Merge branch 'branch-1.8' into debian

31 files changed, 573 insertions, 121 deletions

diff --git a/ChangeLog b/ChangeLog
index c76ca125..94cb5875 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,224 @@
+commit b68c0482d4fae8eb54cde1df0e4bcf4c5d272bad
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 22:49:09 2017 -0700
+
+    Version 1.8.1
+    
+    Android version 15
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit abe100385cedf2b0734191611d97e794805d0ef4
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 22:48:46 2017 -0700
+
+    doc: Update for 1.8.1
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 4775b1d9b50a8732d66a0ad3b73ff74901a8cb7f
+Author: Keith Packard <keithp@keithp.com>
+Date:   Mon Aug 28 00:15:43 2017 -0700
+
+    altos: Don't compute filtered average of height error when HAS_ACCEL
+    
+    We only use this for baro-only devices to avoid firing drogue charges
+    at mach transitions; we trust the combination of accel+baro to do the
+    right thing when available.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit dacd4c70700041a018b1f8ba47f22071b9600eaf
+Author: Keith Packard <keithp@keithp.com>
+Date:   Mon Aug 28 00:10:04 2017 -0700
+
+    altoslib: Fix freq preference loading
+    
+    Allocate throw-away freq array to get the class pointer.
+    Add null-ary AltosFrequency constructor for JSON code.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 7f5f37ac7fb71d3059f639b39315712f90e9bfd6
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:37:10 2017 -0700
+
+    altosui: Make --oneline show drogue deploy speed
+    
+    Also remove some commented out values.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit dd72c9144b207b12150eb6a7ffb012f217f37374
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:35:49 2017 -0700
+
+    altoslib: Compute speed at entry to each state
+    
+    Useful to have drogue/main deployment speeds
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 9537a21b6ddb73b9f086858dad9a7b9d05279741
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:34:49 2017 -0700
+
+    altoslib: Fix parsing of old TM log GPS sat data
+    
+    Attempting to fetch sat data from wrong byte led to array bounds
+    exception.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 92b689bfd78a96ba56f0e1022ba68b7384a9b9b6
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:34:07 2017 -0700
+
+    altoslib: Allow for missing product when checking for mma655x inverted
+    
+    If there's no product, assume we've got some ancient log file.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 6e244a73d8c2a475416480f83328b7d363693402
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:33:38 2017 -0700
+
+    altoslib: Remove debug printf for gyro adjust
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit f5642db4e03856b1f2ffeae6570fcf35fb7d93fb
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:32:27 2017 -0700
+
+    altos/test: Fake baro data for flight 12 serial 2093
+    
+    This flight had a baro spike due to an accidental drogue charge firing
+    but is otherwise quite useful when testing for various mach delay
+    effects, so fake out the data during that spike.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit bef7c37d1c986cd477367c0c015be61368a788d2
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:30:15 2017 -0700
+
+    altos/test: Integrate raw accel to provide speed for comparison
+    
+    This can provide a useful visualization of the 'true' vs 'kalman'
+    speed value, as the kalman is necessarily delayed due to the model
+    assuming constant acceleration.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 2dce02efd54ad4051f1ddb94048696e8677dd225
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:04:27 2017 -0700
+
+    altos/test: telemetrum baro data is inverted before being written to eeprom
+    
+    No need for the test code to invert it during replay
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit ea6fe21d78744d7e6225a56c369d54f7cd956767
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:16:47 2017 -0700
+
+    altos: Don't eliminate baro above mach speed, just trust it less
+    
+    Instead of completely eliminating the baro sensor above mach speed,
+    just derate it a bit so that the accel will dominate for speed
+    computation and keep the device from false-triggering across mach
+    transitions.
+    
+    When we completely ignored the baro sensor above mach, and the flight
+    spent considerable time in that speed range, then the estimated height
+    could be far from the real value. When the estimated speed dropped
+    back down and the baro values were brought back into the computation,
+    then the resulting rapid shift in estimated speed could trigger
+    accidental apogee detection.
+    
+    By mixing in a bit of baro data even above mach, we keep the estimated
+    height closer to the baro value and prevent this error, at least in
+    flights measured so far.
+    
+    The flight known to have this problem is:
+    
+            2015-09-26-serial-2093-flight-0012.eeprom
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 12ef994a24eb996458092dc35c671d6b824b1576
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 16:57:13 2017 -0700
+
+    altos: Eliminate separate height error filter for accelerometer devices
+    
+    We don't use the error value in flight for those models anyways; it's
+    only useful on baro-only hardware.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit f972000642f9c9835a0b7d14155d4c5695455d94
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:15:59 2017 -0700
+
+    altosui: Add --oneline mode to briefly summarize flights
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 465bb7242f39f6f8489e5fd52ce88031106c1c76
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:15:07 2017 -0700
+
+    altosuilib: Add "Huge" font size
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 3dde7f4d05414ac4907c91c68c88cc1d06233605
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:14:10 2017 -0700
+
+    micropeak: Track font changes in raw data display
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cf20e213f39fb24f15e0ac94307c2d138fcadecb
+Author: Keith Packard <keithp@keithp.com>
+Date:   Thu Aug 24 16:45:54 2017 -0700
+
+    altos: Perform time comparisons using 16-bit arithmetic to handle wrap
+    
+    Subtracting two 16-bit unsigned values to perform time comparisons
+    yields mystic results unless we carefully cast that to int16_t.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 43e2275250d9c91560a770942f3c06a8f74ed501
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 12 01:37:07 2017 -0400
+
+    install: Add 'fat-install' target
+    
+    This uses the existing --with-fat-dir option and instead of installing
+    everything to that directory, creates a normal ikiwiki hierarchy of
+    files including .mdwn files, whacked release notes html files and all
+    of the appropriate packages.
+    
+    One stop shopping for adding the release to the web site.
+    
+    Attempted to update Releasing file to match.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit fccfa54bb3b746cecfcdc1fd497cf736bbfe3ef3
+Author: Bdale Garbee <bdale@gag.com>
+Date:   Sat Aug 12 00:23:27 2017 -0400
+
+    releasing 1.8
+
 commit dbcb68f684a96d13efeb9993685f61b27b45e7dc
 Author: Bdale Garbee <bdale@gag.com>
 Date:   Sat Aug 12 00:21:43 2017 -0400
diff --git a/Makefile.am b/Makefile.am
index 2fdbd109..cac02c62 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -18,6 +18,13 @@ ChangeLog:
 
 dist-hook: ChangeLog
 
+if FATINSTALL
+fat-install: fat
+	cd altosui && $(MAKE) fat-install
+	cd telegps && $(MAKE) fat-install
+	cd micropeak && $(MAKE) fat-install
+endif
+
 fat:
 	cd src && $(MAKE) all
 	cd doc && $(MAKE) all
diff --git a/Releasing b/Releasing
index cb92b1e9..5780f3ce 100644
--- a/Releasing
+++ b/Releasing
@@ -7,6 +7,26 @@ Adding a product to the release
 
 	Add the firmware to altosui/altos-windows.nsi.in
 
+	Add the firmware to telegps/Makefile.am
+
+	Add the firmware to telegps/telegps-windows.nsi.in
+
+	Add the firmware to Releasing
+
+These are Keith's notes on how to do a release
+
+	- update the version and date in configure.ac if Bdale hasn't already
+
+	- make sure there is a doc/release-notes-<version>.inc
+
+	- make sure doc/release-notes.inc points at that
+
+	- make sure doc/Makefile points at that too
+
+	- make sure that doc/altusmetrum-docinfo.xml has the right copyright 
+	  year, and add release to the revision history at the front (release 
+	  notes will be pulled in by release-notes.inc)
+
 These are Bdale's notes on how to do a release.
 
 	- make sure build environment is up to date
@@ -72,10 +92,12 @@ These are Bdale's notes on how to do a release.
 	make distclean
 
 	./autogen.sh --enable-multi-arch \
-		--with-fat-dir=/home/bdale/web/altusmetrum/AltOS/releases
+		--with-fat-dir=/home/bdale/web/altusmetrum/
 	make && make fat
 
-		this pushes packages for each platform to web site
+		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
 	cp src/chaoskey-v1.0/{*.elf,*.ihx} \
@@ -110,22 +132,15 @@ These are Bdale's notes on how to do a release.
 	- copy the relevant release notes .html file from doc/ to 
 	    /home/bdale/web/altusmetrum/AltOS/releases/<rev>
 
-	(cd ~/web/altusmetrum/AltOS/releases/<rev> ; rm *.tar.bz2)
-
-	- create /home/bdale/web/altusmetrum/MicroPeak/releases/<rev>,
-	  and move the MicroPeak installers from AltOS/releases to there
-		
-	- create /home/bdale/web/altusmetrum/TeleGPS/releases/<rev>,
-	  and move the TeleGPS installers from AltOS/releases to there
-		
-	- go edit ~/web/altusmetrum/AltOS/releases/<rev>.mdwn, 
-	  /home/bdale/web/altusmetrum/MicroPeak/releases/<rev>.mdwn, and
-	  /home/bdale/web/altusmetrum/TeleGPS/releases/<rev>.mdwn
-
-		- make sure the Windows stuff is like 1-4-1, not 1.4.1!
+	- 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)
+
 		this pushes fresh documents to the web site
 
 	sudo debian/rules clean
diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index b49e3792..6258c1a8 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -342,8 +342,8 @@ public class AltosCalData {
 			v = Math.ceil(v);
 		else
 			v = Math.floor(v);
-		if (v != 0)
-			System.out.printf("Adjusting gyro axis by %g steps\n", v);
+//		if (v != 0)
+//			System.out.printf("Adjusting gyro axis by %g steps\n", v);
 		return v * 128.0;
 	}
 
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 97a80bcb..63c34310 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -488,14 +488,16 @@ public class AltosConfigData {
 
 
 	public boolean mma655x_inverted() throws AltosUnknownProduct {
-		if (product.startsWith("EasyMega-v1"))
-			return false;
-		if (product.startsWith("TeleMetrum-v2"))
-			return true;
-		if (product.startsWith("TeleMega-v2"))
-			return false;
-		if (product.startsWith("TeleMega-v1"))
-			return false;
+		if (product != null) {
+			if (product.startsWith("EasyMega-v1"))
+				return false;
+			if (product.startsWith("TeleMetrum-v2"))
+				return true;
+			if (product.startsWith("TeleMega-v2"))
+				return false;
+			if (product.startsWith("TeleMega-v1"))
+				return false;
+		}
 		throw new AltosUnknownProduct(product);
 	}
 
diff --git a/altoslib/AltosEepromRecordFull.java b/altoslib/AltosEepromRecordFull.java
index 85709f73..32df9578 100644
--- a/altoslib/AltosEepromRecordFull.java
+++ b/altoslib/AltosEepromRecordFull.java
@@ -85,7 +85,7 @@ public class AltosEepromRecordFull extends AltosEepromRecord {
 		case AltosLib.AO_LOG_GPS_SAT:
 			gps = cal_data.make_temp_gps(tick(),true);
 			int svid = data16(0);
-			int c_n0 = data16(3);
+			int c_n0 = data16(2);
 			gps.add_sat(svid, c_n0);
 			break;
 		case AltosLib.AO_LOG_GPS_DATE:
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 6f8732cf..c2e4e2a3 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -26,6 +26,7 @@ public class AltosFlightStats {
 	public double		max_speed;
 	public double		max_acceleration;
 	public double[]		state_speed = new double[AltosLib.ao_flight_invalid + 1];
+	public double[]		state_enter_speed = new double[AltosLib.ao_flight_invalid + 1];
 	public double[]		state_accel = new double[AltosLib.ao_flight_invalid + 1];
 	public double[]		state_time = new double[AltosLib.ao_flight_invalid + 1];
 	public String		product;
@@ -131,6 +132,8 @@ public class AltosFlightStats {
 	private void add_times(AltosFlightSeries series, int state, double start_time, double end_time) {
 		double delta_time = end_time - start_time;
 		if (0 <= state && state <= AltosLib.ao_flight_invalid && delta_time > 0) {
+			if (state_enter_speed[state] == AltosLib.MISSING)
+				state_enter_speed[state] = series.speed_series.value(start_time);
 			speeds[state].value += series.speed_series.average(start_time, end_time) * delta_time;
 			speeds[state].time += delta_time;
 			accels[state].value += series.accel_series.average(start_time, end_time) * delta_time;
@@ -192,6 +195,7 @@ public class AltosFlightStats {
 
 		for (int s = 0; s < AltosLib.ao_flight_invalid + 1; s++) {
 			state_speed[s] = AltosLib.MISSING;
+			state_enter_speed[s] = AltosLib.MISSING;
 			state_accel[s] = AltosLib.MISSING;
 			state_time[s] = 0;
 			speeds[s] = new AltosTimeValue(0, 0);
diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java
index 6838be8a..dfe33789 100644
--- a/altoslib/AltosFrequency.java
+++ b/altoslib/AltosFrequency.java
@@ -62,4 +62,7 @@ public class AltosFrequency {
 		frequency = f;
 		description = d;
 	}
+	public AltosFrequency() {
+		this(0, null);
+	}
 }
diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java
index 0c388f1b..c511332b 100644
--- a/altoslib/AltosPreferences.java
+++ b/altoslib/AltosPreferences.java
@@ -139,7 +139,7 @@ public class AltosPreferences {
 		try {
 			AltosJson json = AltosJson.fromString(backend.getString(frequenciesPreference,
 										null));
-			frequencies = (AltosFrequency[]) json.make(frequencies.getClass());
+			frequencies = (AltosFrequency[]) json.make((new AltosFrequency[1]).getClass());
 		} catch (Exception e) {
 		}
 
diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index 4bc2a5f8..bc8eaa71 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -397,7 +397,7 @@ public class AltosUI extends AltosUIFrame {
 			String message = ie.getMessage();
 			if (message == null)
 				message = String.format("%s (I/O error)", input.toString());
-			System.err.printf("%s\n", message);
+			System.err.printf("%s: %s\n", input.toString(), message);
 		}
 		return null;
 	}
@@ -408,6 +408,7 @@ public class AltosUI extends AltosUIFrame {
 	static final int process_graph = 3;
 	static final int process_replay = 4;
 	static final int process_summary = 5;
+	static final int process_oneline = 6;
 
 	static boolean process_csv(File input) {
 		AltosRecordSet set = record_set(input);
@@ -530,12 +531,32 @@ public class AltosUI extends AltosUIFrame {
 		return true;
 	}
 
+	static boolean process_oneline(File file) {
+		AltosRecordSet set = record_set(file);
+		if (set == null)
+			return false;
+		System.out.printf("%s", file.toString());
+		AltosFlightSeries series = make_series(set);
+		AltosFlightStats stats = new AltosFlightStats(series);
+		if (stats.max_height != AltosLib.MISSING)
+			System.out.printf(" height  %6.0f m", stats.max_height);
+		if (stats.max_speed != AltosLib.MISSING)
+			System.out.printf(" speed   %6.0f m/s", stats.max_speed);
+		if (stats.state_enter_speed[AltosLib.ao_flight_drogue] != AltosLib.MISSING)
+			System.out.printf(" drogue-deploy   %6.0f m/s", stats.state_enter_speed[AltosLib.ao_flight_drogue]);
+		if (stats.max_acceleration != AltosLib.MISSING)
+			System.out.printf(" accel   %6.0f m/s²", stats.max_acceleration);
+		System.out.printf("\n");
+		return true;
+	}
+
 	public static void help(int code) {
 		System.out.printf("Usage: altosui [OPTION]... [FILE]...\n");
 		System.out.printf("  Options:\n");
 		System.out.printf("    --replay <filename>\t\trelive the glory of past flights \n");
 		System.out.printf("    --graph <filename>\t\tgraph a flight\n");
 		System.out.printf("    --summary <filename>\t\tText summary of a flight\n");
+		System.out.printf("    --oneline <filename>\t\tOne line summary of a flight\n");
 		System.out.printf("    --csv\tgenerate comma separated output for spreadsheets, etc\n");
 		System.out.printf("    --kml\tgenerate KML output for use with Google Earth\n");
 		System.exit(code);
@@ -572,6 +593,8 @@ public class AltosUI extends AltosUIFrame {
 					process = process_graph;
 				else if (args[i].equals("--summary"))
 					process = process_summary;
+				else if (args[i].equals("--oneline"))
+					process = process_oneline;
 				else if (args[i].startsWith("--"))
 					help(1);
 				else {
@@ -600,6 +623,10 @@ public class AltosUI extends AltosUIFrame {
 						if (!process_summary(file))
 							++errors;
 						break;
+					case process_oneline:
+						if (!process_oneline(file))
+							++errors;
+						break;
 					}
 				}
 			}
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index 31ec06bc..53762aec 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -171,6 +171,8 @@ LINUX_DIST=Altos-Linux-$(VERSION).tar.bz2
 LINUX_SH=Altos-Linux-$(VERSION).sh
 MACOSX_DIST=Altos-Mac-$(VERSION).dmg
 WINDOWS_DIST=Altos-Windows-$(VERSION_DASH).exe
+MDWN=$(VERSION).mdwn
+MDWNTMPL=mdwn.tmpl
 
 FAT_FILES=$(FATJAR) $(ALTOSLIB_CLASS) $(ALTOSUILIB_CLASS) $(FREETTS_CLASS) $(JFREECHART_CLASS) $(JCOMMON_CLASS)
 
@@ -185,14 +187,14 @@ MACOSX_EXTRA=$(FIRMWARE)
 
 WINDOWS_FILES=$(FAT_FILES) $(FIRMWARE) altos.dll altos64.dll $(top_srcdir)/altusmetrum.inf $(top_srcdir)/altusmetrum.cat $(WINDOWS_ICONS)
 
-all-local: classes/altosui $(JAR) altosui altosui-test altosui-jdb
+all-local: classes/altosui $(JAR) altosui altosui-test altosui-jdb $(MDWN)
 
 clean-local:
 	-rm -rf classes $(JAR) $(FATJAR) \
 		Altos-Linux-*.tar.bz2 Altos-Linux-*.sh Altos-Mac-*.dmg Altos-Windows-*.exe \
 		windows altoslib_*.jar altosuilib_*.jar $(FREETTS_CLASS) \
 		$(JFREECHART_CLASS) $(JCOMMON_CLASS) $(LIBALTOS) Manifest.txt Manifest-fat.txt altos-windows.log altos-windows.nsi \
-		altosui altosui-test altosui-jdb macosx linux *.desktop
+		altosui altosui-test altosui-jdb macosx linux *.desktop $(MDWN)
 
 EXTRA_DIST = $(desktop_file).in
 
@@ -202,18 +204,17 @@ $(desktop_file): $(desktop_file).in
 
 if FATINSTALL
 
-FATTARGET=$(FATDIR)/$(VERSION)
+FATTARGET=$(FATDIR)/AltOS/releases/$(VERSION)
 
-LINUX_DIST_TARGET=$(FATTARGET)/$(LINUX_DIST)
 LINUX_SH_TARGET=$(FATTARGET)/$(LINUX_SH)
 MACOSX_DIST_TARGET=$(FATTARGET)/$(MACOSX_DIST)
 WINDOWS_DIST_TARGET=$(FATTARGET)/$(WINDOWS_DIST)
+MDWN_TARGET=$(FATDIR)/AltOS/releases/$(MDWN)
+RELNOTES=release-notes-$(VERSION).html
+RELNOTES_SRC=$(top_builddir)/doc/$(RELNOTES)
+RELNOTES_TARGET=$(FATTARGET)/$(RELNOTES)
 
-fat: $(LINUX_DIST_TARGET) $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET)
-
-$(LINUX_DIST_TARGET): $(LINUX_DIST)
-	mkdir -p $(FATTARGET)
-	cp -p $< $@
+fat-install: fat $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET) $(MDWN_TARGET) $(RELNOTES_TARGET)
 
 $(LINUX_SH_TARGET): $(LINUX_SH)
 	mkdir -p $(FATTARGET)
@@ -227,10 +228,21 @@ $(WINDOWS_DIST_TARGET): $(WINDOWS_DIST)
 	mkdir -p $(FATTARGET)
 	cp -p $< $@
 
-else
-fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+$(MDWN_TARGET): $(MDWN)
+	mkdir -p $(FATTARGET)
+	cp -p $< $@
+
+$(RELNOTES_TARGET): $(RELNOTES_SRC)
+	mkdir -p $(FATTARGET)
+	sh $(top_srcdir)/doc/install-html -d $(FATTARGET) $(RELNOTES_SRC)
+
 endif
 
+$(MDWN): $(MDWNTMPL)
+	sed -e 's/%version%/$(VERSION)/g' -e 's/%version_dash%/$(VERSION_DASH)/g' $(MDWNTMPL) > $@
+
+fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+
 altosuidir=$(datadir)/java
 
 install-altosuiJAVA: altosui.jar
diff --git a/altosui/mdwn.tmpl b/altosui/mdwn.tmpl
new file mode 100644
index 00000000..b64825a6
--- /dev/null
+++ b/altosui/mdwn.tmpl
@@ -0,0 +1,7 @@
+[[!inline pages="./%version%/release-notes-%version%.html" rss="no" raw="yes" ]]
+
+- Available Files:
+	- [Windows Installer](/AltOS/releases/%version%/Altos-Windows-%version_dash%.exe)
+	- [Mac OS X Package](/AltOS/releases/%version%/Altos-Mac-%version%.dmg)
+	- [Linux](/AltOS/releases/%version%/Altos-Linux-%version%.sh)
+	- [Source Snapshot](http://git.gag.com/?p=fw/altos;a=snapshot;h=refs/tags/%version%;sf=tgz)
diff --git a/altosuilib/AltosUIConfigure.java b/altosuilib/AltosUIConfigure.java
index e3d86724..6ca8c777 100644
--- a/altosuilib/AltosUIConfigure.java
+++ b/altosuilib/AltosUIConfigure.java
@@ -75,7 +75,7 @@ public class AltosUIConfigure
 
 	public int		row;
 
-	final static String[] font_size_names = { "Small", "Medium", "Large" };
+	final static String[] font_size_names = { "Small", "Medium", "Large", "Huge" };
 
 	public GridBagConstraints constraints (int x, int width, int fill) {
 		GridBagConstraints c = new GridBagConstraints();
diff --git a/altosuilib/AltosUILib.java b/altosuilib/AltosUILib.java
index ef706e36..81a8b131 100644
--- a/altosuilib/AltosUILib.java
+++ b/altosuilib/AltosUILib.java
@@ -36,6 +36,7 @@ public class AltosUILib extends AltosLib {
 	final public static int font_size_small = 1;
 	final public static int font_size_medium = 2;
 	final public static int font_size_large = 3;
+	final public static int font_size_huge = 4;
 
 	final public static int position_top_left = 0;
 	final public static int position_top = 1;
@@ -69,6 +70,11 @@ public class AltosUILib extends AltosLib {
 			status_size = 30;
 			table_size = 17;
 			break;
+		case font_size_huge:
+			brief_size = 30;
+			status_size = 36;
+			table_size = 24;
+			break;
 		}
 		label_font = new Font("Dialog", Font.PLAIN, brief_size);
 		value_font = new Font("Monospaced", Font.PLAIN, brief_size);
diff --git a/configure.ac b/configure.ac
index f4509b4c..dc80f6e3 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)
-ANDROID_VERSION=14
+AC_INIT([altos], 1.8.1)
+ANDROID_VERSION=15
 AC_CONFIG_SRCDIR([src/kernel/ao.h])
 AM_INIT_AUTOMAKE([foreign dist-bzip2])
 AM_MAINTAINER_MODE
 
-RELEASE_DATE=2017-08-11
+RELEASE_DATE=2017-08-27
 AC_SUBST(RELEASE_DATE)
 
 VERSION_DASH=`echo $VERSION | sed 's/\./-/g'`
@@ -165,7 +165,7 @@ AM_CONDITIONAL([ANDROID_RELEASE], [test x$ANDROID_RELEASE = xyes])
 AC_SUBST(ANDROID_SDK)
 
 AC_ARG_WITH(fat-dir, AS_HELP_STRING([--with-fat-dir=PATH],
-	    [Set the directory to install the 'fat' distribution files to (defaults to not installing)]),
+	    [Set the directory to install the 'fat-install' distribution files to (defaults to no such target)]),
 	    [FATDIR=$withval], [FATDIR=none])
 
 AM_CONDITIONAL(FATINSTALL, [test "x$FATDIR" != "xnone"])
diff --git a/doc/Makefile b/doc/Makefile
index a09380cf..5b264e02 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -3,6 +3,7 @@
 #
 
 RELNOTES_INC=\
+	release-notes-1.8.1.inc \
 	release-notes-1.8.inc \
 	release-notes-1.7.inc \
 	release-notes-1.6.8.inc \
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 3c230f1a..595422f1 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -47,6 +47,14 @@
 <revhistory>
   <?dbhtml filename="altusmetrum-revhistory.html"?>
   <revision>
+    <revnumber>1.8.1</revnumber>
+    <date>27 Aug 2017</date>
+    <revremark>
+      Fix Apogee Lockout time value wrapping bug. Change high-speed
+      Kalman filter function.
+    </revremark>
+  </revision>
+  <revision>
     <revnumber>1.8</revnumber>
     <date>12 Aug 2017</date>
     <revremark>
diff --git a/doc/release-notes-1.8.1.inc b/doc/release-notes-1.8.1.inc
new file mode 100644
index 00000000..d9e4a2d9
--- /dev/null
+++ b/doc/release-notes-1.8.1.inc
@@ -0,0 +1,47 @@
+= Release Notes for Version 1.8.1
+:toc!:
+:doctype: article
+
+	Version 1.8.1 includes an important bug fix for Apogee Lockout
+	operation in all flight computers. Anyone using this option
+	must update firmware.
+
+	This release also contains a change in how flight computers
+	with accelerometers deal with speeds around and above Mach
+	1. In previous versions, the flight computer would completely
+	disregard the barometric sensor above 330m/s (around Mach
+	1). Now, the data from the barometric sensor is reduced in
+	effect without ever going away entirely. This prevents early
+	drogue deployment for flights which spend considerable time
+	above Mach 1.
+
+	1.8.1 also contains a couple of minor fixes for AltosUI when
+	analyzing saved data files.
+
+	== AltOS
+
+	AltOS Bug Fixes
+
+	* Handle time value wrapping in Apogee Lockout
+          correctly. Without this, apogee lockout would sometimes
+          prevent any drogue charge from firing.
+
+	* Change Kalman filter on flight computers with accelerometer
+          to continue using the barometric sensor even at high speeds
+          to avoid unintentional drogue deployment during
+          deceleration.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI New Features
+
+	* Add new 'Huge' font size to make text even bigger on high
+          resolution monitors.
+
+	AltosUI Bug Fixes
+
+	* Prevent some crashes when reading older saved flight data
+          for graphing or KML export.
+
+	* Load frequency preference at startup. The loading code was
+          broken, so you'd see only the default frequencies.
diff --git a/doc/release-notes.inc b/doc/release-notes.inc
index e52e36b5..adcf57ed 100644
--- a/doc/release-notes.inc
+++ b/doc/release-notes.inc
@@ -2,6 +2,10 @@
 == Release Notes
 
 	:leveloffset: 2
+	include::release-notes-1.8.1.raw[]
+
+	<<<<
+	:leveloffset: 2
 	include::release-notes-1.8.raw[]
 
 	<<<<
diff --git a/micropeak/Makefile.am b/micropeak/Makefile.am
index 52b62358..6f674b19 100644
--- a/micropeak/Makefile.am
+++ b/micropeak/Makefile.am
@@ -95,7 +95,7 @@ desktopdir = $(datadir)/applications
 desktop_file = altusmetrum-micropeak.desktop
 desktop_SCRIPTS = $(desktop_file)
 
-all-local: micropeak-test micropeak-jdb $(JAR)
+all-local: micropeak-test micropeak-jdb $(JAR) $(MDWN)
 
 clean-local:
 	-rm -rf classes $(JAR) $(FATJAR) \
@@ -103,7 +103,7 @@ clean-local:
 		altoslib_*.jar altosuilib_*.jar \
 		$(JFREECHART_CLASS) $(JCOMMON_CLASS) $(LIBALTOS) Manifest.txt Manifest-fat.txt \
 		micropeak micropeak-test micropeak-jdb macosx linux windows micropeak-windows.log \
-		micropeak-windows.nsi *.desktop
+		micropeak-windows.nsi *.desktop $(MDWN)
 
 EXTRA_DIST = $(desktop_file).in
 
@@ -115,6 +115,8 @@ LINUX_DIST=MicroPeak-Linux-$(VERSION).tar.bz2
 LINUX_SH=MicroPeak-Linux-$(VERSION).sh
 MACOSX_DIST=MicroPeak-Mac-$(VERSION).dmg
 WINDOWS_DIST=MicroPeak-Windows-$(VERSION_DASH).exe
+MDWN=$(VERSION).mdwn
+MDWNTMPL=mdwn.tmpl
 
 MICROPEAK_DOC=$(top_srcdir)/doc/micropeak.pdf
 
@@ -153,18 +155,17 @@ WINDOWS_FILES=$(FAT_FILES) altos.dll altos64.dll $(DOC) $(WINDOWS_ICONS) $(WINDO
 
 if FATINSTALL
 
-FATTARGET=$(FATDIR)/$(VERSION)
+FATTARGET=$(FATDIR)/MicroPeak/releases/$(VERSION)
 
-LINUX_DIST_TARGET=$(FATTARGET)/$(LINUX_DIST)
 LINUX_SH_TARGET=$(FATTARGET)/$(LINUX_SH)
 MACOSX_DIST_TARGET=$(FATTARGET)/$(MACOSX_DIST)
 WINDOWS_DIST_TARGET=$(FATTARGET)/$(WINDOWS_DIST)
+MDWN_TARGET=$(FATDIR)/MicroPeak/releases/$(MDWN)
+RELNOTES=release-notes-$(VERSION).html
+RELNOTES_SRC=$(top_builddir)/doc/$(RELNOTES)
+RELNOTES_TARGET=$(FATTARGET)/$(RELNOTES)
 
-fat: $(LINUX_DIST_TARGET) $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET)
-
-$(LINUX_DIST_TARGET): $(LINUX_DIST)
-	mkdir -p $(FATTARGET)
-	cp -p $< $@
+fat-install: $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET) $(MDWN_TARGET) $(RELNOTES_TARGET)
 
 $(LINUX_SH_TARGET): $(LINUX_SH)
 	mkdir -p $(FATTARGET)
@@ -178,10 +179,22 @@ $(WINDOWS_DIST_TARGET): $(WINDOWS_DIST)
 	mkdir -p $(FATTARGET)
 	cp -p $< $@
 
-else
-fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+$(MDWN_TARGET): $(MDWN)
+	mkdir -p $(FATTARGET)
+	cp -p $< $@
+
+$(RELNOTES_TARGET): $(RELNOTES_SRC)
+	mkdir -p $(FATTARGET)
+	sh $(top_srcdir)/doc/install-html -d $(FATTARGET) $(RELNOTES_SRC)
+
 endif
 
+$(MDWN): $(MDWNTMPL)
+	sed -e 's/%version%/$(VERSION)/g' -e 's/%version_dash%/$(VERSION_DASH)/g' $(MDWNTMPL) > $@
+
+fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+
+
 micropeak: Makefile
 	echo "#!/bin/sh" > $@
 	echo 'exec java  -Djava.library.path="$(altoslibdir)" -jar "$(micropeakdir)/micropeak.jar" "$$@"' >> $@
diff --git a/micropeak/MicroPeak.java b/micropeak/MicroPeak.java
index 607bf20c..749d0f64 100644
--- a/micropeak/MicroPeak.java
+++ b/micropeak/MicroPeak.java
@@ -262,6 +262,7 @@ public class MicroPeak extends MicroFrame implements ActionListener, ItemListene
 			@Override
 			public void windowClosing(WindowEvent e) {
 				statsTable.tell_closing();
+				raw.tell_closing();
 				Close();
 			}
 		});
diff --git a/micropeak/MicroRaw.java b/micropeak/MicroRaw.java
index d1d5d076..7a60499e 100644
--- a/micropeak/MicroRaw.java
+++ b/micropeak/MicroRaw.java
@@ -24,7 +24,11 @@ import javax.swing.*;
 import org.altusmetrum.altoslib_12.*;
 import org.altusmetrum.altosuilib_12.*;
 
-public class MicroRaw extends JTextArea {
+public class MicroRaw extends JTextArea implements AltosFontListener {
+
+	public void font_size_changed(int font_size) {
+		setFont(AltosUILib.table_value_font);
+	}
 
 	public void setData(MicroData data) {
 		StringWriter	sw = new StringWriter();
@@ -38,9 +42,14 @@ public class MicroRaw extends JTextArea {
 		setCaretPosition(0);
 	}
 
+	public void tell_closing() {
+		AltosUIPreferences.unregister_font_listener(this);
+	}
+
 	public MicroRaw() {
 		super(1, 30);
 		setFont(AltosUILib.table_value_font);
 		setEditable(false);
+		AltosUIPreferences.register_font_listener(this);
 	}
 }
diff --git a/micropeak/mdwn.tmpl b/micropeak/mdwn.tmpl
new file mode 100644
index 00000000..232dde5b
--- /dev/null
+++ b/micropeak/mdwn.tmpl
@@ -0,0 +1,7 @@
+[[!inline pages="./%version%/release-notes-%version%.html" rss="no" raw="yes" ]]
+
+- Available Files:
+	- [Windows Installer](/MicroPeak/releases/%version%/MicroPeak-Windows-%version_dash%.exe)
+	- [Mac OS X Package](/MicroPeak/releases/%version%/MicroPeak-Mac-%version%.dmg)
+	- [Linux](/MicroPeak/releases/%version%/MicroPeak-Linux-%version%.sh)
+	- [Source Snapshot](http://git.gag.com/?p=fw/altos;a=snapshot;h=refs/tags/%version%;sf=tgz)
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 50f2b68f..f06125cd 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -269,7 +269,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -282,9 +282,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
+#define AO_ERROR_BOUND	100
+
 			if (ao_speed < 0
 #if !HAS_ACCEL
-			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
 				)
 			{
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 69a1b3de..ac41085d 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -45,7 +45,9 @@ static __pdata ao_k_t		ao_avg_height_scaled;
 __xdata ao_v_t			ao_avg_height;
 
 __pdata ao_v_t			ao_error_h;
+#if !HAS_ACCEL
 __pdata ao_v_t			ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
 __pdata ao_v_t			ao_error_a;
@@ -55,14 +57,14 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
 				(ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
 		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
 
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
 				(ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
 		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
@@ -83,7 +85,9 @@ ao_kalman_predict(void)
 static void
 ao_kalman_err_height(void)
 {
+#if !HAS_ACCEL
 	ao_v_t	e;
+#endif
 	ao_v_t height_distrust;
 #if HAS_ACCEL
 	ao_v_t	speed_distrust;
@@ -91,15 +95,12 @@ ao_kalman_err_height(void)
 
 	ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
+#if !HAS_ACCEL
 	e = ao_error_h;
 	if (e < 0)
 		e = -e;
 	if (e > 127)
 		e = 127;
-#if HAS_ACCEL
-	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
-	ao_error_h_sq_avg += (e * e) >> 2;
-#else
 	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
 	ao_error_h_sq_avg += (e * e) >> 4;
 #endif
@@ -108,13 +109,13 @@ ao_kalman_err_height(void)
 		return;
 	height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
-	/* speed is stored * 16, but we need to ramp between 200 and 328, so
+	/* speed is stored * 16, but we need to ramp between 248 and 328, so
 	 * we want to multiply by 2. The result is a shift by 3.
 	 */
 	speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
-	if (speed_distrust <= 0)
-		speed_distrust = 0;
-	else if (speed_distrust > height_distrust)
+	if (speed_distrust > AO_MAX_SPEED_DISTRUST)
+		speed_distrust = AO_MAX_SPEED_DISTRUST;
+	if (speed_distrust > height_distrust)
 		height_distrust = speed_distrust;
 #endif
 	if (height_distrust > 0) {
@@ -141,13 +142,13 @@ ao_kalman_correct_baro(void)
 {
 	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
 		ao_k_speed  += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
 		ao_k_accel  += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
 		ao_k_speed  += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
 		ao_k_accel  += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
@@ -180,7 +181,7 @@ ao_kalman_correct_both(void)
 	ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -201,7 +202,7 @@ ao_kalman_correct_both(void)
 			(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -250,7 +251,7 @@ ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
 		ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
 		ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
@@ -285,9 +286,9 @@ ao_kalman(void)
 		ao_max_height = ao_height;
 	ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50)
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
 		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-	else if (ao_sample_tick - ao_sample_prev_tick > 5)
+	else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
 		ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
 	else 
 #endif
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 90ea07ad..f0ab0169 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -180,7 +180,7 @@ static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+	float	dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index da40187b..fbef031d 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -95,7 +95,12 @@ typedef int16_t			ao_v_t;
 /*
  * Above this speed, baro measurements are unreliable
  */
-#define AO_MAX_BARO_SPEED	200
+#define AO_MAX_BARO_SPEED	248
+
+/* The maximum amount (in a range of 0-256) to de-rate the
+ * baro sensor data based on speed.
+ */
+#define AO_MAX_SPEED_DISTRUST	160
 
 #define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
 
@@ -175,7 +180,9 @@ extern __xdata ao_v_t			ao_max_height;	/* max of ao_height */
 extern __xdata ao_v_t			ao_avg_height;	/* running average of height */
 
 extern __pdata ao_v_t			ao_error_h;
+#if !HAS_ACCEL
 extern __pdata ao_v_t			ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
 extern __pdata ao_v_t			ao_error_a;
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index d3d39f2a..55bfe410 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -72,7 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE	2
 #define HAS_MS5607		1
 #define HAS_MMA655X		1
-#define AO_MMA655X_INVERT	1
+#define AO_MMA655X_INVERT	0
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
 
@@ -264,6 +264,7 @@ double	main_time;
 int	tick_offset;
 
 static ao_k_t	ao_k_height;
+static double	simple_speed;
 
 int16_t
 ao_time(void)
@@ -320,7 +321,7 @@ ao_dump_state(void);
 void
 ao_sleep(void *wchan);
 
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
 	"startup", "idle", "pad", "boost", "fast",
 	"coast", "drogue", "main", "landed", "invalid"
 };
@@ -361,6 +362,9 @@ extern int16_t ao_accel_2g;
 
 typedef int16_t	accel_t;
 
+uint16_t	ao_serial_number;
+uint16_t	ao_flight_number;
+
 extern uint16_t	ao_sample_tick;
 
 extern alt_t	ao_sample_height;
@@ -479,7 +483,6 @@ ao_insert(void)
 	double	time;
 
 	ao_data_ring[ao_data_head] = ao_data_static;
-	ao_data_head = ao_data_ring_next(ao_data_head);
 	if (ao_flight_state != ao_flight_startup) {
 #if HAS_ACCEL
 		double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
@@ -487,23 +490,37 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
-		double	height;
-
-		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
-		height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
-#else
-		double	height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
-#endif
 
 		(void) accel;
 		if (!tick_offset)
 			tick_offset = -ao_data_static.tick;
 		if ((prev_tick - ao_data_static.tick) > 0x400)
 			tick_offset += 65536;
+		simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
 		prev_tick = ao_data_static.tick;
 		time = (double) (ao_data_static.tick + tick_offset) / 100;
 
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
+		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
+		double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
+
+		/* Hack to skip baro spike at accidental drogue charge
+		 * firing in 2015-09-26-serial-2093-flight-0012.eeprom
+		 * so we can test the kalman filter with this data. Just
+		 * keep reporting the same baro value across the pressure spike
+		 */
+		{
+			static struct ao_ms5607_sample save;
+			if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
+				ao_data_ring[ao_data_head].ms5607_raw = save;
+			} else {
+				save = ao_data_static.ms5607_raw;
+			}
+		}
+#else
+		double	height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
+
 		if (ao_test_max_height < height) {
 			ao_test_max_height = height;
 			ao_test_max_height_time = time;
@@ -616,17 +633,27 @@ ao_insert(void)
 #endif
 
 #if 1
-			printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 1
-			       "angle %5d "
+			printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
+			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+#if TELEMEGA
+			       " angle %5d "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 #endif
-			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+			       "\n",
 			       time,
 			       height,
 			       accel,
-#if TELEMEGA && 1
-			       ao_sample_orient,
+			       simple_speed > -100.0 ? simple_speed : -100.0,
+			       ao_state_names[ao_flight_state],
+			       ao_k_height / 65536.0,
+			       ao_k_speed / 65536.0 / 16.0,
+			       ao_k_accel / 65536.0 / 16.0,
+			       ao_avg_height,
+			       drogue_height,
+			       main_height,
+			       ao_error_h_sq_avg
+#if TELEMEGA
+			       , ao_sample_orient,
 
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
@@ -637,22 +664,16 @@ ao_insert(void)
 			       ao_data_static.hmc5883.x,
 			       ao_data_static.hmc5883.y,
 			       ao_data_static.hmc5883.z,
-			       ao_mag_angle,
+			       ao_mag_angle
 #endif
-			       ao_state_names[ao_flight_state],
-			       ao_k_height / 65536.0,
-			       ao_k_speed / 65536.0 / 16.0,
-			       ao_k_accel / 65536.0 / 16.0,
-			       ao_avg_height,
-			       drogue_height,
-			       main_height,
-			       ao_error_h_sq_avg);
+				);
 #endif
-			
+
 //			if (ao_flight_state == ao_flight_landed)
 //				ao_test_exit();
 		}
 	}
+	ao_data_head = ao_data_ring_next(ao_data_head);
 }
 
 
@@ -763,6 +784,7 @@ ao_sleep(void *wchan)
 //				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);
@@ -872,6 +894,7 @@ ao_sleep(void *wchan)
 				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
@@ -937,6 +960,7 @@ ao_sleep(void *wchan)
 //				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);
@@ -985,6 +1009,8 @@ ao_sleep(void *wchan)
 #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]);
@@ -1107,6 +1133,7 @@ ao_sleep(void *wchan)
 			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;
diff --git a/src/test/plottest b/src/test/plottest
index 7d253ff1..95337f10 100755
--- a/src/test/plottest
+++ b/src/test/plottest
@@ -7,10 +7,11 @@ set ytics border out nomirror
 set y2tics border out nomirror
 plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
 "$1" using 1:5 with lines axes x1y2 title "raw accel",\
-"$1" using 1:9 with lines axes x1y1 title "height",\
-"$1" using 1:11 with lines axes x1y2 title "speed",\
-"$1" using 1:13 with lines axes x1y2 title "accel",\
-"$1" using 1:17 with lines axes x1y1 title "drogue",\
-"$1" using 1:19 with lines axes x1y1 title "main",\
-"$1" using 1:21 with lines axes x1y1 title "error"
+"$1" using 1:7 with lines axes x1y2 title "accel speed",\
+"$1" using 1:11 with lines axes x1y1 title "height",\
+"$1" using 1:13 with lines axes x1y2 title "speed",\
+"$1" using 1:15 with lines axes x1y2 title "accel",\
+"$1" using 1:19 with lines axes x1y1 title "drogue",\
+"$1" using 1:21 with lines axes x1y1 title "main",\
+"$1" using 1:23 with lines axes x1y1 title "error"
 EOF
diff --git a/telegps/Makefile.am b/telegps/Makefile.am
index bd69bd50..a1c4a0a1 100644
--- a/telegps/Makefile.am
+++ b/telegps/Makefile.am
@@ -120,7 +120,7 @@ desktopdir = $(datadir)/applications
 desktop_file = altusmetrum-telegps.desktop
 desktop_SCRIPTS = $(desktop_file)
 
-all-local: telegps-test telegps-jdb $(JAR)
+all-local: telegps-test telegps-jdb $(JAR) $(MDWN)
 
 clean-local:
 	-rm -rf classes $(JAR) $(FATJAR) \
@@ -128,7 +128,7 @@ clean-local:
 		altoslib_*.jar altosuilib_*.jar \
 		$(JFREECHART_CLASS) $(JCOMMON_CLASS) $(FREETTS_CLASS) $(LIBALTOS) Manifest.txt Manifest-fat.txt \
 		telegps telegps-test telegps-jdb macosx linux windows telegps-windows.log \
-		telegps-windows.nsi *.desktop
+		telegps-windows.nsi *.desktop $(MDWN)
 
 EXTRA_DIST = $(desktop_file).in
 
@@ -140,6 +140,8 @@ LINUX_DIST=TeleGPS-Linux-$(VERSION).tar.bz2
 LINUX_SH=TeleGPS-Linux-$(VERSION).sh
 MACOSX_DIST=TeleGPS-Mac-$(VERSION).dmg
 WINDOWS_DIST=TeleGPS-Windows-$(VERSION_DASH).exe
+MDWN=$(VERSION).mdwn
+MDWNTMPL=mdwn.tmpl
 
 TELEGPS_DOC=$(top_srcdir)/doc/telegps.pdf
 
@@ -159,18 +161,17 @@ WINDOWS_FILES=$(FAT_FILES) altos.dll altos64.dll $(top_srcdir)/altusmetrum.inf $
 
 if FATINSTALL
 
-FATTARGET=$(FATDIR)/$(VERSION)
+FATTARGET=$(FATDIR)/TeleGPS/releases/$(VERSION)
 
-LINUX_DIST_TARGET=$(FATTARGET)/$(LINUX_DIST)
 LINUX_SH_TARGET=$(FATTARGET)/$(LINUX_SH)
 MACOSX_DIST_TARGET=$(FATTARGET)/$(MACOSX_DIST)
 WINDOWS_DIST_TARGET=$(FATTARGET)/$(WINDOWS_DIST)
+MDWN_TARGET=$(FATDIR)/TeleGPS/releases/$(MDWN)
+RELNOTES=release-notes-$(VERSION).html
+RELNOTES_SRC=$(top_builddir)/doc/$(RELNOTES)
+RELNOTES_TARGET=$(FATTARGET)/$(RELNOTES)
 
-fat: $(LINUX_DIST_TARGET) $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET)
-
-$(LINUX_DIST_TARGET): $(LINUX_DIST)
-	mkdir -p $(FATTARGET)
-	cp -p $< $@
+fat-install: $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET) $(MDWN_TARGET) $(RELNOTES_TARGET)
 
 $(LINUX_SH_TARGET): $(LINUX_SH)
 	mkdir -p $(FATTARGET)
@@ -184,10 +185,22 @@ $(WINDOWS_DIST_TARGET): $(WINDOWS_DIST)
 	mkdir -p $(FATTARGET)
 	cp -p $< $@
 
-else
-fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+$(MDWN_TARGET): $(MDWN)
+	mkdir -p $(FATTARGET)
+	cp -p $< $@
+
+$(RELNOTES_TARGET): $(RELNOTES_SRC)
+	mkdir -p $(FATTARGET)
+	sh $(top_srcdir)/doc/install-html -d $(FATTARGET) $(RELNOTES_SRC)
+
 endif
 
+$(MDWN): $(MDWNTMPL)
+	sed -e 's/%version%/$(VERSION)/g' -e 's/%version_dash%/$(VERSION_DASH)/g' $(MDWNTMPL) > $@
+
+fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+
+
 telegps: Makefile
 	echo "#!/bin/sh" > $@
 	echo 'exec java  -Djava.library.path="$(altoslibdir)" -jar "$(telegpsdir)/telegps.jar" "$$@"' >> $@
diff --git a/telegps/mdwn.tmpl b/telegps/mdwn.tmpl
new file mode 100644
index 00000000..05b3e40b
--- /dev/null
+++ b/telegps/mdwn.tmpl
@@ -0,0 +1,7 @@
+[[!inline pages="./%version%/release-notes-%version%.html" rss="no" raw="yes" ]]
+
+- Available Files:
+	- [Windows Installer](/TeleGPS/releases/%version%/TeleGPS-Windows-%version_dash%.exe)
+	- [Mac OS X Package](/TeleGPS/releases/%version%/TeleGPS-Mac-%version%.dmg)
+	- [Linux](/TeleGPS/releases/%version%/TeleGPS-Linux-%version%.sh)
+	- [Source Snapshot](http://git.gag.com/?p=fw/altos;a=snapshot;h=refs/tags/%version%;sf=tgz)