altosui: Add support for telemetry version 4

New telemetry format needed to support TeleNano and TeleMini

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

16 files changed, 550 insertions, 80 deletions

diff --git a/altosui/AltosAscent.java b/altosui/AltosAscent.java
index 64bdcf30..0fbc5de2 100644
--- a/altosui/AltosAscent.java
+++ b/altosui/AltosAscent.java
@@ -87,6 +87,16 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 		void reset() {
 			value.setText("");
 		}
+
+		void show() {
+			label.show();
+			value.show();
+		}
+
+		void hide() {
+			label.hide();
+			value.hide();
+		}
 		public AscentValue (GridBagLayout layout, int y, String text) {
 			GridBagConstraints	c = new GridBagConstraints();
 			c.weighty = 1;
@@ -247,6 +257,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 
 	class Lat extends AscentValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.gps != null)
 				value.setText(pos(state.gps.lat,"N", "S"));
 			else
@@ -261,6 +272,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 
 	class Lon extends AscentValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.gps != null)
 				value.setText(pos(state.gps.lon,"E", "W"));
 			else
@@ -284,8 +296,13 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay {
 	}
 
 	public void show(AltosState state, int crc_errors) {
-		lat.show(state, crc_errors);
-		lon.show(state, crc_errors);
+		if (state.gps != null) {
+			lat.show(state, crc_errors);
+			lon.show(state, crc_errors);
+		} else {
+			lat.hide();
+			lon.hide();
+		}
 		height.show(state, crc_errors);
 		main.show(state, crc_errors);
 		apogee.show(state, crc_errors);
diff --git a/altosui/AltosCSV.java b/altosui/AltosCSV.java
index df98b2b4..5277c160 100644
--- a/altosui/AltosCSV.java
+++ b/altosui/AltosCSV.java
@@ -60,7 +60,7 @@ public class AltosCSV implements AltosWriter {
 	 *	drogue (V)
 	 *	main (V)
 	 *
-	 * GPS data
+	 * GPS data (if available)
 	 *	connected (1/0)
 	 *	locked (1/0)
 	 *	nsat (used for solution)
@@ -179,12 +179,14 @@ public class AltosCSV implements AltosWriter {
 		}
 	}
 
-	void write_header() {
+	void write_header(boolean gps) {
 		out.printf("#"); write_general_header();
 		out.printf(","); write_flight_header();
 		out.printf(","); write_basic_header();
-		out.printf(","); write_gps_header();
-		out.printf(","); write_gps_sat_header();
+		if (gps) {
+			out.printf(","); write_gps_header();
+			out.printf(","); write_gps_sat_header();
+		}
 		out.printf ("\n");
 	}
 
@@ -192,9 +194,12 @@ public class AltosCSV implements AltosWriter {
 		state = new AltosState(record, state);
 		write_general(record); out.printf(",");
 		write_flight(record); out.printf(",");
-		write_basic(record); out.printf(",");
-		write_gps(record); out.printf(",");
-		write_gps_sat(record);
+		write_basic(record);
+		if (record.gps != null) {
+			out.printf(",");
+			write_gps(record); out.printf(",");
+			write_gps_sat(record);
+		}
 		out.printf ("\n");
 	}
 
@@ -206,7 +211,7 @@ public class AltosCSV implements AltosWriter {
 
 	public void write(AltosRecord record) {
 		if (!header_written) {
-			write_header();
+			write_header(record.gps != null);
 			header_written = true;
 		}
 		if (!seen_boost) {
@@ -240,12 +245,16 @@ public class AltosCSV implements AltosWriter {
 			write(r);
 	}
 
-	public AltosCSV(File in_name) throws FileNotFoundException {
+	public AltosCSV(PrintStream in_out, File in_name) {
 		name = in_name;
-		out = new PrintStream(name);
+		out = in_out;
 		pad_records = new LinkedList<AltosRecord>();
 	}
 
+	public AltosCSV(File in_name) throws FileNotFoundException {
+		this(new PrintStream(in_name), in_name);
+	}
+
 	public AltosCSV(String in_string) throws FileNotFoundException {
 		this(new File(in_string));
 	}
diff --git a/altosui/AltosDataPointReader.java b/altosui/AltosDataPointReader.java
index 7704310b..ee57d2ce 100644
--- a/altosui/AltosDataPointReader.java
+++ b/altosui/AltosDataPointReader.java
@@ -15,6 +15,8 @@ class AltosDataPointReader implements Iterable<AltosDataPoint> {
     AltosState state;
     AltosRecord record;
 
+    final static int MISSING = AltosRecord.MISSING;
+
     public AltosDataPointReader(Iterable<AltosRecord> reader) {
         this.iter = reader.iterator();
         this.state = null;
diff --git a/altosui/AltosDescent.java b/altosui/AltosDescent.java
index 16ccd458..594a7a09 100644
--- a/altosui/AltosDescent.java
+++ b/altosui/AltosDescent.java
@@ -37,6 +37,19 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 		AltosLights	lights;
 
 		abstract void show(AltosState state, int crc_errors);
+
+		void show() {
+			label.show();
+			value.show();
+			lights.show();
+		}
+
+		void hide() {
+			label.hide();
+			value.hide();
+			lights.hide();
+		}
+
 		void reset() {
 			value.setText("");
 			lights.set(false);
@@ -90,6 +103,16 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 
 		abstract void show(AltosState state, int crc_errors);
 
+		void show() {
+			label.show();
+			value.show();
+		}
+
+		void hide() {
+			label.hide();
+			value.hide();
+		}
+
 		void show(String format, double v) {
 			value.setText(String.format(format, v));
 		}
@@ -134,12 +157,27 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 			value2.setText("");
 		}
 
+		void show() {
+			label.show();
+			value1.show();
+			value2.show();
+		}
+
+		void hide() {
+			label.hide();
+			value1.hide();
+			value2.hide();
+		}
+
 		abstract void show(AltosState state, int crc_errors);
+
 		void show(String v1, String v2) {
+			show();
 			value1.setText(v1);
 			value2.setText(v2);
 		}
 		void show(String f1, double v1, String f2, double v2) {
+			show();
 			value1.setText(String.format(f1, v1));
 			value2.setText(String.format(f2, v2));
 		}
@@ -260,6 +298,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 
 	class Main extends DescentStatus {
 		void show (AltosState state, int crc_errors) {
+			show();
 			value.setText(String.format("%4.2f V", state.main_sense));
 			lights.set(state.main_sense > 3.2);
 		}
@@ -324,11 +363,19 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay {
 	public void show(AltosState state, int crc_errors) {
 		height.show(state, crc_errors);
 		speed.show(state, crc_errors);
-		bearing.show(state, crc_errors);
-		range.show(state, crc_errors);
-		elevation.show(state, crc_errors);
-		lat.show(state, crc_errors);
-		lon.show(state, crc_errors);
+		if (state.gps != null) {
+			bearing.show(state, crc_errors);
+			range.show(state, crc_errors);
+			elevation.show(state, crc_errors);
+			lat.show(state, crc_errors);
+			lon.show(state, crc_errors);
+		} else {
+			bearing.hide();
+			range.hide();
+			elevation.hide();
+			lat.hide();
+			lon.hide();
+		}
 		main.show(state, crc_errors);
 		apogee.show(state, crc_errors);
 	}
diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java
index 7fcfb8be..68e0ef87 100644
--- a/altosui/AltosFlightUI.java
+++ b/altosui/AltosFlightUI.java
@@ -29,9 +29,6 @@ import java.util.prefs.*;
 import java.util.concurrent.LinkedBlockingQueue;
 
 public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
-	String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
-	Object[][] statusData = { { "0", "pad", "-50", "0" } };
-
 	AltosVoice		voice;
 	AltosFlightReader	reader;
 	AltosDisplayThread	thread;
@@ -43,6 +40,7 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 	AltosDescent	descent;
 	AltosLanded	landed;
 	AltosSiteMap    sitemap;
+	boolean		has_map;
 
 	private AltosFlightStatus flightStatus;
 	private AltosInfoTable flightInfo;
@@ -85,6 +83,7 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 
 	public void show(AltosState state, int crc_errors) {
 		JComponent tab = which_tab(state);
+		try {
 		pad.show(state, crc_errors);
 		ascent.show(state, crc_errors);
 		descent.show(state, crc_errors);
@@ -97,7 +96,21 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 		}
 		flightStatus.show(state, crc_errors);
 		flightInfo.show(state, crc_errors);
-		sitemap.show(state, crc_errors);
+		if (state.gps != null) {
+			if (!has_map) {
+				pane.add("Site Map", sitemap);
+				has_map = true;
+			}
+			sitemap.show(state, crc_errors);
+		} else {
+			if (has_map) {
+				pane.remove(sitemap);
+				has_map = false;
+			}
+		}
+		} catch (Exception e) {
+			System.out.print("Show exception" + e);
+		}
 	}
 
 	public void set_exit_on_close() {
@@ -169,7 +182,7 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
 		pane.add("Table", new JScrollPane(flightInfo));
 
 		sitemap = new AltosSiteMap();
-		pane.add("Site Map", sitemap);
+		has_map = false;
 
 		/* Make the tabbed pane use the rest of the window space */
 		c.gridx = 0;
diff --git a/altosui/AltosGPS.java b/altosui/AltosGPS.java
index 83821842..0dbc8364 100644
--- a/altosui/AltosGPS.java
+++ b/altosui/AltosGPS.java
@@ -26,10 +26,11 @@ public class AltosGPS {
 		int	c_n0;
 	}
 
+	final static int MISSING = AltosRecord.MISSING;
+
 	int	nsat;
 	boolean	locked;
 	boolean	connected;
-	boolean date_valid;
 	double	lat;		/* degrees (+N -S) */
 	double	lon;		/* degrees (+E -W) */
 	int	alt;		/* m */
@@ -40,11 +41,11 @@ public class AltosGPS {
 	int	minute;
 	int	second;
 
-	int	gps_extended;	/* has extra data */
 	double	ground_speed;	/* m/s */
 	int	course;		/* degrees */
 	double	climb_rate;	/* m/s */
-	double	hdop;		/* unitless? */
+	double	hdop;		/* unitless */
+	double	vdop;		/* unitless */
 	int	h_error;	/* m */
 	int	v_error;	/* m */
 
@@ -73,6 +74,44 @@ public class AltosGPS {
 		hour = minute = second = 0;
 	}
 
+	public AltosGPS(AltosTelemetryMap map) throws ParseException {
+		String	state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
+					       AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+
+		nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
+		if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+			connected = true;
+			locked = true;
+			lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+			lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+			alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
+			year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+			if (year != MISSING)
+				year += 2000;
+			month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
+			day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
+
+			hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
+			minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
+			second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
+
+			ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
+						      AltosRecord.MISSING, 1/100.0);
+			course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
+					     AltosRecord.MISSING);
+			hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
+			vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
+			h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
+			v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
+		} else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+			connected = true;
+			locked = false;
+		} else {
+			connected = false;
+			locked = false;
+		}
+	}
+
 	public AltosGPS(String[] words, int i, int version) throws ParseException {
 		AltosParse.word(words[i++], "GPS");
 		nsat = AltosParse.parse_int(words[i++]);
@@ -184,7 +223,6 @@ public class AltosGPS {
 		nsat = old.nsat;
 		locked = old.locked;
 		connected = old.connected;
-		date_valid = old.date_valid;
 		lat = old.lat;		/* degrees (+N -S) */
 		lon = old.lon;		/* degrees (+E -W) */
 		alt = old.alt;		/* m */
@@ -195,7 +233,6 @@ public class AltosGPS {
 		minute = old.minute;
 		second = old.second;
 
-		gps_extended = old.gps_extended;	/* has extra data */
 		ground_speed = old.ground_speed;	/* m/s */
 		course = old.course;		/* degrees */
 		climb_rate = old.climb_rate;	/* m/s */
diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java
index d34efe6d..0717ffe2 100644
--- a/altosui/AltosLanded.java
+++ b/altosui/AltosLanded.java
@@ -42,10 +42,22 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay {
 			value.setText("");
 		}
 
+		void show() {
+			label.show();
+			value.show();
+		}
+
+		void hide() {
+			label.hide();
+			value.hide();
+		}
+
 		void show(String format, double v) {
+			show();
 			value.setText(String.format(format, v));
 		}
 
+
 		public LandedValue (GridBagLayout layout, int y, String text) {
 			GridBagConstraints	c = new GridBagConstraints();
 			c.weighty = 1;
@@ -86,6 +98,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay {
 
 	class Lat extends LandedValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.gps != null)
 				value.setText(pos(state.gps.lat,"N", "S"));
 			else
@@ -100,6 +113,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay {
 
 	class Lon extends LandedValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.gps != null)
 				value.setText(pos(state.gps.lon,"E", "W"));
 			else
@@ -114,6 +128,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay {
 
 	class Bearing extends LandedValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.from_pad != null)
 				show("%3.0f°", state.from_pad.bearing);
 			else
@@ -128,6 +143,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay {
 
 	class Distance extends LandedValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.from_pad != null)
 				show("%6.0f m", state.from_pad.distance);
 			else
@@ -184,10 +200,17 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay {
 	}
 
 	public void show(AltosState state, int crc_errors) {
-		bearing.show(state, crc_errors);
-		distance.show(state, crc_errors);
-		lat.show(state, crc_errors);
-		lon.show(state, crc_errors);
+		if (state.gps != null) {
+			bearing.show(state, crc_errors);
+			distance.show(state, crc_errors);
+			lat.show(state, crc_errors);
+			lon.show(state, crc_errors);
+		} else {
+			bearing.hide();
+			distance.hide();
+			lat.hide();
+			lon.hide();
+		}
 		height.show(state, crc_errors);
 		speed.show(state, crc_errors);
 		accel.show(state, crc_errors);
diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java
index e345e5da..2f59e879 100644
--- a/altosui/AltosPad.java
+++ b/altosui/AltosPad.java
@@ -42,6 +42,18 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 			lights.set(false);
 		}
 
+		public void show() {
+			label.show();
+			value.show();
+			lights.show();
+		}
+
+		public void hide() {
+			label.hide();
+			value.hide();
+			lights.hide();
+		}
+
 		public LaunchStatus (GridBagLayout layout, int y, String text) {
 			GridBagConstraints	c = new GridBagConstraints();
 			c.weighty = 1;
@@ -83,6 +95,16 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 		JTextField	value;
 		void show(AltosState state, int crc_errors) {}
 
+		void show() {
+			label.show();
+			value.show();
+		}
+
+		void hide() {
+			label.hide();
+			value.hide();
+		}
+
 		void reset() {
 			value.setText("");
 		}
@@ -151,6 +173,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 
 	class GPSLocked extends LaunchStatus {
 		void show (AltosState state, int crc_errors) {
+			show();
 			value.setText(String.format("%4d sats", state.gps.nsat));
 			lights.set(state.gps.locked && state.gps.nsat >= 4);
 		}
@@ -163,6 +186,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 
 	class GPSReady extends LaunchStatus {
 		void show (AltosState state, int crc_errors) {
+			show();
 			if (state.gps_ready)
 				value.setText("Ready");
 			else
@@ -189,6 +213,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 
 	class PadLat extends LaunchValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			value.setText(pos(state.pad_lat,"N", "S"));
 		}
 		public PadLat (GridBagLayout layout, int y) {
@@ -200,6 +225,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 
 	class PadLon extends LaunchValue {
 		void show (AltosState state, int crc_errors) {
+			show();
 			value.setText(pos(state.pad_lon,"E", "W"));
 		}
 		public PadLon (GridBagLayout layout, int y) {
@@ -235,11 +261,18 @@ public class AltosPad extends JComponent implements AltosFlightDisplay {
 		battery.show(state, crc_errors);
 		apogee.show(state, crc_errors);
 		main.show(state, crc_errors);
-		gps_locked.show(state, crc_errors);
-		gps_ready.show(state, crc_errors);
-		pad_lat.show(state, crc_errors);
-		pad_lon.show(state, crc_errors);
 		pad_alt.show(state, crc_errors);
+		if (state.gps != null) {
+			gps_locked.show(state, crc_errors);
+			gps_ready.show(state, crc_errors);
+			pad_lat.show(state, crc_errors);
+			pad_lon.show(state, crc_errors);
+		} else {
+			gps_locked.hide();
+			gps_ready.hide();
+			pad_lat.hide();
+			pad_lon.hide();
+		}
 	}
 
 	public AltosPad() {
diff --git a/altosui/AltosRecord.java b/altosui/AltosRecord.java
index 1160a273..46e96b95 100644
--- a/altosui/AltosRecord.java
+++ b/altosui/AltosRecord.java
@@ -23,6 +23,8 @@ import java.util.HashMap;
 import java.io.*;
 
 public class AltosRecord {
+	final static int	MISSING = 0x7fffffff;
+
 	int	version;
 	String 	callsign;
 	int	serial;
@@ -31,19 +33,27 @@ public class AltosRecord {
 	int	status;
 	int	state;
 	int	tick;
+
 	int	accel;
 	int	pres;
 	int	temp;
 	int	batt;
 	int	drogue;
 	int	main;
-	int	flight_accel;
+
 	int	ground_accel;
-	int	flight_vel;
-	int	flight_pres;
 	int	ground_pres;
 	int	accel_plus_g;
 	int	accel_minus_g;
+
+	double	acceleration;
+	double	speed;
+	double	height;
+
+	int	flight_accel;
+	int	flight_vel;
+	int	flight_pres;
+
 	AltosGPS	gps;
 
 	double	time;	/* seconds since boost */
@@ -72,46 +82,82 @@ public class AltosRecord {
 	}
 
 	public double raw_pressure() {
+		if (pres == MISSING)
+			return MISSING;
 		return barometer_to_pressure(pres);
 	}
 
 	public double filtered_pressure() {
+		if (flight_pres == MISSING)
+			return MISSING;
 		return barometer_to_pressure(flight_pres);
 	}
 
 	public double ground_pressure() {
+		if (ground_pres == MISSING)
+			return MISSING;
 		return barometer_to_pressure(ground_pres);
 	}
 
-	public double filtered_altitude() {
-		return AltosConvert.pressure_to_altitude(filtered_pressure());
-	}
-
 	public double raw_altitude() {
-		return AltosConvert.pressure_to_altitude(raw_pressure());
+		double p = raw_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
 	}
 
 	public double ground_altitude() {
-		return AltosConvert.pressure_to_altitude(ground_pressure());
+		double p = ground_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double filtered_altitude() {
+		if (height != MISSING && ground_pres != MISSING)
+			return height + ground_altitude();
+
+		double	p = filtered_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
 	}
 
 	public double filtered_height() {
-		return filtered_altitude() - ground_altitude();
+		if (height != MISSING)
+			return height;
+
+		double f = filtered_altitude();
+		double g = ground_altitude();
+		if (f == MISSING || g == MISSING)
+			return MISSING;
+		return f - g;
 	}
 
 	public double raw_height() {
-		return raw_altitude() - ground_altitude();
+		double r = raw_altitude();
+		double g = ground_altitude();
+
+		if (r == MISSING || g == MISSING)
+			return MISSING;
+		return r - g;
 	}
 
 	public double battery_voltage() {
+		if (batt == MISSING)
+			return MISSING;
 		return AltosConvert.cc_battery_to_voltage(batt);
 	}
 
 	public double main_voltage() {
+		if (main == MISSING)
+			return MISSING;
 		return AltosConvert.cc_ignitor_to_voltage(main);
 	}
 
 	public double drogue_voltage() {
+		if (drogue == MISSING)
+			return MISSING;
 		return AltosConvert.cc_ignitor_to_voltage(drogue);
 	}
 
@@ -131,6 +177,8 @@ public class AltosRecord {
 	}
 
 	public double temperature() {
+		if (temp == MISSING)
+			return MISSING;
 		return thermometer_to_temperature(temp);
 	}
 
@@ -139,13 +187,22 @@ public class AltosRecord {
 
 		return counts_per_g / 9.80665;
 	}
+
 	public double acceleration() {
+		if (acceleration != MISSING)
+			return acceleration;
+
+		if (ground_accel == MISSING || accel == MISSING)
+			return MISSING;
 		return (ground_accel - accel) / accel_counts_per_mss();
 	}
 
 	public double accel_speed() {
-		double speed = flight_vel / (accel_counts_per_mss() * 100.0);
-		return speed;
+		if (speed != MISSING)
+			return speed;
+		if (flight_vel == MISSING)
+			return MISSING;
+		return flight_vel / (accel_counts_per_mss() * 100.0);
 	}
 
 	public String state() {
diff --git a/altosui/AltosSiteMap.java b/altosui/AltosSiteMap.java
index d6bd6d1f..f4b6b7e0 100644
--- a/altosui/AltosSiteMap.java
+++ b/altosui/AltosSiteMap.java
@@ -228,8 +228,6 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
 	int last_state = -1;
 	public void show(final AltosState state, final int crc_errors) {
 		// if insufficient gps data, nothing to update
-		if (state.gps == null)
-			return;
 		if (!state.gps.locked && state.gps.nsat < 4)
 			return;
 
diff --git a/altosui/AltosState.java b/altosui/AltosState.java
index ec499d5a..4e165f80 100644
--- a/altosui/AltosState.java
+++ b/altosui/AltosState.java
@@ -79,7 +79,8 @@ public class AltosState {
 		data = cur;
 
 		ground_altitude = data.ground_altitude();
-		height = data.filtered_altitude() - ground_altitude;
+		height = data.filtered_height();
+		System.out.printf("height %g\n", height);
 
 		report_time = System.currentTimeMillis();
 
@@ -114,10 +115,14 @@ public class AltosState {
 			/* compute barometric speed */
 
 			double height_change = height - prev_state.height;
-			if (time_change > 0)
-				baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
-			else
-				baro_speed = prev_state.baro_speed;
+			if (data.speed != AltosRecord.MISSING)
+				baro_speed = data.speed;
+			else {
+				if (time_change > 0)
+					baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+				else
+					baro_speed = prev_state.baro_speed;
+			}
 		} else {
 			npad = 0;
 			ngps = 0;
diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java
index bdb6466a..3eb0efa8 100644
--- a/altosui/AltosTelemetry.java
+++ b/altosui/AltosTelemetry.java
@@ -27,10 +27,40 @@ import java.util.HashMap;
 
 
 /*
- * The telemetry data stream is a bit of a mess at present, with no consistent
- * formatting. In particular, the GPS data is formatted for viewing instead of parsing.
- * However, the key feature is that every telemetry line contains all of the information
- * necessary to describe the current rocket state, including the calibration values
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ *   r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ *   a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ *   r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ *	Name		Value
+ *
+ *	VERSION		Telemetry version number (4 or more). Must be first.
+ * 	c		Callsign (string, no spaces allowed)
+ *	n		Flight unit serial number (integer)
+ * 	f		Flight number (integer)
+ *	r		Packet RSSI value (integer)
+ * 	s		Flight computer state (string, no spaces allowed)
+ *	t		Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing.  However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
  * for accelerometer and barometer.
  *
  * GPS unlocked:
@@ -47,25 +77,201 @@ import java.util.HashMap;
  *     GPS  9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W  1790m  \
  *     0.00m/s(H) 0°     0.00m/s(V) 1.0(hdop)     0(herr)     0(verr) \
  *     SAT 10   29  30  24  28   5  25  21  20  15  33   1  23  30  24  18  26  10  29   2  26
+ *
  */
 
 public class AltosTelemetry extends AltosRecord {
-	public AltosTelemetry(String line) throws ParseException, AltosCRCException {
-		String[] words = line.split("\\s+");
-		int	i = 0;
+	/*
+	 * General header fields
+	 *
+	 *	Name		Value
+	 *
+	 *	VERSION		Telemetry version number (4 or more). Must be first.
+	 * 	c		Callsign (string, no spaces allowed)
+	 *	n		Flight unit serial number (integer)
+	 * 	f		Flight number (integer)
+	 *	r		Packet RSSI value (integer)
+	 * 	s		Flight computer state (string, no spaces allowed)
+	 *	t		Flight computer clock (integer in centiseconds)
+	 */
 
-		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
-			i += 2;
-			AltosParse.word(words[i++], "RSSI");
-			rssi = AltosParse.parse_int(words[i++]);
-			throw new AltosCRCException(rssi);
-		}
-		if (words[i].equals("CALL")) {
-			version = 0;
-		} else {
-			AltosParse.word (words[i++], "VERSION");
-			version = AltosParse.parse_int(words[i++]);
-		}
+	final static String AO_TELEM_VERSION	= "VERSION";
+	final static String AO_TELEM_CALL	= "c";
+	final static String AO_TELEM_SERIAL	= "n";
+	final static String AO_TELEM_FLIGHT	= "f";
+	final static String AO_TELEM_RSSI	= "r";
+	final static String AO_TELEM_STATE	= "s";
+	final static String AO_TELEM_TICK	= "t";
+
+	/*
+	 * Raw sensor values
+	 *
+	 *	Name		Value
+	 *	r_a		Accelerometer reading (integer)
+	 *	r_b		Barometer reading (integer)
+	 *	r_t		Thermometer reading (integer)
+	 *	r_v		Battery reading (integer)
+	 *	r_d		Drogue continuity (integer)
+	 *	r_m		Main continuity (integer)
+	 */
+
+	final static String AO_TELEM_RAW_ACCEL	= "r_a";
+	final static String AO_TELEM_RAW_BARO	= "r_b";
+	final static String AO_TELEM_RAW_THERMO	= "r_t";
+	final static String AO_TELEM_RAW_BATT	= "r_v";
+	final static String AO_TELEM_RAW_DROGUE	= "r_d";
+	final static String AO_TELEM_RAW_MAIN	= "r_m";
+
+	/*
+	 * Sensor calibration values
+	 *
+	 *	Name		Value
+	 *	c_a		Ground accelerometer reading (integer)
+	 *	c_b		Ground barometer reading (integer)
+	 *	c_p		Accelerometer reading for +1g
+	 *	c_m		Accelerometer reading for -1g
+	 */
+
+	final static String AO_TELEM_CAL_ACCEL_GROUND	= "c_a";
+	final static String AO_TELEM_CAL_BARO_GROUND	= "c_b";
+	final static String AO_TELEM_CAL_ACCEL_PLUS	= "c_p";
+	final static String AO_TELEM_CAL_ACCEL_MINUS	= "c_m";
+
+	/*
+	 * Kalman state values
+	 *
+	 *	Name		Value
+	 *	k_h		Height above pad (integer, meters)
+	 *	k_s		Vertical speeed (integer, m/s * 16)
+	 *	k_a		Vertical acceleration (integer, m/s² * 16)
+	 */
+
+	final static String AO_TELEM_KALMAN_HEIGHT	= "k_h";
+	final static String AO_TELEM_KALMAN_SPEED	= "k_s";
+	final static String AO_TELEM_KALMAN_ACCEL	= "k_a";
+
+	/*
+	 * Ad-hoc flight values
+	 *
+	 *	Name		Value
+	 *	a_a		Acceleration (integer, sensor units)
+	 *	a_s		Speed (integer, integrated acceleration value)
+	 *	a_b		Barometer reading (integer, sensor units)
+	 */
+
+	final static String AO_TELEM_ADHOC_ACCEL	= "a_a";
+	final static String AO_TELEM_ADHOC_SPEED	= "a_s";
+	final static String AO_TELEM_ADHOC_BARO		= "a_b";
+
+	/*
+	 * GPS values
+	 *
+	 *	Name		Value
+	 *	g_s		GPS state (string):
+	 *				l	locked
+	 *				u	unlocked
+	 *				e	error (missing or broken)
+	 *	g_n		Number of sats used in solution
+	 *	g_ns		Latitude (degrees * 10e7)
+	 *	g_ew		Longitude (degrees * 10e7)
+	 *	g_a		Altitude (integer meters)
+	 *	g_Y		GPS year (integer)
+	 *	g_M		GPS month (integer - 1-12)
+	 *	g_D		GPS day (integer - 1-31)
+	 *	g_h		GPS hour (integer - 0-23)
+	 *	g_m		GPS minute (integer - 0-59)
+	 *	g_s		GPS second (integer - 0-59)
+	 *	g_v		GPS vertical speed (integer, cm/sec)
+	 *	g_s		GPS horizontal speed (integer, cm/sec)
+	 *	g_c		GPS course (integer, 0-359)
+	 *	g_hd		GPS hdop (integer * 10)
+	 *	g_vd		GPS vdop (integer * 10)
+	 *	g_he		GPS h error (integer)
+	 *	g_ve		GPS v error (integer)
+	 */
+
+	final static String AO_TELEM_GPS_STATE	 		= "g";
+	final static String AO_TELEM_GPS_STATE_LOCKED		= "l";
+	final static String AO_TELEM_GPS_STATE_UNLOCKED		= "u";
+	final static String AO_TELEM_GPS_STATE_ERROR		= "e";
+	final static String AO_TELEM_GPS_NUM_SAT		= "g_n";
+	final static String AO_TELEM_GPS_LATITUDE		= "g_ns";
+	final static String AO_TELEM_GPS_LONGITUDE		= "g_ew";
+	final static String AO_TELEM_GPS_ALTITUDE		= "g_a";
+	final static String AO_TELEM_GPS_YEAR			= "g_Y";
+	final static String AO_TELEM_GPS_MONTH			= "g_M";
+	final static String AO_TELEM_GPS_DAY			= "g_D";
+	final static String AO_TELEM_GPS_HOUR			= "g_h";
+	final static String AO_TELEM_GPS_MINUTE			= "g_m";
+	final static String AO_TELEM_GPS_SECOND			= "g_s";
+	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
+	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
+	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_HDOP			= "g_hd";
+	final static String AO_TELEM_GPS_VDOP			= "g_vd";
+	final static String AO_TELEM_GPS_HERROR			= "g_he";
+	final static String AO_TELEM_GPS_VERROR			= "g_ve";
+
+	/*
+	 * GPS satellite values
+	 *
+	 *	Name		Value
+	 *	s_n		Number of satellites reported (integer)
+	 *	s_v0		Space vehicle ID (integer) for report 0
+	 *	s_c0		C/N0 number (integer) for report 0
+	 *	s_v1		Space vehicle ID (integer) for report 1
+	 *	s_c1		C/N0 number (integer) for report 1
+	 *	...
+	 */
+
+	final static String AO_TELEM_SAT_NUM	= "s_n";
+	final static String AO_TELEM_SAT_SVID	= "s_v";
+	final static String AO_TELEM_SAT_C_N_0	= "s_c";
+
+	private void parse_v4(String[] words, int i) throws ParseException {
+		AltosTelemetryMap	map = new AltosTelemetryMap(words, i);
+
+		callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+		serial = map.get_int(AO_TELEM_SERIAL, MISSING);
+		flight = map.get_int(AO_TELEM_FLIGHT, MISSING);
+		rssi = map.get_int(AO_TELEM_RSSI, MISSING);
+		state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+		tick = map.get_int(AO_TELEM_TICK, 0);
+
+		/* raw sensor values */
+		accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING);
+		pres = map.get_int(AO_TELEM_RAW_BARO, MISSING);
+		temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING);
+		batt = map.get_int(AO_TELEM_RAW_BATT, MISSING);
+		drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING);
+		main = map.get_int(AO_TELEM_RAW_MAIN, MISSING);
+
+		/* sensor calibration information */
+		ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING);
+		ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING);
+		accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING);
+		accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING);
+
+		/* flight computer values */
+		acceleration = map.get_int(AO_TELEM_KALMAN_ACCEL, MISSING);
+		if (acceleration != MISSING)
+			acceleration /= 16.0;
+		speed = map.get_int(AO_TELEM_KALMAN_SPEED, MISSING);
+		if (speed != MISSING)
+			speed /= 16.0;
+		height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING);
+
+		flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING);
+		flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING);
+		flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING);
+
+		if (map.has(AO_TELEM_GPS_STATE))
+			gps = new AltosGPS(map);
+		else
+			gps = null;
+	}
+
+	private void parse_legacy(String[] words, int i) throws ParseException {
 
 		AltosParse.word (words[i++], "CALL");
 		callsign = words[i++];
@@ -140,4 +346,27 @@ public class AltosTelemetry extends AltosRecord {
 
 		gps = new AltosGPS(words, i, version);
 	}
+
+	public AltosTelemetry(String line) throws ParseException, AltosCRCException {
+		String[] words = line.split("\\s+");
+		int	i = 0;
+
+		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(words[i++], "RSSI");
+			rssi = AltosParse.parse_int(words[i++]);
+			throw new AltosCRCException(rssi);
+		}
+		if (words[i].equals("CALL")) {
+			version = 0;
+		} else {
+			AltosParse.word (words[i++], "VERSION");
+			version = AltosParse.parse_int(words[i++]);
+		}
+
+		if (version < 4)
+			parse_legacy(words, i);
+		else
+			parse_v4(words, i);
+	}
 }
diff --git a/altosui/AltosTelemetryIterable.java b/altosui/AltosTelemetryIterable.java
index a71ab872..14b5f27f 100644
--- a/altosui/AltosTelemetryIterable.java
+++ b/altosui/AltosTelemetryIterable.java
@@ -63,7 +63,6 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
 				} catch (ParseException pe) {
 					System.out.printf("parse exception %s\n", pe.getMessage());
 				} catch (AltosCRCException ce) {
-					System.out.printf("crc error\n");
 				}
 			}
 		} catch (IOException io) {
diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index 90e3d7f0..4d17b0d2 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -328,7 +328,7 @@ public class AltosUI extends JFrame {
 			if (input.equals(output)) {
 				System.out.printf("Not processing '%s'\n", input);
 			} else {
-				AltosWriter writer = open_csv(output);
+				AltosWriter writer = open_csv("/dev/stdout");
 				if (writer != null) {
 					writer.write(iterable);
 					writer.close();
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index 288fca0e..49f34ce3 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -65,6 +65,7 @@ altosui_JAVA = \
 	AltosRecord.java \
 	AltosRecordIterable.java \
 	AltosTelemetryReader.java \
+	AltosTelemetryMap.java \
 	AltosReplayReader.java \
 	AltosRomconfig.java \
 	AltosRomconfigUI.java \
diff --git a/src/ao_telem.h b/src/ao_telem.h
index b1624fe0..1a8da291 100644
--- a/src/ao_telem.h
+++ b/src/ao_telem.h
@@ -108,7 +108,7 @@
  * GPS values
  *
  *	Name		Value
- *	g_s		GPS state (string):
+ *	g		GPS state (string):
  *				l	locked
  *				u	unlocked
  *				e	error (missing or broken)
@@ -123,7 +123,7 @@
  *	g_m		GPS minute (integer - 0-59)
  *	g_s		GPS second (integer - 0-59)
  *	g_v		GPS vertical speed (integer, cm/sec)
- *	g_s		GPS horizontal speed (integer, cm/sec)
+ *	g_g		GPS horizontal speed (integer, cm/sec)
  *	g_c		GPS course (integer, 0-359)
  *	g_hd		GPS hdop (integer * 10)
  *	g_vd		GPS vdop (integer * 10)
@@ -131,7 +131,7 @@
  *	g_ve		GPS v error (integer)
  */
 
-#define AO_TELEM_GPS_STATE		"g_s"
+#define AO_TELEM_GPS_STATE		"g"
 #define AO_TELEM_GPS_STATE_LOCKED	'l'
 #define AO_TELEM_GPS_STATE_UNLOCKED	'u'
 #define AO_TELEM_GPS_STATE_ERROR	'e'
@@ -146,7 +146,7 @@
 #define AO_TELEM_GPS_MINUTE		"g_m"
 #define AO_TELEM_GPS_SECOND		"g_s"
 #define AO_TELEM_GPS_VERTICAL_SPEED	"g_v"
-#define AO_TELEM_GPS_HORIZONTAL_SPEED	"g_s"
+#define AO_TELEM_GPS_HORIZONTAL_SPEED	"g_g"
 #define AO_TELEM_GPS_COURSE		"g_c"
 #define AO_TELEM_GPS_HDOP		"g_hd"
 #define AO_TELEM_GPS_VDOP		"g_vd"