      updating the altimeter first, before updating TeleDongle.  However,
      note that TeleDongle rarely need to be updated.  Any firmware version
      1.0.1 or later will work, version 1.2.1 may have improved receiver
      performance slightly.
    </para>
    <para>
      Self-programmable devices (TeleMega, TeleMetrum v2 and EasyMini)
      are reprogrammed by connecting them to your computer over USB
    </para>
    <section>
      <title>
	Updating TeleMega, TeleMetrum v2 or EasyMini Firmware
      </title>
      <orderedlist inheritnum='inherit' numeration='arabic'>
	<listitem>
	  <para>
	    Attach a battery and power switch to the target
	    device. Power up the device.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Using a Micro USB cable, connect the target device to your
	    computer's USB socket.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Run AltosUI, and select 'Flash Image' from the File menu.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Select the target device in the Device Selection dialog.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Select the image you want to flash to the device, which
	    should have a name in the form
	    &lt;product&gt;-v&lt;product-version&gt;-&lt;software-version&gt;.ihx, such
	    as TeleMega-v1.0-1.3.0.ihx.
	  </para>
	</listitem>
        <listitem>
	  <para>
	    Make sure the configuration parameters are reasonable
	    looking. If the serial number and/or RF configuration
	    values aren't right, you'll need to change them.
	  </para>
        </listitem>
        <listitem>
	  <para>
	    Hit the 'OK' button and the software should proceed to flash
	    the device with new firmware, showing a progress bar.
	  </para>
        </listitem>
	<listitem>
	  <para>
	    Verify that the device is working by using the 'Configure
	    Altimeter' item to check over the configuration.
	  </para>
	</listitem>
      </orderedlist>
      <section>
	<title>Recovering From Self-Flashing Failure</title>
	<para>
	  If the firmware loading fails, it can leave the device
	  unable to boot. Not to worry, you can force the device to
	  start the boot loader instead, which will let you try to
	  flash the device again.
	</para>
	<para>
	  On each device, connecting two pins from one of the exposed
	  connectors will force the boot loader to start, even if the
	  regular operating system has been corrupted in some way.
	</para>
	<variablelist>
	  <varlistentry>
	    <term>TeleMega</term>
	    <listitem>
	      <para>
		Connect pin 6 and pin 1 of the companion connector. Pin 1
		can be identified by the square pad around it, and then
		the pins could sequentially across the board. Be very
		careful to <emphasis>not</emphasis> short pin 8 to
		anything as that is connected directly to the battery. Pin
		7 carries 3.3V and the board will crash if that is
		connected to pin 1, but shouldn't damage the board.
	      </para>
	    </listitem>
	  </varlistentry>
	  <varlistentry>
	    <term>TeleMetrum v2</term>
	    <listitem>
	      <para>
		Connect pin 6 and pin 1 of the companion connector. Pin 1
		can be identified by the square pad around it, and then
		the pins could sequentially across the board. Be very
		careful to <emphasis>not</emphasis> short pin 8 to
		anything as that is connected directly to the battery. Pin
		7 carries 3.3V and the board will crash if that is
		connected to pin 1, but shouldn't damage the board.
	      </para>
	    </listitem>
	  </varlistentry>
	  <varlistentry>
	    <term>EasyMini</term>
	    <listitem>
	      <para>
		Connect pin 6 and pin 1 of the debug connector, which is
		the six holes next to the beeper. Pin 1 can be identified
		by the square pad around it, and then the pins could
		sequentially across the board, making Pin 6 the one on the
		other end of the row.
	      </para>
	    </listitem>
	  </varlistentry>
	</variablelist>
      </section>
    </section>
    <section>
      <title>Pair Programming</title>
      <para>
	The big concept to understand is that you have to use a
	TeleMega, TeleMetrum or TeleDongle as a programmer to update a
	pair programmed device. Due to limited memory resources in the
	cc1111, we don't support programming directly over USB for these
	devices.
      </para>
    </section>
    <section>
      <title>Updating TeleMetrum v1.x Firmware</title>
      <orderedlist inheritnum='inherit' numeration='arabic'>
        <listitem>
	  <para>
          Find the 'programming cable' that you got as part of the starter
          kit, that has a red 8-pin MicroMaTch connector on one end and a
          red 4-pin MicroMaTch connector on the other end.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Take the 2 screws out of the TeleDongle case to get access
          to the circuit board.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Plug the 8-pin end of the programming cable to the
          matching connector on the TeleDongle, and the 4-pin end to the
          matching connector on the TeleMetrum.
	  Note that each MicroMaTch connector has an alignment pin that
	  goes through a hole in the PC board when you have the cable
	  oriented correctly.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Attach a battery to the TeleMetrum board.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Plug the TeleDongle into your computer's USB port, and power
          up the TeleMetrum.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Run AltosUI, and select 'Flash Image' from the File menu.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Pick the TeleDongle device from the list, identifying it as the
          programming device.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Select the image you want put on the TeleMetrum, which should have a
          name in the form telemetrum-v1.2-1.0.0.ihx.  It should be visible
	in the default directory, if not you may have to poke around
	your system to find it.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Make sure the configuration parameters are reasonable
          looking. If the serial number and/or RF configuration
          values aren't right, you'll need to change them.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Hit the 'OK' button and the software should proceed to flash
          the TeleMetrum with new firmware, showing a progress bar.
	  </para>
        </listitem>
        <listitem>
	  <para>
          Confirm that the TeleMetrum board seems to have updated OK, which you
          can do by plugging in to it over USB and using a terminal program
          to connect to the board and issue the 'v' command to check
          the version, etc.
	  </para>
        </listitem>
        <listitem>
	  <para>
          If something goes wrong, give it another try.
	  </para>
        </listitem>
      </orderedlist>
    </section>
    <section>
      <title>Updating TeleMini Firmware</title>
      <orderedlist inheritnum='inherit' numeration='arabic'>
        <listitem>
<para>
	  You'll need a special 'programming cable' to reprogram the
	  TeleMini.  You can make your own using an 8-pin MicroMaTch 
	  connector on one end and a set of four pins on the other.
        </para>
</listitem>
        <listitem>
<para>
          Take the 2 screws out of the TeleDongle case to get access
          to the circuit board.
        </para>
</listitem>
        <listitem>
<para>
          Plug the 8-pin end of the programming cable to the matching
          connector on the TeleDongle, and the 4-pins into the holes
          in the TeleMini circuit board.  Note that the MicroMaTch
          connector has an alignment pin that goes through a hole in
          the PC board when you have the cable oriented correctly, and
          that pin 1 on the TeleMini board is marked with a square pad
          while the other pins have round pads.
        </para>
</listitem>
        <listitem>
<para>
          Attach a battery to the TeleMini board.
        </para>
</listitem>
        <listitem>
<para>
          Plug the TeleDongle into your computer's USB port, and power
          up the TeleMini
        </para>
</listitem>
        <listitem>
<para>
          Run AltosUI, and select 'Flash Image' from the File menu.
        </para>
</listitem>
        <listitem>
<para>
          Pick the TeleDongle device from the list, identifying it as the
          programming device.
        </para>
</listitem>
        <listitem>
<para>
          Select the image you want put on the TeleMini, which should have a
          name in the form telemini-v1.0-1.0.0.ihx.  It should be visible
	in the default directory, if not you may have to poke around
	your system to find it.
        </para>
</listitem>
        <listitem>
<para>
          Make sure the configuration parameters are reasonable
          looking. If the serial number and/or RF configuration
          values aren't right, you'll need to change them.
        </para>
</listitem>
        <listitem>
<para>
          Hit the 'OK' button and the software should proceed to flash
          the TeleMini with new firmware, showing a progress bar.
        </para>
</listitem>
        <listitem>
<para>
          Confirm that the TeleMini board seems to have updated OK, which you
          can do by configuring it over the radio link through the TeleDongle, or
	  letting it come up in “flight” mode and listening for telemetry.
        </para>
</listitem>
        <listitem>
<para>
          If something goes wrong, give it another try.
        </para>
</listitem>
      </orderedlist>
    </section>
    <section>
      <title>Updating TeleDongle Firmware</title>
      <para>
        Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini
	firmware, but you use either a TeleMetrum or another TeleDongle as the programmer.
	</para>
      <orderedlist inheritnum='inherit' numeration='arabic'>
        <listitem>
<para>
          Find the 'programming cable' that you got as part of the starter
          kit, that has a red 8-pin MicroMaTch connector on one end and a
          red 4-pin MicroMaTch connector on the other end.
        </para>
</listitem>
        <listitem>
<para>
	  Find the USB cable that you got as part of the starter kit, and
	  plug the “mini” end in to the mating connector on TeleMetrum or TeleDongle.
        </para>
</listitem>
        <listitem>
<para>
          Take the 2 screws out of the TeleDongle case to get access
          to the circuit board.
        </para>
</listitem>
        <listitem>
<para>
          Plug the 8-pin end of the programming cable to the
          matching connector on the programmer, and the 4-pin end to the
          matching connector on the TeleDongle.
	  Note that each MicroMaTch connector has an alignment pin that
	  goes through a hole in the PC board when you have the cable
	  oriented correctly.
        </para>
</listitem>
        <listitem>
<para>
          Attach a battery to the TeleMetrum board if you're using one.
        </para>
</listitem>
        <listitem>
<para>
          Plug both the programmer and the TeleDongle into your computer's USB
	  ports, and power up the programmer.
        </para>
</listitem>
        <listitem>
<para>
          Run AltosUI, and select 'Flash Image' from the File menu.
        </para>
</listitem>
        <listitem>
<para>
          Pick the programmer device from the list, identifying it as the
          programming device.
        </para>
</listitem>
        <listitem>
<para>
          Select the image you want put on the TeleDongle, which should have a
          name in the form teledongle-v0.2-1.0.0.ihx.  It should be visible
	in the default directory, if not you may have to poke around
	your system to find it.
        </para>
</listitem>
        <listitem>
<para>
          Make sure the configuration parameters are reasonable
          looking. If the serial number and/or RF configuration
          values aren't right, you'll need to change them.  The TeleDongle
	  serial number is on the “bottom” of the circuit board, and can
	  usually be read through the translucent blue plastic case without
	  needing to remove the board from the case.
        </para>
</listitem>
        <listitem>
<para>
          Hit the 'OK' button and the software should proceed to flash
          the TeleDongle with new firmware, showing a progress bar.
        </para>
</listitem>
        <listitem>
<para>
          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.
        </para>
</listitem>
        <listitem>
<para>
          If something goes wrong, give it another try.
        </para>
</listitem>
      </orderedlist>
      <para>
        Be careful removing the programming cable from the locking 8-pin
        connector on TeleMetrum.  You'll need a fingernail or perhaps a thin
        screwdriver or knife blade to gently pry the locking ears out
        slightly to extract the connector.  We used a locking connector on
        TeleMetrum to help ensure that the cabling to companion boards
        used in a rocket don't ever come loose accidentally in flight.
      </para>
    </section>
  </chapter>
  <chapter>
    <title>Hardware Specifications</title>
    <section>
      <title>
	TeleMega Specifications
      </title>
      <itemizedlist>
	<listitem>
	  <para>
	    Recording altimeter for model rocketry.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Supports dual deployment and four auxiliary pyro channels
	    (a total of 6 events).
	  </para>
	</listitem>
	<listitem>
	  <para>
	    70cm 40mW ham-band transceiver for telemetry down-link.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Barometric pressure sensor good to 100k feet MSL.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    1-axis high-g accelerometer for motor characterization, capable of
	    +/- 102g.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    9-axis IMU including integrated 3-axis accelerometer,
	    3-axis gyroscope and 3-axis magnetometer.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board 8 Megabyte non-volatile memory for flight data storage.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    USB interface for battery charging, configuration, and data recovery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Fully integrated support for Li-Po rechargeable batteries.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Can use either main system Li-Po or optional separate pyro battery
	    to fire e-matches.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    3.25 x 1.25 inch board designed to fit inside 38mm air-frame coupler tube.
	  </para>
	</listitem>
      </itemizedlist>
    </section>
    <section>
      <title>
	TeleMetrum v2 Specifications
      </title>
      <itemizedlist>
	<listitem>
	  <para>
	    Recording altimeter for model rocketry.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Supports dual deployment (can fire 2 ejection charges).
	  </para>
	</listitem>
	<listitem>
	  <para>
	    70cm, 40mW ham-band transceiver for telemetry down-link.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Barometric pressure sensor good to 100k feet MSL.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    1-axis high-g accelerometer for motor characterization, capable of
	    +/- 102g.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board, integrated uBlox Max 7 GPS receiver with 5Hz update rate capability.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board 8 Megabyte non-volatile memory for flight data storage.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    USB interface for battery charging, configuration, and data recovery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Fully integrated support for Li-Po rechargeable batteries.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Uses Li-Po to fire e-matches, can be modified to support 
	    optional separate pyro battery if needed.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
	  </para>
	</listitem>
      </itemizedlist>
    </section>
    <section>
      <title>TeleMetrum v1 Specifications</title>
      <itemizedlist>
	<listitem>
	  <para>
	    Recording altimeter for model rocketry.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Supports dual deployment (can fire 2 ejection charges).
	  </para>
	</listitem>
	<listitem>
	  <para>
	    70cm, 10mW ham-band transceiver for telemetry down-link.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Barometric pressure sensor good to 45k feet MSL.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    1-axis high-g accelerometer for motor characterization, capable of
	    +/- 50g using default part.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board, integrated GPS receiver with 5Hz update rate capability.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board 1 megabyte non-volatile memory for flight data storage.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    USB interface for battery charging, configuration, and data recovery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Fully integrated support for Li-Po rechargeable batteries.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Uses Li-Po to fire e-matches, can be modified to support 
	    optional separate pyro battery if needed.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube.
	  </para>
	</listitem>
      </itemizedlist>
    </section>
    <section>
      <title>
	TeleMini v2.0 Specifications
      </title>
      <itemizedlist>
	<listitem>
	  <para>
	    Recording altimeter for model rocketry.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Supports dual deployment (can fire 2 ejection charges).
	  </para>
	</listitem>
	<listitem>
	  <para>
	    70cm, 10mW ham-band transceiver for telemetry down-link.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Barometric pressure sensor good to 100k feet MSL.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board 1 megabyte non-volatile memory for flight data storage.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    USB interface for configuration, and data recovery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Support for Li-Po rechargeable batteries (using an
	    external charger), or any 3.7-15V external battery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Uses Li-Po to fire e-matches, can be modified to support 
	    optional separate pyro battery if needed.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
	  </para>
	</listitem>
      </itemizedlist>
    </section>
    <section>
      <title>
	TeleMini v1.0 Specifications
      </title>
      <itemizedlist>
	<listitem>
	  <para>
	    Recording altimeter for model rocketry.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Supports dual deployment (can fire 2 ejection charges).
	  </para>
	</listitem>
	<listitem>
	  <para>
	    70cm, 10mW ham-band transceiver for telemetry down-link.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Barometric pressure sensor good to 45k feet MSL.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board 5 kilobyte non-volatile memory for flight data storage.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    RF interface for configuration, and data recovery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Support for Li-Po rechargeable batteries, using an external charger.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Uses Li-Po to fire e-matches, can be modified to support 
	    optional separate pyro battery if needed.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube.
	  </para>
	</listitem>
      </itemizedlist>
    </section>
    <section>
      <title>
	EasyMini Specifications
      </title>
      <itemizedlist>
	<listitem>
	  <para>
	    Recording altimeter for model rocketry.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Supports dual deployment (can fire 2 ejection charges).
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Barometric pressure sensor good to 100k feet MSL.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    On-board 1 megabyte non-volatile memory for flight data storage.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    USB interface for configuration, and data recovery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Support for Li-Po rechargeable batteries (using an
	    external charger), or any 3.7-15V external battery.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    Uses Li-Po to fire e-matches, can be modified to support 
	    optional separate pyro battery if needed.
	  </para>
	</listitem>
	<listitem>
	  <para>
	    1.5 x .8 inch board designed to fit inside 24mm air-frame coupler tube.
	  </para>
	</listitem>
      </itemizedlist>
    </section>
  </chapter>
  <chapter>
    <title>FAQ</title>
      <para>
        <emphasis>TeleMetrum seems to shut off when disconnected from the
        computer.</emphasis>  <?linebreak?>
	Make sure the battery is adequately charged.  Remember the
        unit will pull more power than the USB port can deliver before the
        GPS enters “locked” mode.  The battery charges best when TeleMetrum
        is turned off.
      </para>
      <para>
        <emphasis>It's impossible to stop the TeleDongle when it's in “p” mode, I have
        to unplug the USB cable? </emphasis><?linebreak?>
	Make sure you have tried to “escape out” of
        this mode.  If this doesn't work the reboot procedure for the
        TeleDongle *is* to simply unplug it. 'cu' however will retain it's
        outgoing buffer IF your “escape out” ('~~') does not work.
        At this point using either 'ao-view' (or possibly
        'cutemon') instead of 'cu' will 'clear' the issue and allow renewed
        communication.
      </para>
      <para>
        <emphasis>The amber LED (on the TeleMetrum) lights up when both
        battery and USB are connected. Does this mean it's charging? 
	</emphasis><?linebreak?>
        Yes, the yellow LED indicates the charging at the 'regular' rate.
        If the led is out but the unit is still plugged into a USB port,
        then the battery is being charged at a 'trickle' rate.
      </para>
      <para>
        <emphasis>There are no “dit-dah-dah-dit” sound or lights like the manual 
	mentions?</emphasis><?linebreak?>
        That's the “pad” mode.  Weak batteries might be the problem.
        It is also possible that the flight computer is horizontal and the 
	output
        is instead a “dit-dit” meaning 'idle'. For TeleMini, it's possible that
	it received a command packet which would have left it in “pad” mode.
      </para>
      <para>
        <emphasis>How do I save flight data?</emphasis><?linebreak?>
        Live telemetry is written to file(s) whenever AltosUI is connected
        to the TeleDongle.  The file area defaults to ~/TeleMetrum
        but is easily changed using the menus in AltosUI. The files that
        are written end in '.telem'. The after-flight
        data-dumped files will end in .eeprom and represent continuous data
        unlike the .telem files that are subject to losses
        along the RF data path.
        See the above instructions on what and how to save the eeprom stored
        data after physically retrieving your altimeter.  Make sure to save
        the on-board data after each flight; while the TeleMetrum can store
	multiple flights, you never know when you'll lose the altimeter...
      </para>
  </chapter>
  <appendix>
    <title>Notes for Older Software</title>
    <para>
      <emphasis>
      Before AltosUI was written, using Altus Metrum devices required
      some finesse with the Linux command line. There was a limited
      GUI tool, ao-view, which provided functionality similar to the
      Monitor Flight window in AltosUI, but everything else was a
      fairly 80's experience. This appendix includes documentation for
      using that software.
      </emphasis>
    </para>
    <para>
      Both TeleMetrum and TeleDongle can be directly communicated
      with using USB ports. The first thing you should try after getting
      both units plugged into to your computer's USB port(s) is to run
      'ao-list' from a terminal-window to see what port-device-name each
      device has been assigned by the operating system.
      You will need this information to access the devices via their
      respective on-board firmware and data using other command line
      programs in the AltOS software suite.
    </para>
    <para>
      TeleMini can be communicated with through a TeleDongle device
      over the radio link. When first booted, TeleMini listens for a
      TeleDongle device and if it receives a packet, it goes into
      'idle' mode. Otherwise, it goes into 'pad' mode and waits to be
      launched. The easiest way to get it talking is to start the
      communication link on the TeleDongle and the power up the
      TeleMini board.
    </para>
    <para>
      To access the device's firmware for configuration you need a terminal
      program such as you would use to talk to a modem.  The software
      authors prefer using the program 'cu' which comes from the UUCP package
      on most Unix-like systems such as Linux.  An example command line for
      cu might be 'cu -l /dev/ttyACM0', substituting the correct number
      indicated from running the
      ao-list program.  Another reasonable terminal program for Linux is
      'cutecom'.  The default 'escape'
      character used by CU (i.e. the character you use to
      issue commands to cu itself instead of sending the command as input
      to the connected device) is a '~'. You will need this for use in
      only two different ways during normal operations. First is to exit
      the program by sending a '~.' which is called a 'escape-disconnect'
      and allows you to close-out from 'cu'. The
      second use will be outlined later.
    </para>
    <para>
      All of the Altus Metrum devices share the concept of a two level
      command set in their firmware.
      The first layer has several single letter commands. Once
      you are using 'cu' (or 'cutecom') sending (typing) a '?'
      returns a full list of these
      commands. The second level are configuration sub-commands accessed
      using the 'c' command, for
      instance typing 'c?' will give you this second level of commands
      (all of which require the
      letter 'c' to access).  Please note that most configuration options
      are stored only in Flash memory; TeleDongle doesn't provide any storage
      for these options and so they'll all be lost when you unplug it.
    </para>
    <para>
      Try setting these configuration ('c' or second level menu) values.  A good
      place to start is by setting your call sign.  By default, the boards
      use 'N0CALL' which is cute, but not exactly legal!
      Spend a few minutes getting comfortable with the units, their
      firmware, and 'cu' (or possibly 'cutecom').
      For instance, try to send
      (type) a 'c r 2' and verify the channel change by sending a 'c s'.
      Verify you can connect and disconnect from the units while in your
      terminal program by sending the escape-disconnect mentioned above.
    </para>
        <para>
          To set the radio frequency, use the 'c R' command to specify the
	  radio transceiver configuration parameter. This parameter is computed
	  using the desired frequency, 'F', the radio calibration parameter, 'C' (showed by the 'c s' command) and
	  the standard calibration reference frequency, 'S', (normally 434.550MHz):
	  <programlisting>
	    R = F / S * C
	  </programlisting>
	  Round the result to the nearest integer value.
          As with all 'c' sub-commands, follow this with a 'c w' to write the
          change to the parameter block in the on-board flash on
          your altimeter board if you want the change to stay in place across reboots.
        </para>
        <para>
          To set the apogee delay, use the 'c d' command.
          As with all 'c' sub-commands, follow this with a 'c w' to write the
          change to the parameter block in the on-board DataFlash chip.
        </para>
        <para>
          To set the main deployment altitude, use the 'c m' command.
          As with all 'c' sub-commands, follow this with a 'c w' to write the
          change to the parameter block in the on-board DataFlash chip.
        </para>
        <para>
          To calibrate the radio frequency, connect the UHF antenna port to a
          frequency counter, set the board to 434.550MHz, and use the 'C'
          command to generate a CW carrier.  Wait for the transmitter temperature
          to stabilize and the frequency to settle down.
          Then, divide 434.550 MHz by the
          measured frequency and multiply by the current radio cal value show
          in the 'c s' command.  For an unprogrammed board, the default value
          is 1186611.  Take the resulting integer and program it using the 'c f'
          command.  Testing with the 'C' command again should show a carrier
          within a few tens of Hertz of the intended frequency.
          As with all 'c' sub-commands, follow this with a 'c w' to write the
          change to the parameter block in the on-board DataFlash chip.
        </para>
    <para>
      Note that the 'reboot' command, which is very useful on the altimeters,
      will likely just cause problems with the dongle.  The *correct* way
      to reset the dongle is just to unplug and re-plug it.
    </para>
    <para>
      A fun thing to do at the launch site and something you can do while
      learning how to use these units is to play with the radio link access
      between an altimeter and the TeleDongle.  Be aware that you *must* create
      some physical separation between the devices, otherwise the link will
      not function due to signal overload in the receivers in each device.
    </para>
    <para>
      Now might be a good time to take a break and read the rest of this
      manual, particularly about the two “modes” that the altimeters
      can be placed in. TeleMetrum uses the position of the device when booting
      up will determine whether the unit is in “pad” or “idle” mode. TeleMini
      enters “idle” mode when it receives a command packet within the first 5 seconds
      of being powered up, otherwise it enters “pad” mode.
    </para>
    <para>
      You can access an altimeter in idle mode from the TeleDongle's USB
      connection using the radio link
      by issuing a 'p' command to the TeleDongle. Practice connecting and
      disconnecting ('~~' while using 'cu') from the altimeter.  If
      you cannot escape out of the “p” command, (by using a '~~' when in
      CU) then it is likely that your kernel has issues.  Try a newer version.
    </para>
    <para>
      Using this radio link allows you to configure the altimeter, test
      fire e-matches and igniters from the flight line, check pyro-match
      continuity and so forth. You can leave the unit turned on while it
      is in 'idle mode' and then place the
      rocket vertically on the launch pad, walk away and then issue a
      reboot command.  The altimeter will reboot and start sending data
      having changed to the “pad” mode. If the TeleDongle is not receiving
      this data, you can disconnect 'cu' from the TeleDongle using the
      procedures mentioned above and THEN connect to the TeleDongle from
      inside 'ao-view'. If this doesn't work, disconnect from the
      TeleDongle, unplug it, and try again after plugging it back in.
    </para>
    <para>
      In order to reduce the chance of accidental firing of pyrotechnic
      charges, the command to fire a charge is intentionally somewhat
      difficult to type, and the built-in help is slightly cryptic to
      prevent accidental echoing of characters from the help text back at
      the board from firing a charge.  The command to fire the apogee
      drogue charge is 'i DoIt drogue' and the command to fire the main
      charge is 'i DoIt main'.
    </para>
    <para>
      On TeleMetrum, the GPS will eventually find enough satellites, lock in on them,
      and 'ao-view' will both auditorily announce and visually indicate
      that GPS is ready.
      Now you can launch knowing that you have a good data path and
      good satellite lock for flight data and recovery.  Remember
      you MUST tell ao-view to connect to the TeleDongle explicitly in
      order for ao-view to be able to receive data.
    </para>
    <para>
      The altimeters provide RDF (radio direction finding) tones on
      the pad, during descent and after landing. These can be used to
      locate the rocket using a directional antenna; the signal
      strength providing an indication of the direction from receiver to rocket.
    </para>
    <para>
      TeleMetrum also provides GPS tracking data, which can further simplify
      locating the rocket once it has landed. (The last good GPS data
      received before touch-down will be on the data screen of 'ao-view'.)
    </para>
    <para>
      Once you have recovered the rocket you can download the eeprom
      contents using either 'ao-dumplog' (or possibly 'ao-eeprom'), over
      either a USB cable or over the radio link using TeleDongle.
      And by following the man page for 'ao-postflight' you can create
      various data output reports, graphs, and even KML data to see the
      flight trajectory in Google-earth. (Moving the viewing angle making
      sure to connect the yellow lines while in Google-earth is the proper
      technique.)
    </para>
    <para>
      As for ao-view.... some things are in the menu but don't do anything
      very useful.  The developers have stopped working on ao-view to focus
      on a new, cross-platform ground station program.  So ao-view may or
      may not be updated in the future.  Mostly you just use
      the Log and Device menus.  It has a wonderful display of the incoming
      flight data and I am sure you will enjoy what it has to say to you
      once you enable the voice output!
    </para>
  </appendix>
  <appendix>
    <title>Drill Templates</title>
    <para>
      These images, when printed, provide precise templates for the
      mounting holes in Altus Metrum flight computers
    </para>
    <section>
      <title>TeleMega template</title>
      <para>
	TeleMega has overall dimensions of 1.250 x 3.250 inches, and
	the mounting holes are sized for use with 4-40 or M3 screws.
      </para>
      <informalfigure>
	<mediaobject id="TeleMegaTemplate">
	  <imageobject>
	    <imagedata format="SVG" fileref="telemega-outline.svg"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
    </section>
    <section>
      <title>TeleMetrum template</title>
      <para>
	TeleMetrum has overall dimensions of 1.000 x 2.750 inches, and the
	mounting holes are sized for use with 4-40 or M3 screws.
      </para>
      <informalfigure>
	<mediaobject id="TeleMetrumTemplate">
	  <imageobject>
	    <imagedata format="SVG" fileref="telemetrum.svg"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
    </section>
    <section>
      <title>TeleMini v2/EasyMini template</title>
      <para>
	TeleMini v2 and EasyMini have overall dimensions of 0.800 x 1.500 inches, and the
	mounting holes are sized for use with 4-40 or M3 screws.
      </para>
      <informalfigure>
	<mediaobject id="MiniTemplate">
	  <imageobject>
	    <imagedata format="SVG" fileref="easymini-outline.svg"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
    </section>
    <section>
      <title>TeleMini v1 template</title>
      <para>
	TeleMini has overall dimensions of 0.500 x 1.500 inches, and the
	mounting holes are sized for use with 2-56 or M2 screws.
      </para>
      <informalfigure>
	<mediaobject id="TeleMiniTemplate">
	  <imageobject>
	    <imagedata format="SVG" fileref="telemini.svg"/>
	  </imageobject>
	</mediaobject>
      </informalfigure>
    </section>
  </appendix>
  <appendix>
      <title>Calibration</title>
      <para>
        There are only two calibrations required for TeleMetrum and
        TeleMega, and only one for TeleDongle, TeleMini and EasyMini.
        All boards are shipped from the factory pre-calibrated, but
        the procedures are documented here in case they are ever
        needed.  Re-calibration is not supported by AltosUI, you must
        connect to the board with a serial terminal program and
        interact directly with the on-board command interpreter to
        effect calibration.
      </para>
      <section>
        <title>Radio Frequency</title>
        <para>
          The radio frequency is synthesized from a clock based on the
          crystal on the board.  The actual frequency of this oscillator 
          must be measured to generate a calibration constant.  While our 
          GFSK modulation
          bandwidth is wide enough to allow boards to communicate even when
          their oscillators are not on exactly the same frequency, performance
          is best when they are closely matched.
          Radio frequency calibration requires a calibrated frequency counter.
          Fortunately, once set, the variation in frequency due to aging and
          temperature changes is small enough that re-calibration by customers
          should generally not be required.
        </para>
        <para>
          To calibrate the radio frequency, connect the UHF antenna
          port to a frequency counter, set the board to 434.550MHz,
          and use the 'C' command in the on-board command interpreter
          to generate a CW carrier.  For USB-enabled boards, this is
          best done over USB.  For TeleMini v1, note that the only way
          to escape the 'C' command is via power cycle since the board
          will no longer be listening for commands once it starts
          generating a CW carrier.
	</para>
	<para>
	  Wait for the transmitter temperature to stabilize and the frequency 
          to settle down.  Then, divide 434.550 MHz by the
          measured frequency and multiply by the current radio cal value show
          in the 'c s' command.  For an unprogrammed board, the default value
          is 1186611.  Take the resulting integer and program it using the 'c f'
          command.  Testing with the 'C' command again should show a carrier
          within a few tens of Hertz of the intended frequency.
          As with all 'c' sub-commands, follow this with a 'c w' to write the
          change to the parameter block in the on-board storage chip.
        </para>
	<para>
	  Note that any time you re-do the radio frequency calibration, the
	  radio frequency is reset to the default 434.550 Mhz.  If you want
	  to use another frequency, you will have to set that again after
	  calibration is completed.
	</para>
      </section>
      <section>
        <title>TeleMetrum and TeleMega Accelerometers</title>
        <para>
          While barometric sensors are factory-calibrated,
          accelerometers are not, and so each must be calibrated once
          installed in a flight computer.  Explicitly calibrating the
          accelerometers also allows us to load any compatible device.
          We perform a two-point calibration using gravity.
        </para>
        <para>
          To calibrate the acceleration sensor, use the 'c a 0' command.  You
          will be prompted to orient the board vertically with the UHF antenna
          up and press a key, then to orient the board vertically with the
          UHF antenna down and press a key.  Note that the accuracy of this
	  calibration depends primarily on how perfectly vertical and still
	  the board is held during the cal process.  As with all 'c' 
	  sub-commands, follow this with a 'c w' to write the
          change to the parameter block in the on-board DataFlash chip.
        </para>
        <para>
          The +1g and -1g calibration points are included in each telemetry
          frame and are part of the header stored in onboard flash to be
	  downloaded after flight.  We always store and return raw ADC 
	  samples for each sensor... so nothing is permanently “lost” or 
	  “damaged” if the calibration is poor.
        </para>
        <para>
         In the unlikely event an accel cal goes badly, it is possible
         that TeleMetrum or TeleMega may always come up in 'pad mode'
         and as such not be listening to either the USB or radio link.
         If that happens, there is a special hook in the firmware to
         force the board back in to 'idle mode' so you can re-do the
         cal.  To use this hook, you just need to ground the SPI clock
         pin at power-on.  This pin is available as pin 2 on the 8-pin
         companion connector, and pin 1 is ground.  So either
         carefully install a fine-gauge wire jumper between the two
         pins closest to the index hole end of the 8-pin connector, or
         plug in the programming cable to the 8-pin connector and use
         a small screwdriver or similar to short the two pins closest
         to the index post on the 4-pin end of the programming cable,
         and power up the board.  It should come up in 'idle mode'
         (two beeps), allowing a re-cal.
        </para>
      </section>
  </appendix>
  <appendix>
    <title>Release Notes</title>
    <simplesect>
      <title>Version 1.3</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-1.3.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 1.2.1</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-1.2.1.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 1.2</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-1.2.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 1.1.1</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-1.1.1.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 1.1</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-1.1.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 1.0.1</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-1.0.1.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 0.9.2</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-0.9.2.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 0.9</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-0.9.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 0.8</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-0.8.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
    <simplesect>
      <title>Version 0.7.1</title>
      <xi:include
	  xmlns:xi="http://www.w3.org/2001/XInclude"
	  href="release-notes-0.7.1.xsl"
	  xpointer="xpointer(/article/*)"/>
    </simplesect>
  </appendix>
</book>

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