Merge branch 'master' into branch-1.8

44 files changed, 1779 insertions, 528 deletions

diff --git a/Makefile.am b/Makefile.am
index cac02c62..4f47417e 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -64,6 +64,7 @@ fat_altos = \
 	src/teledongle-v0.2/teledongle-v0.2-$(VERSION).ihx \
 	src/teledongle-v3.0/teledongle-v3.0-$(VERSION).ihx \
 	src/telegps-v1.0/telegps-v1.0-$(VERSION).ihx \
+	src/telegps-v2.0/telegps-v2.0-$(VERSION).ihx \
 	src/telemega-v1.0/telemega-v1.0-$(VERSION).ihx \
 	src/telemega-v2.0/telemega-v2.0-$(VERSION).ihx \
 	src/telemetrum-v1.0/telemetrum-v1.0-$(VERSION).ihx \
diff --git a/Releasing b/Releasing
index 5780f3ce..8af50a1e 100644
--- a/Releasing
+++ b/Releasing
@@ -95,11 +95,8 @@ These are Bdale's notes on how to do a release.
 		--with-fat-dir=/home/bdale/web/altusmetrum/
 	make && make fat
 
-		this pushes packages for each platform and application
-		to web site, including auto-generated mdwn files and
-		release notes in html format.
+	- store a stable copy of ARM binaries for production use
 
-	# store a stable copy of ARM binaries for production use
 	cp src/chaoskey-v1.0/{*.elf,*.ihx} \
 	   src/easymega-v1.0/{*.elf,*.ihx} \
 	   src/easymini-v1.0/{*.elf,*.ihx} \
@@ -108,6 +105,7 @@ These are Bdale's notes on how to do a release.
 	   src/telebt-v4.0/{*.elf,*.ihx} \
 	   src/teledongle-v3.0/{*.elf,*.ihx} \
 	   src/telegps-v1.0/{*.elf,*.ihx} \
+	   src/telegps-v2.0/{*.elf,*.ihx} \
 	   src/telemega-v1.0/{*.elf,*.ihx} \
 	   src/telemega-v2.0/{*.elf,*.ihx} \
 	   src/telemetrum-v2.0/{*.elf,*.ihx} \
@@ -118,9 +116,10 @@ These are Bdale's notes on how to do a release.
 	   src/easymini-v1.0/flash-loader/*.elf \
 	   src/easymini-v2.0/flash-loader/{*.elf,*.bin} \
 	   src/telebt-v3.0/flash-loader/*.elf \
-	   src/telebt-v4.0/flash-loader/*.elf \
+	   src/telebt-v4.0/flash-loader/{*.elf,*.bin} \
 	   src/teledongle-v3.0/flash-loader/*.elf \
 	   src/telegps-v1.0/flash-loader/*.elf \
+	   src/telegps-v2.0/flash-loader/*.elf \
 	   src/telemega-v1.0/flash-loader/*.elf \
 	   src/telemega-v2.0/flash-loader/*.elf \
 	   src/telemetrum-v2.0/flash-loader/*.elf \
@@ -129,26 +128,23 @@ These are Bdale's notes on how to do a release.
 	(cd ~/altusmetrumllc ; git add Binaries ; git commit -a) 
 	(cd ~/altusmetrumllc ; git push) 
 
-	- copy the relevant release notes .html file from doc/ to 
-	    /home/bdale/web/altusmetrum/AltOS/releases/<rev>
-
 	- Push new release to web site
 
 	make fat-install
 	(cd doc ; make publish)
 
-	(cd ~/web/altusmetrum/ && git add AltOS/releases
-	TeleGPS/releases MicroPeak/releases && git commit -m'Release
-	<rev>' && git push origin master)
+	(cd ~/web/altusmetrum/ && \
+		git add */releases && git commit -m'Release <rev>' && \
+		git push origin master)
+
+	- upload the Debian package 
 
-		this pushes fresh documents to the web site
+	- clean up
 
 	sudo debian/rules clean
 	git push origin master branch-<version> debian pristine-tar
 	git push --tags
 
-		push commits and leave the build tree in an uncluttered state
-
 Testing before a release
 
 	To verify that a build works, the following need to be checked
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
index 924ab4c9..0776fa00 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
@@ -77,6 +77,75 @@ class SavedState {
 	}
 }
 
+class Tracker implements CharSequence, Comparable {
+	int	serial;
+	String	call;
+	double	frequency;
+
+	String	display;
+
+	public Tracker(int serial, String call, double frequency) {
+		if (call == null)
+			call = "none";
+
+		this.serial = serial;
+		this.call = call;
+		this.frequency = frequency;
+		if (frequency == 0.0)
+			display = "Auto";
+		else if (frequency == AltosLib.MISSING) {
+			display = String.format("%-8.8s  %6d", call, serial);
+		} else {
+			display = String.format("%-8.8s %7.3f %6d", call, frequency, serial);
+		}
+	}
+
+	public Tracker(AltosState s) {
+		this(s == null ? 0 : s.cal_data().serial,
+		     s == null ? null : s.cal_data().callsign,
+		     s == null ? 0.0 : s.frequency);
+	}
+
+	/* CharSequence */
+	public char charAt(int index) {
+		return display.charAt(index);
+	}
+
+	public int length() {
+		return display.length();
+	}
+
+	public CharSequence subSequence(int start, int end) throws IndexOutOfBoundsException {
+		return display.subSequence(start, end);
+	}
+
+	public String toString() {
+		return display.toString();
+	}
+
+	/* Comparable */
+	public int compareTo (Object other) {
+		Tracker	o = (Tracker) other;
+		if (frequency == 0.0) {
+			if (o.frequency == 0.0)
+				return 0;
+			return -1;
+		}
+		if (o.frequency == 0.0)
+			return 1;
+
+		int	a = serial - o.serial;
+		int	b = call.compareTo(o.call);
+		int	c = (int) Math.signum(frequency - o.frequency);
+
+		if (b != 0)
+			return b;
+		if (c != 0)
+			return c;
+		return a;
+	}
+}
+
 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener {
 
 	// Actions sent to the telemetry server at startup time
@@ -151,7 +220,8 @@ public class AltosDroid extends FragmentActivity implements AltosUnitsListener,
 	private Timer timer;
 
 	TelemetryState	telemetry_state;
-	Integer[] 	serials;
+	Tracker[]	trackers;
+
 
 	UsbDevice	pending_usb_device;
 	boolean		start_with_usb;
@@ -323,8 +393,20 @@ public class AltosDroid extends FragmentActivity implements AltosUnitsListener,
 			AltosPreferences.register_units_listener(this);
 		}
 
-		serials = telemetry_state.states.keySet().toArray(new Integer[0]);
-		Arrays.sort(serials);
+		int	num_trackers = 0;
+		for (AltosState s : telemetry_state.states.values()) {
+			num_trackers++;
+		}
+
+		trackers = new Tracker[num_trackers + 1];
+
+		int n = 0;
+		trackers[n++] = new Tracker(0, "auto", 0.0);
+
+		for (AltosState s : telemetry_state.states.values())
+			trackers[n++] = new Tracker(s);
+
+		Arrays.sort(trackers);
 
 		update_title(telemetry_state);
 
@@ -955,11 +1037,11 @@ public class AltosDroid extends FragmentActivity implements AltosUnitsListener,
 		}
 
 		if (serial != 0) {
-			for (i = 0; i < serials.length; i++)
-				if (serials[i] == serial)
+			for (i = 0; i < trackers.length; i++)
+				if (trackers[i].serial == serial)
 					break;
 
-			if (i == serials.length) {
+			if (i == trackers.length) {
 				AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 				return;
 			}
@@ -972,17 +1054,22 @@ public class AltosDroid extends FragmentActivity implements AltosUnitsListener,
 	void touch_trackers(Integer[] serials) {
 		AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
 		builder_tracker.setTitle("Select Tracker");
-		final String[] trackers = new String[serials.length + 1];
-		trackers[0] = "Auto";
-		for (int i = 0; i < serials.length; i++)
-			trackers[i+1] = String.format("%d", serials[i]);
-		builder_tracker.setItems(trackers,
+
+		final Tracker[] my_trackers = new Tracker[serials.length + 1];
+
+		my_trackers[0] = new Tracker(null);
+
+		for (int i = 0; i < serials.length; i++) {
+			AltosState	s = telemetry_state.states.get(serials[i]);
+			my_trackers[i+1] = new Tracker(s);
+		}
+		builder_tracker.setItems(my_trackers,
 					 new DialogInterface.OnClickListener() {
 						 public void onClick(DialogInterface dialog, int item) {
 							 if (item == 0)
 								 select_tracker(0);
 							 else
-								 select_tracker(Integer.parseInt(trackers[item]));
+								 select_tracker(my_trackers[item].serial);
 						 }
 					 });
 		AlertDialog alert_tracker = builder_tracker.create();
@@ -1040,20 +1127,17 @@ public class AltosDroid extends FragmentActivity implements AltosUnitsListener,
 			alert_freq.show();
 			return true;
 		case R.id.select_tracker:
-			if (serials != null) {
-				String[] trackers = new String[serials.length+1];
-				trackers[0] = "Auto";
-				for (int i = 0; i < serials.length; i++)
-					trackers[i+1] = String.format("%d", serials[i]);
+			if (trackers != null) {
 				AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 				builder_serial.setTitle("Select a tracker");
 				builder_serial.setItems(trackers,
 							new DialogInterface.OnClickListener() {
 								public void onClick(DialogInterface dialog, int item) {
+									System.out.printf("select item %d %s\n", item, trackers[item].display);
 									if (item == 0)
 										select_tracker(0);
 									else
-										select_tracker(serials[item-1]);
+										select_tracker(trackers[item].serial);
 								}
 							});
 				AlertDialog alert_serial = builder_serial.create();
@@ -1062,16 +1146,16 @@ public class AltosDroid extends FragmentActivity implements AltosUnitsListener,
 			}
 			return true;
 		case R.id.delete_track:
-			if (serials != null) {
-				String[] trackers = new String[serials.length];
-				for (int i = 0; i < serials.length; i++)
-					trackers[i] = String.format("%d", serials[i]);
+			if (trackers != null) {
 				AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 				builder_serial.setTitle("Delete a track");
-				builder_serial.setItems(trackers,
+				final Tracker[] my_trackers = new Tracker[trackers.length - 1];
+				for (int i = 0; i < trackers.length - 1; i++)
+					my_trackers[i] = trackers[i+1];
+				builder_serial.setItems(my_trackers,
 							new DialogInterface.OnClickListener() {
 								public void onClick(DialogInterface dialog, int item) {
-									delete_track(serials[item]);
+									delete_track(my_trackers[item].serial);
 								}
 							});
 				AlertDialog alert_serial = builder_serial.create();
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
index d097a550..69685dc7 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
@@ -60,6 +60,7 @@ public class TelemetryReader extends Thread {
 			while (telemQueue != null) {
 				try {
 					AltosTelemetry	telem = read();
+					telem.set_frequency(link.frequency);
 					handler.obtainMessage(TelemetryService.MSG_TELEMETRY, telem).sendToTarget();
 				} catch (ParseException pp) {
 					AltosDebug.error("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage());
diff --git a/altoslib/AltosAccelCal.java b/altoslib/AltosAccelCal.java
new file mode 100644
index 00000000..03d9fbf2
--- /dev/null
+++ b/altoslib/AltosAccelCal.java
@@ -0,0 +1,217 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
+ */
+
+package org.altusmetrum.altoslib_12;
+
+import java.io.*;
+import java.util.concurrent.*;
+
+public class AltosAccelCal implements Runnable {
+
+	AltosLink		link;
+	AltosAccelCalListener	listener;
+
+	boolean			remote;
+	boolean			close_on_exit;
+	double			frequency;
+	String			callsign;
+
+	Thread			accel_thread;
+
+	AltosConfigData		config_data;
+
+	public static final int	phase_antenna_up = 0;
+	public static final int	phase_antenna_down = 1;
+
+	void start_link() throws InterruptedException, TimeoutException {
+		if (remote) {
+			link.set_radio_frequency(frequency);
+			link.set_callsign(callsign);
+			link.start_remote();
+		} else
+			link.flush_input();
+	}
+
+	boolean stop_link() throws InterruptedException, TimeoutException {
+		if (remote)
+			link.stop_remote();
+		return link.reply_abort;
+	}
+
+	public void set_frequency(double in_frequency) {
+		frequency = in_frequency;
+		link.abort_reply();
+	}
+
+	public void set_callsign(String in_callsign) {
+		callsign = in_callsign;
+		link.abort_reply();
+	}
+
+	public void abort() throws InterruptedException {
+		while (accel_thread.isAlive()) {
+			accel_thread.interrupt();
+			link.abort_reply();
+			Thread.sleep(100);
+		}
+		accel_thread.join();
+	}
+
+	static private final String press_msg = "press a key...";
+
+	private Semaphore ui_signal_semaphore;
+	private boolean ui_signal_reply;
+
+	public void signal(boolean reply) {
+		System.out.printf("Signal cal semaphore %b\n", reply);
+		ui_signal_reply = reply;
+		ui_signal_semaphore.release();
+	}
+
+	private boolean wait_signal() throws InterruptedException {
+		System.out.printf("\twait for cal signal...\n");
+		ui_signal_semaphore.acquire();
+		System.out.printf("\tgot cal signal %b\n", ui_signal_reply);
+		return ui_signal_reply;
+	}
+
+	private boolean wait_press(int timeout) throws InterruptedException {
+		for (;;) {
+			String line = link.get_reply(timeout);
+			if (line == null) {
+				System.out.printf("get_reply timeout\n");
+				return false;
+			}
+			System.out.printf("got line %s\n", line);
+			if (line.contains(press_msg))
+				return true;
+			if (line.contains("Invalid"))
+				return false;
+			if (line.contains("Syntax"))
+				return false;
+			if (line.contains("Calibrating"))
+				listener.message(this, line);
+		}
+	}
+
+	static final int cal_timeout = 20 * 1000;
+
+	public void run() {
+		System.out.printf("start accel cal procedure\n");
+		try {
+			AltosConfigData new_config = null;
+
+			try {
+				start_link();
+				config_data = link.config_data();
+
+				/* set back to antenna up for calibration */
+				if (config_data.pad_orientation != 0)
+					link.printf("c o 0\n");
+
+				/* Start calibration */
+				try {
+					System.out.printf("*** start cal\n");
+					link.set_match(press_msg);
+					link.printf("c a 0\n");
+					System.out.printf("*** wait press\n");
+					if (!wait_press(cal_timeout))
+						throw new TimeoutException("timeout");
+					System.out.printf("*** set_phase antenna_up\n");
+					listener.set_phase(this, phase_antenna_up);
+					System.out.printf("*** wait_signal\n");
+					if (!wait_signal())
+						throw new InterruptedException("aborted");
+					link.set_match(press_msg);
+					System.out.printf("*** send newline\n");
+					link.printf("\n");
+					System.out.printf("*** wait press\n");
+					if (!wait_press(cal_timeout))
+						throw new TimeoutException("timeout");
+					System.out.printf("***set_phase antenna_down\n");
+					listener.set_phase(this, phase_antenna_down);
+					System.out.printf("*** wait_signal\n");
+					if (!wait_signal())
+						throw new InterruptedException("aborted");
+					System.out.printf("*** send newline and version command\n");
+					link.printf("\nv\n");
+				} catch (TimeoutException e) {
+					throw e;
+				} catch (InterruptedException e) {
+					throw e;
+				}
+				link.set_match(null);
+
+				boolean worked = true;
+				for (;;) {
+					String line = link.get_reply(cal_timeout);
+					if (line == null)
+						throw new TimeoutException();
+					System.out.printf("*** waiting for finish: %s\n", line);
+					if (line.contains("Invalid"))
+						worked = false;
+					if (line.contains("software-version"))
+						break;
+					if (line.contains("Calibrating"))
+						listener.message(this, line);
+				}
+				System.out.printf("*** worked: %b\n", worked);
+				if (worked)
+					new_config = new AltosConfigData(link);
+			} finally {
+				System.out.printf("Restore orientation %d +g %d -g %d\n",
+						  config_data.pad_orientation,
+						  config_data.accel_cal_plus,
+						  config_data.accel_cal_minus);
+				if (config_data.pad_orientation != AltosLib.MISSING && config_data.pad_orientation != 0)
+					link.printf("c o %d\n", config_data.pad_orientation);
+				if (config_data.accel_cal_plus != AltosLib.MISSING && config_data.accel_cal_minus != AltosLib.MISSING)
+					link.printf("c a %d %d\n",
+						    config_data.accel_cal_plus, config_data.accel_cal_minus);
+				stop_link();
+			}
+			if (new_config != null) {
+				System.out.printf("*** +1g %d -1g %d\n",
+						  new_config.accel_cal_plus,
+						  new_config.accel_cal_minus);
+				listener.cal_done(this, new_config.accel_cal_plus, new_config.accel_cal_minus);
+				if (!wait_signal())
+					throw new InterruptedException("aborted");
+			} else
+				listener.error(this, "Calibration failed");
+		} catch (TimeoutException te) {
+			System.out.printf("timeout");
+			listener.error(this, "timeout");
+		} catch (InterruptedException ie) {
+			System.out.printf("interrupted\n");
+			listener.error(this, "interrupted");
+		}
+	}
+
+	public void start() {
+		accel_thread = new Thread(this);
+		listener.set_thread(this, accel_thread);
+		accel_thread.start();
+	}
+
+	public AltosAccelCal(AltosLink link, AltosAccelCalListener listener) {
+		this.link = link;
+		this.listener = listener;
+		ui_signal_semaphore = new Semaphore(0);
+	}
+}
diff --git a/altoslib/AltosAccelCalListener.java b/altoslib/AltosAccelCalListener.java
new file mode 100644
index 00000000..17359245
--- /dev/null
+++ b/altoslib/AltosAccelCalListener.java
@@ -0,0 +1,34 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
+ */
+
+package org.altusmetrum.altoslib_12;
+
+import java.io.*;
+import java.util.concurrent.*;
+
+public interface AltosAccelCalListener {
+	public void set_thread(AltosAccelCal cal, Thread thread);
+
+	public void set_phase(AltosAccelCal cal, int phase);
+
+	public void cal_done(AltosAccelCal cal, int plus, int minus);
+
+	public void error(AltosAccelCal cal, String msg);
+
+	public void message(AltosAccelCal cal, String msg);
+}
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 63c34310..dc036867 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -405,7 +405,7 @@ public class AltosConfigData {
 
 		/* HAS_GYRO */
 		try {
-			if (line.startsWith("IMU call along")) {
+			if (line.startsWith("IMU cal along")) {
 				String[] bits = line.split("\\s+");
 				if (bits.length >= 8) {
 					accel_zero_along = Integer.parseInt(bits[3]);
@@ -525,6 +525,12 @@ public class AltosConfigData {
 		if (pad_orientation != AltosLib.MISSING)
 			pad_orientation = source.pad_orientation();
 
+		if (accel_cal_plus != AltosLib.MISSING)
+			accel_cal_plus = source.accel_cal_plus();
+
+		if (accel_cal_minus != AltosLib.MISSING)
+			accel_cal_minus = source.accel_cal_minus();
+
 		/* HAS_LOG */
 		if (flight_log_max != AltosLib.MISSING)
 			flight_log_max = source.flight_log_max();
@@ -592,6 +598,7 @@ public class AltosConfigData {
 		dest.set_flight_log_max(flight_log_max);
 		dest.set_ignite_mode(ignite_mode);
 		dest.set_pad_orientation(pad_orientation);
+		dest.set_accel_cal(accel_cal_plus, accel_cal_minus);
 		dest.set_callsign(callsign);
 		if (npyro != AltosLib.MISSING)
 			dest.set_pyros(pyros);
@@ -669,9 +676,10 @@ public class AltosConfigData {
 			link.printf("c e %d\n", radio_enable);
 
 		/* HAS_ACCEL */
-		/* UI doesn't support accel cal */
 		if (pad_orientation != AltosLib.MISSING)
 			link.printf("c o %d\n", pad_orientation);
+		if (accel_cal_plus != AltosLib.MISSING && accel_cal_minus != AltosLib.MISSING)
+			link.printf("c a %d %d\n", accel_cal_plus, accel_cal_minus);
 
 		/* HAS_LOG */
 		if (flight_log_max != 0)
diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java
index 170b1112..10478fd4 100644
--- a/altoslib/AltosConfigValues.java
+++ b/altoslib/AltosConfigValues.java
@@ -74,6 +74,16 @@ public interface AltosConfigValues {
 
 	public abstract int pad_orientation();
 
+	public abstract void set_accel_cal(int accel_cal_plus, int accel_cal_minus);
+
+	public abstract int accel_cal_plus();
+
+	public abstract int accel_cal_minus();
+
+	public abstract void set_dirty();
+
+	public abstract void set_clean();
+
 	public abstract void set_pyros(AltosPyro[] new_pyros);
 
 	public abstract AltosPyro[] pyros() throws AltosConfigDataException;
diff --git a/altoslib/AltosDataListener.java b/altoslib/AltosDataListener.java
index 5f89b3e4..be6d840f 100644
--- a/altoslib/AltosDataListener.java
+++ b/altoslib/AltosDataListener.java
@@ -20,6 +20,7 @@ public abstract class AltosDataListener {
 
 	public double		time = AltosLib.MISSING;
 	public int		state = AltosLib.MISSING;
+	public double		frequency = AltosLib.MISSING;
 
 	public void set_tick(int tick) {
 		cal_data.set_tick(tick);
@@ -55,6 +56,10 @@ public abstract class AltosDataListener {
 		cal_data().set_flight(flight);
 	}
 
+	public void set_frequency(double frequency) {
+		this.frequency = frequency;
+	}
+
 	/* Called after all records are captured */
 	public void finish() {
 	}
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index c2e4e2a3..ea1a9675 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -212,8 +212,11 @@ public class AltosFlightStats {
 					add_times(series, (int) prev.value, prev.time, state.time);
 				prev = state;
 			}
-			if (prev != null)
-				add_times(series, (int) prev.value, prev.time, series.accel_series.last().time);
+			if (prev != null) {
+				AltosTimeValue last_accel = series.accel_series.last();
+				if (last_accel != null)
+					add_times(series, (int) prev.value, prev.time, last_accel.time);
+			}
 		}
 
 		for (int s = 0; s <= AltosLib.ao_flight_invalid; s++) {
@@ -245,14 +248,15 @@ public class AltosFlightStats {
 			has_gps = true;
 			lat = pad_lat = gps.lat;
 			lon = pad_lon = gps.lon;
-			for (AltosGPSTimeValue gtv : series.gps_series) {
-				gps = gtv.gps;
-				if (gps.locked && gps.nsat >= 4) {
-					lat = gps.lat;
-					lon = gps.lon;
+			if (series.gps_series != null) {
+				for (AltosGPSTimeValue gtv : series.gps_series) {
+					gps = gtv.gps;
+					if (gps.locked && gps.nsat >= 4) {
+						lat = gps.lat;
+						lon = gps.lon;
+					}
 				}
 			}
-
 		}
 
 		max_height = AltosLib.MISSING;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 5a802ef1..5413de9d 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -43,6 +43,8 @@ public abstract class AltosLink implements Runnable {
 	public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
 	public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
 
+	private String match_string = null;
+
 	public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 		set_monitor(true);
 		monitors.add(q);
@@ -112,6 +114,15 @@ public abstract class AltosLink implements Runnable {
 
 	private int	len_read = 0;
 
+	private boolean match_bytes(byte[] bytes, int byte_count, String match) {
+		if (byte_count < match.length())
+			return false;
+		String	line = new String(bytes, 0, byte_count, AltosLib.unicode_set);
+		if (line == null)
+			return false;
+		return line.indexOf(match) >= 0;
+	}
+
 	public void run () {
 		int c;
 		byte[] line_bytes = null;
@@ -159,6 +170,11 @@ public abstract class AltosLink implements Runnable {
 							line_count = 0;
 							len_read = 0;
 						}
+						if (match_string != null && match_bytes(line_bytes, line_count, match_string)) {
+							match_string = null;
+							add_bytes(line_bytes, line_count);
+							line_count = 0;
+						}
 					}
 				}
 			}
@@ -166,6 +182,9 @@ public abstract class AltosLink implements Runnable {
 		}
 	}
 
+	public void set_match(String match) {
+		match_string = match;
+	}
 
 	public String get_reply(int timeout) throws InterruptedException {
 		boolean	can_cancel = can_cancel_reply();
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 9ee3d57d..39ab10da 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -1060,7 +1060,6 @@ public class AltosState extends AltosDataListener {
 	}
 
 	public AltosState() {
-		Thread.dumpStack();
 		init();
 	}
 
diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index 7d576942..f17e1171 100644
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -38,6 +38,9 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 	/* Mark when we received the packet */
 	long		received_time;
 
+	/* Mark frequency packet was received on */
+	public double		frequency = AltosLib.MISSING;
+
 	static boolean cksum(int[] bytes) {
 		int	sum = 0x5a;
 		for (int i = 1; i < bytes.length - 1; i++)
@@ -50,6 +53,8 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 		listener.set_serial(serial());
 		if (listener.state == AltosLib.ao_flight_invalid)
 			listener.set_state(AltosLib.ao_flight_startup);
+		if (frequency != AltosLib.MISSING)
+			listener.set_frequency(frequency);
 		listener.set_tick(tick());
 		listener.set_rssi(rssi(), status());
 		listener.set_received_time(received_time);
@@ -108,6 +113,10 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 		return telem;
 	}
 
+	public void set_frequency(double frequency) {
+		this.frequency = frequency;
+	}
+
 	public AltosTelemetry() {
 		this.received_time = System.currentTimeMillis();
 	}
diff --git a/altoslib/AltosTimeSeries.java b/altoslib/AltosTimeSeries.java
index b3c432fc..9f3b4d80 100644
--- a/altoslib/AltosTimeSeries.java
+++ b/altoslib/AltosTimeSeries.java
@@ -151,11 +151,15 @@ public class AltosTimeSeries implements Iterable<AltosTimeValue>, Comparable<Alt
 	}
 
 	public AltosTimeValue first() {
-		return values.get(0);
+		if (values.size() > 0)
+			return values.get(0);
+		return null;
 	}
 
 	public AltosTimeValue last() {
-		return values.get(values.size() - 1);
+		if (values.size() > 0)
+			return values.get(values.size() - 1);
+		return null;
 	}
 
 	public double average() {
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 11b5d562..08af9496 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -26,6 +26,8 @@ record_files = \
 
 altoslib_JAVA = \
 	AltosLib.java \
+	AltosAccelCal.java \
+	AltosAccelCalListener.java \
 	AltosCalData.java \
 	AltosCompanion.java \
 	AltosConfigData.java \
diff --git a/altosui/AltosConfigFC.java b/altosui/AltosConfigFC.java
index beff71b7..5e2aa7f4 100644
--- a/altosui/AltosConfigFC.java
+++ b/altosui/AltosConfigFC.java
@@ -268,6 +268,13 @@ public class AltosConfigFC implements ActionListener {
 				if (serial_line != null)
 					serial_line.close();
 			}
+			else if (cmd.equals("Accel")) {
+				if (data.pad_orientation != AltosLib.MISSING) {
+					AltosUIAccelCal accel_ui = new AltosUIAccelCal(owner, serial_line, config_ui);
+					if (accel_ui != null)
+						accel_ui.doit();
+				}
+			}
 		} catch (InterruptedException ie) {
 			abort();
 		} catch (TimeoutException te) {
diff --git a/altosui/AltosConfigFCUI.java b/altosui/AltosConfigFCUI.java
index c0c37254..1e875dec 100644
--- a/altosui/AltosConfigFCUI.java
+++ b/altosui/AltosConfigFCUI.java
@@ -49,6 +49,8 @@ public class AltosConfigFCUI
 	JLabel			flight_log_max_label;
 	JLabel			ignite_mode_label;
 	JLabel			pad_orientation_label;
+	JLabel			accel_plus_label;
+	JLabel			accel_minus_label;
 	JLabel			callsign_label;
 	JLabel			beep_label;
 	JLabel			tracker_motion_label;
@@ -73,12 +75,15 @@ public class AltosConfigFCUI
 	JComboBox<String>	flight_log_max_value;
 	JComboBox<String>	ignite_mode_value;
 	JComboBox<String>	pad_orientation_value;
+	JTextField		accel_plus_value;
+	JTextField		accel_minus_value;
 	JTextField		callsign_value;
 	JComboBox<String>	beep_value;
 	JComboBox<String>	tracker_motion_value;
 	JComboBox<String>	tracker_interval_value;
 
 	JButton			pyro;
+	JButton			accel_cal;
 
 	JButton			save;
 	JButton			reset;
@@ -250,9 +255,9 @@ public class AltosConfigFCUI
 	}
 
 	void set_pad_orientation_tool_tip() {
-		if (pad_orientation_value.isVisible())
+		if (pad_orientation_value.isVisible()) {
 			pad_orientation_value.setToolTipText("How will the computer be mounted in the airframe");
-		else {
+		} else {
 			if (is_telemetrum())
 				pad_orientation_value.setToolTipText("Older TeleMetrum firmware must fly antenna forward");
 			else if (is_telemini() || is_easymini())
@@ -262,6 +267,16 @@ public class AltosConfigFCUI
 		}
 	}
 
+	void set_accel_tool_tips() {
+		if (accel_plus_value.isVisible()) {
+			accel_plus_value.setToolTipText("Pad acceleration value in flight orientation");
+			accel_minus_value.setToolTipText("Upside-down acceleration value");
+		} else {
+			accel_plus_value.setToolTipText("No accelerometer");
+			accel_minus_value.setToolTipText("No accelerometer");
+		}
+	}
+
 	void set_beep_tool_tip() {
 		if (beep_value.isVisible())
 			beep_value.setToolTipText("What frequency the beeper will sound at");
@@ -709,6 +724,57 @@ public class AltosConfigFCUI
 		set_pad_orientation_tool_tip();
 		row++;
 
+		/* Accel plus */
+		c = new GridBagConstraints();
+		c.gridx = 0; c.gridy = row;
+		c.gridwidth = 4;
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.LINE_START;
+		c.insets = il;
+		c.ipady = 5;
+		accel_plus_label = new JLabel("Accel Plus:");
+		pane.add(accel_plus_label, c);
+
+		c = new GridBagConstraints();
+		c.gridx = 4; c.gridy = row;
+		c.gridwidth = 4;
+		c.fill = GridBagConstraints.HORIZONTAL;
+		c.weightx = 1;
+		c.anchor = GridBagConstraints.LINE_START;
+		c.insets = ir;
+		c.ipady = 5;
+		accel_plus_value = new JTextField(10);
+		accel_plus_value.setEditable(true);
+		accel_plus_value.getDocument().addDocumentListener(this);
+		pane.add(accel_plus_value, c);
+		row++;
+
+		/* Accel minus */
+		c = new GridBagConstraints();
+		c.gridx = 0; c.gridy = row;
+		c.gridwidth = 4;
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.LINE_START;
+		c.insets = il;
+		c.ipady = 5;
+		accel_minus_label = new JLabel("Accel Minus:");
+		pane.add(accel_minus_label, c);
+
+		c = new GridBagConstraints();
+		c.gridx = 4; c.gridy = row;
+		c.gridwidth = 4;
+		c.fill = GridBagConstraints.HORIZONTAL;
+		c.weightx = 1;
+		c.anchor = GridBagConstraints.LINE_START;
+		c.insets = ir;
+		c.ipady = 5;
+		accel_minus_value = new JTextField(10);
+		accel_minus_value.setEditable(true);
+		accel_minus_value.getDocument().addDocumentListener(this);
+		pane.add(accel_minus_value, c);
+		row++;
+		set_accel_tool_tips();
+
 		/* Beeper */
 		c = new GridBagConstraints();
 		c.gridx = 0; c.gridy = row;
@@ -800,6 +866,20 @@ public class AltosConfigFCUI
 		pyro.setActionCommand("Pyro");
 		row++;
 
+		/* Accel cal */
+		c = new GridBagConstraints();
+		c.gridx = 5; c.gridy = row;
+		c.gridwidth = 5;
+		c.fill = GridBagConstraints.HORIZONTAL;
+		c.anchor = GridBagConstraints.LINE_START;
+		c.insets = il;
+		c.ipady = 5;
+		accel_cal = new JButton("Calibrate Accelerometer");
+		pane.add(accel_cal, c);
+		accel_cal.addActionListener(this);
+		accel_cal.setActionCommand("Accel");
+		row++;
+
 		/* Buttons */
 		c = new GridBagConstraints();
 		c.gridx = 0; c.gridy = row;
@@ -873,7 +953,7 @@ public class AltosConfigFCUI
 		return true;
 	}
 
-	void set_dirty() {
+	public void set_dirty() {
 		dirty = true;
 		save.setEnabled(true);
 	}
@@ -912,7 +992,8 @@ public class AltosConfigFCUI
 			setVisible(false);
 			dispose();
 		}
-		set_clean();
+		if (cmd.equals("Save") || cmd.equals("Reset"))
+			set_clean();
 	}
 
 	/* ItemListener interface method */
@@ -943,6 +1024,7 @@ public class AltosConfigFCUI
 		radio_frequency_value.set_product(product);
 		product_value.setText(product);
 		set_pad_orientation_tool_tip();
+		set_accel_tool_tips();
 		set_flight_log_max_tool_tip();
 	}
 
@@ -1196,6 +1278,7 @@ public class AltosConfigFCUI
 		}
 		pad_orientation_value.setVisible(new_pad_orientation != AltosLib.MISSING);
 		pad_orientation_label.setVisible(new_pad_orientation != AltosLib.MISSING);
+		accel_cal.setVisible(new_pad_orientation != AltosLib.MISSING);
 
 		set_pad_orientation_tool_tip();
 	}
@@ -1207,6 +1290,31 @@ public class AltosConfigFCUI
 			return AltosLib.MISSING;
 	}
 
+	public void set_accel_cal(int accel_plus, int accel_minus) {
+		if (accel_plus != AltosLib.MISSING) {
+			accel_plus_value.setText(String.format("%d", accel_plus));
+			accel_minus_value.setText(String.format("%d", accel_minus));
+		}
+		accel_plus_value.setVisible(accel_plus != AltosLib.MISSING);
+		accel_plus_label.setVisible(accel_plus != AltosLib.MISSING);
+		accel_minus_value.setVisible(accel_minus != AltosLib.MISSING);
+		accel_minus_label.setVisible(accel_minus != AltosLib.MISSING);
+
+		set_accel_tool_tips();
+	}
+
+	public int accel_cal_plus() {
+		if (accel_plus_value.isVisible())
+			return Integer.parseInt(accel_plus_value.getText());
+		return AltosLib.MISSING;
+	}
+
+	public int accel_cal_minus() {
+		if (accel_minus_value.isVisible())
+			return Integer.parseInt(accel_minus_value.getText());
+		return AltosLib.MISSING;
+	}
+
 	public void set_beep(int new_beep) {
 		if (new_beep != AltosLib.MISSING) {
 			int new_freq = (int) Math.floor (AltosConvert.beep_value_to_freq(new_beep) + 0.5);
diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java
index f6c906c6..042f9277 100644
--- a/altosui/AltosGraphUI.java
+++ b/altosui/AltosGraphUI.java
@@ -48,7 +48,6 @@ public class AltosGraphUI extends AltosUIFrame implements AltosFontListener, Alt
 
 		if (flight_series.gps_series != null) {
 			for (AltosGPSTimeValue gtv : flight_series.gps_series) {
-				gtv_last = gtv;
 				AltosGPS gps = gtv.gps;
 				if (gps != null &&
 				    gps.locked &&
@@ -57,6 +56,7 @@ public class AltosGraphUI extends AltosUIFrame implements AltosFontListener, Alt
 						map = new AltosUIMap();
 					map.show(gps, (int) flight_series.value_before(AltosFlightSeries.state_name, gtv.time));
 					this.gps = gps;
+					gtv_last = gtv;
 					has_gps = true;
 				}
 			}
diff --git a/altosuilib/AltosUIAccelCal.java b/altosuilib/AltosUIAccelCal.java
new file mode 100644
index 00000000..af72a21d
--- /dev/null
+++ b/altosuilib/AltosUIAccelCal.java
@@ -0,0 +1,249 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
+ */
+
+package org.altusmetrum.altosuilib_12;
+
+import java.awt.*;
+import java.awt.event.*;
+import java.beans.*;
+import javax.swing.*;
+import javax.swing.event.*;
+import org.altusmetrum.altoslib_12.*;
+
+public class AltosUIAccelCal
+	extends AltosUIDialog
+	implements AltosAccelCalListener, ActionListener
+{
+	Frame owner;
+	AltosLink link;
+	AltosAccelCal cal;
+	AltosConfigValues	config_values;
+	Thread thread;
+	Container pane;
+	JTextField message;
+	JButton	antenna_up;
+	JButton	antenna_down;
+	JButton	ok;
+	JButton cancel;
+	boolean success;
+	int accel_plus, accel_minus;
+
+	private void make_visible() {
+		pack();
+		cal.start();
+		setVisible(true);
+	}
+
+	public boolean doit() {
+		success = false;
+		make_visible();
+		return success;
+	}
+
+	public int accel_cal_plus() {
+		if (success)
+			return accel_plus;
+		return AltosLib.MISSING;
+	}
+
+	public int accel_cal_minus() {
+		if (success)
+			return accel_minus;
+		return AltosLib.MISSING;
+	}
+
+	private void setDefaultButton(JButton button) {
+		this.getRootPane().setDefaultButton(button);
+	}
+
+	/* AltosAccelCalListener interface */
+	public void set_thread(AltosAccelCal cal, Thread thread) {
+		this.thread = thread;
+	}
+
+	public void set_phase(AltosAccelCal cal, final int phase) {
+		SwingUtilities.invokeLater(new Runnable() {
+				public void run() {
+					switch (phase) {
+					case AltosAccelCal.phase_antenna_up:
+						message.setText("Orient antenna upwards and click on Antenna Up");
+						antenna_up.setEnabled(true);
+						setDefaultButton(antenna_up);
+						antenna_down.setEnabled(false);
+						ok.setEnabled(false);
+						break;
+					case AltosAccelCal.phase_antenna_down:
+						message.setText("Orient antenna downwards and click on Antenna Down");
+						antenna_up.setEnabled(false);
+						antenna_down.setEnabled(true);
+						setDefaultButton(antenna_down);
+						ok.setEnabled(false);
+						break;
+					}
+				}
+			});
+	}
+
+	public void cal_done(AltosAccelCal cal, int plus, int minus) {
+		accel_plus = plus;
+		accel_minus = minus;
+		success = true;
+		SwingUtilities.invokeLater(new Runnable() {
+				public void run() {
+					message.setText(String.format("Calibration succeeded, plus %d minus %d, press OK to continue", accel_plus, accel_minus));
+					antenna_up.setEnabled(false);
+					antenna_down.setEnabled(false);
+					ok.setEnabled(true);
+					setDefaultButton(ok);
+				}
+			});
+	}
+
+	public void message(AltosAccelCal cal, final String msg) {
+		SwingUtilities.invokeLater(new Runnable() {
+				public void run() {
+					message.setText(msg);
+				}
+			});
+	}
+
+	public void error(AltosAccelCal cal, String msg) {
+		message(cal, msg);
+	}
+
+	/* ActionListener interface */
+	public void actionPerformed(ActionEvent e) {
+		String	cmd = e.getActionCommand();
+
+		if ("up".equals(cmd)) {
+			cal.signal(true);
+			antenna_up.setEnabled(false);
+		} else if ("down".equals(cmd)) {
+			cal.signal(true);
+			antenna_down.setEnabled(false);
+			this.setDefaultButton(antenna_down);
+		} else if ("ok".equals(cmd)) {
+			cal.signal(true);
+			this.setVisible(false);
+			if (success) {
+				config_values.set_accel_cal(accel_plus, accel_minus);
+				config_values.set_dirty();
+			}
+			try {
+				cal.abort();
+			} catch (InterruptedException ie) {
+			}
+		} else if ("cancel".equals(cmd)) {
+			cal.signal(false);
+			this.setVisible(false);
+			try {
+				cal.abort();
+			} catch (InterruptedException ie) {
+			}
+		}
+	}
+	public AltosUIAccelCal(Frame owner, AltosLink link, AltosConfigValues config_values) {
+		super(owner, "Calibrate Accelerometer", true);
+
+		this.owner = owner;
+		this.link = link;
+		this.config_values = config_values;
+
+		pane = getContentPane();
+		pane.setLayout(new GridBagLayout());
+
+		GridBagConstraints c = new GridBagConstraints();
+		c.insets = new Insets(4,4,4,4);
+
+		int x = 0;
+		int y = 0;
+		c.fill = GridBagConstraints.HORIZONTAL;
+		c.anchor = GridBagConstraints.WEST;
+		c.gridx = x;
+		c.gridy = y;
+		c.gridwidth = 4;
+		c.gridheight = 1;
+		c.weightx = 0;
+		c.weighty = 0;
+		message = new JTextField(64);
+		pane.add(message, c);
+
+		y++; x = 0;
+
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.WEST;
+		c.gridx = x;
+		c.gridy = y;
+		c.gridwidth = 1;
+		c.gridheight = 1;
+		c.weightx = 0;
+		c.weighty = 0;
+		antenna_up = new JButton("Antenna Up");
+		antenna_up.setActionCommand("up");
+		antenna_up.setEnabled(false);
+		antenna_up.addActionListener(this);
+		pane.add(antenna_up, c);
+
+		x++;
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.WEST;
+		c.gridx = x;
+		c.gridy = y;
+		c.gridwidth = 1;
+		c.gridheight = 1;
+		c.weightx = 0;
+		c.weighty = 0;
+		antenna_down = new JButton("Antenna Down");
+		antenna_down.setActionCommand("down");
+		antenna_down.setEnabled(false);
+		antenna_down.addActionListener(this);
+		pane.add(antenna_down, c);
+
+		x++;
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.WEST;
+		c.gridx = x;
+		c.gridy = y;
+		c.gridwidth = 1;
+		c.gridheight = 1;
+		c.weightx = 0;
+		c.weighty = 0;
+		ok = new JButton("OK");
+		ok.setActionCommand("ok");
+		ok.setEnabled(false);
+		ok.addActionListener(this);
+		pane.add(ok, c);
+
+		x++;
+		c.fill = GridBagConstraints.NONE;
+		c.anchor = GridBagConstraints.WEST;
+		c.gridx = x;
+		c.gridy = y;
+		c.gridwidth = 1;
+		c.gridheight = 1;
+		c.weightx = 0;
+		c.weighty = 0;
+		cancel = new JButton("Cancel");
+		cancel.setActionCommand("cancel");
+		cancel.setEnabled(true);
+		cancel.addActionListener(this);
+		pane.add(cancel, c);
+
+		cal = new AltosAccelCal(this.link, this);
+	}
+}
diff --git a/altosuilib/Makefile.am b/altosuilib/Makefile.am
index 4b5eb524..ce86d21e 100644
--- a/altosuilib/Makefile.am
+++ b/altosuilib/Makefile.am
@@ -13,6 +13,7 @@ altosuilib_JAVA = \
 	AltosDevice.java \
 	AltosDeviceDialog.java \
 	AltosPositionListener.java \
+	AltosUIAccelCal.java \
 	AltosUIConfigure.java \
 	AltosUIAxis.java \
 	AltosUIDataMissing.java \
diff --git a/ao-bringup/test-telegps b/ao-bringup/test-telegps-v1
index 0b275802..0b275802 100755
--- a/ao-bringup/test-telegps
+++ b/ao-bringup/test-telegps-v1
diff --git a/ao-bringup/test-telegps-v2 b/ao-bringup/test-telegps-v2
new file mode 100755
index 00000000..b103aed4
--- /dev/null
+++ b/ao-bringup/test-telegps-v2
@@ -0,0 +1,52 @@
+#!/bin/sh
+
+VERSION=2.0
+PRODUCT=TeleGPS
+BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
+
+echo "$PRODUCT-v$VERSION Test Program"
+echo "Copyright 2014 by Bdale Garbee.  Released under GPL v2"
+echo
+echo "Expectations:"
+echo "\t$PRODUCT v$VERSION powered from USB"
+echo
+
+ret=1
+ao-list | while read product serial dev; do
+    case "$product" in
+	"$PRODUCT-v$VERSION")
+
+	    echo "Testing $product $serial $dev"
+
+	    FLASHSIZE=2097152
+
+	    echo "Testing flash"
+	    ../ao-tools/ao-test-flash/ao-test-flash --tty="$dev" "$FLASHSIZE"
+
+	    case $? in
+		0)
+		    ;;
+		*)
+		    echo "failed"
+		    exit 1
+	    esac
+
+	    echo "Testing GPS"
+	    ../ao-tools/ao-test-gps/ao-test-gps --tty="$dev"
+
+	    case $? in
+		0)
+		    ;;
+		*)
+		    echo "failed"
+		    exit 1
+	    esac
+
+	    echo "$PRODUCT-v$VERSION" serial "$serial" passed functional tests
+	    ret=0
+	    ;;
+	*)
+	    echo "Skipping $product $serial $dev"
+	    ;;
+    esac
+done
diff --git a/ao-bringup/turnon_telebt b/ao-bringup/turnon_telebt
index 912ba459..fb8318b3 100755
--- a/ao-bringup/turnon_telebt
+++ b/ao-bringup/turnon_telebt
@@ -80,7 +80,7 @@ else
 fi
 
 echo -n "checking BTLE functionality... "
-btdev=`sudo timeout -s SIGINT 5s hcitool lescan | awk -F \- '/TeleBT/ { print $2 }'`
+btdev=`sudo timeout -s SIGINT 5s hcitool lescan | awk -F \- '/TeleBT/ { print $2 }' | head -n 1`
 if [ "$btdev" = "$SERIAL" ]; then
 	echo "working!"
 else
diff --git a/ao-bringup/turnon_telegps b/ao-bringup/turnon_telegps
index b6da2898..fd879abd 100755
--- a/ao-bringup/turnon_telegps
+++ b/ao-bringup/turnon_telegps
@@ -1,12 +1,10 @@
 #!/bin/sh
 
-if [ -x ../ao-tools/ao-flash/ao-flash-lpc ]; then
-        FLASH_LPC=../ao-tools/ao-flash/ao-flash-lpc
-elif [ -x /usr/bin/ao-flash-lpc ]; then
-        FLASH_LPC=/usr/bin/ao-flash-lpc
+if [ -x /usr/bin/dfu-util ]; then
+    DFU_UTIL=/usr/bin/dfu-util
 else
-        echo "Can't find ao-flash-lpc!  Aborting."
-        exit 1
+    echo "Can't find dfu-util! Aborting."
+    exit 1
 fi
 
 if [ -x /usr/bin/ao-usbload ]; then
@@ -17,16 +15,17 @@ else
 fi
 
 PRODUCT=TeleGPS
-VERSION=1.0
-BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
-echo $FILE
+VERSION=2.0
+REPO=~/altusmetrumllc/Binaries
+
+#BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
+#echo $FILE
 
 echo "$PRODUCT v$VERSION Turn-On and Calibration Program"
-echo "Copyright 2014 by Bdale Garbee.  Released under GPL v2"
+echo "Copyright 2017 by Bdale Garbee.  Released under GPL v3+"
 echo
 echo "Expectations:"
-echo "\t$PRODUCT v$VERSION powered from USB"
-echo "\t\twith ST-Link-V2 cabled to debug header"
+echo "\t$PRODUCT v$VERSION powered from / attached to USB on this computer"
 echo
 
 case $# in
@@ -47,35 +46,31 @@ esac
 #
 # Use released versions of everything
 #
-FLASH_FILE=~/altusmetrumllc/Binaries/loaders/telegps-v1.0-altos-flash-*.elf
-ALTOS_FILE=~/altusmetrumllc/Binaries/telegps-v1.0-*.elf
-
-echo $FLASH_LPC $FLASH_FILE
+FLASH_FILE=$REPO/loaders/telegps-v2.0-altos-flash-*.bin
+ALTOS_FILE=$REPO/telegps-v2.0-*.elf
 
-$FLASH_LPC $FLASH_FILE || exit 1
+$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE || exit 1
 
 sleep 2
 
-echo $USBLOAD $ALTOS_FILE
-
 $USBLOAD --serial=$SERIAL $ALTOS_FILE || exit 1
 
-sleep 2
+sleep 3
 
-dev=`ao-list | awk '/TeleGPS-v'"$VERSION"'/ { print $3; exit(0); }'`
+dev=`ao-list | awk '/'"$PRODUCT"'-v'"$VERSION"'/ { print $3; exit(0); }'`
 
 case "$dev" in
 /dev/tty*)
-        echo "TeleGPS found on $dev"
+        echo "$PRODUCT found on $dev"
         ;;
 *)
-        echo 'No TeleGPS-v'"$VERSION"' found'
+        echo 'No '"$PRODUCT"'-v'"$VERSION"' found'
         exit 1
         ;;
 esac
 
 SERIAL=$SERIAL ./cal-freq $dev
 
-./test-telegps
+./test-telegps-v2
 
 exit $?
diff --git a/ao-bringup/turnon_telegps_v1 b/ao-bringup/turnon_telegps_v1
new file mode 100755
index 00000000..5341acc7
--- /dev/null
+++ b/ao-bringup/turnon_telegps_v1
@@ -0,0 +1,81 @@
+#!/bin/sh
+
+if [ -x ../ao-tools/ao-flash/ao-flash-lpc ]; then
+        FLASH_LPC=../ao-tools/ao-flash/ao-flash-lpc
+elif [ -x /usr/bin/ao-flash-lpc ]; then
+        FLASH_LPC=/usr/bin/ao-flash-lpc
+else
+        echo "Can't find ao-flash-lpc!  Aborting."
+        exit 1
+fi
+
+if [ -x /usr/bin/ao-usbload ]; then
+	USBLOAD=/usr/bin/ao-usbload
+else
+	echo "Can't find ao-usbload!  Aborting."
+	exit 1
+fi
+
+PRODUCT=TeleGPS
+VERSION=1.0
+BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
+echo $FILE
+
+echo "$PRODUCT v$VERSION Turn-On and Calibration Program"
+echo "Copyright 2014 by Bdale Garbee.  Released under GPL v2"
+echo
+echo "Expectations:"
+echo "\t$PRODUCT v$VERSION powered from USB"
+echo "\t\twith ST-Link-V2 cabled to debug header"
+echo
+
+case $# in
+    1)
+	SERIAL="$1"
+	echo "$PRODUCT-$VERSION serial number: $SERIAL" 
+	;;
+    0)
+	echo -n "$PRODUCT-$VERSION serial number: "
+	read SERIAL
+	;;
+    *)
+	echo "Usage: $0 <serial-number>" 1>&2
+	exit 1;
+	;;
+esac
+
+#
+# Use released versions of everything
+#
+FLASH_FILE=~/altusmetrumllc/Binaries/loaders/telegps-v1.0-altos-flash-*.elf
+ALTOS_FILE=~/altusmetrumllc/Binaries/telegps-v1.0-*.elf
+
+echo $FLASH_LPC $FLASH_FILE
+
+$FLASH_LPC $FLASH_FILE || exit 1
+
+sleep 2
+
+echo $USBLOAD $ALTOS_FILE
+
+$USBLOAD --serial=$SERIAL $ALTOS_FILE || exit 1
+
+sleep 2
+
+dev=`ao-list | awk '/TeleGPS-v'"$VERSION"'/ { print $3; exit(0); }'`
+
+case "$dev" in
+/dev/tty*)
+        echo "TeleGPS found on $dev"
+        ;;
+*)
+        echo 'No TeleGPS-v'"$VERSION"' found'
+        exit 1
+        ;;
+esac
+
+SERIAL=$SERIAL ./cal-freq $dev
+
+./test-telegps-v1
+
+exit $?
diff --git a/ao-tools/ao-chaosread/Makefile.am b/ao-tools/ao-chaosread/Makefile.am
index 581eb2d2..6ba8885c 100644
--- a/ao-tools/ao-chaosread/Makefile.am
+++ b/ao-tools/ao-chaosread/Makefile.am
@@ -1,6 +1,6 @@
 bin_PROGRAMS=ao-chaosread
 
-AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+AM_CFLAGS=$(LIBUSB_CFLAGS) -Wall -Wextra
 
 ao_chaosread_LDADD=$(LIBUSB_LIBS)
 
diff --git a/ao-tools/ao-chaosread/ao-chaosread.c b/ao-tools/ao-chaosread/ao-chaosread.c
index 7808f6c9..6d860139 100644
--- a/ao-tools/ao-chaosread/ao-chaosread.c
+++ b/ao-tools/ao-chaosread/ao-chaosread.c
@@ -74,7 +74,7 @@ chaoskey_match(libusb_device *dev, char *match_serial)
 		goto out;
 	}
 
-	ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, device_serial, match_len + 1);
+	ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, (unsigned char *) device_serial, match_len + 1);
 
 	if (ret < 0) {
 		fprintf(stderr, "failed to get serial number: %s\n", libusb_strerror(ret));
@@ -103,7 +103,6 @@ chaoskey_open(char *serial)
 	int		ret;
 	ssize_t		num;
 	libusb_device	**list;
-	libusb_device	*device = NULL;
 	int		d;
 
 	ck = calloc(sizeof (struct chaoskey), 1);
@@ -173,12 +172,6 @@ chaoskey_close(struct chaoskey *ck)
 	free(ck);
 }
 
-void
-chaoskey_transfer_callback(struct libusb_transfer *transfer)
-{
-	struct chaoskey *ck = transfer->user_data;
-}
-
 #define ENDPOINT	0x86
 
 int
@@ -202,7 +195,9 @@ chaoskey_read(struct chaoskey *ck, void *buffer, int len)
 		}
 		len -= transferred;
 		buf += transferred;
+		total += transferred;
 	}
+	return total;
 }
 
 static const struct option options[] = {
@@ -283,8 +278,17 @@ main (int argc, char **argv)
 			int i;
 			for (i = 0; i < got / 2; i++)
 				putchar((buf[i] >> 1 & 0xff));
-		} else
-			write(1, buf, got);
+		} else {
+			int i;
+			int ret;
+			for (i = 0; i < got; i += ret) {
+				ret = write(1, ((char *) buf) + i, got - i);
+				if (ret <= 0) {
+					perror("write");
+					exit(1);
+				}
+			}
+		}
 		length -= got;
 	}
 	exit(0);
diff --git a/configure.ac b/configure.ac
index dc80f6e3..2bf6c7e3 100644
--- a/configure.ac
+++ b/configure.ac
@@ -18,13 +18,13 @@ dnl
 dnl Process this file with autoconf to create configure.
 
 AC_PREREQ(2.57)
-AC_INIT([altos], 1.8.1)
-ANDROID_VERSION=15
+AC_INIT([altos], 1.8.2)
+ANDROID_VERSION=16
 AC_CONFIG_SRCDIR([src/kernel/ao.h])
 AM_INIT_AUTOMAKE([foreign dist-bzip2])
 AM_MAINTAINER_MODE
 
-RELEASE_DATE=2017-08-27
+RELEASE_DATE=2017-09-18
 AC_SUBST(RELEASE_DATE)
 
 VERSION_DASH=`echo $VERSION | sed 's/\./-/g'`
diff --git a/doc/Makefile b/doc/Makefile
index 5b264e02..b1bff848 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -3,6 +3,7 @@
 #
 
 RELNOTES_INC=\
+	release-notes-1.8.2.inc \
 	release-notes-1.8.1.inc \
 	release-notes-1.8.inc \
 	release-notes-1.7.inc \
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 595422f1..c2bc14d1 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -47,6 +47,14 @@
 <revhistory>
   <?dbhtml filename="altusmetrum-revhistory.html"?>
   <revision>
+    <revnumber>1.8.2</revnumber>
+    <date>18 Sep 2017</date>
+    <revremark>
+      Support TeleGPS v2.0 hardware. Add accelerometer recalibration
+      UI.
+    </revremark>
+  </revision>
+  <revision>
     <revnumber>1.8.1</revnumber>
     <date>27 Aug 2017</date>
     <revremark>
diff --git a/doc/config-device.inc b/doc/config-device.inc
index 35848882..99d5c008 100644
--- a/doc/config-device.inc
+++ b/doc/config-device.inc
@@ -206,6 +206,22 @@ ifdef::telegps[]
 		in the log.
 endif::telegps[]
 
+ifdef::telemega,easymega,telemetrum[]
+
+	==== Calibrate Accelerometer
+
+		This opens a separate window to recalibrate the
+		accelerometers. Follow the instructions, orienting the
+		flight computer with the antenna end, or end opposite
+		the screw terminals, in the case of EasyMega, first up
+		and then down.
+
+		When the calibration is complete, return to the
+		Configure Altimeter window and save the new
+		calibration values.
+
+endif::telemega,easymega,telemetrum[]
+
 ifdef::telemega,easymega[]
 
 	==== Configure Pyro Channels
diff --git a/doc/release-notes-1.8.2.inc b/doc/release-notes-1.8.2.inc
new file mode 100644
index 00000000..2923ec11
--- /dev/null
+++ b/doc/release-notes-1.8.2.inc
@@ -0,0 +1,28 @@
+= Release Notes for Version 1.8.2
+:toc!:
+:doctype: article
+
+	Version 1.8.2 includes support for TeleGPS version 2.0 along
+	with accelerometer recalibration support in AltosUI.
+
+	1.8.2 also contains a couple of minor fixes for AltosUI when
+	analyzing saved data files.
+
+	== AltOS
+
+	AltOS New Features
+
+	* Support for TeleGPS version 2.0 hardware.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI and TeleGPS New Features
+
+	* Support for TeleGPS version 2.0.
+
+	* Accelerometer re-calibration user interface.
+
+	AltosUI and TeleGPS Bug Fixes
+
+	* Prevent some crashes when reading older saved flight data
+          for graphing or KML export.
diff --git a/doc/release-notes.inc b/doc/release-notes.inc
index adcf57ed..a102b2dc 100644
--- a/doc/release-notes.inc
+++ b/doc/release-notes.inc
@@ -2,6 +2,10 @@
 == Release Notes
 
 	:leveloffset: 2
+	include::release-notes-1.8.2.raw[]
+
+	<<<<
+	:leveloffset: 2
 	include::release-notes-1.8.1.raw[]
 
 	<<<<
diff --git a/doc/usage.inc b/doc/usage.inc
index 29587b7e..d010f398 100644
--- a/doc/usage.inc
+++ b/doc/usage.inc
@@ -238,14 +238,16 @@
 		ifdef::radio[disabled, and the radio goes into transmit-only mode.]
 		ifndef::radio[disabled.]
 		The only way to get out of this
-		mode is to power the flight computer down.
+		mode is to power the flight computer down. See below for how to get the flight
+		computer to come up in Flight/Pad mode at power on.
 
 		Idle::
 		The flight computer is ready to communicate over USB
 		ifdef::radio[and in packet mode over the radio.]
 		You can configure
 		the flight computer, download data or display
-		the current state.
+		the current state. See below for how to get the flight
+		computer to come up in Idle mode at power on.
 
 		ifdef::telemetrum,easymega,telemega[]
 		For flight computers with accelerometers (TeleMetrum,
diff --git a/src/Makefile b/src/Makefile
index 25e43a0e..661fd333 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -35,6 +35,7 @@ ARMM3DIRS=\
 	megadongle-v0.1 megadongle-v0.1/flash-loader \
 	telegps-v0.3 telegps-v0.3/flash-loader \
 	telegps-v1.0 telegps-v1.0/flash-loader \
+	telegps-v2.0 telegps-v2.0/flash-loader \
 	telelco-v0.2 telelco-v0.2/flash-loader \
 	telelco-v0.3 telelco-v0.3/flash-loader \
 	telescience-v0.2 telescience-v0.2/flash-loader \
diff --git a/src/drivers/ao_trng_send.c b/src/drivers/ao_trng_send.c
index b1227aaa..7cda053d 100644
--- a/src/drivers/ao_trng_send.c
+++ b/src/drivers/ao_trng_send.c
@@ -153,10 +153,20 @@ ao_trng_send(void)
 
 	ao_crc_reset();
 
-	ao_delay(TRNG_ENABLE_DELAY);
-
 	for (s = 0; s < AO_TRNG_START_WAIT; s++) {
-		if (ao_trng_get_cooked(buffer[0]))
+		int i;
+		uint16_t	min, max;
+		uint16_t	buf[AO_USB_IN_SIZE>>1];
+
+		ao_trng_get_raw(buf);
+		min = max = buf[0];
+		for (i = 1; i < (AO_USB_IN_SIZE>>1); i++) {
+			uint16_t v = buf[i];
+			if (v < min) min = v;
+			if (v > max) max = v;
+		}
+		/* Wait for at least 10 bits of range */
+		if ((uint16_t) (max - min) >= 1024)
 			break;
 		ao_delay(AO_MS_TO_TICKS(10));
 	}
diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index a0881f9e..9543b3ef 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -181,7 +181,7 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_state_greater_or_equal:
 			if (ao_flight_state >= pyro->state_greater_or_equal)
 				continue;
-			DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
+			DBG("state %d < %d\n", ao_flight_state, pyro->state_greater_or_equal);
 			break;
 
 		default:
diff --git a/src/telegps-v2.0/ao_pins.h b/src/telegps-v2.0/ao_pins.h
index f92564d6..fa175371 100644
--- a/src/telegps-v2.0/ao_pins.h
+++ b/src/telegps-v2.0/ao_pins.h
@@ -33,11 +33,11 @@
 #define IS_FLASH_LOADER		0
 #define HAS_BEEP 	       0
 
-#define AO_HSE                  32000000
+#define AO_HSE                  16000000
 #define AO_RCC_CFGR_PLLMUL      STM_RCC_CFGR_PLLMUL_3
-#define AO_RCC_CFGR2_PLLDIV	STM_RCC_CFGR2_PREDIV_2
+#define AO_RCC_CFGR2_PLLDIV	STM_RCC_CFGR2_PREDIV_1
 #define AO_PLLMUL               3
-#define AO_PLLDIV               2
+#define AO_PLLDIV               1
 
 /* HCLK = 48MHz */
 #define AO_AHB_PRESCALER        1
@@ -50,6 +50,9 @@
 #define HAS_USB                         1
 #define AO_USB_DIRECTIO                 0
 #define AO_PA11_PA12_RMP                1
+#define HAS_USB_CONNECT			1
+#define AO_USB_CONNECT_PORT		(&stm_gpiob)
+#define AO_USB_CONNECT_PIN		3
 
 #define IS_FLASH_LOADER 0
 
@@ -110,6 +113,8 @@ struct ao_adc {
 #define HAS_SERIAL_2	       	1
 #define SERIAL_2_PA2_PA3	1
 #define USE_SERIAL_2_STDIN	0
+#define USE_SERIAL_2_FLOW       0
+#define USE_SERIAL_2_SW_FLOW    0
 
 #define ao_gps_getchar		ao_serial2_getchar
 #define ao_gps_putchar		ao_serial2_putchar
diff --git a/src/test/Makefile b/src/test/Makefile
index a0c2d5fe..08808430 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -6,7 +6,10 @@ PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noi
 	ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
 	ao_ms5607_convert_test ao_quaternion_test ao_lisp_test
 
-INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quaternion.h
+INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quaternion.h ao_eeprom_read.h
+TEST_SRC=ao_flight_test.c
+TEST_SRC_ALL=ao_flight_test.c ao_eeprom_read.c ao_eeprom_read_old.c
+TEST_LIB=-ljson-c
 
 KALMAN=make-kalman 
 
@@ -19,26 +22,26 @@ clean:
 
 install:
 
-ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h $(INCS)
-	cc $(CFLAGS) -o $@ $<
+ao_flight_test: $(TEST_SRC_ALL) ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h $(INCS)
+	cc $(CFLAGS) -o $@ $(TEST_SRC) $(TEST_LIB)
 
-ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
-	cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $<
+ao_flight_test_noisy_accel: $(TEST_SRC_ALL) ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
+	cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $(TEST_SRC) $(TEST_LIB)
 
-ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c $(INCS)
-	cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c
+ao_flight_test_baro: $(TEST_SRC_ALL) ao_host.h ao_flight.c  ao_sample.c ao_kalman.c $(INCS)
+	cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 $(TEST_SRC) $(TEST_LIB)
 
-ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c $(INCS)
-	cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
+ao_flight_test_accel: $(TEST_SRC_ALL) ao_host.h ao_flight.c  ao_sample.c ao_kalman.c $(INCS)
+	cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 $(TEST_SRC) $(TEST_LIB)
 
-ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
-	cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm
+ao_flight_test_mm: $(TEST_SRC_ALL) ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+	cc -DTELEMEGA=1 $(CFLAGS) -o $@ $(TEST_SRC)  $(TEST_LIB) -lm
 
-ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
-	cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm
+ao_flight_test_metrum: $(TEST_SRC_ALL) ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+	cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $(TEST_SRC)  $(TEST_LIB) -lm
 
-ao_flight_test_mini: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
-	cc -DEASYMINI=1 -DHAS_ACCEL=0 $(CFLAGS) -o $@ $< -lm
+ao_flight_test_mini: $(TEST_SRC_ALL) ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+	cc -DEASYMINI=1 -DHAS_ACCEL=0 $(CFLAGS) -o $@ $(TEST_SRC)  $(TEST_LIB) -lm
 
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc $(CFLAGS) -o $@ $<
diff --git a/src/test/ao_eeprom_read.c b/src/test/ao_eeprom_read.c
new file mode 100644
index 00000000..803ef36c
--- /dev/null
+++ b/src/test/ao_eeprom_read.c
@@ -0,0 +1,262 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+
+#include "ao_eeprom_read.h"
+#include <json-c/json.h>
+#include <string.h>
+#include <errno.h>
+
+static struct json_object *
+ao_eeprom_read_config(FILE *file)
+{
+	char			line[1024];
+	struct json_tokener	*tok;
+	struct json_object	*obj = NULL;
+	enum json_tokener_error	err;
+
+	tok = json_tokener_new();
+	if (!tok)
+		goto fail_tok;
+
+	for (;;) {
+		if (fgets(line, sizeof(line), file) == NULL)
+			goto fail_read;
+		obj = json_tokener_parse_ex(tok, line, strlen(line));
+		err = json_tokener_get_error(tok);
+		if (err == json_tokener_success)
+			break;
+		if (err != json_tokener_continue)
+			goto fail_read;
+	}
+	json_tokener_free(tok);
+	return obj;
+fail_read:
+	json_tokener_free(tok);
+fail_tok:
+	return NULL;
+}
+
+static int
+ao_eeprom_read_byte(FILE *file)
+{
+	int	byte;
+	if (fscanf(file, "%x", &byte) != 1)
+		return EOF;
+	return byte;
+}
+
+static int
+ao_eeprom_read_data(FILE *file, struct ao_eeprom *eeprom)
+{
+	uint8_t	*data = NULL, *ndata;
+	int	len = 0;
+	int	size = 0;
+	int	byte;
+
+	data = malloc(size = 64);
+	if (!data)
+		goto fail_alloc;
+	while ((byte = ao_eeprom_read_byte(file)) != EOF) {
+		if (len == size) {
+			ndata = realloc(data, size *= 2);
+			if (!ndata)
+				goto fail_realloc;
+			data = ndata;
+		}
+		data[len++] = (uint8_t) byte;
+	}
+	eeprom->data = data;
+	eeprom->len = len;
+	return 1;
+fail_realloc:
+	free(data);
+fail_alloc:
+	return 0;
+}
+
+static int
+ao_json_get_int(struct json_object *obj, const char *key, int def)
+{
+	struct json_object *value;
+	int i;
+
+	if (!json_object_object_get_ex(obj, key, &value))
+		return def;
+	errno = 0;
+	i = (int) json_object_get_int(value);
+	if (errno != 0)
+		return def;
+	return i;
+}
+
+static const char *
+ao_json_get_string(struct json_object *obj, const char *key, const char *def)
+{
+	struct json_object *value;
+	const char *str;
+
+	if (!json_object_object_get_ex(obj, key, &value))
+		return def;
+	errno = 0;
+	str = json_object_get_string(value);
+	if (errno)
+		return def;
+	if (!str)
+		return def;
+	return str;
+}
+
+#if AO_PYRO_NUM
+static int
+ao_eeprom_get_pyro(struct ao_config *config, struct json_object *obj)
+{
+	struct json_object	*pyros;
+	struct json_object	*pyro;
+	int			i, p;
+
+	if (!json_object_object_get_ex(obj, "pyros", &pyros))
+		return 1;
+
+	if (json_object_get_type(pyros) != json_type_array)
+		return 0;
+
+	for (i = 0; i < json_object_array_length(pyros); i++) {
+		pyro = json_object_array_get_idx(pyros, i);
+		if (pyro) {
+			p = ao_json_get_int(pyro, "channel", -1);
+			if (0 <= p && p < AO_PYRO_NUM) {
+				config->pyro[p].flags		= ao_json_get_int(pyro, "flags", 0);
+				config->pyro[p].accel_less	= ao_json_get_int(pyro, "accel_less", 0);
+				config->pyro[p].accel_greater	= ao_json_get_int(pyro, "accel_greater", 0);
+				config->pyro[p].speed_less	= ao_json_get_int(pyro, "speed_less", 0);
+				config->pyro[p].speed_greater	= ao_json_get_int(pyro, "speed_greater", 0);
+				config->pyro[p].height_less	= ao_json_get_int(pyro, "height_less", 0);
+				config->pyro[p].height_greater	= ao_json_get_int(pyro, "height_greater", 0);
+				config->pyro[p].orient_less	= ao_json_get_int(pyro, "orient_less", 0);
+				config->pyro[p].orient_greater	= ao_json_get_int(pyro, "orient_greater", 0);
+				config->pyro[p].time_less	= ao_json_get_int(pyro, "time_less", 0);
+				config->pyro[p].time_greater	= ao_json_get_int(pyro, "time_greater", 0);
+				config->pyro[p].delay		= ao_json_get_int(pyro, "delay", 0);
+				config->pyro[p].state_less	= ao_json_get_int(pyro, "state_less", 0);
+				config->pyro[p].state_greater_or_equal	= ao_json_get_int(pyro, "state_greater_or_equal", 0);
+				config->pyro[p].motor		= ao_json_get_int(pyro, "motor", 0);
+			}
+		}
+	}
+	return 1;
+}
+#endif
+
+static int
+ao_eeprom_get_ms5607(struct ao_ms5607_prom *ms5607_prom, struct json_object *obj)
+{
+	struct json_object	*ms5607;
+
+	if (!json_object_object_get_ex(obj, "ms5607", &ms5607))
+		return 1;
+
+	if (json_object_get_type(ms5607) != json_type_object)
+		return 0;
+
+	ms5607_prom->reserved =	ao_json_get_int(ms5607, "reserved", 0);
+	ms5607_prom->sens =	ao_json_get_int(ms5607, "sens", 0);
+	ms5607_prom->off =	ao_json_get_int(ms5607, "off", 0);
+	ms5607_prom->tcs =	ao_json_get_int(ms5607, "tcs", 0);
+	ms5607_prom->tco =	ao_json_get_int(ms5607, "tco", 0);
+	ms5607_prom->tref =	ao_json_get_int(ms5607, "tref", 0);
+	ms5607_prom->tempsens =	ao_json_get_int(ms5607, "tempsens", 0);
+	ms5607_prom->crc =	ao_json_get_int(ms5607, "crc", 0);
+	return 1;
+}
+
+static int
+ao_eeprom_get_config(struct ao_eeprom *ao_eeprom, struct json_object *obj)
+{
+	struct ao_config	*config = &ao_eeprom->config;
+	const char		*s;
+
+	if (json_object_get_type(obj) != json_type_object)
+		return 0;
+
+	ao_eeprom->log_format = 	ao_json_get_int(obj, "log_format", 0);
+	ao_eeprom->serial_number =	ao_json_get_int(obj, "serial", 0);
+
+	config->major =			ao_json_get_int(obj, "config_major", 0);
+	config->minor = 		ao_json_get_int(obj, "config_minor", 0);
+	if (config->major == 0 || config->minor == 0)
+		return 0;
+
+	config->main_deploy = 		ao_json_get_int(obj, "main_deploy", 250);
+	config->accel_plus_g = 		ao_json_get_int(obj, "accel_cal_plus", 0);
+
+	s = ao_json_get_string(obj, "callsign", "N0CALL");
+	strncpy(config->callsign, s, sizeof(config->callsign));
+
+	config->apogee_delay =		ao_json_get_int(obj, "apogee_delay", 0);
+	config->accel_minus_g =		ao_json_get_int(obj, "accel_cal_minus", 0);
+	config->radio_cal =		ao_json_get_int(obj, "radio_calibration", 0);
+	config->flight_log_max =	ao_json_get_int(obj, "flight_log_max", 0);
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+	config->pad_orientation = 	ao_json_get_int(obj, "pad_orientation", 0);
+	config->radio_setting = 	ao_json_get_int(obj, "radio_setting", 0);
+	config->radio_enable = 		ao_json_get_int(obj, "radio_enable", 1);
+	config->frequency = 		ao_json_get_int(obj, "frequency", 434550);
+	config->apogee_lockout = 	ao_json_get_int(obj, "apogee_lockout", 0);
+#if AO_PYRO_NUM
+	if (!ao_eeprom_get_pyro(config, obj))
+		return 0;
+#endif
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+	config->ignite_mode = 		ao_json_get_int(obj, "ignite_mode", 0);
+
+	if (!ao_eeprom_get_ms5607(&ao_eeprom->ms5607_prom, obj))
+		return 0;
+
+	return 1;
+}
+
+struct ao_eeprom *
+ao_eeprom_read(FILE *file)
+{
+	struct ao_eeprom	*ao_eeprom;
+	struct json_object	*obj;
+	int			ret;
+
+	ao_eeprom = calloc(1, sizeof (struct ao_eeprom));
+	if (!ao_eeprom)
+		goto fail_ao_eeprom;
+
+	obj = ao_eeprom_read_config(file);
+	if (!obj)
+		goto fail_config;
+
+	ret = ao_eeprom_get_config(ao_eeprom, obj);
+	json_object_put(obj);
+	if (!ret)
+		goto fail_config;
+
+	if (!ao_eeprom_read_data(file, ao_eeprom))
+		goto fail_data;
+
+	return ao_eeprom;
+fail_data:
+fail_config:
+	free(ao_eeprom);
+fail_ao_eeprom:
+	return NULL;
+}
diff --git a/src/test/ao_eeprom_read.h b/src/test/ao_eeprom_read.h
new file mode 100644
index 00000000..03c327ca
--- /dev/null
+++ b/src/test/ao_eeprom_read.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ */
+
+#ifndef _AO_EEPROM_READ_H_
+#define _AO_EEPROM_READ_H_
+
+#define __pdata
+#define __data
+#define __xdata
+#define __code
+#define __reentrant
+
+#include <stdint.h>
+#include <stdio.h>
+#include <ao_telemetry.h>
+#include <ao_config.h>
+#include <ao_ms5607.h>
+#include <ao_log.h>
+
+struct ao_eeprom {
+	struct ao_config	config;
+	struct ao_ms5607_prom	ms5607_prom;
+	int			log_format;
+	uint16_t		serial_number;
+	uint8_t			*data;
+	uint32_t		len;
+	uint32_t		size;
+};
+
+struct ao_eeprom *ao_eeprom_read(FILE *file);
+
+struct ao_eeprom *ao_eeprom_read_old(FILE *file);
+
+void ao_eeprom_free_data(struct ao_eeprom *ao_eeprom);
+
+#endif /* _AO_EEPROM_READ_H_ */
diff --git a/src/test/ao_eeprom_read_old.c b/src/test/ao_eeprom_read_old.c
new file mode 100644
index 00000000..c66ffae5
--- /dev/null
+++ b/src/test/ao_eeprom_read_old.c
@@ -0,0 +1,172 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao_eeprom_read.h"
+#include <string.h>
+#include <stdlib.h>
+#include <errno.h>
+
+static int
+ao_eeprom_add_u8(struct ao_eeprom *ao_eeprom, uint8_t byte)
+{
+	if (ao_eeprom->len == ao_eeprom->size) {
+		uint32_t	nsize = ao_eeprom->size * 2;
+		uint8_t		*ndata = realloc(ao_eeprom->data, nsize);
+		if (!ndata)
+			return 0;
+		ao_eeprom->data = ndata;
+		ao_eeprom->size = nsize;
+	}
+	ao_eeprom->data[ao_eeprom->len++] = byte;
+	return 1;
+}
+
+static int
+ao_eeprom_add_u16(struct ao_eeprom *ao_eeprom, uint16_t u16)
+{
+	if (!ao_eeprom_add_u8(ao_eeprom, u16 & 0xff))
+		return 0;
+
+	return ao_eeprom_add_u8(ao_eeprom, u16 >> 8);
+}
+
+struct ao_eeprom *
+ao_eeprom_read_old(FILE *file)
+{
+	struct ao_eeprom	*ao_eeprom;
+	char			line[1024];
+	char			*l;
+
+	ao_eeprom = calloc(1, sizeof (struct ao_eeprom));
+	if (!ao_eeprom)
+		return NULL;
+
+	ao_eeprom->log_format = -1;
+	ao_eeprom->size = 64;
+	ao_eeprom->data = malloc(ao_eeprom->size);
+	if (!ao_eeprom->data) {
+		free(ao_eeprom);
+		return NULL;
+	}
+	while (fgets(line, sizeof(line), file) != NULL) {
+		int nword;
+		char *words[64];
+		char *saveptr;
+		l = line;
+		for (nword = 0; nword < 64; nword++) {
+			words[nword] = strtok_r(l, " \t\n", &saveptr);
+			l = NULL;
+			if (words[nword] == NULL)
+				break;
+		}
+		if (((ao_eeprom->log_format == AO_LOG_FORMAT_TELEMEGA_OLD || ao_eeprom->log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) ||
+		    ((ao_eeprom->log_format == AO_LOG_FORMAT_EASYMINI1 || ao_eeprom->log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) ||
+		    (ao_eeprom->log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1))
+		{
+			int		i;
+			uint8_t		type;
+			uint16_t	tick;
+
+			type = words[0][0];
+			tick = strtoul(words[1], NULL, 16);
+			ao_eeprom_add_u8(ao_eeprom, type);
+			ao_eeprom_add_u8(ao_eeprom, 0);	/* checksum */
+			ao_eeprom_add_u16(ao_eeprom, tick);
+			for (i = 2; i < nword; i++)
+				ao_eeprom_add_u8(ao_eeprom, strtoul(words[i], NULL, 16));
+		}
+		else if (nword == 4 && strlen(words[0]) == 1) {
+			uint8_t		type;
+			uint16_t	tick, a, b;
+			type = words[0][0];
+			tick = strtoul(words[1], NULL, 16);
+			a = strtoul(words[2], NULL, 16);
+			b = strtoul(words[3], NULL, 16);
+			if (type == 'P')
+				type = 'A';
+			ao_eeprom_add_u8(ao_eeprom, type);
+			ao_eeprom_add_u8(ao_eeprom, 0);	/* checksum */
+			ao_eeprom_add_u16(ao_eeprom, tick);
+			ao_eeprom_add_u16(ao_eeprom, a);
+			ao_eeprom_add_u16(ao_eeprom, b);
+		}
+		else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+			if (strcmp(words[1], "reserved:") == 0)
+				ao_eeprom->ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "sens:") == 0)
+				ao_eeprom->ms5607_prom.sens = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "off:") == 0)
+				ao_eeprom->ms5607_prom.off = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "tcs:") == 0)
+				ao_eeprom->ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "tco:") == 0)
+				ao_eeprom->ms5607_prom.tco = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "tref:") == 0)
+				ao_eeprom->ms5607_prom.tref = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "tempsens:") == 0)
+				ao_eeprom->ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+			else if (strcmp(words[1], "crc:") == 0)
+				ao_eeprom->ms5607_prom.crc = strtoul(words[2], NULL, 10);
+			continue;
+		}
+#if AO_NUM_PYRO
+		else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
+			int	p = strtoul(words[1], NULL, 10);
+			int	i, j;
+			struct ao_pyro	*pyro = &ao_eeprom->config.pyro[p];
+
+			for (i = 2; i < nword; i++) {
+				for (j = 0; j < NUM_PYRO_VALUES; j++)
+					if (!strcmp (words[i], ao_pyro_values[j].name))
+						break;
+				if (j == NUM_PYRO_VALUES)
+					continue;
+				pyro->flags |= ao_pyro_values[j].flag;
+				if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
+					int16_t	val = strtoul(words[++i], NULL, 10);
+					printf("pyro %d condition %s value %d\n", p, words[i-1], val);
+					*((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
+				}
+			}
+		}
+#endif
+		else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
+			ao_eeprom->log_format = strtoul(words[1], NULL, 10);
+		} else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
+			ao_eeprom->serial_number = strtoul(words[1], NULL, 10);
+		} else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
+			ao_eeprom->config.accel_plus_g = atoi(words[3]);
+			ao_eeprom->config.accel_minus_g = atoi(words[5]);
+#if HAS_GYRO
+		} else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
+			ao_eeprom->config.accel_zero_along = atoi(words[3]);
+			ao_eeprom->config.accel_zero_across = atoi(words[5]);
+			ao_eeprom->config.accel_zero_through = atoi(words[7]);
+#endif
+		} else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
+			ao_eeprom->config.main_deploy = atoi(words[2]);
+		} else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
+			   strcmp(words[1], "lockout:") == 0) {
+			ao_eeprom->config.apogee_lockout = atoi(words[2]);
+		} else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
+			   strcmp(words[1], "orientation:") == 0) {
+			ao_eeprom->config.pad_orientation = atoi(words[2]);
+		}
+	}
+	return ao_eeprom;
+}
+
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 55bfe410..298848d6 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -191,7 +191,7 @@ ao_distance_from_pad(void)
 	double	dist, bearing;
 	if (!ao_gps_count)
 		return 0;
-	
+
 	cc_great_circle(ao_gps_first.latitude / 1e7,
 			ao_gps_first.longitude / 1e7,
 			ao_gps_static.latitude / 1e7,
@@ -308,6 +308,9 @@ struct ao_task {
 
 int	ao_flight_debug;
 
+struct ao_eeprom	*eeprom;
+uint32_t		eeprom_offset;
+
 FILE *emulator_in;
 char *emulator_app;
 char *emulator_name;
@@ -341,14 +344,18 @@ struct ao_cmds {
 #include <ao_ms5607.h>
 struct ao_ms5607_prom	ao_ms5607_prom;
 #include "ao_ms5607_convert.c"
+#if TELEMEGA
 #define AO_PYRO_NUM	4
 #include <ao_pyro.h>
+#endif
 #else
 #include "ao_convert.c"
 #endif
 
 #include <ao_config.h>
 #include <ao_fake_flight.h>
+#include <ao_eeprom_read.h>
+#include <ao_log.h>
 
 #define ao_config_get()
 
@@ -401,12 +408,16 @@ ao_pyro_pin_set(uint8_t pin, uint8_t value)
 
 #include "ao_pyro.c"
 #endif
+#include "ao_eeprom_read.c"
+#include "ao_eeprom_read_old.c"
 
 #define to_double(f)	((f) / 65536.0)
 
 static int	ao_records_read = 0;
 static int	ao_eof_read = 0;
+#if !EASYMINI
 static int	ao_flight_ground_accel;
+#endif
 static int	ao_flight_started = 0;
 static int	ao_test_max_height;
 static double	ao_test_max_height_time;
@@ -418,11 +429,18 @@ static double	ao_test_landed_time;
 static int	landed_set;
 static double	landed_time;
 static double	landed_height;
+#if AO_PYRO_NUM
+static uint16_t	pyros_fired;
+#endif
 
 #if HAS_MPU6000
 static struct ao_mpu6000_sample	ao_ground_mpu6000;
 #endif
 
+#if HAS_ACCEL
+int ao_error_h_sq_avg;
+#endif
+
 void
 ao_test_exit(void)
 {
@@ -567,7 +585,7 @@ ao_insert(void)
 
 			ao_quaternion_normalize(&ao_mag, &ao_mag);
 			ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
-			
+
 			float				ao_dot;
 			int				ao_mag_angle;
 
@@ -722,17 +740,6 @@ void
 ao_sleep(void *wchan)
 {
 	if (wchan == &ao_data_head) {
-		char		type = 0;
-		uint16_t	tick = 0;
-		uint16_t	a = 0, b = 0;
-		uint8_t		bytes[1024];
-		union ao_telemetry_all	telem;
-		char		line[1024];
-		char		*saveptr;
-		char		*l;
-		char		*words[64];
-		int		nword;
-
 #if TELEMEGA
 		if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 			ao_pyro_check();
@@ -752,419 +759,183 @@ ao_sleep(void *wchan)
 				return;
 			}
 
-			if (!fgets(line, sizeof (line), emulator_in)) {
-				if (++ao_eof_read >= 1000) {
-					if (!ao_summary)
-						printf ("no more data, exiting simulation\n");
-					ao_test_exit();
-				}
-				ao_data_static.tick += 10;
-				ao_insert();
-				return;
-			}
-			l = line;
-			for (nword = 0; nword < 64; nword++) {
-				words[nword] = strtok_r(l, " \t\n", &saveptr);
-				l = NULL;
-				if (words[nword] == NULL)
-					break;
-			}
+			if (eeprom) {
 #if TELEMEGA
-			if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
-				int	i;
-				struct ao_ms5607_value	value;
-
-				type = words[0][0];
-				tick = strtoul(words[1], NULL, 16);
-//				printf ("%c %04x", type, tick);
-				for (i = 2; i < nword; i++) {
-					bytes[i - 2] = strtoul(words[i], NULL, 16);
-//					printf(" %02x", bytes[i-2]);
-				}
-//				printf ("\n");
-				switch (type) {
-				case 'F':
-					ao_flight_number = uint16(bytes, 0);
-					ao_flight_ground_accel = int16(bytes, 2);
-					ao_flight_started = 1;
-					ao_ground_pres = int32(bytes, 4);
-					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
-					ao_ground_accel_along = int16(bytes, 8);
-					ao_ground_accel_across = int16(bytes, 10);
-					ao_ground_accel_through = int16(bytes, 12);
-					ao_ground_roll = int16(bytes, 14);
-					ao_ground_pitch = int16(bytes, 16);
-					ao_ground_yaw = int16(bytes, 18);
-					ao_ground_mpu6000.accel_x = ao_ground_accel_across;
-					ao_ground_mpu6000.accel_y = ao_ground_accel_along;
-					ao_ground_mpu6000.accel_z = ao_ground_accel_through;
-					ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
-					ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
-					ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
-					break;
-				case 'A':
-					ao_data_static.tick = tick;
-					ao_data_static.ms5607_raw.pres = int32(bytes, 0);
-					ao_data_static.ms5607_raw.temp = int32(bytes, 4);
-					ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
-					ao_data_static.mpu6000.accel_x = int16(bytes, 8);
-					ao_data_static.mpu6000.accel_y = int16(bytes, 10);
-					ao_data_static.mpu6000.accel_z = int16(bytes, 12);
-					ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
-					ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
-					ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
-					ao_data_static.hmc5883.x = int16(bytes, 20);
-					ao_data_static.hmc5883.y = int16(bytes, 22);
-					ao_data_static.hmc5883.z = int16(bytes, 24);
-#if HAS_MMA655X
-					ao_data_static.mma655x = int16(bytes, 26);
-					if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
-						ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
+				struct ao_log_mega	*log_mega;
 #endif
-					ao_records_read++;
-					ao_insert();
-					return;
-				case 'G':
-					ao_gps_prev = ao_gps_static;
-					ao_gps_static.tick = tick;
-					ao_gps_static.latitude = int32(bytes, 0);
-					ao_gps_static.longitude = int32(bytes, 4);
-					{
-						int32_t	altitude = int32(bytes, 8);
-						AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
-					}
-					ao_gps_static.flags = bytes[13];
-					if (!ao_gps_count)
-						ao_gps_first = ao_gps_static;
-					ao_gps_count++;
-					break;
-				}
-				continue;
-			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
-				if (strcmp(words[1], "reserved:") == 0)
-					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "sens:") == 0)
-					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "off:") == 0)
-					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tcs:") == 0)
-					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tco:") == 0)
-					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tref:") == 0)
-					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tempsens:") == 0)
-					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "crc:") == 0)
-					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
-				continue;
-			} else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
-				int	p = strtoul(words[1], NULL, 10);
-				int	i, j;
-				struct ao_pyro	*pyro = &ao_config.pyro[p];
-
-				for (i = 2; i < nword; i++) {
-					for (j = 0; j < NUM_PYRO_VALUES; j++)
-						if (!strcmp (words[i], ao_pyro_values[j].name))
-							break;
-					if (j == NUM_PYRO_VALUES)
-						continue;
-					pyro->flags |= ao_pyro_values[j].flag;
-					if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
-						int16_t	val = strtoul(words[++i], NULL, 10);
-						printf("pyro %d condition %s value %d\n", p, words[i-1], val);
-						*((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
-					}
-				}
-			}
+#if TELEMETRUM_V2
+				struct ao_log_metrum	*log_metrum;
 #endif
 #if EASYMINI
-			if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
-				int	i;
-				struct ao_ms5607_value	value;
-
-				type = words[0][0];
-				tick = strtoul(words[1], NULL, 16);
-//				printf ("%c %04x", type, tick);
-				for (i = 2; i < nword; i++) {
-					bytes[i - 2] = strtoul(words[i], NULL, 16);
-//					printf(" %02x", bytes[i-2]);
-				}
-//				printf ("\n");
-				switch (type) {
-				case 'F':
-					ao_flight_started = 1;
-					ao_flight_number = uint16(bytes, 0);
-					ao_ground_pres = uint32(bytes, 4);
-					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
-#if 0
-					printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
-					printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
-					       ao_ms5607_prom.sens,
-					       ao_ms5607_prom.off,
-					       ao_ms5607_prom.tcs,
-					       ao_ms5607_prom.tco,
-					       ao_ms5607_prom.tref,
-					       ao_ms5607_prom.tempsens,
-					       ao_ms5607_prom.crc);
+				struct ao_log_mini	*log_mini;
 #endif
-					break;
-				case 'A':
-					ao_data_static.tick = tick;
-					ao_data_static.ms5607_raw.pres = int24(bytes, 0);
-					ao_data_static.ms5607_raw.temp = int24(bytes, 3);
-#if 0
-					printf("raw pres %d temp %d\n",
-					       ao_data_static.ms5607_raw.pres,
-					       ao_data_static.ms5607_raw.temp);
+#if TELEMETRUM_V1
+				struct ao_log_record	*log_record;
 #endif
-					ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
-//					printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
-					ao_records_read++;
+
+				if (eeprom_offset >= eeprom->len) {
+					if (++ao_eof_read >= 1000)
+						if (!ao_summary)
+							printf ("no more data, exiting simulation\n");
+					ao_test_exit();
+					ao_data_static.tick += 10;
 					ao_insert();
 					return;
 				}
-				continue;
-			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
-				if (strcmp(words[1], "reserved:") == 0)
-					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "sens:") == 0)
-					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "off:") == 0)
-					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tcs:") == 0)
-					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tco:") == 0)
-					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tref:") == 0)
-					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tempsens:") == 0)
-					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "crc:") == 0)
-					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
-				continue;
-			}
+				switch (eeprom->log_format) {
+#if TELEMEGA
+				case AO_LOG_FORMAT_TELEMEGA_OLD:
+				case AO_LOG_FORMAT_TELEMEGA:
+					log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
+					eeprom_offset += sizeof (*log_mega);
+					switch (log_mega->type) {
+					case AO_LOG_FLIGHT:
+						ao_flight_number = log_mega->u.flight.flight;
+						ao_flight_ground_accel = log_mega->u.flight.ground_accel;
+						ao_flight_started = 1;
+						ao_ground_pres = log_mega->u.flight.ground_pres;
+						ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+						ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
+						ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
+						ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
+						ao_ground_roll = log_mega->u.flight.ground_roll;
+						ao_ground_pitch = log_mega->u.flight.ground_pitch;
+						ao_ground_yaw = log_mega->u.flight.ground_yaw;
+						ao_ground_mpu6000.accel_x = ao_ground_accel_across;
+						ao_ground_mpu6000.accel_y = ao_ground_accel_along;
+						ao_ground_mpu6000.accel_z = ao_ground_accel_through;
+						ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
+						ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
+						ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
+						break;
+					case AO_LOG_STATE:
+						break;
+					case AO_LOG_SENSOR:
+						ao_data_static.tick = log_mega->tick;
+						ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
+						ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
+						ao_data_static.mpu6000.accel_x = log_mega->u.sensor.accel_x;
+						ao_data_static.mpu6000.accel_y = log_mega->u.sensor.accel_y;
+						ao_data_static.mpu6000.accel_z = log_mega->u.sensor.accel_z;
+						ao_data_static.mpu6000.gyro_x = log_mega->u.sensor.gyro_x;
+						ao_data_static.mpu6000.gyro_y = log_mega->u.sensor.gyro_y;
+						ao_data_static.mpu6000.gyro_z = log_mega->u.sensor.gyro_z;
+						ao_data_static.hmc5883.x = log_mega->u.sensor.mag_x;
+						ao_data_static.hmc5883.y = log_mega->u.sensor.mag_y;
+						ao_data_static.hmc5883.z = log_mega->u.sensor.mag_z;
+						ao_data_static.mma655x = log_mega->u.sensor.accel;
+						if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+							ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
+						ao_records_read++;
+						ao_insert();
+						return;
+					case AO_LOG_TEMP_VOLT:
+						if (pyros_fired != log_mega->u.volt.pyro) {
+							printf("pyro changed %x -> %x\n", pyros_fired, log_mega->u.volt.pyro);
+							pyros_fired = log_mega->u.volt.pyro;
+						}
+						break;
+					case AO_LOG_GPS_TIME:
+						ao_gps_prev = ao_gps_static;
+						ao_gps_static.tick = log_mega->tick;
+						ao_gps_static.latitude = log_mega->u.gps.latitude;
+						ao_gps_static.longitude = log_mega->u.gps.longitude;
+						{
+							int16_t	altitude_low = log_mega->u.gps.altitude_low;
+							int16_t altitude_high = log_mega->u.gps.altitude_high;
+							int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
+
+							AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+						}
+						ao_gps_static.flags = log_mega->u.gps.flags;
+						if (!ao_gps_count)
+							ao_gps_first = ao_gps_static;
+						ao_gps_count++;
+						break;
+					case AO_LOG_GPS_SAT:
+						break;
+					}
+					break;
 #endif
 #if TELEMETRUM_V2
-			if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
-				int	i;
-				struct ao_ms5607_value	value;
-
-				type = words[0][0];
-				tick = strtoul(words[1], NULL, 16);
-//				printf ("%c %04x", type, tick);
-				for (i = 2; i < nword; i++) {
-					bytes[i - 2] = strtoul(words[i], NULL, 16);
-//					printf(" %02x", bytes[i-2]);
-				}
-//				printf ("\n");
-				switch (type) {
-				case 'F':
-					ao_flight_number = uint16(bytes, 0);
-					ao_flight_ground_accel = int16(bytes, 2);
-					ao_flight_started = 1;
-					ao_ground_pres = int32(bytes, 4);
-					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+				case AO_LOG_FORMAT_TELEMETRUM:
+					log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
+					eeprom_offset += sizeof (*log_metrum);
+					switch (log_metrum->type) {
+					case AO_LOG_FLIGHT:
+						ao_flight_started = 1;
+						ao_flight_number = log_metrum->u.flight.flight;
+						ao_flight_ground_accel = log_metrum->u.flight.ground_accel;
+						ao_ground_pres = log_metrum->u.flight.ground_pres;
+						ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+						break;
+					case AO_LOG_SENSOR:
+						ao_data_static.tick = log_metrum->tick;
+						ao_data_static.ms5607_raw.pres = log_metrum->u.sensor.pres;
+						ao_data_static.ms5607_raw.temp = log_metrum->u.sensor.temp;
+						ao_data_static.mma655x = log_metrum->u.sensor.accel;
+						ao_records_read++;
+						ao_insert();
+						return;
+					}
 					break;
-				case 'A':
-					ao_data_static.tick = tick;
-					ao_data_static.ms5607_raw.pres = int32(bytes, 0);
-					ao_data_static.ms5607_raw.temp = int32(bytes, 4);
-					ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
-					ao_data_static.mma655x = int16(bytes, 8);
-					ao_records_read++;
-					ao_insert();
-					return;
-				}
-				continue;
-			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
-				if (strcmp(words[1], "reserved:") == 0)
-					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "sens:") == 0)
-					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "off:") == 0)
-					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tcs:") == 0)
-					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tco:") == 0)
-					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tref:") == 0)
-					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "tempsens:") == 0)
-					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
-				else if (strcmp(words[1], "crc:") == 0)
-					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
-				continue;
-			}
 #endif
-#if TELEMETRUM_V1
-			if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
-				type = words[0][0];
-				tick = strtoul(words[1], NULL, 16);
-				a = strtoul(words[2], NULL, 16);
-				b = strtoul(words[3], NULL, 16);
-				if (type == 'P')
-					type = 'A';
-			}
-#endif
-			else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
-				log_format = strtoul(words[1], NULL, 10);
-			} else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
-				ao_serial_number = strtoul(words[1], NULL, 10);
-			} else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
-				ao_config.accel_plus_g = atoi(words[3]);
-				ao_config.accel_minus_g = atoi(words[5]);
-#ifdef TELEMEGA
-			} else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
-				ao_config.accel_zero_along = atoi(words[3]);
-				ao_config.accel_zero_across = atoi(words[5]);
-				ao_config.accel_zero_through = atoi(words[7]);
+#if EASYMINI
+				case AO_LOG_FORMAT_EASYMINI1:
+				case AO_LOG_FORMAT_EASYMINI2:
+				case AO_LOG_FORMAT_TELEMINI3:
+					log_mini = (struct ao_log_mini *) &eeprom->data[eeprom_offset];
+					eeprom_offset += sizeof (*log_mini);
+					switch (log_mini->type) {
+					case AO_LOG_FLIGHT:
+						ao_flight_started = 1;
+						ao_flight_number = log_mini->u.flight.flight;
+						ao_ground_pres = log_mini->u.flight.ground_pres;
+						ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+						break;
+					case AO_LOG_SENSOR:
+						ao_data_static.tick = log_mini->tick;
+						ao_data_static.ms5607_raw.pres = int24(log_mini->u.sensor.pres, 0);
+						ao_data_static.ms5607_raw.temp = int24(log_mini->u.sensor.temp, 0);
+						ao_records_read++;
+						ao_insert();
+						return;
+					}
+					break;
 #endif
-			} else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
-				ao_config.main_deploy = atoi(words[2]);
-			} else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
-				   strcmp(words[1], "lockout:") == 0) {
-				ao_config.apogee_lockout = atoi(words[2]);
-			} else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
-				   strcmp(words[1], "orientation:") == 0) {
-				ao_config.pad_orientation = atoi(words[2]);
-			} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
-				tick = atoi(words[10]);
-				if (!ao_flight_started) {
-					type = 'F';
-					a = atoi(words[26]);
-					ao_flight_started = 1;
-				} else {
-					type = 'A';
-					a = atoi(words[12]);
-					b = atoi(words[14]);
-				}
-			} else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
-				tick = strtol(words[1], NULL, 16);
-				a = 16384 - 328;
-				b = strtol(words[2], NULL, 10);
-				type = 'A';
-				if (!ao_flight_started) {
-					ao_flight_ground_accel = 16384 - 328;
-					ao_config.accel_plus_g = 16384 - 328;
-					ao_config.accel_minus_g = 16384 + 328;
-					ao_flight_started = 1;
-				}
-			} else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
-				__xdata char	*hex = words[1];
-				char	elt[3];
-				int	i, len;
-				uint8_t	sum;
-
-				len = strlen(hex);
-				if (len > sizeof (bytes) * 2) {
-					len = sizeof (bytes)*2;
-					hex[len] = '\0';
-				}
-				for (i = 0; i < len; i += 2) {
-					elt[0] = hex[i];
-					elt[1] = hex[i+1];
-					elt[2] = '\0';
-					bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
-				}
-				len = i/2;
-				if (bytes[0] != len - 2) {
-					printf ("bad length %d != %d\n", bytes[0], len - 2);
-					continue;
-				}
-				sum = 0x5a;
-				for (i = 1; i < len-1; i++)
-					sum += bytes[i];
-				if (sum != bytes[len-1]) {
-					printf ("bad checksum\n");
-					continue;
-				}
-				if ((bytes[len-2] & 0x80) == 0) {
-					continue;
-				}
-				if (len == 36) {
-					ao_xmemcpy(&telem, bytes + 1, 32);
-					tick = telem.generic.tick;
-					switch (telem.generic.type) {
-					case AO_TELEMETRY_SENSOR_TELEMETRUM:
-					case AO_TELEMETRY_SENSOR_TELEMINI:
-					case AO_TELEMETRY_SENSOR_TELENANO:
-						if (!ao_flight_started) {
-							ao_flight_ground_accel = telem.sensor.ground_accel;
-							ao_config.accel_plus_g = telem.sensor.accel_plus_g;
-							ao_config.accel_minus_g = telem.sensor.accel_minus_g;
-							ao_flight_started = 1;
-						}
-						type = 'A';
-						a = telem.sensor.accel;
-						b = telem.sensor.pres;
+#if TELEMETRUM_V1
+				case AO_LOG_FORMAT_FULL:
+				case AO_LOG_FORMAT_TINY:
+					log_record = (struct ao_log_record *) &eeprom->data[eeprom_offset];
+					eeprom_offset += sizeof (*log_record);
+					switch (log_record->type) {
+					case AO_LOG_FLIGHT:
+						ao_flight_started = 1;
+						ao_flight_ground_accel = log_record->u.flight.ground_accel;
+						ao_flight_number = log_record->u.flight.flight;
+						break;
+					case AO_LOG_SENSOR:
+					case 'P':	/* ancient telemini */
+						ao_data_static.tick = log_record->tick;
+						ao_data_static.adc.accel = log_record->u.sensor.accel;
+						ao_data_static.adc.pres_real = log_record->u.sensor.pres;
+						ao_data_static.adc.pres = log_record->u.sensor.pres;
+						ao_records_read++;
+						ao_insert();
+						return;
+					case AO_LOG_TEMP_VOLT:
+						ao_data_static.tick = log_record->tick;;
+						ao_data_static.adc.temp = log_record->u.temp_volt.temp;
+						ao_data_static.adc.v_batt = log_record->u.temp_volt.v_batt;
 						break;
 					}
-				} else if (len == 99) {
-					ao_flight_started = 1;
-					tick = uint16(bytes+1, 21);
-					ao_flight_ground_accel = int16(bytes+1, 7);
-					ao_config.accel_plus_g = int16(bytes+1, 17);
-					ao_config.accel_minus_g = int16(bytes+1, 19);
-					type = 'A';
-					a = int16(bytes+1, 23);
-					b = int16(bytes+1, 25);
-				} else if (len == 98) {
-					ao_flight_started = 1;
-					tick = uint16(bytes+1, 20);
-					ao_flight_ground_accel = int16(bytes+1, 6);
-					ao_config.accel_plus_g = int16(bytes+1, 16);
-					ao_config.accel_minus_g = int16(bytes+1, 18);
-					type = 'A';
-					a = int16(bytes+1, 22);
-					b = int16(bytes+1, 24);
-				} else {
-					printf("unknown len %d\n", len);
-					continue;
-				}
-			}
-			if (type != 'F' && !ao_flight_started)
-				continue;
-
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
-			(void) a;
-			(void) b;
-#else
-			switch (type) {
-			case 'F':
-				ao_flight_ground_accel = a;
-				ao_flight_number = b;
-				if (ao_config.accel_plus_g == 0) {
-					ao_config.accel_plus_g = a;
-					ao_config.accel_minus_g = a + 530;
+					break;
+#endif
+				default:
+					printf ("invalid log format %d\n", log_format);
+					ao_test_exit();
 				}
-				if (ao_config.main_deploy == 0)
-					ao_config.main_deploy = 250;
-				ao_flight_started = 1;
-				break;
-			case 'S':
-				break;
-			case 'A':
-				ao_data_static.tick = tick;
-				ao_data_static.adc.accel = a;
-				ao_data_static.adc.pres_real = b;
-				ao_data_static.adc.pres = b;
-				ao_records_read++;
-				ao_insert();
-				return;
-			case 'T':
-				ao_data_static.tick = tick;
-				ao_data_static.adc.temp = a;
-				ao_data_static.adc.v_batt = b;
-				break;
-			case 'D':
-			case 'G':
-			case 'N':
-			case 'W':
-			case 'H':
-				break;
 			}
-#endif
 		}
 
 	}
@@ -1190,6 +961,26 @@ void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 	emulator_info = info;
 	ao_summary = summary;
 
+	if (strstr(name, ".eeprom") != NULL) {
+		char	c;
+
+		c = getc(f);
+		ungetc(c, f);
+		if (c == '{')
+			eeprom = ao_eeprom_read(f);
+		else
+			eeprom = ao_eeprom_read_old(f);
+
+		if (eeprom) {
+#if HAS_MS5607
+			ao_ms5607_prom = eeprom->ms5607_prom;
+#endif
+			ao_config = eeprom->config;
+			ao_serial_number = eeprom->serial_number;
+			log_format = eeprom->log_format;
+		}
+	}
+
 	ao_flight_init();
 	ao_flight();
 }
diff --git a/telegps/TeleGPSConfigUI.java b/telegps/TeleGPSConfigUI.java
index 88ced192..87683c2b 100644
--- a/telegps/TeleGPSConfigUI.java
+++ b/telegps/TeleGPSConfigUI.java
@@ -619,7 +619,7 @@ public class TeleGPSConfigUI
 		return true;
 	}
 
-	void set_dirty() {
+	public void set_dirty() {
 		dirty = true;
 		save.setEnabled(true);
 	}
@@ -634,6 +634,17 @@ public class TeleGPSConfigUI
 		super.dispose();
 	}
 
+	public int accel_cal_plus() {
+		return AltosLib.MISSING;
+	}
+
+	public int accel_cal_minus() {
+		return AltosLib.MISSING;
+	}
+
+	public void set_accel_cal(int accel_plus, int accel_minus) {
+	}
+
 	/* Listen for events from our buttons */
 	public void actionPerformed(ActionEvent e) {
 		String	cmd = e.getActionCommand();