Thanks! Glad you like it.
There is a quick summary on Page 2, details on recovering Fatigue on page 14, and 41 has details on Camping.
In short: a night of uninterrupted rest recovers 1 Fatigue. In the wilds you need a bedroll, in town you need an inn (or friendly home). If you successfully Camp, you can recover at least 1 FP per watch without a bedroll.