Merge branch 'master' into micropeak-logging

75 files changed, 4154 insertions, 672 deletions

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 45a88783..99b8e39d 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -26,31 +26,56 @@ public class AltosConfigData implements Iterable<String> {
 	/* Version information */
 	public String	manufacturer;
 	public String	product;
-	public String	version;
-	public int	log_format;
 	public int	serial;
+	public int	flight;
+	public int	log_format;
+	public String	version;
 
 	/* Strings returned */
 	public LinkedList<String>	lines;
 
 	/* Config information */
-	public int	config_major;
-	public int	config_minor;
+	/* HAS_FLIGHT*/
 	public int	main_deploy;
 	public int	apogee_delay;
-	public int	radio_channel;
-	public int	radio_setting;
+	public int	apogee_lockout;
+
+	/* HAS_RADIO */
 	public int	radio_frequency;
 	public String	callsign;
-	public int	accel_cal_plus, accel_cal_minus;
+	public int	radio_enable;
 	public int	radio_calibration;
+	/* Old HAS_RADIO values */
+	public int	radio_channel;
+	public int	radio_setting;
+
+	/* HAS_ACCEL */
+	public int	accel_cal_plus, accel_cal_minus;
+	public int	pad_orientation;
+
+	/* HAS_LOG */
 	public int	flight_log_max;
+
+	/* HAS_IGNITE */
 	public int	ignite_mode;
-	public int	stored_flight;
+
+	/* HAS_AES */
+	public String	aes_key;
+
+	/* AO_PYRO_NUM */
+	public AltosPyro[]	pyros;
+	public int		npyro;
+	public int		pyro;
+
+	/* HAS_APRS */
+	public int		aprs_interval;
+
+	/* Storage info replies */
 	public int	storage_size;
 	public int	storage_erase_unit;
 
-	public AltosPyro[]	pyros;
+	/* Log listing replies */
+	public int	stored_flight;
 
 	public static String get_string(String line, String label) throws  ParseException {
 		if (line.startsWith(label)) {
@@ -85,6 +110,9 @@ public class AltosConfigData implements Iterable<String> {
 			if (stored_flight == 0)
 				return 1;
 			return 0;
+		case AltosLib.AO_LOG_FORMAT_TELEMETRY:
+		case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
+			return 1;
 		default:
 			if (flight_log_max <= 0)
 				return 1;
@@ -111,7 +139,7 @@ public class AltosConfigData implements Iterable<String> {
 
 		return r;
 	}
-	
+
 	public int compare_version(String other) {
 		int[]	me = parse_version(version);
 		int[]	them = parse_version(other);
@@ -130,71 +158,343 @@ public class AltosConfigData implements Iterable<String> {
 		return 0;
 	}
 
-	public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
-		link.printf("c s\nf\nl\nv\n");
+	public void reset() {
 		lines = new LinkedList<String>();
-		radio_setting = 0;
-		radio_frequency = 0;
-		stored_flight = 0;
-		serial = -1;
+
+		manufacturer = "unknown";
+		product = "unknown";
+		serial = 0;
+		flight = 0;
+		log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
+		version = "unknown";
+
+		main_deploy = -1;
+		apogee_delay = -1;
+		apogee_lockout = -1;
+
+		radio_frequency = -1;
+		callsign = null;
+		radio_enable = -1;
+		radio_calibration = -1;
+		radio_channel = -1;
+		radio_setting = -1;
+
+		accel_cal_plus = -1;
+		accel_cal_minus = -1;
+		pad_orientation = -1;
+
+		flight_log_max = -1;
+		ignite_mode = -1;
+
+		aes_key = "";
+
+		pyro = 0;
+		npyro = 0;
 		pyros = null;
 
-		int npyro = 0;
-		int pyro = 0;
+		aprs_interval = -1;
+
+		storage_size = -1;
+		storage_erase_unit = -1;
+		stored_flight = -1;
+	}
+
+	public void parse_line(String line) {
+		lines.add(line);
+		/* Version replies */
+		try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
+		try { product = get_string(line, "product"); } catch (Exception e) {}
+		try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
+		try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
+		try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
+		try { version = get_string(line, "software-version"); } catch (Exception e) {}
+
+		/* Version also contains MS5607 info, which we ignore here */
+
+		/* Config show replies */
+
+		/* HAS_FLIGHT */
+		try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
+		try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
+		try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
+
+		/* HAS_RADIO */
+		try {
+			radio_frequency = get_int(line, "Frequency:");
+			if (radio_frequency < 0)
+				radio_frequency = 434550;
+		} catch (Exception e) {}
+		try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
+		try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
+		try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
+
+		/* Old HAS_RADIO values */
+		try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
+		try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
+
+		/* HAS_ACCEL */
+		try {
+			if (line.startsWith("Accel cal")) {
+				String[] bits = line.split("\\s+");
+				if (bits.length >= 6) {
+					accel_cal_plus = Integer.parseInt(bits[3]);
+					accel_cal_minus = Integer.parseInt(bits[5]);
+				}
+			}
+		} catch (Exception e) {}
+		try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
+
+		/* HAS_LOG */
+		try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
+
+		/* HAS_IGNITE */
+		try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
+
+		/* HAS_AES */
+		try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
+
+		/* AO_PYRO_NUM */
+		try {
+			npyro = get_int(line, "Pyro-count:");
+			pyros = new AltosPyro[npyro];
+			pyro = 0;
+		} catch (Exception e) {}
+		if (npyro > 0) {
+			try {
+				AltosPyro p = new AltosPyro(pyro, line);
+				if (pyro < npyro)
+					pyros[pyro++] = p;
+			} catch (Exception e) {}
+		}
+
+		/* HAS_APRS */
+		try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
+
+		/* Storage info replies */
+		try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
+		try { storage_erase_unit = get_int(line, "Storage erase unit"); } catch (Exception e) {}
+
+		/* Log listing replies */
+		try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+	}
+
+	public AltosConfigData() {
+		reset();
+	}
+
+	private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 		for (;;) {
 			String line = link.get_reply();
 			if (line == null)
 				throw new TimeoutException();
 			if (line.contains("Syntax error"))
 				continue;
-			lines.add(line);
-			if (pyro < npyro - 1) {
-				if (pyros == null)
-					pyros = new AltosPyro[npyro];
-				try {
-					pyros[pyro] = new AltosPyro(pyro, line);
-				} catch (ParseException e) {
-				}
-				++pyro;
-				continue;
-			}
-			try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
-			try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
-			try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
-			try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
-			try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
-			try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
-			try {
-				radio_frequency = get_int(line, "Frequency:");
-				if (radio_frequency < 0)
-					radio_frequency = 434550;
-			} catch (Exception e) {}
-			try {
-				if (line.startsWith("Accel cal")) {
-					String[] bits = line.split("\\s+");
-					if (bits.length >= 6) {
-						accel_cal_plus = Integer.parseInt(bits[3]);
-						accel_cal_minus = Integer.parseInt(bits[5]);
-					}
-				}
-			} catch (Exception e) {}
-			try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
-			try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
-			try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
-			try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
-			try { version = get_string(line,"software-version"); } catch (Exception e) {}
-			try { product = get_string(line,"product"); } catch (Exception e) {}
-			try { manufacturer = get_string(line,"manufacturer"); } catch (Exception e) {}
-
-			try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
-			try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
-			try { storage_erase_unit = get_int(line, "Storage erase unit"); } catch (Exception e) {}
-			try { npyro = get_int(line, "Pyro-count:"); pyro = 0; } catch (Exception e) {}
+			this.parse_line(line);
 
 			/* signals the end of the version info */
-			if (line.startsWith("software-version"))
+			if (line.startsWith(finished))
 				break;
 		}
 	}
 
-}
\ No newline at end of file
+	public boolean has_frequency() {
+		return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
+	}
+
+	public void set_frequency(double freq) {
+		int	frequency = radio_frequency;
+		int	setting = radio_setting;
+
+		if (frequency > 0) {
+			radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
+			radio_channel = -1;
+		} else if (setting > 0) {
+			radio_setting =AltosConvert.radio_frequency_to_setting(freq,
+										    radio_calibration);
+			radio_channel = -1;
+		} else {
+			radio_channel = AltosConvert.radio_frequency_to_channel(freq);
+		}
+	}
+
+	public double frequency() {
+		int	channel = radio_channel;
+		int	setting = radio_setting;
+		if (channel < 0)
+			channel = 0;
+		if (setting < 0)
+			setting = 0;
+
+		return AltosConvert.radio_to_frequency(radio_frequency,
+						       setting,
+						       radio_calibration,
+						       channel);
+	}
+
+	public int log_limit() {
+		if (storage_size > 0 && storage_erase_unit > 0) {
+			int	log_limit = storage_size - storage_erase_unit;
+			if (log_limit > 0)
+				return log_limit / 1024;
+		}
+		return 1024;
+	}
+
+	public void get_values(AltosConfigValues source) {
+
+		/* HAS_FLIGHT */
+		if (main_deploy >= 0)
+			main_deploy = source.main_deploy();
+		if (apogee_delay >= 0)
+			apogee_delay = source.apogee_delay();
+		if (apogee_lockout >= 0)
+			apogee_lockout = source.apogee_lockout();
+
+		/* HAS_RADIO */
+		if (has_frequency())
+			set_frequency(source.radio_frequency());
+		if (radio_enable >= 0)
+			radio_enable = source.radio_enable();
+		if (callsign != null)
+			callsign = source.callsign();
+		if (radio_calibration >= 0)
+			radio_calibration = source.radio_calibration();
+
+		/* HAS_ACCEL */
+		if (pad_orientation >= 0)
+			pad_orientation = source.pad_orientation();
+
+		/* HAS_LOG */
+		if (flight_log_max >= 0)
+			flight_log_max = source.flight_log_max();
+
+		/* HAS_IGNITE */
+		if (ignite_mode >= 0)
+			ignite_mode = source.ignite_mode();
+
+		/* AO_PYRO_NUM */
+		if (npyro > 0)
+			pyros = source.pyros();
+
+		if (aprs_interval >= 0)
+			aprs_interval = source.aprs_interval();
+	}
+
+	public void set_values(AltosConfigValues dest) {
+		dest.set_serial(serial);
+		dest.set_product(product);
+		dest.set_version(version);
+		dest.set_main_deploy(main_deploy);
+		dest.set_apogee_delay(apogee_delay);
+		dest.set_apogee_lockout(apogee_lockout);
+		dest.set_radio_calibration(radio_calibration);
+		dest.set_radio_frequency(frequency());
+		boolean max_enabled = true;
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TINY:
+			max_enabled = false;
+			break;
+		default:
+			if (stored_flight >= 0)
+				max_enabled = false;
+			break;
+		}
+		dest.set_flight_log_max_enabled(max_enabled);
+		dest.set_radio_enable(radio_enable);
+		dest.set_flight_log_max_limit(log_limit());
+		dest.set_flight_log_max(flight_log_max);
+		dest.set_ignite_mode(ignite_mode);
+		dest.set_pad_orientation(pad_orientation);
+		dest.set_callsign(callsign);
+		if (npyro > 0)
+			dest.set_pyros(pyros);
+		else
+			dest.set_pyros(null);
+		dest.set_aprs_interval(aprs_interval);
+	}
+
+	public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
+
+		/* HAS_FLIGHT */
+		if (main_deploy >= 0)
+			link.printf("c m %d\n", main_deploy);
+		if (apogee_delay >= 0)
+			link.printf("c d %d\n", apogee_delay);
+		if (apogee_lockout >= 0)
+			link.printf("c L %d\n", apogee_lockout);
+
+		/* Don't mess with radio calibration when remote */
+		if (radio_calibration > 0 && !remote)
+			link.printf("c f %d\n", radio_calibration);
+
+		/* HAS_RADIO */
+		if (has_frequency()) {
+			boolean has_frequency = radio_frequency >= 0;
+			boolean has_setting = radio_setting > 0;
+			double frequency = frequency();
+			link.set_radio_frequency(frequency,
+							has_frequency,
+							has_setting,
+							radio_calibration);
+			/* When remote, reset the dongle frequency at the same time */
+			if (remote) {
+				link.stop_remote();
+				link.set_radio_frequency(frequency);
+				link.start_remote();
+			}
+		}
+
+		if (callsign != null)
+			link.printf("c c %s\n", callsign);
+		if (radio_enable >= 0)
+			link.printf("c e %d\n", radio_enable);
+
+		/* HAS_ACCEL */
+		/* UI doesn't support accel cal */
+		if (pad_orientation >= 0)
+			link.printf("c o %d\n", pad_orientation);
+
+		/* HAS_LOG */
+		if (flight_log_max != 0)
+			link.printf("c l %d\n", flight_log_max);
+
+		/* HAS_IGNITE */
+		if (ignite_mode >= 0)
+			link.printf("c i %d\n", ignite_mode);
+
+		/* HAS_AES */
+		/* UI doesn't support AES key config */
+
+		/* AO_PYRO_NUM */
+		if (pyros.length > 0) {
+			for (int p = 0; p < pyros.length; p++) {
+				link.printf("c P %s\n",
+						   pyros[p].toString());
+			}
+		}
+
+		/* HAS_APRS */
+		if (aprs_interval >= 0)
+			link.printf("c A %d\n", aprs_interval);
+
+		link.printf("c w\n");
+		link.flush_output();
+	}
+
+	public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
+		reset();
+		link.printf("c s\nf\nv\n");
+		read_link(link, "software-version");
+		System.out.printf("Log format %d\n", log_format);
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_FULL:
+		case AltosLib.AO_LOG_FORMAT_TINY:
+		case AltosLib.AO_LOG_FORMAT_MEGAMETRUM:
+			link.printf("l\n");
+			read_link(link, "done");
+		default:
+			break;
+		}
+	}
+
+}
diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java
new file mode 100644
index 00000000..40d5217e
--- /dev/null
+++ b/altoslib/AltosConfigValues.java
@@ -0,0 +1,79 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public interface AltosConfigValues {
+	/* set and get all of the dialog values */
+	public abstract void set_product(String product);
+
+	public abstract void set_version(String version);
+
+	public abstract void set_serial(int serial);
+
+	public abstract void set_main_deploy(int new_main_deploy);
+
+	public abstract int main_deploy();
+
+	public abstract void set_apogee_delay(int new_apogee_delay);
+
+	public abstract int apogee_delay();
+
+	public abstract void set_apogee_lockout(int new_apogee_lockout);
+
+	public abstract int apogee_lockout();
+
+	public abstract void set_radio_frequency(double new_radio_frequency);
+
+	public abstract double radio_frequency();
+
+	public abstract void set_radio_calibration(int new_radio_calibration);
+
+	public abstract int radio_calibration();
+
+	public abstract void set_radio_enable(int new_radio_enable);
+
+	public abstract int radio_enable();
+
+	public abstract void set_callsign(String new_callsign);
+
+	public abstract String callsign();
+
+	public abstract void set_flight_log_max(int new_flight_log_max);
+
+	public abstract void set_flight_log_max_enabled(boolean enable);
+
+	public abstract int flight_log_max();
+
+	public abstract void set_flight_log_max_limit(int flight_log_max_limit);
+
+	public abstract void set_ignite_mode(int new_ignite_mode);
+
+	public abstract int ignite_mode();
+
+	public abstract void set_pad_orientation(int new_pad_orientation);
+
+	public abstract int pad_orientation();
+
+	public abstract void set_pyros(AltosPyro[] new_pyros);
+
+	public abstract AltosPyro[] pyros();
+
+	public abstract int aprs_interval();
+
+	public abstract void set_aprs_interval(int new_aprs_interval);
+}
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 6d510563..1b722026 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -284,8 +284,8 @@ public abstract class AltosLink implements Runnable {
 		frequency = in_frequency;
 		config_data();
 		set_radio_frequency(frequency,
-				    config_data.radio_frequency != 0,
-				    config_data.radio_setting != 0,
+				    config_data.radio_frequency > 0,
+				    config_data.radio_setting > 0,
 				    config_data.radio_calibration);
 	}
 
@@ -339,10 +339,10 @@ public abstract class AltosLink implements Runnable {
 	public String name;
 
 	public void start_remote() throws TimeoutException, InterruptedException {
-		if (debug)
-			System.out.printf("start remote %7.3f\n", frequency);
 		if (frequency == 0.0)
 			frequency = AltosPreferences.frequency(serial);
+		if (debug)
+			System.out.printf("start remote %7.3f\n", frequency);
 		set_radio_frequency(frequency);
 		set_callsign(AltosPreferences.callsign());
 		printf("p\nE 0\n");
diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java
index 148a9f92..318fea4d 100644
--- a/altoslib/AltosMs5607.java
+++ b/altoslib/AltosMs5607.java
@@ -82,6 +82,43 @@ public class AltosMs5607 {
 		return pa;
 	}
 
+	public boolean parse_line(String line) {
+		String[] items = line.split("\\s+");
+		if (line.startsWith("Pressure:")) {
+			if (items.length >= 2)
+				raw_pres = Integer.parseInt(items[1]);
+		} else if (line.startsWith("Temperature:")) {
+			if (items.length >= 2)
+				raw_temp = Integer.parseInt(items[1]);
+		} else if (line.startsWith("ms5607 reserved:")) {
+			if (items.length >= 3)
+				reserved = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 sens:")) {
+			if (items.length >= 3)
+				sens = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 off:")) {
+			if (items.length >= 3)
+				off = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tcs:")) {
+			if (items.length >= 3)
+				tcs = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tco:")) {
+			if (items.length >= 3)
+				tco = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tref:")) {
+			if (items.length >= 3)
+				tref = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tempsens:")) {
+			if (items.length >= 3)
+				tempsens = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 crc:")) {
+			if (items.length >= 3)
+				crc = Integer.parseInt(items[2]);
+		} else if (line.startsWith("Altitude"))
+			return false;
+		return true;
+	}
+
 	public AltosMs5607() {
 		raw_pres = AltosRecord.MISSING;
 		raw_temp = AltosRecord.MISSING;
diff --git a/altoslib/AltosMs5607Query.java b/altoslib/AltosMs5607Query.java
index 3c746795..1aaec334 100644
--- a/altoslib/AltosMs5607Query.java
+++ b/altoslib/AltosMs5607Query.java
@@ -27,38 +27,7 @@ class AltosMs5607Query extends AltosMs5607 {
 			if (line == null) {
 				throw new TimeoutException();
 			}
-			String[] items = line.split("\\s+");
-			if (line.startsWith("Pressure:")) {
-				if (items.length >= 2)
-					raw_pres = Integer.parseInt(items[1]);
-			} else if (line.startsWith("Temperature:")) {
-				if (items.length >= 2)
-					raw_temp = Integer.parseInt(items[1]);
-			} else if (line.startsWith("ms5607 reserved:")) {
-				if (items.length >= 3)
-					reserved = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 sens:")) {
-				if (items.length >= 3)
-					sens = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 off:")) {
-				if (items.length >= 3)
-					off = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tcs:")) {
-				if (items.length >= 3)
-					tcs = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tco:")) {
-				if (items.length >= 3)
-					tco = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tref:")) {
-				if (items.length >= 3)
-					tref = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tempsens:")) {
-				if (items.length >= 3)
-					tempsens = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 crc:")) {
-				if (items.length >= 3)
-					crc = Integer.parseInt(items[2]);
-			} else if (line.startsWith("Altitude"))
+			if (!parse_line(line))
 				break;
 		}
 		convert();
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index f28dd1c6..218c598a 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -92,6 +92,9 @@ public class AltosState {
 	public void init (AltosRecord cur, AltosState prev_state) {
 		data = cur;
 
+		/* Discard previous state if it was for a different board */
+		if (prev_state != null && prev_state.data.serial != data.serial)
+			prev_state = null;
 		ground_altitude = data.ground_altitude();
 
 		altitude = data.altitude();
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 2579a650..0086bc65 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -12,6 +12,7 @@ AltosLibdir = $(datadir)/java
 AltosLib_JAVA = \
 	$(SRC)/AltosLib.java \
 	$(SRC)/AltosConfigData.java \
+	$(SRC)/AltosConfigValues.java \
 	$(SRC)/AltosConvert.java \
 	$(SRC)/AltosCRCException.java \
 	$(SRC)/AltosEepromChunk.java \
diff --git a/altosui/AltosConfig.java b/altosui/AltosConfig.java
index 4b0edec0..e1ffebb4 100644
--- a/altosui/AltosConfig.java
+++ b/altosui/AltosConfig.java
@@ -58,64 +58,12 @@ public class AltosConfig implements ActionListener {
 	AltosDevice	device;
 	AltosSerial	serial_line;
 	boolean		remote;
-	AltosConfigData	remote_config_data;
-	double		remote_frequency;
-	int_ref		serial;
-	int_ref		log_format;
-	int_ref		main_deploy;
-	int_ref		apogee_delay;
-	int_ref		apogee_lockout;
-	int_ref		radio_channel;
-	int_ref		radio_calibration;
-	int_ref		flight_log_max;
-	int_ref		ignite_mode;
-	int_ref		pad_orientation;
-	int_ref		radio_setting;
-	int_ref		radio_frequency;
-	int_ref		storage_size;
-	int_ref		storage_erase_unit;
-	int_ref		stored_flight;
-	int_ref		radio_enable;
-	string_ref	version;
-	string_ref	product;
-	string_ref	callsign;
-	int_ref		npyro;
-	AltosPyro[]	pyros;
+
+	AltosConfigData	data;
 	AltosConfigUI	config_ui;
 	boolean		serial_started;
 	boolean		made_visible;
 
-	boolean get_int(String line, String label, int_ref x) {
-		if (line.startsWith(label)) {
-			try {
-				String tail = line.substring(label.length()).trim();
-				String[] tokens = tail.split("\\s+");
-				if (tokens.length > 0) {
-					int	i = Integer.parseInt(tokens[0]);
-					x.set(i);
-					return true;
-				}
-			} catch (NumberFormatException ne) {
-			}
-		}
-		return false;
-	}
-
-	boolean get_string(String line, String label, string_ref s) {
-		if (line.startsWith(label)) {
-			String	quoted = line.substring(label.length()).trim();
-
-			if (quoted.startsWith("\""))
-				quoted = quoted.substring(1);
-			if (quoted.endsWith("\""))
-				quoted = quoted.substring(0,quoted.length()-1);
-			s.set(quoted);
-			return true;
-		} else {
-			return false;
-		}
-	}
-
 	void start_serial() throws InterruptedException, TimeoutException {
 		serial_started = true;
 		if (remote)
@@ -130,43 +78,8 @@ public class AltosConfig implements ActionListener {
 			serial_line.stop_remote();
 	}
 
-	int log_limit() {
-		if (storage_size.get() > 0 && storage_erase_unit.get() > 0) {
-			int	log_limit = storage_size.get() - storage_erase_unit.get();
-			if (log_limit > 0)
-				return log_limit / 1024;
-		}
-		return 1024;
-	}
-
 	void update_ui() {
-		config_ui.set_serial(serial.get());
-		config_ui.set_product(product.get());
-		config_ui.set_version(version.get());
-		config_ui.set_main_deploy(main_deploy.get());
-		config_ui.set_apogee_delay(apogee_delay.get());
-		config_ui.set_apogee_lockout(apogee_lockout.get());
-		config_ui.set_radio_calibration(radio_calibration.get());
-		config_ui.set_radio_frequency(frequency());
-		boolean max_enabled = true;
-		switch (log_format.get()) {
-		case Altos.AO_LOG_FORMAT_TINY:
-			max_enabled = false;
-			break;
-		default:
-			if (stored_flight.get() >= 0)
-				max_enabled = false;
-			break;
-		}
-		config_ui.set_flight_log_max_enabled(max_enabled);
-		config_ui.set_radio_enable(radio_enable.get());
-		config_ui.set_flight_log_max_limit(log_limit());
-		config_ui.set_flight_log_max(flight_log_max.get());
-		config_ui.set_ignite_mode(ignite_mode.get());
-		config_ui.set_pad_orientation(pad_orientation.get());
-		config_ui.set_callsign(callsign.get());
-		config_ui.set_pyros(pyros);
-		config_ui.set_has_pyro(npyro.get() > 0);
+		data.set_values(config_ui);
 		config_ui.set_clean();
 		if (!made_visible) {
 			made_visible = true;
@@ -176,52 +89,6 @@ public class AltosConfig implements ActionListener {
 
 	int	pyro;
 
-	void process_line(String line) {
-		if (line == null) {
-			abort();
-			return;
-		}
-		if (line.equals("all finished")) {
-			if (serial_line != null)
-				update_ui();
-			return;
-		}
-		if (pyro < npyro.get()) {
-			if (pyros == null)
-				pyros = new AltosPyro[npyro.get()];
-
-			try {
-				pyros[pyro] = new AltosPyro(pyro, line);
-			} catch (ParseException e) {
-				System.out.printf ("pyro parse failed %s\n", line);
-			}
-			++pyro;
-			return;
-		}
-		get_int(line, "serial-number", serial);
-		get_int(line, "log-format", log_format);
-		get_int(line, "Main deploy:", main_deploy);
-		get_int(line, "Apogee delay:", apogee_delay);
-		get_int(line, "Apogee lockout:", apogee_lockout);
-		get_int(line, "Radio channel:", radio_channel);
-		get_int(line, "Radio cal:", radio_calibration);
-		get_int(line, "Max flight log:", flight_log_max);
-		get_int(line, "Ignite mode:", ignite_mode);
-		get_int(line, "Pad orientation:", pad_orientation);
-		get_int(line, "Radio setting:", radio_setting);
-		if (get_int(line, "Frequency:", radio_frequency))
-			if (radio_frequency.get() < 0)
-				radio_frequency.set(434550);
-		get_int(line, "Radio enable:", radio_enable);
-		get_int(line, "Storage size:", storage_size);
-		get_int(line, "Storage erase unit:", storage_erase_unit);
-		get_int(line, "flight", stored_flight);
-		get_string(line, "Callsign:", callsign);
-		get_string(line,"software-version", version);
-		get_string(line,"product", product);
-		get_int(line, "Pyro-count:", npyro);
-	}
-
 	final static int	serial_mode_read = 0;
 	final static int	serial_mode_save = 1;
 	final static int	serial_mode_reboot = 2;
@@ -230,63 +97,33 @@ public class AltosConfig implements ActionListener {
 		AltosConfig	config;
 		int		serial_mode;
 
-		void process_line(String line) {
-			config.process_line(line);
-		}
-		void callback(String in_line) {
-			final String line = in_line;
+		void callback(String in_cmd) {
+			final String cmd = in_cmd;
 			Runnable r = new Runnable() {
 					public void run() {
-						process_line(line);
+						if (cmd.equals("abort")) {
+							abort();
+						} else if (cmd.equals("all finished")) {
+							if (serial_line != null)
+								update_ui();
+						}
 					}
 				};
 			SwingUtilities.invokeLater(r);
 		}
 
-		void reset_data() {
-			serial.set(0);
-			log_format.set(Altos.AO_LOG_FORMAT_UNKNOWN);
-			main_deploy.set(250);
-			apogee_delay.set(0);
-			apogee_lockout.set(0);
-			radio_channel.set(0);
-			radio_setting.set(0);
-			radio_frequency.set(0);
-			radio_calibration.set(1186611);
-			radio_enable.set(-1);
-			flight_log_max.set(0);
-			ignite_mode.set(-1);
-			pad_orientation.set(-1);
-			storage_size.set(-1);
-			storage_erase_unit.set(-1);
-			stored_flight.set(-1);
-			callsign.set("N0CALL");
-			version.set("unknown");
-			product.set("unknown");
-			pyro = 0;
-			npyro.set(0);
-		}
-
 		void get_data() {
+			data = null;
 			try {
-				config.start_serial();
-				reset_data();
-
-				config.serial_line.printf("c s\nf\nl\nv\n");
-				for (;;) {
-					try {
-						String line = config.serial_line.get_reply(5000);
-						if (line == null)
-							stop_serial();
-						callback(line);
-						if (line.startsWith("software-version"))
-							break;
-					} catch (Exception e) {
-						break;
-					}
-				}
+				start_serial();
+				data = new AltosConfigData(config.serial_line);
 			} catch (InterruptedException ie) {
 			} catch (TimeoutException te) {
+				try {
+					stop_serial();
+					callback("abort");
+				} catch (InterruptedException ie) {
+				}
 			} finally {
 				try {
 					stop_serial();
@@ -298,41 +135,11 @@ public class AltosConfig implements ActionListener {
 
 		void save_data() {
 			try {
-				double frequency = frequency();
-				boolean has_frequency = radio_frequency.get() > 0;
-				boolean has_setting = radio_setting.get() > 0;
 				start_serial();
-				serial_line.printf("c m %d\n", main_deploy.get());
-				serial_line.printf("c d %d\n", apogee_delay.get());
-				serial_line.printf("c L %d\n", apogee_lockout.get());
-				if (!remote)
-					serial_line.printf("c f %d\n", radio_calibration.get());
-				serial_line.set_radio_frequency(frequency,
-								has_frequency,
-								has_setting,
-								radio_calibration.get());
-				if (remote) {
-					serial_line.stop_remote();
-					serial_line.set_radio_frequency(frequency);
-					AltosUIPreferences.set_frequency(device.getSerial(), frequency);
-					serial_line.start_remote();
-				}
-				serial_line.printf("c c %s\n", callsign.get());
-				if (flight_log_max.get() != 0)
-					serial_line.printf("c l %d\n", flight_log_max.get());
-				if (radio_enable.get() >= 0)
-					serial_line.printf("c e %d\n", radio_enable.get());
-				if (ignite_mode.get() >= 0)
-					serial_line.printf("c i %d\n", ignite_mode.get());
-				if (pad_orientation.get() >= 0)
-					serial_line.printf("c o %d\n", pad_orientation.get());
-				if (pyros.length > 0) {
-					for (int p = 0; p < pyros.length; p++) {
-						serial_line.printf("c P %s\n",
-								   pyros[p].toString());
-					}
-				}
-				serial_line.printf("c w\n");
+				data.save(serial_line, remote);
+				if (remote)
+					AltosUIPreferences.set_frequency(device.getSerial(),
+									 data.frequency());
 			} catch (InterruptedException ie) {
 			} catch (TimeoutException te) {
 			} finally {
@@ -413,57 +220,29 @@ public class AltosConfig implements ActionListener {
 	}
 
 	double frequency() {
-		return AltosConvert.radio_to_frequency(radio_frequency.get(),
-						       radio_setting.get(),
-						       radio_calibration.get(),
-						       radio_channel.get());
-	}
-
-	void set_frequency(double freq) {
-		int	frequency = radio_frequency.get();
-		int	setting = radio_setting.get();
-
-		if (frequency > 0) {
-			radio_frequency.set((int) Math.floor (freq * 1000 + 0.5));
-			radio_channel.set(0);
-		} else if (setting > 0) {
-			radio_setting.set(AltosConvert.radio_frequency_to_setting(freq,
-										  radio_calibration.get()));
-			radio_channel.set(0);
-		} else {
-			radio_channel.set(AltosConvert.radio_frequency_to_channel(freq));
-		}
+		return AltosConvert.radio_to_frequency(data.radio_frequency,
+						       data.radio_setting,
+						       data.radio_calibration,
+						       data.radio_channel);
 	}
 
 	void save_data() {
 
 		/* bounds check stuff */
-		if (config_ui.flight_log_max() > log_limit()) {
+		if (config_ui.flight_log_max() > data.log_limit()) {
 			JOptionPane.showMessageDialog(owner,
 						      String.format("Requested flight log, %dk, is larger than the available space, %dk.\n",
 								    config_ui.flight_log_max(),
-								    log_limit()),
+								    data.log_limit()),
 						      "Maximum Flight Log Too Large",
 						      JOptionPane.ERROR_MESSAGE);
 			return;
 		}
 
-		main_deploy.set(config_ui.main_deploy());
-		apogee_delay.set(config_ui.apogee_delay());
-		apogee_lockout.set(config_ui.apogee_lockout());
-		radio_calibration.set(config_ui.radio_calibration());
-		set_frequency(config_ui.radio_frequency());
-		flight_log_max.set(config_ui.flight_log_max());
-		if (radio_enable.get() >= 0)
-			radio_enable.set(config_ui.radio_enable());
-		if (ignite_mode.get() >= 0)
-			ignite_mode.set(config_ui.ignite_mode());
-		if (pad_orientation.get() >= 0)
-			pad_orientation.set(config_ui.pad_orientation());
-		callsign.set(config_ui.callsign());
-		if (npyro.get() > 0) {
-			pyros = config_ui.pyros();
-		}
+		/* Pull data out of the UI and stuff back into our local data record */
+
+		data.get_values(config_ui);
+
 		run_serial_thread(serial_mode_save);
 	}
 
@@ -491,27 +270,6 @@ public class AltosConfig implements ActionListener {
 	public AltosConfig(JFrame given_owner) {
 		owner = given_owner;
 
-		serial = new int_ref(0);
-		log_format = new int_ref(Altos.AO_LOG_FORMAT_UNKNOWN);
-		main_deploy = new int_ref(250);
-		apogee_delay = new int_ref(0);
-		apogee_lockout = new int_ref(0);
-		radio_channel = new int_ref(0);
-		radio_setting = new int_ref(0);
-		radio_frequency = new int_ref(0);
-		radio_calibration = new int_ref(1186611);
-		radio_enable = new int_ref(-1);
-		flight_log_max = new int_ref(0);
-		ignite_mode = new int_ref(-1);
-		pad_orientation = new int_ref(-1);
-		storage_size = new int_ref(-1);
-		storage_erase_unit = new int_ref(-1);
-		stored_flight = new int_ref(-1);
-		callsign = new string_ref("N0CALL");
-		version = new string_ref("unknown");
-		product = new string_ref("unknown");
-		npyro = new int_ref(0);
-
 		device = AltosDeviceDialog.show(owner, Altos.product_any);
 		if (device != null) {
 			try {
diff --git a/altosui/AltosConfigUI.java b/altosui/AltosConfigUI.java
index feac053b..95780e2b 100644
--- a/altosui/AltosConfigUI.java
+++ b/altosui/AltosConfigUI.java
@@ -25,7 +25,7 @@ import org.altusmetrum.AltosLib.*;
 
 public class AltosConfigUI
 	extends AltosDialog
-	implements ActionListener, ItemListener, DocumentListener
+	implements ActionListener, ItemListener, DocumentListener, AltosConfigValues
 {
 
 	Container	pane;
@@ -39,6 +39,7 @@ public class AltosConfigUI
 	JLabel		radio_calibration_label;
 	JLabel		radio_frequency_label;
 	JLabel		radio_enable_label;
+	JLabel		aprs_interval_label;
 	JLabel		flight_log_max_label;
 	JLabel		ignite_mode_label;
 	JLabel		pad_orientation_label;
@@ -56,6 +57,7 @@ public class AltosConfigUI
 	AltosFreqList	radio_frequency_value;
 	JTextField	radio_calibration_value;
 	JRadioButton	radio_enable_value;
+	JComboBox	aprs_interval_value;
 	JComboBox	flight_log_max_value;
 	JComboBox	ignite_mode_value;
 	JComboBox	pad_orientation_value;
@@ -97,6 +99,13 @@ public class AltosConfigUI
 		"Redundant Main",
 	};
 
+	static String[] aprs_interval_values = {
+		"Disabled",
+		"2",
+		"5",
+		"10"
+	};
+
 	static String[] pad_orientation_values = {
 		"Antenna Up",
 		"Antenna Down",
@@ -141,6 +150,13 @@ public class AltosConfigUI
 			radio_enable_value.setToolTipText("Firmware version does not support disabling radio");
 	}
 
+	void set_aprs_interval_tool_tip() {
+		if (aprs_interval_value.isEnabled())
+			aprs_interval_value.setToolTipText("Enable APRS and set the interval between APRS reports");
+		else
+			aprs_interval_value.setToolTipText("Hardware doesn't support APRS");
+	}
+
 	void set_flight_log_max_tool_tip() {
 		if (flight_log_max_value.isEnabled())
 			flight_log_max_value.setToolTipText("Size reserved for each flight log (in kB)");
@@ -393,7 +409,7 @@ public class AltosConfigUI
 		c.anchor = GridBagConstraints.LINE_START;
 		c.insets = il;
 		c.ipady = 5;
-		radio_enable_label = new JLabel("Telemetry/RDF Enable:");
+		radio_enable_label = new JLabel("Telemetry/RDF/APRS Enable:");
 		pane.add(radio_enable_label, c);
 
 		c = new GridBagConstraints();
@@ -410,6 +426,32 @@ public class AltosConfigUI
 		set_radio_enable_tool_tip();
 		row++;
 
+		/* APRS interval */
+		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;
+		aprs_interval_label = new JLabel("APRS Interval(s):");
+		pane.add(aprs_interval_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;
+		aprs_interval_value = new JComboBox(aprs_interval_values);
+		aprs_interval_value.setEditable(true);
+		aprs_interval_value.addItemListener(this);
+		pane.add(aprs_interval_value, c);
+		set_aprs_interval_tool_tip();
+		row++;
+
 		/* Callsign */
 		c = new GridBagConstraints();
 		c.gridx = 0; c.gridy = row;
@@ -684,6 +726,7 @@ public class AltosConfigUI
 
 	public void set_apogee_delay(int new_apogee_delay) {
 		apogee_delay_value.setSelectedItem(Integer.toString(new_apogee_delay));
+		apogee_delay_value.setEnabled(new_apogee_delay >= 0);
 	}
 
 	public int apogee_delay() {
@@ -692,6 +735,7 @@ public class AltosConfigUI
 
 	public void set_apogee_lockout(int new_apogee_lockout) {
 		apogee_lockout_value.setSelectedItem(Integer.toString(new_apogee_lockout));
+		apogee_lockout_value.setEnabled(new_apogee_lockout >= 0);
 	}
 
 	public int apogee_lockout() {
@@ -829,13 +873,10 @@ public class AltosConfigUI
 			return -1;
 	}
 
-	public void set_has_pyro(boolean has_pyro) {
-		pyro.setEnabled(has_pyro);
-	}
-
 	public void set_pyros(AltosPyro[] new_pyros) {
 		pyros = new_pyros;
-		if (pyro_ui != null)
+		pyro.setEnabled(pyros != null);
+		if (pyros != null && pyro_ui != null)
 			pyro_ui.set_pyros(pyros);
 	}
 
@@ -844,4 +885,24 @@ public class AltosConfigUI
 			pyros = pyro_ui.get_pyros();
 		return pyros;
 	}
+
+	public void set_aprs_interval(int new_aprs_interval) {
+		String	s;
+
+		if (new_aprs_interval <= 0)
+			s = "Disabled";
+		else
+			s = Integer.toString(new_aprs_interval);
+		aprs_interval_value.setSelectedItem(s);
+		aprs_interval_value.setEnabled(new_aprs_interval >= 0);
+		set_aprs_interval_tool_tip();
+	}
+
+	public int aprs_interval() {
+		String	s = aprs_interval_value.getSelectedItem().toString();
+
+		if (s.equals("Disabled"))
+			return 0;
+		return Integer.parseInt(s);
+	}
 }
diff --git a/altosui/AltosGraphTime.java b/altosui/AltosGraphTime.java
index 75e536c5..62d516b2 100644
--- a/altosui/AltosGraphTime.java
+++ b/altosui/AltosGraphTime.java
@@ -68,11 +68,13 @@ class AltosGraphTime extends AltosGraph {
     abstract static class TimeSeries implements Element {
         protected XYSeries series;
         private String axisName;
+	private String axisUnits;
         private Color color;
 
-        public TimeSeries(String axisName, String label, Color color) {
+        public TimeSeries(String axisName, String axisUnits, String label, Color color) {
             this.series = new XYSeries(label);
-            this.axisName = axisName;
+            this.axisName = String.format("%s (%s)", axisName, axisUnits);
+	    this.axisUnits = axisUnits;
             this.color = color;
         }
 
@@ -85,8 +87,14 @@ class AltosGraphTime extends AltosGraph {
             XYSeriesCollection dataset = new XYSeriesCollection();
             dataset.addSeries(this.series);
 
-            XYItemRenderer renderer = new StandardXYItemRenderer();
+            XYItemRenderer renderer = new XYLineAndShapeRenderer(true, false);
             renderer.setSeriesPaint(0, color);
+	    StandardXYToolTipGenerator	tool_tip;
+
+	    tool_tip = new StandardXYToolTipGenerator(String.format("{1}s: {2}%s ({0})", axisUnits),
+						      new java.text.DecimalFormat("0.00"),
+						      new java.text.DecimalFormat("0.00"));
+	    renderer.setBaseToolTipGenerator(tool_tip);
 
             int dataNum = g.getDataNum(this);
             int axisNum = g.getAxisNum(this);
@@ -192,10 +200,8 @@ class AltosGraphTime extends AltosGraph {
     public JFreeChart createChart() {
         NumberAxis xAxis = new NumberAxis("Time (s)");
         xAxis.setAutoRangeIncludesZero(false);
-        XYItemRenderer renderer = new XYLineAndShapeRenderer(true, false);
         XYPlot plot = new XYPlot();
         plot.setDomainAxis(xAxis);
-        plot.setRenderer(renderer);
         plot.setOrientation(PlotOrientation.VERTICAL);
 
         if (serial != null && flight != null) {
@@ -205,7 +211,6 @@ class AltosGraphTime extends AltosGraph {
             title = callsign + " - " + title;
         }
 
-        renderer.setBaseToolTipGenerator(new StandardXYToolTipGenerator());
         JFreeChart chart = new JFreeChart(title, JFreeChart.DEFAULT_TITLE_FONT,
                                 plot, true);
         ChartUtilities.applyCurrentTheme(chart);
diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java
index f59f70ba..b7c2e92e 100644
--- a/altosui/AltosGraphUI.java
+++ b/altosui/AltosGraphUI.java
@@ -29,7 +29,7 @@ public class AltosGraphUI extends AltosFrame
 
     static private class OverallGraphs {
         AltosGraphTime.Element height = 
-		new AltosGraphTime.TimeSeries(String.format("Height (%s)", AltosConvert.height.show_units()), "Height (AGL)", red) {
+		new AltosGraphTime.TimeSeries("Height", AltosConvert.height.show_units(), "Height (AGL)", red) {
                 public void gotTimeData(double time, AltosDataPoint d) {
 			double	height = d.height();
 			if (height != AltosRecord.MISSING)
@@ -38,7 +38,7 @@ public class AltosGraphUI extends AltosFrame
             };
     
         AltosGraphTime.Element speed =
-		new AltosGraphTime.TimeSeries(String.format("Speed (%s)", AltosConvert.speed.show_units()), "Vertical Speed", green) { 
+		new AltosGraphTime.TimeSeries("Speed", AltosConvert.speed.show_units(), "Vertical Speed", green) { 
                 public void gotTimeData(double time, AltosDataPoint d) {
 		    double	speed = d.speed();
 		    if (speed != AltosRecord.MISSING)
@@ -47,8 +47,8 @@ public class AltosGraphUI extends AltosFrame
             };
     
         AltosGraphTime.Element acceleration =
-		new AltosGraphTime.TimeSeries(String.format("Acceleration (%s)",
-							    AltosConvert.accel.show_units()),
+		new AltosGraphTime.TimeSeries("Acceleration",
+					      AltosConvert.accel.show_units(),
 					      "Axial Acceleration", blue)
             {
                 public void gotTimeData(double time, AltosDataPoint d) {
@@ -59,8 +59,8 @@ public class AltosGraphUI extends AltosFrame
             };
     
         AltosGraphTime.Element temperature =
-            new AltosGraphTime.TimeSeries("Temperature (\u00B0C)", 
-                    "Board temperature", red) 
+	    new AltosGraphTime.TimeSeries("Temperature", "\u00B0C", 
+					  "Board temperature", red) 
             {
                 public void gotTimeData(double time, AltosDataPoint d) {
 		    double temp = d.temperature();
@@ -70,7 +70,7 @@ public class AltosGraphUI extends AltosFrame
             };
     
         AltosGraphTime.Element drogue_voltage =
-            new AltosGraphTime.TimeSeries("Voltage (V)", "Drogue Continuity", yellow) 
+            new AltosGraphTime.TimeSeries("Voltage", "(V)", "Drogue Continuity", yellow) 
             {
                 public void gotTimeData(double time, AltosDataPoint d) {
 		    double v = d.drogue_voltage();
@@ -80,7 +80,7 @@ public class AltosGraphUI extends AltosFrame
             };
     
         AltosGraphTime.Element main_voltage =
-            new AltosGraphTime.TimeSeries("Voltage (V)", "Main Continuity", magenta) 
+            new AltosGraphTime.TimeSeries("Voltage", "(V)", "Main Continuity", magenta) 
             {
                 public void gotTimeData(double time, AltosDataPoint d) {
 		    double v = d.main_voltage();
diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 257fdaec..871b8205 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -1 +1 @@
-SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem
+SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem ao-sky-flash
diff --git a/ao-tools/ao-sky-flash/Makefile.am b/ao-tools/ao-sky-flash/Makefile.am
new file mode 100644
index 00000000..f6c5089a
--- /dev/null
+++ b/ao-tools/ao-sky-flash/Makefile.am
@@ -0,0 +1,18 @@
+bin_PROGRAMS=ao-sky-flash
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+AO_SKY_FLASH_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_sky_flash_DEPENDENCIES = $(AO_SKY_FLASH_LIBS)
+
+ao_sky_flash_LDADD=$(AO_SKY_FLASH_LIBS) $(LIBUSB_LIBS)
+
+ao_sky_flash_SOURCES = \
+	sky_bin.c \
+	sky_debug.c \
+	sky_flash.c \
+	sky_flash.h \
+	sky_serial.c \
+	sky_srec.c
+
+man_MANS = ao-sky-flash.1
diff --git a/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin
new file mode 100644
index 00000000..c698add2
--- /dev/null
+++ b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin
diff --git a/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin
new file mode 100644
index 00000000..9e256897
--- /dev/null
+++ b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin
diff --git a/ao-tools/ao-sky-flash/ao-sky-flash.1 b/ao-tools/ao-sky-flash/ao-sky-flash.1
new file mode 100644
index 00000000..d61c9c9d
--- /dev/null
+++ b/ao-tools/ao-sky-flash/ao-sky-flash.1
@@ -0,0 +1,85 @@
+.\"
+.\" Copyright © 2009 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.
+.\"
+.\" 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.
+.\"
+.\"
+.TH AO-SKY-FLASH 1 "ao-sky-flash" ""
+.SH NAME
+ao-sky-flash \- flash GPS firmware program to a SkyTraq GPS chip
+.SH SYNOPSIS
+.B "ao-sky-flash"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+[\--loader \fIboot-loader\fP]
+[\--firmware \fIgps-firmware\fP]
+[\--query]
+[\--quiet]
+[\--raw]
+.SH DESCRIPTION
+.I ao-sky-flash
+loads the specified GPS firmware file into the target GPS chip flash
+memory using the specified boot loader.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMetrum:2
+.br
+TeleMetrum
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.TP
+\--loader boot-loader
+This specifies the desired boot loader to use for reflashing the
+device. You should use srec_115200.bin unless you have a good reason
+not to. This should be in S record format.
+.TP
+\--firmware gps-firmware
+This specifies the new GPS firmware image to load onto the target GPS
+chip. No checking is done on this device at all; flash garbage and the
+GPS chip will probably fail to boot.
+.TP
+\--query
+Instead of loading new firmware, query the current version of firmware
+running on the target device.
+.TP
+\--quiet
+Normally, ao-spy-flash is quite chatty. This shuts it up, except for
+error messages.
+.TP
+\--raw
+The expected target for reflashing is an Altus Metrum product with the
+GPS chip connected to the CPU on that board and not directly to the
+USB serial port. This option says that the target GPS chip is directly
+connected, which changes how things are initialized a bit.
+.SH USAGE
+.I ao-sky-flash
+loads the specified bootloader into device RAM and then uses that to
+load new firmware to flash.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-sky-flash/sky_bin.c b/ao-tools/ao-sky-flash/sky_bin.c
new file mode 100644
index 00000000..04cfec35
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_bin.c
@@ -0,0 +1,73 @@
+/*
+ * Copyright © 2012 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 "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+#define FLASHBYTES	8192
+
+int
+skytraq_send_bin(int fd, const char *filename)
+{
+	FILE		*file;
+	char		buf[FLASHBYTES];
+	int		count;
+	unsigned char	cksum;
+	int		c;
+	long		size;
+	long		pos;
+	char		message[1024];
+	int		ret;
+	
+	file = fopen(filename, "r");
+	if (!file) {
+		perror(filename);
+		return -1;
+	}
+
+	/* Compute checksum, figure out how long the file */
+	cksum = 0;
+	while ((c = getc(file)) != EOF)
+		cksum += (unsigned char) c;
+	size = ftell(file);
+	rewind(file);
+
+	sprintf(message, "BINSIZE = %d Checksum = %d Loopnumber = %d ", size, cksum, 1);
+
+	ret = skytraq_cmd_wait(fd, message, strlen(message) + 1, "OK", 20000);
+	if (ret < 0)
+		printf ("waitstatus failed %d\n", ret);
+
+	pos = 0;
+	for (;;) {
+		count = fread(buf, 1, sizeof (buf), file);
+		if (count < 0) {
+			perror("fread");
+			fclose(file);
+			return -1;
+		}
+		if (count == 0)
+			break;
+		skytraq_dbg_printf (0, "%7d of %7d ", pos + count, size);
+		pos += count;
+		ret = skytraq_cmd_wait(fd, buf, count, "OK", 20000);
+		if (ret < 0)
+			return ret;
+	}
+	return skytraq_waitstatus(fd, "END", 30000);
+}
diff --git a/ao-tools/ao-sky-flash/sky_debug.c b/ao-tools/ao-sky-flash/sky_debug.c
new file mode 100644
index 00000000..32571f0e
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_debug.c
@@ -0,0 +1,111 @@
+/*
+ * Copyright © 2012 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 <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <sys/time.h>
+#include "sky_flash.h"
+
+static int	dbg_input;
+static int	dbg_newline = 1;
+
+int
+skytraq_millis(void)
+{
+	struct timeval	tv;
+	gettimeofday(&tv, NULL);
+	return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+skytraq_dbg_time(void)
+{
+	int	delta = skytraq_millis() - skytraq_open_time;
+
+	if (!skytraq_verbose)
+		return;
+	printf ("%4d.%03d ", delta / 1000, delta % 1000);
+}
+
+void
+skytraq_dbg_newline(void)
+{
+	if (!skytraq_verbose)
+		return;
+	if (!dbg_newline) {
+		putchar('\n');
+		dbg_newline = 1;
+	}
+}
+
+static void
+skytraq_dbg_set(int input)
+{
+	if (!skytraq_verbose)
+		return;
+	if (input != dbg_input) {
+		skytraq_dbg_newline();
+		if (input)
+			putchar('\t');
+		dbg_input = input;
+	}
+}
+
+void
+skytraq_dbg_char(int input, char c)
+{
+	if (!skytraq_verbose)
+		return;
+	skytraq_dbg_set(input);
+	if (dbg_newline)
+		skytraq_dbg_time();
+	if (c < ' '  || c > '~')
+		printf ("\\%02x", (unsigned char) c);
+	else
+		putchar(c);
+	dbg_newline = 0;
+	if (c == '\n')
+		dbg_input = 2;
+	fflush(stdout);
+}
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len)
+{
+	if (!skytraq_verbose)
+		return;
+	while (len--)
+		skytraq_dbg_char(input, *buf++);
+}
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...)
+{
+	va_list ap;
+
+	if (!skytraq_verbose)
+		return;
+	skytraq_dbg_set(input);
+	if (dbg_newline)
+		skytraq_dbg_time();
+	va_start (ap, fmt);
+	vprintf(fmt, ap);
+	va_end(ap);
+	dbg_newline = 0;
+}
diff --git a/ao-tools/ao-sky-flash/sky_flash.c b/ao-tools/ao-sky-flash/sky_flash.c
new file mode 100644
index 00000000..55cb2cb6
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_flash.c
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2012 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 "sky_flash.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <getopt.h>
+#include "cc.h"
+
+static const struct option options[] = {
+	{ .name = "tty", .has_arg = 1, .val = 'T' },
+	{ .name = "device", .has_arg = 1, .val = 'D' },
+	{ .name = "loader", .has_arg = 1, .val = 'l' },
+	{ .name = "firmware", .has_arg = 1, .val = 'f' },
+	{ .name = "query", .has_arg = 0, .val = 'q' },
+	{ .name = "raw", .has_arg = 0, .val = 'r' },
+	{ .name = "quiet", .has_arg = 0, .val = 'Q' },
+	{ 0, 0, 0, 0},
+};
+
+static uint8_t	query_version[] = {
+	0xa0, 0xa1, 0x00, 0x02, 0x02, 0x01, 0x03, 0x0d, 0x0a
+};
+
+static void
+usage(char *program)
+{
+	fprintf(stderr,
+		"usage: %s [--tty <tty-name>]\n"
+		"          [--device <device-name>]\n"
+		"          [--loader <srec bootloader file>]\n"
+		"          [--firmware <binary firmware file>]\n"
+		"          [--query]\n"
+		"          [--quiet]\n"
+		"          [--raw]\n", program);
+	exit(1);
+}
+
+int
+skytraq_expect(int fd, uint8_t want, int timeout) {
+	int	c;
+
+	c = skytraq_waitchar(fd, timeout);
+	if (c < 0)
+		return -1;
+	if (c == want)
+		return 1;
+	return 0;
+}
+
+int
+skytraq_wait_reply(int fd, uint8_t reply, uint8_t *buf, uint8_t reply_len) {
+
+	for(;;) {
+		uint8_t	a, b;
+		uint8_t	cksum_computed, cksum_read;
+		int	len;
+		switch (skytraq_expect(fd, 0xa0, 10000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		case 1:
+			break;
+		}
+		switch (skytraq_expect(fd, 0xa1, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		a = skytraq_waitchar(fd, 1000);
+		b = skytraq_waitchar(fd, 1000);
+		switch (skytraq_expect(fd, reply, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		len = (a << 16) | b;
+		if (len != reply_len)
+			continue;
+		*buf++ = reply;
+		len--;
+		cksum_computed = reply;
+		while (len--) {
+			a = skytraq_waitchar(fd, 1000);
+			if (a < 0)
+				return a;
+			cksum_computed ^= a;
+			*buf++ = a;
+		}
+		switch (skytraq_expect(fd, cksum_computed, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		switch (skytraq_expect(fd, 0x0d, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		switch (skytraq_expect(fd, 0x0a, 1000)) {
+		case -1:
+			return -1;
+		case 0:
+			continue;
+		}
+		break;
+	}
+	return 0;
+}
+
+int
+main(int argc, char **argv)
+{
+	int	fd;
+	char	buf[512];
+	int	ret;
+	FILE	*input;
+	long	size;
+	unsigned char	cksum;
+	int	c;
+	char	message[1024];
+	char	*tty = NULL;
+	char	*device = NULL;
+	char	*loader = "srec_115200.bin";
+	char	*file = NULL;
+	int	query = 0;
+	int	raw = 0;
+
+	while ((c = getopt_long(argc, argv, "T:D:l:f:qQr", options, NULL)) != -1) {
+		switch (c) {
+		case 'T':
+			tty = optarg;
+			break;
+		case 'D':
+			device = optarg;
+			break;
+		case 'l':
+			loader = optarg;
+			break;
+		case 'f':
+			file = optarg;
+			break;
+		case 'q':
+			query = 1;
+			break;
+		case 'Q':
+			skytraq_verbose = 0;
+			break;
+		case 'r':
+			raw = 1;
+			break;
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "TeleMetrum");
+	if (!tty)
+		tty = getenv("ALTOS_TTY");
+	if (!tty)
+		tty="/dev/ttyACM0";
+	fd = skytraq_open(tty);
+	if (fd < 0)
+		exit(1);
+
+	if (raw) {
+		/* Set the baud rate to 115200 */
+		skytraq_setcomm(fd, 115200);
+		sleep(1);
+		skytraq_setspeed(fd, 115200);
+	} else {
+		/* Connect TM to the device */
+		skytraq_write(fd, "U\n", 2);
+	}
+
+	/* Wait for the device to stabilize after baud rate changes */
+	for (c = 0; c < 6; c++) {
+		skytraq_flush(fd);
+		sleep(1);
+	}
+
+	if (query) {
+		uint8_t	query_reply[14];
+
+		uint8_t		software_type;
+		uint32_t	kernel_version;
+		uint32_t	odm_version;
+		uint32_t	revision;
+
+		skytraq_write(fd, query_version, 9);
+		if (skytraq_wait_reply(fd, 0x80, query_reply, sizeof (query_reply)) != 0) {
+			fprintf(stderr, "query reply failed\n");
+			exit(1);
+		}
+
+#define i8(o)	query_reply[(o)-1]
+#define i32(o)	((i8(o) << 24) | (i8(o+1) << 16) | (i8(o+2) << 8) | (i8(o+3)))
+		software_type = i8(2);
+		kernel_version = i32(3);
+		odm_version = i32(7);
+		revision = i32(11);
+		skytraq_dbg_printf(0, "\n");
+		printf ("Software Type %d. Kernel Version %d.%d.%d. ODM Version %d.%d.%d. Revision %d.%d.%d.\n",
+			software_type,
+			kernel_version >> 16 & 0xff,
+			kernel_version >> 8 & 0xff,
+			kernel_version >> 0 & 0xff,
+			odm_version >> 16 & 0xff,
+			odm_version >> 8 & 0xff,
+			odm_version >> 0 & 0xff,
+			revision >> 16 & 0xff,
+			revision >> 8 & 0xff,
+			revision >> 0 & 0xff);
+		exit(0);
+	}
+
+	if (!file)
+		usage(argv[0]);
+
+	ret = skytraq_send_srec(fd, "srec_115200.bin");
+	skytraq_dbg_printf (0, "srec ret %d\n", ret);
+	if (ret < 0)
+		exit(1);
+
+	sleep(2);
+
+//	ret = skytraq_send_bin(fd, "STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin");
+	ret = skytraq_send_bin(fd, "STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin");
+
+	printf ("bin ret %d\n", ret);
+	if (ret < 0)
+		exit(1);
+
+	return 0;
+}
diff --git a/ao-tools/ao-sky-flash/sky_flash.h b/ao-tools/ao-sky-flash/sky_flash.h
new file mode 100644
index 00000000..77f4c742
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_flash.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+/* sky_serial.c */
+
+extern int	skytraq_open_time;
+extern int	skytraq_verbose;
+
+int
+skytraq_open(const char *path);
+
+int
+skytraq_setspeed(int fd, int baud);
+
+int
+skytraq_setcomm(int fd, int baudrate);
+
+int
+skytraq_write(int fd, const char *data, int len);
+
+int
+skytraq_waitchar(int fd, int timeout);
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout);
+
+void
+skytraq_flush(int fd);
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout);
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len);
+
+/* sky_debug.c */
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...);
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len);
+
+void
+skytraq_dbg_char(int input, char c);
+
+/* sky_srec.c */
+int
+skytraq_send_srec(int fd, const char *file);
+
+/* sky_bin.c */
+int
+skytraq_send_bin(int fd, const char *filename);
diff --git a/ao-tools/ao-sky-flash/sky_serial.c b/ao-tools/ao-sky-flash/sky_serial.c
new file mode 100644
index 00000000..7230bf8c
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_serial.c
@@ -0,0 +1,257 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+#define _BSD_SOURCE
+#include <termios.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <poll.h>
+#include "sky_flash.h"
+#include <stdio.h>
+#include <sys/time.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+
+int	skytraq_verbose = 1;
+
+int
+skytraq_setspeed(int fd, int baud)
+{
+	int	b;
+	int	ret;
+	struct termios	term;
+
+	switch (baud) {
+	case 9600:
+		b = B9600;
+		break;
+	case 38400:
+		b = B38400;
+		break;
+	case 115200:
+		b = B115200;
+		break;
+	default:
+		fprintf (stderr, "Invalid baudrate %d\n", baud);
+		return -1;
+	}
+	ret = tcgetattr(fd, &term);
+	cfmakeraw(&term);
+#ifdef USE_POLL
+	term.c_cc[VMIN] = 1;
+	term.c_cc[VTIME] = 0;
+#else
+	term.c_cc[VMIN] = 0;
+	term.c_cc[VTIME] = 1;
+#endif
+
+	cfsetspeed(&term, b);
+
+	ret = tcsetattr(fd, TCSAFLUSH, &term);
+	return ret;
+}
+
+int	skytraq_open_time;
+
+int
+skytraq_open(const char *path)
+{
+	int		fd;
+	int		ret;
+
+	fd = open(path, O_RDWR | O_NOCTTY);
+	if (fd < 0) {
+		perror (path);
+		return -1;
+	}
+
+	ret = skytraq_setspeed(fd, 9600);
+	if (ret < 0) {
+		close (fd);
+		return -1;
+	}
+	skytraq_open_time = skytraq_millis();
+	return fd;
+}
+
+
+#define BAUD		57600
+#define BPS		(BAUD/10 * 9/10)
+#define US_PER_CHAR	(1000000 / BPS)
+
+int
+skytraq_write(int fd, const char *data, int len)
+{
+	const char *d = data;
+	int		r;
+	int		us;
+
+	skytraq_dbg_printf (0, "%4d: ", len);
+	if (len < 70)
+		skytraq_dbg_buf(0, data, len);
+	while (len) {
+		int	this_time = len;
+		if (this_time > 128)
+			this_time = 128;
+		skytraq_dbg_printf(0, ".");
+		fflush(stdout);
+		r = write(fd, data, this_time);
+		if (r <= 0)
+			return r;
+		us = r * US_PER_CHAR;
+		usleep(r * US_PER_CHAR);
+		data += r;
+		len -= r;
+	}
+	skytraq_dbg_newline();
+	return 1;
+}
+
+int
+skytraq_setcomm(int fd, int baudrate)
+{
+	uint8_t	msg[11];
+	int	i;
+	uint8_t	cksum;
+
+	int target_baudrate;
+	switch(baudrate)
+	{
+	case 4800:
+		target_baudrate=0;
+		break;
+	case 9600:
+		target_baudrate=1;
+		break;
+	case 19200:
+		target_baudrate=2;
+		break;
+	case 38400:
+		target_baudrate=3;
+		break;
+	case 57600:
+		target_baudrate=4;
+		break;
+	case 115200:
+		target_baudrate=5;
+		break;
+	case 230400:
+		target_baudrate=6;
+		break;
+	}
+	msg[0] = 0xa0;	/* header */
+	msg[1] = 0xa1;
+	msg[2] = 0x00;	/* length */
+	msg[3] = 0x04;
+	msg[4] = 0x05;	/* configure serial port */
+	msg[5] = 0x00;	/* COM 1 */
+	msg[6] = target_baudrate;
+	msg[7] = 0x00;	/* update to SRAM only */
+
+	cksum = 0;
+	for (i = 4; i < 8; i++)
+		cksum ^= msg[i];
+	msg[8] = cksum;
+	msg[9] = 0x0d;
+	msg[10] = 0x0a;
+	return skytraq_write(fd, msg, 11);
+}
+
+int
+skytraq_waitchar(int fd, int timeout)
+{
+	struct pollfd	fds[1];
+	int		ret;
+	unsigned char	c;
+
+	for (;;) {
+		fds[0].fd = fd;
+		fds[0].events = POLLIN;
+		ret = poll(fds, 1, timeout);
+		if (ret >= 1) {
+			if (fds[0].revents & POLLIN) {
+				ret = read(fd, &c, 1);
+				if (ret == 1) {
+					skytraq_dbg_char(1, c);
+					return c;
+				}
+			}
+		} else if (ret == 0)
+			return -2;
+		else {
+			perror("poll");
+			return -1;
+		}
+	}
+}
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout)
+{
+	const char	*s;
+	int		c;
+
+	for (;;) {
+		c = skytraq_waitchar(fd, timeout);
+		if (c < 0) {
+			skytraq_dbg_newline();
+			return c;
+		}
+		if ((char) c == *status) {
+			s = status + 1;
+			for (;;) {
+				c = skytraq_waitchar(fd, timeout);
+				if (c < 0) {
+					skytraq_dbg_newline();
+					return c;
+				}
+				if ((char) c != *s)
+					break;
+				if (!*s) {
+					skytraq_dbg_newline();
+					return 0;
+				}
+				s++;
+			}
+		}
+	}
+}
+
+void
+skytraq_flush(int fd)
+{
+	while (skytraq_waitchar(fd, 1) >= 0)
+		;
+}
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout)
+{
+	skytraq_flush(fd);
+	skytraq_write(fd, message, len);
+	return skytraq_waitstatus(fd, status, timeout);
+}
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len)
+{
+	skytraq_flush(fd);
+	return skytraq_write(fd, message, len);
+}
diff --git a/ao-tools/ao-sky-flash/sky_srec.c b/ao-tools/ao-sky-flash/sky_srec.c
new file mode 100644
index 00000000..6d00f58c
--- /dev/null
+++ b/ao-tools/ao-sky-flash/sky_srec.c
@@ -0,0 +1,60 @@
+/*
+ * Copyright © 2012 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 "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+static const char loader_start[] = "$LOADER DOWNLOAD";
+
+int
+skytraq_send_srec(int fd, const char *filename)
+{
+	FILE	*file;
+	int	ret;
+	char	line[1024];
+
+	file = fopen(filename, "r");
+	if (!file) {
+		perror(filename);
+		return -1;
+	}
+
+	ret = skytraq_cmd_wait(fd, loader_start, strlen(loader_start) + 1, "OK", 1000);
+	if (ret)
+		return ret;
+
+	for (;;) {
+		char	*s;
+		int	len;
+
+		s = fgets(line, sizeof(line), file);
+		if (!s)
+			break;
+		len = strlen(s);
+		if (len < 3)		/* Terminated with \r\n */
+			break;
+		s[len-2] = '\n';	/* Smash \r */
+		s[len-1] = '\0';	/* Smash \n */
+		skytraq_cmd_nowait(fd, s, len);
+	}
+	fclose(file);
+
+	ret = skytraq_waitstatus(fd, "END", 10000);
+	skytraq_dbg_newline();
+	return ret;
+}
diff --git a/ao-tools/ao-sky-flash/srec_115200.bin b/ao-tools/ao-sky-flash/srec_115200.bin
new file mode 100644
index 00000000..8ea8e7cd
--- /dev/null
+++ b/ao-tools/ao-sky-flash/srec_115200.bin
@@ -0,0 +1,346 @@
+S0130000666C6173683131353230302E73726563DA

+S31550000000033FFFF7821063209DE380011920000013

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diff --git a/ao-tools/ao-sky-flash/srec_9600.bin b/ao-tools/ao-sky-flash/srec_9600.bin
new file mode 100644
index 00000000..9a29ab1b
--- /dev/null
+++ b/ao-tools/ao-sky-flash/srec_9600.bin
@@ -0,0 +1,346 @@
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diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index 6257ee44..625540bb 100644
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -269,6 +269,122 @@ struct cc_telem {
 int
 cc_telem_parse(const char *input_line, struct cc_telem *telem);
 
+struct ao_log_mega {
+	char			type;			/* 0 */
+	uint8_t			is_config;		/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			int16_t		ground_accel;	/* 6 */
+			uint32_t	ground_pres;	/* 8 */
+		} flight;				/* 12 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;
+			uint16_t	reason;
+		} state;
+		/* AO_LOG_SENSOR */
+		struct {
+			uint32_t	pres;		/* 4 */
+			uint32_t	temp;		/* 8 */
+			int16_t		accel_x;	/* 12 */
+			int16_t		accel_y;	/* 14 */
+			int16_t		accel_z;	/* 16 */
+			int16_t		gyro_x;		/* 18 */
+			int16_t		gyro_y;		/* 20 */
+			int16_t		gyro_z;		/* 22 */
+			int16_t		mag_x;		/* 24 */
+			int16_t		mag_y;		/* 26 */
+			int16_t		mag_z;		/* 28 */
+			int16_t		accel;		/* 30 */
+		} sensor;	/* 32 */
+		/* AO_LOG_TEMP_VOLT */
+		struct {
+			int16_t		v_batt;		/* 4 */
+			int16_t		v_pbatt;	/* 6 */
+			int16_t		n_sense;	/* 8 */
+			int16_t		sense[10];	/* 10 */
+		} volt;					/* 30 */
+		/* AO_LOG_GPS_TIME */
+		struct {
+			int32_t		latitude;	/* 4 */
+			int32_t		longitude;	/* 8 */
+			int16_t		altitude;	/* 12 */
+			uint8_t		hour;		/* 14 */
+			uint8_t		minute;		/* 15 */
+			uint8_t		second;		/* 16 */
+			uint8_t		flags;		/* 17 */
+			uint8_t		year;		/* 18 */
+			uint8_t		month;		/* 19 */
+			uint8_t		day;		/* 20 */
+			uint8_t		pad;		/* 21 */
+		} gps;	/* 22 */
+		/* AO_LOG_GPS_SAT */
+		struct {
+			uint16_t	channels;	/* 4 */
+			struct {
+				uint8_t	svid;
+				uint8_t c_n;
+			} sats[12];			/* 6 */
+		} gps_sat;				/* 30 */
+
+		struct {
+			uint32_t		kind;
+			int32_t			data[6];
+		} config_int;
+
+		struct {
+			uint32_t		kind;
+			char			string[24];
+		} config_str;
+
+		/* Raw bytes */
+		uint8_t	bytes[28];
+	} u;
+};
+
+#define AO_CONFIG_CONFIG		1
+#define AO_CONFIG_MAIN			2
+#define AO_CONFIG_APOGEE		3
+#define AO_CONFIG_LOCKOUT		4
+#define AO_CONFIG_FREQUENCY		5
+#define AO_CONFIG_RADIO_ENABLE		6
+#define AO_CONFIG_ACCEL_CAL		7
+#define AO_CONFIG_RADIO_CAL		8
+#define AO_CONFIG_MAX_LOG		9
+#define AO_CONFIG_IGNITE_MODE		10
+#define AO_CONFIG_PAD_ORIENTATION	11
+#define AO_CONFIG_SERIAL_NUMBER		12
+#define AO_CONFIG_LOG_FORMAT		13
+#define AO_CONFIG_MS5607_RESERVED	14
+#define AO_CONFIG_MS5607_SENS		15
+#define AO_CONFIG_MS5607_OFF		16
+#define AO_CONFIG_MS5607_TCS		17
+#define AO_CONFIG_MS5607_TCO		18
+#define AO_CONFIG_MS5607_TREF		19
+#define AO_CONFIG_MS5607_TEMPSENS	20
+#define AO_CONFIG_MS5607_CRC		21
+
+
+#define AO_LOG_FLIGHT		'F'
+#define AO_LOG_SENSOR		'A'
+#define AO_LOG_TEMP_VOLT	'T'
+#define AO_LOG_DEPLOY		'D'
+#define AO_LOG_STATE		'S'
+#define AO_LOG_GPS_TIME		'G'
+#define AO_LOG_GPS_LAT		'N'
+#define AO_LOG_GPS_LON		'W'
+#define AO_LOG_GPS_ALT		'H'
+#define AO_LOG_GPS_SAT		'V'
+#define AO_LOG_GPS_DATE		'Y'
+
+#define AO_LOG_CONFIG		'c'
+
+int
+cc_mega_parse(const char *input_line, struct ao_log_mega *l);
+
 #ifndef TRUE
 #define TRUE 1
 #define FALSE 0
diff --git a/configure.ac b/configure.ac
index e3b1185f..55dd20ec 100644
--- a/configure.ac
+++ b/configure.ac
@@ -164,6 +164,7 @@ ao-tools/ao-load/Makefile
 ao-tools/ao-telem/Makefile
 ao-tools/ao-stmload/Makefile
 ao-tools/ao-send-telem/Makefile
+ao-tools/ao-sky-flash/Makefile
 ao-utils/Makefile
 src/Version
 ])
diff --git a/debian/rules b/debian/rules
index 9f24321b..122a0fed 100755
--- a/debian/rules
+++ b/debian/rules
@@ -27,7 +27,7 @@ build-indep: build-stamp
 
 build-stamp: configure-stamp  
 	dh_testdir
-	$(MAKE) VERSION=$(PKG_VERSION)
+	$(MAKE)
 	(cd doc ; $(MAKE))
 	touch $@
 
diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index b2677a02..e7ab353b 100644
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -278,6 +278,19 @@ NAR #88757, TRA #12200
       designed for use with single-cell batteries with 3.7 volts nominal.
     </para>
     <para>
+      The battery connectors are a standard 2-pin JST connector and
+      match batteries sold by Spark Fun. These batteries are
+      single-cell Lithium Polymer batteries that nominally provide 3.7
+      volts.  Other vendors sell similar batteries for RC aircraft
+      using mating connectors, however the polarity for those is
+      generally reversed from the batteries used by Altus Metrum
+      products. In particular, the Tenergy batteries supplied for use
+      in Featherweight flight computers are not compatible with Altus
+      Metrum flight computers or battery chargers. <emphasis>Check
+      polarity and voltage before connecting any battery not purchased
+      from Altus Metrum or Spark Fun.</emphasis>
+    </para>
+    <para>
       By default, we use the unregulated output of the Li-Po battery directly
       to fire ejection charges.  This works marvelously with standard
       low-current e-matches like the J-Tek from MJG Technologies, and with
@@ -481,7 +494,7 @@ NAR #88757, TRA #12200
       <para>
         You can monitor the operation of the radio link by watching the 
         lights on the devices. The red LED will flash each time a packet
-        is tramsitted, while the green LED will light up on TeleDongle when 
+        is transmitted, while the green LED will light up on TeleDongle when 
         it is waiting to receive a packet from the altimeter.
       </para>
     </section>
@@ -2199,7 +2212,7 @@ NAR #88757, TRA #12200
 	</listitem>
 	<listitem>
 	  <para>
-	    RF interface for battery charging, configuration, and data recovery.
+	    RF interface for configuration, and data recovery.
 	  </para>
 	</listitem>
 	<listitem>
diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c
index 9ba407af..2ef546c9 100644
--- a/src/avr/ao_usb_avr.c
+++ b/src/avr/ao_usb_avr.c
@@ -480,10 +480,10 @@ ao_usb_putchar(char c) __critical __reentrant
 	ao_usb_in_flushed = 0;
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-	char c;
+	uint8_t c;
 	uint8_t	intx;
 
 	if (!ao_usb_running)
@@ -517,10 +517,10 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-	char	c;
+	int	c;
 	cli();
 	c = _ao_usb_pollchar();
 	sei();
@@ -530,7 +530,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void) __critical
 {
-	char	c;
+	int	c;
 
 	cli();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c
index f8000410..bfdc418a 100644
--- a/src/cc1111/ao_adc.c
+++ b/src/cc1111/ao_adc.c
@@ -56,7 +56,7 @@ ao_adc_isr(void) __interrupt 1
 	uint8_t	__xdata *a;
 
 	sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT;
-#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1
+#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1 || TELEBALLOON_V_1_1
 	/* TeleMetrum readings */
 #if HAS_ACCEL_REF
 	if (sequence == 2) {
diff --git a/src/cc1111/ao_dbg.c b/src/cc1111/ao_dbg.c
index 847b5aaf..4e534697 100644
--- a/src/cc1111/ao_dbg.c
+++ b/src/cc1111/ao_dbg.c
@@ -193,54 +193,39 @@ ao_dbg_long_delay(void)
 #define AO_RESET_LOW_DELAY	AO_MS_TO_TICKS(100)
 #define AO_RESET_HIGH_DELAY	AO_MS_TO_TICKS(100)
 
-void
-ao_dbg_debug_mode(void)
+static void
+ao_dbg_send_bits_delay(uint8_t msk, uint8_t val)
 {
-	ao_dbg_set_pins();
 	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|    0    );
-	ao_delay(AO_RESET_LOW_DELAY);
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|    0    );
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|DBG_RESET_N);
-	ao_delay(AO_RESET_HIGH_DELAY);
+	ao_dbg_send_bits(msk, val);
 }
 
 void
-ao_dbg_reset(void)
+ao_dbg_do_reset(uint8_t clock_up)
 {
 	ao_dbg_set_pins();
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
+	ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+	ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, clock_up |DBG_DATA|    0    );
 	ao_delay(AO_RESET_LOW_DELAY);
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-	ao_dbg_long_delay();
-	ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+	ao_dbg_send_bits      (DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
+	ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, clock_up |DBG_DATA|    0    );
+	ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
+	ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, clock_up |DBG_DATA|DBG_RESET_N);
 	ao_delay(AO_RESET_HIGH_DELAY);
 }
 
 static void
 debug_enable(void)
 {
-	ao_dbg_debug_mode();
+	/* toggle clock line while holding reset low */
+	ao_dbg_do_reset(0);
 }
 
 static void
 debug_reset(void)
 {
-	ao_dbg_reset();
+	/* hold clock high while holding reset low */
+	ao_dbg_do_reset(DBG_CLOCK);
 }
 
 static void
@@ -281,22 +266,6 @@ debug_get(void)
 	putchar('\n');
 }
 
-static uint8_t
-getnibble(void)
-{
-	__pdata char	c;
-
-	c = getchar();
-	if ('0' <= c && c <= '9')
-		return c - '0';
-	if ('a' <= c && c <= 'f')
-		return c - ('a' - 10);
-	if ('A' <= c && c <= 'F')
-		return c - ('A' - 10);
-	ao_cmd_status = ao_cmd_lex_error;
-	return 0;
-}
-
 static void
 debug_input(void)
 {
@@ -338,8 +307,8 @@ debug_output(void)
 		return;
 	ao_dbg_start_transfer(addr);
 	while (count--) {
-		b = getnibble() << 4;
-		b |= getnibble();
+		b = ao_getnibble() << 4;
+		b |= ao_getnibble();
 		if (ao_cmd_status != ao_cmd_success)
 			return;
 		ao_dbg_write_byte(b);
diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c
index 48383802..8913a9b0 100644
--- a/src/cc1111/ao_serial.c
+++ b/src/cc1111/ao_serial.c
@@ -34,8 +34,14 @@ const __code struct ao_serial_speed ao_serial_speeds[] = {
 		/* .baud = */ 59,
 		/* .gcr =  */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
 	},
+	/* [AO_SERIAL_SPEED_115200] = */ {
+		/* .baud = */ 59,
+		/* .gcr =  */ (12 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+	},
 };
 
+#define AO_SERIAL_SPEED_MAX	AO_SERIAL_SPEED_115200
+
 #if HAS_SERIAL_0
 
 volatile __xdata struct ao_fifo	ao_serial0_rx_fifo;
@@ -85,10 +91,10 @@ ao_serial0_getchar(void) __critical
 }
 
 #if USE_SERIAL_0_STDIN
-char
+int
 ao_serial0_pollchar(void) __critical
 {
-	char	c;
+	uint8_t	c;
 	if (ao_fifo_empty(ao_serial0_rx_fifo))
 		return AO_READ_AGAIN;
 	ao_fifo_remove(ao_serial0_rx_fifo,c);
@@ -116,7 +122,7 @@ void
 ao_serial0_set_speed(uint8_t speed)
 {
 	ao_serial0_drain();
-	if (speed > AO_SERIAL_SPEED_57600)
+	if (speed > AO_SERIAL_SPEED_MAX)
 		return;
 	U0UCR |= UxUCR_FLUSH;
 	U0BAUD = ao_serial_speeds[speed].baud;
@@ -173,10 +179,10 @@ ao_serial1_getchar(void) __critical
 }
 
 #if USE_SERIAL_1_STDIN
-char
+int
 ao_serial1_pollchar(void) __critical
 {
-	char	c;
+	uint8_t	c;
 	if (ao_fifo_empty(ao_serial1_rx_fifo))
 		return AO_READ_AGAIN;
 	ao_fifo_remove(ao_serial1_rx_fifo,c);
@@ -204,7 +210,7 @@ void
 ao_serial1_set_speed(uint8_t speed)
 {
 	ao_serial1_drain();
-	if (speed > AO_SERIAL_SPEED_57600)
+	if (speed > AO_SERIAL_SPEED_MAX)
 		return;
 	U1UCR |= UxUCR_FLUSH;
 	U1BAUD = ao_serial_speeds[speed].baud;
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index ce26e808..f66e807c 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -382,19 +382,19 @@ ao_usb_putchar(char c) __critical __reentrant
 		ao_usb_in_send();
 }
 
-char
+int
 ao_usb_pollchar(void) __critical
 {
-	char c;
+	uint8_t c;
 	if (ao_usb_out_bytes == 0) {
 		USBINDEX = AO_USB_OUT_EP;
 		if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
-			return AO_READ_AGAIN;
+			return -1;
 		ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
 		if (ao_usb_out_bytes == 0) {
 			USBINDEX = AO_USB_OUT_EP;
 			USBCSOL &= ~USBCSOL_OUTPKT_RDY;
-			return AO_READ_AGAIN;
+			return -1;
 		}
 	}
 	--ao_usb_out_bytes;
@@ -409,7 +409,7 @@ ao_usb_pollchar(void) __critical
 char
 ao_usb_getchar(void) __critical
 {
-	char	c;
+	int	c;
 
 	while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
 		ao_sleep(&ao_stdin_ready);
diff --git a/src/core/ao.h b/src/core/ao.h
index 81d92e72..df5bbf48 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -170,6 +170,10 @@ ao_cmd_hex(void);
 void
 ao_cmd_decimal(void);
 
+/* Read a single hex nibble off stdin. */
+uint8_t
+ao_getnibble(void);
+
 uint8_t
 ao_match_word(__code char *word);
 
@@ -525,6 +529,11 @@ ao_radio_recv_abort(void);
 void
 ao_radio_test(uint8_t on);
 
+typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
+
+void
+ao_radio_send_lots(ao_radio_fill_func fill);
+
 /*
  * Compute the packet length as follows:
  *
@@ -595,10 +604,10 @@ ao_monitor_init(void) __reentrant;
  * ao_stdio.c
  */
 
-#define AO_READ_AGAIN	((char) -1)
+#define AO_READ_AGAIN	(-1)
 
 struct ao_stdio {
-	char	(*pollchar)(void);
+	int	(*pollchar)(void);
 	void	(*putchar)(char c) __reentrant;
 	void	(*flush)(void);
 	uint8_t	echo;
@@ -617,7 +626,7 @@ uint8_t
 ao_echo(void);
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char) __reentrant,
 	     void (*flush)(void)) __reentrant;
 
@@ -675,7 +684,7 @@ extern __xdata uint8_t ao_force_freq;
 #endif
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	12
+#define AO_CONFIG_MINOR	13
 
 #define AO_AES_LEN 16
 
@@ -702,12 +711,17 @@ struct ao_config {
 #if AO_PYRO_NUM
 	struct ao_pyro	pyro[AO_PYRO_NUM];	/* minor version 12 */
 #endif
+	uint16_t	aprs_interval;		/* minor version 13 */
 };
 
 #define AO_IGNITE_MODE_DUAL		0
 #define AO_IGNITE_MODE_APOGEE		1
 #define AO_IGNITE_MODE_MAIN		2
 
+#define AO_RADIO_ENABLE_CORE		1
+#define AO_RADIO_DISABLE_TELEMETRY	2
+#define AO_RADIO_DISABLE_RDF		4
+
 #define AO_PAD_ORIENTATION_ANTENNA_UP	0
 #define AO_PAD_ORIENTATION_ANTENNA_DOWN	1
 
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 1814cecf..3d086a57 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -110,6 +110,22 @@ putnibble(uint8_t v)
 		putchar(v + ('a' - 10));
 }
 
+uint8_t
+ao_getnibble(void)
+{
+	char	c;
+
+	c = getchar();
+	if ('0' <= c && c <= '9')
+		return c - '0';
+	if ('a' <= c && c <= 'f')
+		return c - ('a' - 10);
+	if ('A' <= c && c <= 'F')
+		return c - ('A' - 10);
+	ao_cmd_status = ao_cmd_lex_error;
+	return 0;
+}
+
 void
 ao_cmd_put16(uint16_t v)
 {
@@ -249,12 +265,25 @@ ao_reboot(void)
 static void
 version(void)
 {
-	printf("manufacturer     %s\n", ao_manufacturer);
-	printf("product          %s\n", ao_product);
-	printf("serial-number    %u\n", ao_serial_number);
+	printf("manufacturer     %s\n"
+	       "product          %s\n"
+	       "serial-number    %u\n"
+#if HAS_FLIGHT
+	       "current-flight   %u\n"
+#endif
+#if HAS_LOG
+	       "log-format       %u\n"
+#endif
+	       , ao_manufacturer
+	       , ao_product
+	       , ao_serial_number
+#if HAS_FLIGHT
+	       , ao_flight_number
+#endif
 #if HAS_LOG
-	printf("log-format       %u\n", ao_log_format);
+	       , ao_log_format
 #endif
+		);
 #if HAS_MS5607
 	ao_ms5607_info();
 #endif
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index e85ddcb4..0aac16a6 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -128,7 +128,7 @@ _ao_config_get(void)
 		if (minor < 6)
 			ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
 		if (minor < 8)
-			ao_config.radio_enable = TRUE;
+			ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
 		if (minor < 9)
 			ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
 		if (minor < 10)
@@ -139,6 +139,8 @@ _ao_config_get(void)
 		if (minor < 12)
 			memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
 #endif
+		if (minor < 13)
+			ao_config.aprs_interval = 0;
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
@@ -498,6 +500,27 @@ ao_config_key_set(void) __reentrant
 }
 #endif
 
+#if HAS_APRS
+
+void
+ao_config_aprs_show(void)
+{
+	printf ("APRS interval: %d\n", ao_config.aprs_interval);
+}
+
+void
+ao_config_aprs_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.aprs_interval = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+
+#endif /* HAS_APRS */
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -529,15 +552,15 @@ __code struct ao_config_var ao_config_vars[] = {
 	  ao_config_callsign_set,	ao_config_callsign_show },
 	{ "e <0 disable, 1 enable>\0Enable telemetry and RDF",
 	  ao_config_radio_enable_set, ao_config_radio_enable_show },
+	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
 #endif /* HAS_RADIO */
 #if HAS_ACCEL
 	{ "a <+g> <-g>\0Accel calib (0 for auto)",
 	  ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
 #endif /* HAS_ACCEL */
-#if HAS_RADIO
-	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
-	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
-#endif /* HAS_RADIO */
 #if HAS_LOG
 	{ "l <size>\0Flight log size (kB)",
 	  ao_config_log_set,		ao_config_log_show },
@@ -546,10 +569,6 @@ __code struct ao_config_var ao_config_vars[] = {
 	{ "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
 	  ao_config_ignite_mode_set,	ao_config_ignite_mode_show },
 #endif
-#if HAS_ACCEL
-	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
-	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif
 #if HAS_AES
 	{ "k <32 hex digits>\0Set AES encryption key",
 	  ao_config_key_set, ao_config_key_show },
@@ -558,6 +577,10 @@ __code struct ao_config_var ao_config_vars[] = {
 	{ "P <n,?>\0Configure pyro channels",
 	  ao_pyro_set, ao_pyro_show },
 #endif
+#if HAS_APRS
+	{ "A <secs>\0APRS packet interval (0 disable)",
+	  ao_config_aprs_set, ao_config_aprs_show },
+#endif
 	{ "s\0Show",
 	  ao_config_show,		0 },
 #if HAS_EEPROM
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 6fdd19cb..7e2f85d8 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -288,4 +288,25 @@ typedef int16_t accel_t;
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;
+typedef int32_t angle_t;
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet)	((packet)->mpu6000.accel_y)
+#define ao_data_across(packet)	((packet)->mpu6000.accel_x)
+#define ao_data_through(packet)	((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 4eaed420..036d6f2d 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -199,10 +199,16 @@ struct ao_log_mega {
 	union {						/* 4 */
 		/* AO_LOG_FLIGHT */
 		struct {
-			uint16_t	flight;		/* 4 */
-			int16_t		ground_accel;	/* 6 */
-			uint32_t	ground_pres;	/* 8 */
-		} flight;				/* 12 */
+			uint16_t	flight;			/* 4 */
+			int16_t		ground_accel;		/* 6 */
+			uint32_t	ground_pres;		/* 8 */
+			int16_t		ground_accel_along;	/* 16 */
+			int16_t		ground_accel_across;	/* 12 */
+			int16_t		ground_accel_through;	/* 14 */
+			int16_t		ground_roll;		/* 18 */
+			int16_t		ground_pitch;		/* 20 */
+			int16_t		ground_yaw;		/* 22 */
+		} flight;					/* 24 */
 		/* AO_LOG_STATE */
 		struct {
 			uint16_t	state;
diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index ac1590db..e03687ad 100644
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -95,6 +95,14 @@ ao_log(void)
 #if HAS_ACCEL
 	log.u.flight.ground_accel = ao_ground_accel;
 #endif
+#if HAS_GYRO
+	log.u.flight.ground_accel_along = ao_ground_accel_along;
+	log.u.flight.ground_accel_across = ao_ground_accel_across;
+	log.u.flight.ground_accel_through = ao_ground_accel_through;
+	log.u.flight.ground_pitch = ao_ground_pitch;
+	log.u.flight.ground_yaw = ao_ground_yaw;
+	log.u.flight.ground_roll = ao_ground_roll;
+#endif
 	log.u.flight.ground_pres = ao_ground_pres;
 	log.u.flight.flight = ao_flight_number;
 	ao_log_mega(&log);
diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c
index 18ab85dd..23ebf7dd 100644
--- a/src/core/ao_log_telem.c
+++ b/src/core/ao_log_telem.c
@@ -102,9 +102,9 @@ ao_log_single(void)
 		while (ao_log_running) {
 			/* Write samples to EEPROM */
 			while (ao_log_monitor_pos != ao_monitor_head) {
-				memcpy(&ao_log_single_write_data.telemetry,
-				       &ao_monitor_ring[ao_log_monitor_pos],
-				       AO_LOG_SINGLE_SIZE);
+				ao_xmemcpy(&ao_log_single_write_data.telemetry,
+					   &ao_monitor_ring[ao_log_monitor_pos],
+					   AO_LOG_SINGLE_SIZE);
 				ao_log_single_write();
 				ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
 				ao_log_telem_track();
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 0eafd3b2..08b184d6 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -62,7 +62,7 @@ ao_packet_flush(void);
 void
 ao_packet_putchar(char c) __reentrant;
 
-char
+int
 ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 985c0940..dec44f9f 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -37,6 +37,16 @@ __pdata alt_t		ao_sample_height;
 #if HAS_ACCEL
 __pdata accel_t		ao_sample_accel;
 #endif
+#if HAS_GYRO
+__pdata accel_t		ao_sample_accel_along;
+__pdata accel_t		ao_sample_accel_across;
+__pdata accel_t		ao_sample_accel_through;
+__pdata gyro_t		ao_sample_roll;
+__pdata gyro_t		ao_sample_pitch;
+__pdata gyro_t		ao_sample_yaw;
+__pdata angle_t		ao_sample_angle;
+__pdata angle_t		ao_sample_roll_angle;
+#endif
 
 __data uint8_t		ao_sample_data;
 
@@ -53,6 +63,15 @@ __pdata accel_t		ao_accel_2g;		/* factory accel calibration */
 __pdata int32_t		ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
 
+#if HAS_GYRO
+__pdata accel_t		ao_ground_accel_along;
+__pdata accel_t		ao_ground_accel_across;
+__pdata accel_t		ao_ground_accel_through;
+__pdata gyro_t		ao_ground_pitch;
+__pdata gyro_t		ao_ground_yaw;
+__pdata gyro_t		ao_ground_roll;
+#endif
+
 static __pdata uint8_t	ao_preflight;		/* in preflight mode */
 
 static __pdata uint16_t	nsamples;
@@ -60,6 +79,14 @@ __pdata int32_t ao_sample_pres_sum;
 #if HAS_ACCEL
 __pdata int32_t ao_sample_accel_sum;
 #endif
+#if HAS_GYRO
+__pdata int32_t ao_sample_accel_along_sum;
+__pdata int32_t ao_sample_accel_across_sum;
+__pdata int32_t	ao_sample_accel_through_sum;
+__pdata int32_t ao_sample_pitch_sum;
+__pdata int32_t ao_sample_yaw_sum;
+__pdata int32_t	ao_sample_roll_sum;
+#endif
 
 static void
 ao_sample_preflight_add(void)
@@ -68,6 +95,14 @@ ao_sample_preflight_add(void)
 	ao_sample_accel_sum += ao_sample_accel;
 #endif
 	ao_sample_pres_sum += ao_sample_pres;
+#if HAS_GYRO
+	ao_sample_accel_along_sum += ao_sample_accel_along;
+	ao_sample_accel_across_sum += ao_sample_accel_across;
+	ao_sample_accel_through_sum += ao_sample_accel_through;
+	ao_sample_pitch_sum += ao_sample_pitch;
+	ao_sample_yaw_sum += ao_sample_yaw;
+	ao_sample_roll_sum += ao_sample_roll;
+#endif
 	++nsamples;
 }
 
@@ -80,8 +115,23 @@ ao_sample_preflight_set(void)
 #endif
 	ao_ground_pres = ao_sample_pres_sum >> 9;
 	ao_ground_height = pres_to_altitude(ao_ground_pres);
-	nsamples = 0;
 	ao_sample_pres_sum = 0;
+#if HAS_GYRO
+	ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
+	ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
+	ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
+	ao_ground_pitch = ao_sample_pitch_sum >> 9;
+	ao_ground_yaw = ao_sample_yaw_sum >> 9;
+	ao_ground_roll = ao_sample_roll_sum >> 9;
+	ao_sample_accel_along_sum = 0;
+	ao_sample_accel_across_sum = 0;
+	ao_sample_accel_through_sum = 0;
+	ao_sample_pitch_sum = 0;
+	ao_sample_yaw_sum = 0;
+	ao_sample_roll_sum = 0;
+	ao_sample_angle = 0;
+#endif	
+	nsamples = 0;
 }
 
 static void
@@ -122,6 +172,25 @@ ao_sample_preflight_update(void)
 		ao_sample_preflight_set();
 }
 
+#if 0
+#if HAS_GYRO
+static int32_t	p_filt;
+static int32_t	y_filt;
+
+static gyro_t inline ao_gyro(void) {
+	gyro_t	p = ao_sample_pitch - ao_ground_pitch;
+	gyro_t	y = ao_sample_yaw - ao_ground_yaw;
+
+	p_filt = p_filt - (p_filt >> 6) + p;
+	y_filt = y_filt - (y_filt >> 6) + y;
+
+	p = p_filt >> 6;
+	y = y_filt >> 6;
+	return ao_sqrt(p*p + y*y);
+}
+#endif
+#endif
+
 uint8_t
 ao_sample(void)
 {
@@ -147,6 +216,14 @@ ao_sample(void)
 			ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
 		ao_data_set_accel(ao_data, ao_sample_accel);
 #endif
+#if HAS_GYRO
+		ao_sample_accel_along = ao_data_along(ao_data);
+		ao_sample_accel_across = ao_data_across(ao_data);
+		ao_sample_accel_through = ao_data_through(ao_data);
+		ao_sample_pitch = ao_data_pitch(ao_data);
+		ao_sample_yaw = ao_data_yaw(ao_data);
+		ao_sample_roll = ao_data_roll(ao_data);
+#endif
 
 		if (ao_preflight)
 			ao_sample_preflight();
@@ -154,6 +231,9 @@ ao_sample(void)
 			if (ao_flight_state < ao_flight_boost)
 				ao_sample_preflight_update();
 			ao_kalman();
+#if HAS_GYRO
+			/* do quaternion stuff here... */
+#endif
 		}
 		ao_sample_data = ao_data_ring_next(ao_sample_data);
 	}
@@ -171,6 +251,21 @@ ao_sample_init(void)
 	ao_sample_accel_sum = 0;
 	ao_sample_accel = 0;
 #endif
+#if HAS_GYRO
+	ao_sample_accel_along_sum = 0;
+	ao_sample_accel_across_sum = 0;
+	ao_sample_accel_through_sum = 0;
+	ao_sample_accel_along = 0;
+	ao_sample_accel_across = 0;
+	ao_sample_accel_through = 0;
+	ao_sample_pitch_sum = 0;
+	ao_sample_yaw_sum = 0;
+	ao_sample_roll_sum = 0;
+	ao_sample_pitch = 0;
+	ao_sample_yaw = 0;
+	ao_sample_roll = 0;
+	ao_sample_angle = 0;
+#endif
 	ao_sample_data = ao_data_head;
 	ao_preflight = TRUE;
 }
diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index 9336bdf9..a2dac979 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -111,6 +111,14 @@ extern __pdata accel_t	ao_ground_accel;	/* startup acceleration */
 extern __pdata accel_t 	ao_accel_2g;		/* factory accel calibration */
 extern __pdata int32_t	ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
+#if HAS_GYRO
+extern __pdata accel_t	ao_ground_accel_along;
+extern __pdata accel_t	ao_ground_accel_across;
+extern __pdata accel_t	ao_ground_accel_through;
+extern __pdata gyro_t	ao_ground_pitch;
+extern __pdata gyro_t	ao_ground_yaw;
+extern __pdata gyro_t	ao_ground_roll;
+#endif
 
 void ao_sample_init(void);
 
diff --git a/src/core/ao_send_packet.c b/src/core/ao_send_packet.c
index 1a8e74de..66315d22 100644
--- a/src/core/ao_send_packet.c
+++ b/src/core/ao_send_packet.c
@@ -21,22 +21,6 @@
 
 static __xdata uint8_t ao_send[AO_MAX_SEND];
 
-static uint8_t
-getnibble(void)
-{
-	char	c;
-
-	c = getchar();
-	if ('0' <= c && c <= '9')
-		return c - '0';
-	if ('a' <= c && c <= 'f')
-		return c - ('a' - 10);
-	if ('A' <= c && c <= 'F')
-		return c - ('A' - 10);
-	ao_cmd_status = ao_cmd_lex_error;
-	return 0;
-}
-
 static void
 ao_send_packet(void)
 {
@@ -53,8 +37,8 @@ ao_send_packet(void)
 		return;
 	}
 	for (i = 0; i < count; i++) {
-		b = getnibble() << 4;
-		b |= getnibble();
+		b = ao_getnibble() << 4;
+		b |= ao_getnibble();
 		if (ao_cmd_status != ao_cmd_success)
 			return;
 		ao_send[i] = b;
diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h
index 53aa8a89..a799bf2c 100644
--- a/src/core/ao_serial.h
+++ b/src/core/ao_serial.h
@@ -22,6 +22,7 @@
 #define AO_SERIAL_SPEED_9600	1
 #define AO_SERIAL_SPEED_19200	2
 #define AO_SERIAL_SPEED_57600	3
+#define AO_SERIAL_SPEED_115200	4
 
 #if HAS_SERIAL_0
 extern volatile __xdata struct ao_fifo	ao_serial0_rx_fifo;
@@ -30,6 +31,9 @@ extern volatile __xdata struct ao_fifo	ao_serial0_tx_fifo;
 char
 ao_serial0_getchar(void);
 
+int
+ao_serial0_pollchar(void);
+
 void
 ao_serial0_putchar(char c);
 
@@ -47,7 +51,7 @@ extern volatile __xdata struct ao_fifo	ao_serial1_tx_fifo;
 char
 ao_serial1_getchar(void);
 
-char
+int
 ao_serial1_pollchar(void);
 
 void
@@ -67,7 +71,7 @@ extern volatile __xdata struct ao_fifo	ao_serial2_tx_fifo;
 char
 ao_serial2_getchar(void);
 
-char
+int
 ao_serial2_pollchar(void);
 
 void
@@ -80,6 +84,26 @@ void
 ao_serial2_set_speed(uint8_t speed);
 #endif
 
+#if HAS_SERIAL_3
+extern volatile __xdata struct ao_fifo	ao_serial3_rx_fifo;
+extern volatile __xdata struct ao_fifo	ao_serial3_tx_fifo;
+
+char
+ao_serial3_getchar(void);
+
+int
+ao_serial3_pollchar(void);
+
+void
+ao_serial3_putchar(char c);
+
+void
+ao_serial3_drain(void);
+
+void
+ao_serial3_set_speed(uint8_t speed);
+#endif
+
 void
 ao_serial_init(void);
 
diff --git a/src/core/ao_sqrt.c b/src/core/ao_sqrt.c
index 09c2e319..3a550eaa 100644
--- a/src/core/ao_sqrt.c
+++ b/src/core/ao_sqrt.c
@@ -15,7 +15,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#ifndef AO_FLIGHT_TEST
 #include "ao.h"
+#endif
 
 /* Adapted from int_sqrt.c in the linux kernel, which is licensed GPLv2 */
 /**
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 8cf66a23..1748dfe8 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -98,7 +98,7 @@ __xdata uint8_t ao_stdin_ready;
 char
 getchar(void) __reentrant
 {
-	char c;
+	int c;
 	ao_arch_critical(
 		int8_t stdio = ao_cur_stdio;
 
@@ -123,7 +123,7 @@ ao_echo(void)
 }
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char),
 	     void (*flush)(void)) __reentrant
 {
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 0411fbdd..9cb074b5 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -305,6 +305,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 		);
 }
 
+__data uint8_t	ao_task_minimize_latency;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -331,7 +333,12 @@ ao_yield(void) ao_arch_naked_define
 	}
 
 	ao_arch_isr_stack();
-	ao_arch_block_interrupts();
+#if !HAS_TASK_QUEUE
+	if (ao_task_minimize_latency)
+		ao_arch_release_interrupts();
+	else
+#endif
+		ao_arch_block_interrupts();
 
 #if AO_CHECK_STACK
 	in_yield = 1;
@@ -374,7 +381,7 @@ ao_yield(void) ao_arch_naked_define
 				break;
 
 			/* Wait for interrupts when there's nothing ready */
-			if (ao_cur_task_index == ao_last_task_index)
+			if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
 				ao_arch_wait_interrupt();
 		}
 	}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 049f69a7..50bfb220 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -47,6 +47,7 @@ struct ao_task {
 extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 extern __data uint8_t ao_num_tasks;
 extern __xdata struct ao_task *__data ao_cur_task;
+extern __data uint8_t ao_task_minimize_latency;	/* Reduce IRQ latency */
 
 /*
  ao_task.c
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 52ac9489..8d440e15 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -22,6 +22,12 @@ static __pdata uint16_t ao_telemetry_interval;
 static __pdata uint8_t ao_rdf = 0;
 static __pdata uint16_t ao_rdf_time;
 
+#if HAS_APRS
+static __pdata uint16_t ao_aprs_time;
+
+#include <ao_aprs.h>
+#endif
+
 #if defined(MEGAMETRUM)
 #define AO_SEND_MEGA	1
 #endif
@@ -288,30 +294,40 @@ ao_telemetry(void)
 		while (ao_telemetry_interval == 0)
 			ao_sleep(&telemetry);
 		time = ao_rdf_time = ao_time();
+#if HAS_APRS
+		ao_aprs_time = time;
+#endif
 		while (ao_telemetry_interval) {
 
-
+#if HAS_APRS
+			if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
+#endif
+			{
 #ifdef AO_SEND_ALL_BARO
-			ao_send_baro();
+				ao_send_baro();
 #endif
 #ifdef AO_SEND_MEGA
-			ao_send_mega_sensor();
-			ao_send_mega_data();
+				ao_send_mega_sensor();
+				ao_send_mega_data();
 #else
-			ao_send_sensor();
+				ao_send_sensor();
 #endif
 
 #if HAS_COMPANION
-			if (ao_companion_running)
-				ao_send_companion();
+				if (ao_companion_running)
+					ao_send_companion();
 #endif
-			ao_send_configuration();
+				ao_send_configuration();
 #if HAS_GPS
-			ao_send_location();
-			ao_send_satellite();
+				ao_send_location();
+				ao_send_satellite();
 #endif
+			}
 #ifndef AO_SEND_ALL_BARO
 			if (ao_rdf &&
+#if HAS_APRS
+			    !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
+#endif
 			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
 			{
 #if HAS_IGNITE_REPORT
@@ -325,6 +341,14 @@ ao_telemetry(void)
 #endif
 					ao_radio_rdf();
 			}
+#if HAS_APRS
+			if (ao_config.aprs_interval != 0 &&
+			    (int16_t) (ao_time() - ao_aprs_time) >= 0)
+			{
+				ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+				ao_aprs_send();
+			}
+#endif
 #endif
 			time += ao_telemetry_interval;
 			delay = time - ao_time();
@@ -389,8 +413,9 @@ ao_rdf_set(uint8_t rdf)
 	ao_rdf = rdf;
 	if (rdf == 0)
 		ao_radio_rdf_abort();
-	else
+	else {
 		ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+	}
 }
 
 __xdata struct ao_task	ao_telemetry_task;
diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h
index e051db93..4476ee6b 100644
--- a/src/core/ao_usb.h
+++ b/src/core/ao_usb.h
@@ -33,7 +33,7 @@ ao_usb_getchar(void);
 /* Poll for a charcter on the USB input queue.
  * returns AO_READ_AGAIN if none are available
  */
-char
+int
 ao_usb_pollchar(void);
 
 /* Flush the USB output queue */
diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
new file mode 100644
index 00000000..03bcab05
--- /dev/null
+++ b/src/drivers/ao_aprs.c
@@ -0,0 +1,599 @@
+/** 
+ * http://ad7zj.net/kd7lmo/aprsbeacon_code.html
+ *
+ * @mainpage Pico Beacon
+ *
+ * @section overview_sec Overview
+ *
+ * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band.  The device utilizes a 
+ * Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS.  The device is capable
+ * of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message.
+
+
+ *
+ * @section history_sec Revision History
+ *
+ * @subsection v305 V3.05
+ * 23 Dec 2006, Change include; (1) change printf format width to conform to ANSI standard when new CCS 4.xx compiler released.
+ *
+ *
+ * @subsection v304 V3.04
+ * 10 Jan 2006, Change include; (1) added amplitude control to engineering mode,
+ *                                     (2) corrected number of bytes reported in log,
+ *                                     (3) add engineering command to set high rate position reports (5 seconds), and
+ *                                     (4) corrected size of LOG_COORD block when searching for end of log.
+ *
+ * @subsection v303 V3.03
+ * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, 
+ *                                     (2) additional comments and Doxygen tags,
+ *                                     (3) integration and test code calculates DDS FTW,
+ *                                     (4) swapped bus and reference analog input ports (hardware change),
+ *                                     (5) added message that indicates we are reading flash log and reports length,
+ *                                     (6) report bus voltage in 10mV steps, and
+ *                                     (7) change log type enumerated values to XORed nibbles for error detection.
+ *
+ *
+ * @subsection v302 V3.02
+ * 6 Apr 2005, Change include; (1) corrected tracked satellite count in NMEA-0183 $GPGGA message,
+ *                                    (2) Doxygen documentation clean up and additions, and
+ *                                    (3) added integration and test code to baseline.
+ *
+ * 
+ * @subsection v301 V3.01
+ * 13 Jan 2005, Renamed project and files to Pico Beacon.
+ *
+ *
+ * @subsection v300 V3.00
+ * 15 Nov 2004, Change include; (1) Micro Beacon extreme hardware changes including integral transmitter,
+ *                                     (2) PIC18F2525 processor,
+ *                                     (3) AD9954 DDS support functions,
+ *                                     (4) added comments and formatting for doxygen,
+ *                                     (5) process GPS data with native Motorola protocol,
+ *                                     (6) generate plain text $GPGGA and $GPRMC messages,
+ *                                     (7) power down GPS 5 hours after lock,
+ *                                     (8) added flight data recorder, and
+ *                                     (9) added diagnostics terminal mode.
+ *
+ * 
+ * @subsection v201 V2.01
+ * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and 
+ *                                     (2) changed temperature resolution to 0.1 degrees F.
+ *
+ * 
+ * @subsection v200 V2.00
+ * 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor,
+ *                                     (2) serial EEPROM, 
+ *                                     (3) GPS power control, 
+ *                                     (4) additional ADC input, and 
+ *                                     (5) LM60 temperature sensor.                            
+ *
+ *
+ * @subsection v101 V1.01
+ * 5 Dec 2001, Change include; (1) Changed startup message, and 
+ *                                    (2) applied SEPARATE pragma to several methods for memory usage.
+ *
+ *
+ * @subsection v100 V1.00
+ * 25 Sep 2001, Initial release.  Flew ANSR-3 and ANSR-4.
+ * 
+
+
+ *
+ *
+ * @section copyright_sec Copyright
+ *
+ * Copyright (c) 2001-2009 Michael Gray, KD7LMO
+
+
+ *
+ *
+ * @section gpl_sec GNU General Public License
+ *
+ *  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.
+ *
+ *  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
+ *  
+
+
+ * 
+ * 
+ * @section design Design Details
+ *
+ * Provides design details on a variety of the components that make up the Pico Beacon.
+ *
+ *  @subpage power
+ */
+
+/**
+ *  @page power Power Consumption
+ *
+ *  Measured DC power consumption.
+ * 
+ *  3VDC prime power current 
+
+ *
+ *    7mA Held in reset 
+
+ *   18mA Processor running, all I/O off 
+
+ *  110mA GPS running 
+
+ *  120mA GPS running w/antenna 
+
+ *  250mA DDS running and GPS w/antenna 
+
+ *  420mA DDS running, GPS w/antenna, and PA chain on with no RF 
+
+ *  900mA Transmit 
+
+ *
+ */
+
+#ifndef AO_APRS_TEST
+#include <ao.h>
+#endif
+
+#include <ao_aprs.h>
+
+// Public methods, constants, and data structures for each class.
+
+static void timeInit(void);
+
+static void tncInit(void);
+static void tnc1200TimerTick(void);
+
+/** @} */
+
+/**
+ *  @defgroup sys System Library Functions
+ *
+ *  Generic system functions similiar to the run-time C library.
+ *
+ *  @{
+ */
+
+/**
+ *    Calculate the CRC-16 CCITT of buffer that is length bytes long.
+ *    The crc parameter allow the calculation on the CRC on multiple buffers.
+ *
+ *    @param buffer Pointer to data buffer.
+ *    @param length number of bytes in data buffer
+ *    @param crc starting value
+ *
+ *    @return CRC-16 of buffer[0 .. length]
+ */
+static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc)
+{
+    uint8_t i, bit, value;
+
+    for (i = 0; i < length; ++i) 
+    {
+        value = buffer[i];
+
+        for (bit = 0; bit < 8; ++bit) 
+        {
+            crc ^= (value & 0x01);
+            crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
+            value = value >> 1;
+        } // END for
+    } // END for
+
+    return crc ^ 0xffff;
+}
+
+/** @} */
+
+/**
+ *  @defgroup rtc Real Time Interrupt tick
+ *
+ *  Manage the built-in real time interrupt.  The interrupt clock PRI is 104uS (9600 bps).
+ *
+ *  @{
+ */
+
+/// 16-bit NCO where the upper 8-bits are used to index into the frequency generation table.
+static uint16_t timeNCO;
+
+/// Audio tone NCO update step (phase).
+static uint16_t timeNCOFreq;
+
+/**
+ *   Initialize the real-time clock.
+ */
+static void timeInit()
+{
+    timeNCO = 0x00;
+    timeNCOFreq = 0x2000;
+}
+
+/** @} */
+
+/**
+ *  @defgroup tnc TNC (Terminal Node Controller)
+ *
+ *  Functions that provide a subset of the TNC functions.
+ *
+ *  @{
+ */
+
+/// The number of start flag bytes to send before the packet message.  (360bits * 1200bps = 300mS)
+#define TNC_TX_DELAY 45
+
+/// The size of the TNC output buffer.
+#define TNC_BUFFER_SIZE 40
+
+/// States that define the current mode of the 1200 bps (A-FSK) state machine.
+typedef enum
+{
+    /// Stand by state ready to accept new message.
+    TNC_TX_READY,
+
+    /// 0x7E bit stream pattern used to define start of APRS message.
+    TNC_TX_SYNC,
+
+    /// Transmit the AX.25 header that contains the source/destination call signs, APRS path, and flags.
+    TNC_TX_HEADER,
+
+    /// Transmit the message data.
+    TNC_TX_DATA,
+
+    /// Transmit the end flag sequence.
+    TNC_TX_END
+} TNC_TX_1200BPS_STATE;
+
+/// AX.25 compliant packet header that contains destination, station call sign, and path.
+/// 0x76 for SSID-11, 0x78 for SSID-12
+static uint8_t TNC_AX25_HEADER[] = { 
+    'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60, \
+    'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78, \
+    'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65, \
+    0x03, 0xf0 };
+
+#define TNC_CALLSIGN_OFF	7
+#define TNC_CALLSIGN_LEN	6
+
+static void
+tncSetCallsign(void)
+{
+#ifndef AO_APRS_TEST
+	uint8_t	i;
+
+	for (i = 0; i < TNC_CALLSIGN_LEN; i++) {
+		if (!ao_config.callsign[i])
+			break;
+		TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ao_config.callsign[i] << 1;
+	}
+	for (; i < TNC_CALLSIGN_LEN; i++)
+		TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
+#endif
+}
+
+/// The next bit to transmit.
+static uint8_t tncTxBit;
+
+/// Current mode of the 1200 bps state machine.
+static TNC_TX_1200BPS_STATE tncMode;
+
+/// Counter for each bit (0 - 7) that we are going to transmit.
+static uint8_t tncBitCount;
+
+/// A shift register that holds the data byte as we bit shift it for transmit.
+static uint8_t tncShift;
+
+/// Index into the APRS header and data array for each byte as we transmit it.
+static uint8_t tncIndex;
+
+/// The number of bytes in the message portion of the AX.25 message.
+static uint8_t tncLength;
+
+/// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit.
+static uint8_t tncBitStuff;
+
+/// Buffer to hold the message portion of the AX.25 packet as we prepare it.
+static uint8_t tncBuffer[TNC_BUFFER_SIZE];
+
+/** 
+ *   Initialize the TNC internal variables.
+ */
+static void tncInit()
+{
+    tncTxBit = 0;
+    tncMode = TNC_TX_READY;
+}
+
+/**
+ *   Method that is called every 833uS to transmit the 1200bps A-FSK data stream.
+ *   The provides the pre and postamble as well as the bit stuffed data stream.
+ */
+static void tnc1200TimerTick()
+{
+    // Set the A-FSK frequency.
+    if (tncTxBit == 0x00)
+        timeNCOFreq = 0x2000;
+    else
+        timeNCOFreq = 0x3aab;
+
+    switch (tncMode) 
+    {
+        case TNC_TX_READY:
+            // Generate a test signal alteranting between high and low tones.
+            tncTxBit = (tncTxBit == 0 ? 1 : 0);
+            break;
+
+        case TNC_TX_SYNC:
+            // The variable tncShift contains the lastest data byte.
+            // NRZI enocde the data stream.
+            if ((tncShift & 0x01) == 0x00) {
+                if (tncTxBit == 0)
+                    tncTxBit = 1;
+                else
+                    tncTxBit = 0;
+	    }
+                    
+            // When the flag is done, determine if we need to send more or data.
+            if (++tncBitCount == 8) 
+            {
+                tncBitCount = 0;
+                tncShift = 0x7e;
+
+                // Once we transmit x mS of flags, send the data.
+                // txDelay bytes * 8 bits/byte * 833uS/bit = x mS
+                if (++tncIndex == TNC_TX_DELAY) 
+                {
+                    tncIndex = 0;
+                    tncShift = TNC_AX25_HEADER[0];
+                    tncBitStuff = 0;
+                    tncMode = TNC_TX_HEADER;
+                } // END if
+            } else
+                tncShift = tncShift >> 1;
+            break;
+
+        case TNC_TX_HEADER:
+            // Determine if we have sent 5 ones in a row, if we have send a zero.
+            if (tncBitStuff == 0x1f) 
+            {
+                if (tncTxBit == 0)
+                    tncTxBit = 1;
+                else
+                    tncTxBit = 0;
+
+                tncBitStuff = 0x00;
+                return;
+            }    // END if
+
+            // The variable tncShift contains the lastest data byte.
+            // NRZI enocde the data stream.
+            if ((tncShift & 0x01) == 0x00) {
+                if (tncTxBit == 0)
+                    tncTxBit = 1;
+                else
+                    tncTxBit = 0;
+	    }
+
+            // Save the data stream so we can determine if bit stuffing is 
+            // required on the next bit time.
+            tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
+
+            // If all the bits were shifted, get the next byte.
+            if (++tncBitCount == 8) 
+            {
+                tncBitCount = 0;
+
+                // After the header is sent, then send the data.
+                if (++tncIndex == sizeof(TNC_AX25_HEADER)) 
+                {
+                    tncIndex = 0;
+                    tncShift = tncBuffer[0];
+                    tncMode = TNC_TX_DATA;
+                } else
+                    tncShift = TNC_AX25_HEADER[tncIndex];
+
+            } else
+                tncShift = tncShift >> 1;
+
+            break;
+
+        case TNC_TX_DATA:
+            // Determine if we have sent 5 ones in a row, if we have send a zero.
+            if (tncBitStuff == 0x1f) 
+            {
+                if (tncTxBit == 0)
+                    tncTxBit = 1;
+                else
+                    tncTxBit = 0;
+
+                tncBitStuff = 0x00;
+                return;
+            }    // END if
+
+            // The variable tncShift contains the lastest data byte.
+            // NRZI enocde the data stream.
+            if ((tncShift & 0x01) == 0x00) {
+                if (tncTxBit == 0)
+                    tncTxBit = 1;
+                else
+                    tncTxBit = 0;
+	    }
+
+            // Save the data stream so we can determine if bit stuffing is 
+            // required on the next bit time.
+            tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
+
+            // If all the bits were shifted, get the next byte.
+            if (++tncBitCount == 8) 
+            {
+                tncBitCount = 0;
+
+                // If everything was sent, transmit closing flags.
+                if (++tncIndex == tncLength) 
+                {
+                    tncIndex = 0;
+                    tncShift = 0x7e;
+                    tncMode = TNC_TX_END;
+                } else
+                    tncShift = tncBuffer[tncIndex];
+
+            } else
+                tncShift = tncShift >> 1;
+
+            break;
+
+        case TNC_TX_END:
+            // The variable tncShift contains the lastest data byte.
+            // NRZI enocde the data stream. 
+            if ((tncShift & 0x01) == 0x00) {
+                if (tncTxBit == 0)
+                    tncTxBit = 1;
+                else
+                    tncTxBit = 0;
+	    }
+
+            // If all the bits were shifted, get the next one.
+            if (++tncBitCount == 8) 
+            {
+                tncBitCount = 0;
+                tncShift = 0x7e;
+    
+                // Transmit two closing flags.
+                if (++tncIndex == 2) 
+                {
+                    tncMode = TNC_TX_READY;
+
+                    return;
+                } // END if
+            } else
+                tncShift = tncShift >> 1;
+
+            break;
+    } // END switch
+}
+
+/**
+ *   Generate the plain text position packet.
+ */
+static int tncPositionPacket(void)
+{
+    int32_t	latitude = ao_gps_data.latitude;
+    int32_t	longitude = ao_gps_data.longitude;
+    int32_t	altitude = ao_gps_data.altitude;
+
+    uint16_t	lat_deg;
+    uint16_t	lon_deg;
+    uint16_t	lat_min;
+    uint16_t	lat_frac;
+    uint16_t	lon_min;
+    uint16_t	lon_frac;
+
+    char	lat_sign = 'N', lon_sign = 'E';
+
+    if (latitude < 0) {
+	lat_sign = 'S';
+	latitude = -latitude;
+    }
+
+    if (longitude < 0) {
+	lon_sign = 'W';
+	longitude = -longitude;
+    }
+
+    /* Round latitude and longitude by 0.005 minutes */
+    latitude = latitude + 833;
+    if (latitude > 900000000)
+	latitude = 900000000;
+    longitude = longitude + 833;
+    if (longitude > 1800000000)
+	    longitude = 1800000000;
+
+    lat_deg = latitude / 10000000;
+    latitude -= lat_deg * 10000000;
+    latitude *= 60;
+    lat_min = latitude / 10000000;
+    latitude -= lat_min * 10000000;
+    lat_frac = latitude / 100000;
+
+    lon_deg = longitude / 10000000;
+    longitude -= lon_deg * 10000000;
+    longitude *= 60;
+    lon_min = longitude / 10000000;
+    longitude -= lon_min * 10000000;
+    lon_frac = longitude / 100000;
+
+    if (altitude < 0)
+	altitude = 0;
+
+    altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
+    
+    return sprintf ((char *) tncBuffer, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015",
+		    lat_deg, lat_min, lat_frac, lat_sign,
+		    lon_deg, lon_min, lon_frac, lon_sign,
+		    altitude);
+}
+
+static int16_t
+tncFill(uint8_t *buf, int16_t len)
+{
+    int16_t	l = 0;
+    uint8_t	b;
+    uint8_t	bit;
+
+    while (tncMode != TNC_TX_READY && l < len) {
+	b = 0;
+	for (bit = 0; bit < 8; bit++) {
+	    b = b << 1 | (timeNCO >> 15);
+	    timeNCO += timeNCOFreq;
+	}
+	*buf++ = b;
+	l++;
+	tnc1200TimerTick();
+    }
+    if (tncMode == TNC_TX_READY)
+	l = -l;
+    return l;
+}
+
+/** 
+ *    Prepare an AX.25 data packet.  Each time this method is called, it automatically
+ *    rotates through 1 of 3 messages.
+ *
+ *    @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK
+ */
+void ao_aprs_send(void)
+{
+    uint16_t crc;
+
+    timeInit();
+    tncInit();
+    tncSetCallsign();
+
+    tncLength = tncPositionPacket();
+
+    // Calculate the CRC for the header and message.
+    crc = sysCRC16(TNC_AX25_HEADER, sizeof(TNC_AX25_HEADER), 0xffff);
+    crc = sysCRC16(tncBuffer, tncLength, crc ^ 0xffff);
+
+    // Save the CRC in the message.
+    tncBuffer[tncLength++] = crc & 0xff;
+    tncBuffer[tncLength++] = (crc >> 8) & 0xff;
+
+    // Prepare the variables that are used in the real-time clock interrupt.
+    tncBitCount = 0;
+    tncShift = 0x7e;
+    tncTxBit = 0;
+    tncIndex = 0;
+    tncMode = TNC_TX_SYNC;
+
+    ao_radio_send_lots(tncFill);
+}
+
+/** @} */
diff --git a/src/drivers/ao_aprs.h b/src/drivers/ao_aprs.h
new file mode 100644
index 00000000..a033fa0b
--- /dev/null
+++ b/src/drivers/ao_aprs.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+#ifndef _AO_APRS_H_
+#define _AO_APRS_H_
+
+void
+ao_aprs_send(void);
+
+#endif /* _AO_APRS_H_ */
diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index f3816047..c862200a 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -120,7 +120,7 @@ uint8_t
 ao_btm_get_line(void)
 {
 	uint8_t ao_btm_reply_len = 0;
-	char c;
+	int c;
 
 	for (;;) {
 
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index f27958f9..3e894f76 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -24,10 +24,12 @@
 #define AO_RADIO_MAX_RECV	sizeof(struct ao_packet)
 #define AO_RADIO_MAX_SEND	sizeof(struct ao_packet)
 
-uint8_t ao_radio_wake;
-uint8_t ao_radio_mutex;
-uint8_t ao_radio_abort;
-uint8_t ao_radio_in_recv;
+static uint8_t ao_radio_mutex;
+
+static uint8_t ao_radio_wake;		/* radio ready. Also used as sleep address */
+static uint8_t ao_radio_abort;		/* radio operation should abort */
+static uint8_t ao_radio_mcu_wake;	/* MARC status change */
+static uint8_t ao_radio_marc_status;	/* Last read MARC status value */
 
 #define CC1120_DEBUG	AO_FEC_DEBUG
 #define CC1120_TRACE	0
@@ -218,13 +220,32 @@ ao_radio_recv_abort(void)
 #define ao_radio_rdf_value 0x55
 
 static uint8_t
-ao_radio_marc_status(void)
+ao_radio_get_marc_status(void)
 {
 	return ao_radio_reg_read(CC1120_MARC_STATUS1);
 }
 
 static void
-ao_radio_tx_isr(void)
+ao_radio_mcu_wakeup_isr(void)
+{
+	ao_radio_mcu_wake = 1;
+	ao_wakeup(&ao_radio_wake);
+}
+
+
+static void
+ao_radio_check_marc_status(void)
+{
+	ao_radio_mcu_wake = 0;
+	ao_radio_marc_status = ao_radio_get_marc_status();
+	
+	/* Anyt other than 'tx/rx finished' means an error occurred */
+	if (ao_radio_marc_status & ~(CC1120_MARC_STATUS1_TX_FINISHED|CC1120_MARC_STATUS1_RX_FINISHED))
+		ao_radio_abort = 1;
+}
+
+static void
+ao_radio_isr(void)
 {
 	ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
 	ao_radio_wake = 1;
@@ -234,8 +255,9 @@ ao_radio_tx_isr(void)
 static void
 ao_radio_start_tx(void)
 {
-	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_tx_isr);
+	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr);
 	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
+	ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN);
 	ao_radio_strobe(CC1120_STX);
 }
 
@@ -247,6 +269,8 @@ ao_radio_idle(void)
 		if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_IDLE)
 			break;
 	}
+	/* Flush any pending TX bytes */
+	ao_radio_strobe(CC1120_SFTX);
 }
 
 /*
@@ -261,7 +285,7 @@ ao_radio_idle(void)
 #define PACKET_DEV_M	80
 
 /*
- * For our packet data, set the symbol rate to 38360 Baud
+ * For our packet data, set the symbol rate to 38400 Baud
  *
  *              (2**20 + DATARATE_M) * 2 ** DATARATE_E
  *	Rdata = -------------------------------------- * fosc
@@ -294,18 +318,19 @@ static const uint16_t packet_setup[] = {
 				 (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) |
 				 (0 << CC1120_PKT_CFG0_UART_MODE_EN) |
 				 (0 << CC1120_PKT_CFG0_UART_SWAP_EN)),
+	AO_CC1120_MARC_GPIO_IOCFG,		CC1120_IOCFG_GPIO_CFG_MARC_MCU_WAKEUP,
 };
 
 static const uint16_t packet_tx_setup[] = {
 	CC1120_PKT_CFG2,	((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) |
 				 (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)),
-	CC1120_IOCFG2, 		CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG,
+	AO_CC1120_INT_GPIO_IOCFG, 		CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG,
 };
 
 static const uint16_t packet_rx_setup[] = {
 	CC1120_PKT_CFG2,	((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) |
 				 (CC1120_PKT_CFG2_PKT_FORMAT_SYNCHRONOUS_SERIAL << CC1120_PKT_CFG2_PKT_FORMAT)),
-	CC1120_IOCFG2, 		CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT,
+	AO_CC1120_INT_GPIO_IOCFG, 		CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT,
 };
 
 /*
@@ -323,12 +348,12 @@ static const uint16_t packet_rx_setup[] = {
 /*
  * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone)
  *
- *              (2**20 - DATARATE_M) * 2 ** DATARATE_E
+ *              (2**20 + DATARATE_M) * 2 ** DATARATE_E
  *	Rdata = -------------------------------------- * fosc
  *		             2 ** 39
  *
- *	DATARATE_M = 511705
- *	DATARATE_E = 6
+ *	DATARATE_M = 25166
+ *	DATARATE_E = 5
  *
  * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes
  */
@@ -358,7 +383,64 @@ static const uint16_t rdf_setup[] = {
 				 (0 << CC1120_PKT_CFG0_UART_SWAP_EN)),
 };
 
-static uint8_t ao_radio_mode;
+/*
+ * APRS deviation is 5kHz
+ *
+ *	fdev = fosc >> 24 * (256 + dev_m) << dev_e
+ *
+ *     	32e6Hz / (2 ** 24) * (256 + 71) * (2 ** 3) = 4989
+ */
+
+#define APRS_DEV_E	3
+#define APRS_DEV_M	71
+#define APRS_PACKET_LEN	50
+
+/*
+ * For our APRS beacon, set the symbol rate to 9.6kBaud (8x oversampling for 1200 baud data rate)
+ *
+ *              (2**20 + DATARATE_M) * 2 ** DATARATE_E
+ *	Rdata = -------------------------------------- * fosc
+ *		             2 ** 39
+ *
+ *	DATARATE_M = 239914
+ *	DATARATE_E = 7
+ *
+ *	Rdata = 9599.998593330383301
+ *
+ */
+#define APRS_DRATE_E	7
+#define APRS_DRATE_M	239914
+
+static const uint16_t aprs_setup[] = {
+	CC1120_DEVIATION_M,	APRS_DEV_M,
+	CC1120_MODCFG_DEV_E,	((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) |
+				 (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) |
+				 (APRS_DEV_E << CC1120_MODCFG_DEV_E_DEV_E)),
+	CC1120_DRATE2,		((APRS_DRATE_E << CC1120_DRATE2_DATARATE_E) |
+				 (((APRS_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)),
+	CC1120_DRATE1,		((APRS_DRATE_M >> 8) & 0xff),
+	CC1120_DRATE0,		((APRS_DRATE_M >> 0) & 0xff),
+	CC1120_PKT_CFG2,	((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) |
+				 (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)),
+	CC1120_PKT_CFG1,	((0 << CC1120_PKT_CFG1_WHITE_DATA) |
+				 (CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE << CC1120_PKT_CFG1_ADDR_CHECK_CFG) |
+				 (CC1120_PKT_CFG1_CRC_CFG_DISABLED << CC1120_PKT_CFG1_CRC_CFG) |
+				 (0 << CC1120_PKT_CFG1_APPEND_STATUS)),
+};
+
+#define AO_PKT_CFG0_INFINITE ((0 << CC1120_PKT_CFG0_RESERVED7) |	\
+			      (CC1120_PKT_CFG0_LENGTH_CONFIG_INFINITE << CC1120_PKT_CFG0_LENGTH_CONFIG) | \
+			      (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) |	\
+			      (0 << CC1120_PKT_CFG0_UART_MODE_EN) |	\
+			      (0 << CC1120_PKT_CFG0_UART_SWAP_EN))
+
+#define AO_PKT_CFG0_FIXED ((0 << CC1120_PKT_CFG0_RESERVED7) |		\
+			   (CC1120_PKT_CFG0_LENGTH_CONFIG_FIXED << CC1120_PKT_CFG0_LENGTH_CONFIG) | \
+			   (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) |		\
+			   (0 << CC1120_PKT_CFG0_UART_MODE_EN) |	\
+			   (0 << CC1120_PKT_CFG0_UART_SWAP_EN))
+
+static uint16_t ao_radio_mode;
 
 #define AO_RADIO_MODE_BITS_PACKET	1
 #define AO_RADIO_MODE_BITS_PACKET_TX	2
@@ -366,17 +448,23 @@ static uint8_t ao_radio_mode;
 #define AO_RADIO_MODE_BITS_TX_FINISH	8
 #define AO_RADIO_MODE_BITS_PACKET_RX	16
 #define AO_RADIO_MODE_BITS_RDF		32
+#define AO_RADIO_MODE_BITS_APRS		64
+#define AO_RADIO_MODE_BITS_INFINITE	128
+#define AO_RADIO_MODE_BITS_FIXED	256
 
 #define AO_RADIO_MODE_NONE		0
 #define AO_RADIO_MODE_PACKET_TX_BUF	(AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_BUF)
 #define AO_RADIO_MODE_PACKET_TX_FINISH	(AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_FINISH)
 #define AO_RADIO_MODE_PACKET_RX		(AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_RX)
 #define AO_RADIO_MODE_RDF		(AO_RADIO_MODE_BITS_RDF | AO_RADIO_MODE_BITS_TX_FINISH)
+#define AO_RADIO_MODE_APRS_BUF		(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_INFINITE | AO_RADIO_MODE_BITS_TX_BUF)
+#define AO_RADIO_MODE_APRS_LAST_BUF	(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED | AO_RADIO_MODE_BITS_TX_BUF)
+#define AO_RADIO_MODE_APRS_FINISH	(AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED | AO_RADIO_MODE_BITS_TX_FINISH)
 
 static void
-ao_radio_set_mode(uint8_t new_mode)
+ao_radio_set_mode(uint16_t new_mode)
 {
-	uint8_t	changes;
+	uint16_t changes;
 	int i;
 
 	if (new_mode == ao_radio_mode)
@@ -392,10 +480,10 @@ ao_radio_set_mode(uint8_t new_mode)
 			ao_radio_reg_write(packet_tx_setup[i], packet_tx_setup[i+1]);
 		
 	if (changes & AO_RADIO_MODE_BITS_TX_BUF)
-		ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR);
+		ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR);
 
 	if (changes & AO_RADIO_MODE_BITS_TX_FINISH)
-		ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG);
+		ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG);
 
 	if (changes & AO_RADIO_MODE_BITS_PACKET_RX)
 		for (i = 0; i < sizeof (packet_rx_setup) / sizeof (packet_rx_setup[0]); i += 2)
@@ -404,6 +492,17 @@ ao_radio_set_mode(uint8_t new_mode)
 	if (changes & AO_RADIO_MODE_BITS_RDF)
 		for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2)
 			ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]);
+
+	if (changes & AO_RADIO_MODE_BITS_APRS)
+		for (i = 0; i < sizeof (aprs_setup) / sizeof (aprs_setup[0]); i += 2)
+			ao_radio_reg_write(aprs_setup[i], aprs_setup[i+1]);
+
+	if (changes & AO_RADIO_MODE_BITS_INFINITE)
+		ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_INFINITE);
+
+	if (changes & AO_RADIO_MODE_BITS_FIXED)
+		ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_FIXED);
+
 	ao_radio_mode = new_mode;
 }
 
@@ -431,10 +530,20 @@ ao_radio_setup(void)
 }
 
 static void
+ao_radio_set_len(uint8_t len)
+{
+	static uint8_t	last_len;
+
+	if (len != last_len) {
+		ao_radio_reg_write(CC1120_PKT_LEN, len);
+		last_len = len;
+	}
+}
+
+static void
 ao_radio_get(uint8_t len)
 {
 	static uint32_t	last_radio_setting;
-	static uint8_t	last_len;
 
 	ao_mutex_get(&ao_radio_mutex);
 	if (!ao_radio_configured)
@@ -445,10 +554,7 @@ ao_radio_get(uint8_t len)
 		ao_radio_reg_write(CC1120_FREQ0, ao_config.radio_setting);
 		last_radio_setting = ao_config.radio_setting;
 	}
-	if (len != last_len) {
-		ao_radio_reg_write(CC1120_PKT_LEN, len);
-		last_len = len;
-	}
+	ao_radio_set_len(len);
 }
 
 #define ao_radio_put()	ao_mutex_put(&ao_radio_mutex)
@@ -470,9 +576,11 @@ ao_rdf_run(void)
 	ao_radio_start_tx();
 
 	ao_arch_block_interrupts();
-	while (!ao_radio_wake && !ao_radio_abort)
+	while (!ao_radio_wake && !ao_radio_abort && !ao_radio_mcu_wake)
 		ao_sleep(&ao_radio_wake);
 	ao_arch_release_interrupts();
+	if (ao_radio_mcu_wake)
+		ao_radio_check_marc_status();
 	if (!ao_radio_wake)
 		ao_radio_idle();
 	ao_radio_put();
@@ -562,6 +670,31 @@ ao_radio_test_cmd(void)
 	}
 }
 
+static void
+ao_radio_wait_isr(void)
+{
+	ao_arch_block_interrupts();
+	while (!ao_radio_wake && !ao_radio_mcu_wake && !ao_radio_abort)
+		ao_sleep(&ao_radio_wake);
+	ao_arch_release_interrupts();
+	if (ao_radio_mcu_wake)
+		ao_radio_check_marc_status();
+}
+
+static uint8_t
+ao_radio_wait_tx(uint8_t wait_fifo)
+{
+	uint8_t	fifo_space = 0;
+
+	do {
+		ao_radio_wait_isr();
+		if (!wait_fifo)
+			return 0;
+		fifo_space = ao_radio_tx_fifo_space();
+	} while (!fifo_space && !ao_radio_abort);
+	return fifo_space;
+}
+
 static uint8_t	tx_data[(AO_RADIO_MAX_SEND + 4) * 2];
 
 void
@@ -583,6 +716,7 @@ ao_radio_send(const void *d, uint8_t size)
 	while (encode_len) {
 		this_len = encode_len;
 
+		ao_radio_wake = 0;
 		if (this_len > fifo_space) {
 			this_len = fifo_space;
 			ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX_BUF);
@@ -601,16 +735,81 @@ ao_radio_send(const void *d, uint8_t size)
 			ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
 		}
 			
-		do {
-			ao_radio_wake = 0;
-			ao_arch_block_interrupts();
-			while (!ao_radio_wake)
-				ao_sleep(&ao_radio_wake);
-			ao_arch_release_interrupts();
-			if (!encode_len)
+		fifo_space = ao_radio_wait_tx(encode_len != 0);
+		if (ao_radio_abort) {
+			ao_radio_idle();
+			break;
+		}
+	}
+	ao_radio_put();
+}
+
+#define AO_RADIO_LOTS	64
+
+void
+ao_radio_send_lots(ao_radio_fill_func fill)
+{
+	uint8_t	buf[AO_RADIO_LOTS], *b;
+	int	cnt;
+	int	total = 0;
+	uint8_t	done = 0;
+	uint8_t	started = 0;
+	uint8_t	fifo_space;
+
+	ao_radio_get(0xff);
+	fifo_space = CC1120_FIFO_SIZE;
+	while (!done) {
+		cnt = (*fill)(buf, sizeof(buf));
+		if (cnt < 0) {
+			done = 1;
+			cnt = -cnt;
+		}
+		total += cnt;
+
+		/* At the last buffer, set the total length */
+		if (done)
+			ao_radio_set_len(total & 0xff);
+
+		b = buf;
+		while (cnt) {
+			uint8_t	this_len = cnt;
+
+			/* Wait for some space in the fifo */
+			while (!ao_radio_abort && (fifo_space = ao_radio_tx_fifo_space()) == 0) {
+				ao_radio_wake = 0;
+				ao_radio_wait_isr();
+			}
+			if (ao_radio_abort)
 				break;
-			fifo_space = ao_radio_tx_fifo_space();
-		} while (!fifo_space);
+			if (this_len > fifo_space)
+				this_len = fifo_space;
+
+			cnt -= this_len;
+
+			if (done) {
+				if (cnt)
+					ao_radio_set_mode(AO_RADIO_MODE_APRS_LAST_BUF);
+				else
+					ao_radio_set_mode(AO_RADIO_MODE_APRS_FINISH);
+			} else
+				ao_radio_set_mode(AO_RADIO_MODE_APRS_BUF);
+
+			ao_radio_fifo_write(b, this_len);
+			b += this_len;
+
+			if (!started) {
+				ao_radio_start_tx();
+				started = 1;
+			} else
+				ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
+		}
+		if (ao_radio_abort) {
+			ao_radio_idle();
+			break;
+		}
+		/* Wait for the transmitter to go idle */
+		ao_radio_wake = 0;
+		ao_radio_wait_isr();
 	}
 	ao_radio_put();
 }
@@ -660,14 +859,21 @@ ao_radio_rx_isr(void)
 static uint16_t
 ao_radio_rx_wait(void)
 {
-	ao_arch_block_interrupts();
-	rx_waiting = 1;
-	while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
-	       !ao_radio_abort) {
-		ao_sleep(&ao_radio_wake);
-	}
-	rx_waiting = 0;
-	ao_arch_release_interrupts();
+	do {
+		if (ao_radio_mcu_wake)
+			ao_radio_check_marc_status();
+		ao_arch_block_interrupts();
+		rx_waiting = 1;
+		while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
+		       !ao_radio_abort &&
+		       !ao_radio_mcu_wake)
+		{
+			if (ao_sleep(&ao_radio_wake))
+				ao_radio_abort = 1;
+		}
+		rx_waiting = 0;
+		ao_arch_release_interrupts();
+	} while (ao_radio_mcu_wake);
 	if (ao_radio_abort)
 		return 0;
 	rx_data_consumed += AO_FEC_DECODE_BLOCK;
@@ -703,30 +909,53 @@ ao_radio_recv(__xdata void *d, uint8_t size)
 	rx_data_consumed = 0;
 	rx_ignore = 2;
 
+	/* Must be set before changing the frequency; any abort
+	 * after the frequency is set needs to terminate the read
+	 * so that the registers can be reprogrammed
+	 */
 	ao_radio_abort = 0;
-	ao_radio_in_recv = 1;
+
 	/* configure interrupt pin */
 	ao_radio_get(len);
 	ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX);
 
 	ao_radio_wake = 0;
+	ao_radio_mcu_wake = 0;
 
 	stm_spi2.cr2 = 0;
 
 	/* clear any RXNE */
 	(void) stm_spi2.dr;
 
-	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr);
+	/* Have the radio signal when the preamble quality goes high */
+	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_PQT_REACHED);
+	ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
+			 AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_HIGH);
+	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr);
 	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
+	ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN);
 
 	ao_radio_strobe(CC1120_SRX);
 
+	/* Wait for the preamble to appear */
+	ao_radio_wait_isr();
+	if (ao_radio_abort)
+		goto abort;
+
+	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT);
+	ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
+			 AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH);
+
+	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr);
+	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
+
 	ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
 
 	ret = ao_fec_decode(rx_data, rx_data_count, d, size + 2, ao_radio_rx_wait);
 
 	ao_radio_burst_read_stop();
 
+abort:
 	ao_radio_strobe(CC1120_SIDLE);
 
 	/* Convert from 'real' rssi to cc1111-style values */
@@ -739,11 +968,6 @@ ao_radio_recv(__xdata void *d, uint8_t size)
 
 	((uint8_t *) d)[size] = (uint8_t) rssi;
 
-	ao_radio_in_recv = 0;
-
-	if (ao_radio_abort)
-		ao_delay(1);
-
 #if AO_PROFILE
 	rx_last_done_tick = rx_done_tick;
 	rx_done_tick = ao_profile_tick();
@@ -963,7 +1187,7 @@ static void ao_radio_show(void) {
 	printf ("Status:   %02x\n", status);
 	printf ("CHIP_RDY: %d\n", (status >> CC1120_STATUS_CHIP_RDY) & 1);
 	printf ("STATE:    %s\n", cc1120_state_name[(status >> CC1120_STATUS_STATE) & CC1120_STATUS_STATE_MASK]);
-	printf ("MARC:     %02x\n", ao_radio_marc_status());
+	printf ("MARC:     %02x\n", ao_radio_get_marc_status());
 
 	for (i = 0; i < AO_NUM_CC1120_REG; i++)
 		printf ("\t%02x %-20.20s\n", ao_radio_reg_read(ao_cc1120_reg[i].addr), ao_cc1120_reg[i].name);
@@ -1007,11 +1231,21 @@ ao_radio_test_recv()
 	}
 }
 
+#include <ao_aprs.h>
+
+static void
+ao_radio_aprs()
+{
+	ao_packet_slave_stop();
+	ao_aprs_send();
+}
+
 #endif
 
 static const struct ao_cmds ao_radio_cmds[] = {
 	{ ao_radio_test_cmd,	"C <1 start, 0 stop, none both>\0Radio carrier test" },
 #if CC1120_DEBUG
+	{ ao_radio_aprs,	"G\0Send APRS packet" },
 	{ ao_radio_show,	"R\0Show CC1120 status" },
 	{ ao_radio_beep,	"b\0Emit an RDF beacon" },
 	{ ao_radio_packet,	"p\0Send a test packet" },
@@ -1043,7 +1277,13 @@ ao_radio_init(void)
 	ao_enable_port(AO_CC1120_INT_PORT);
 	ao_exti_setup(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
 		      AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH,
-		      ao_radio_tx_isr);
+		      ao_radio_isr);
+
+	/* Enable the hacked up GPIO3 pin */
+	ao_enable_port(AO_CC1120_MCU_WAKEUP_PORT);
+	ao_exti_setup(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN,
+		      AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED,
+		      ao_radio_mcu_wakeup_isr);
 
 	ao_cmd_register(&ao_radio_cmds[0]);
 }
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index c749adea..0ebe8429 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -118,10 +118,13 @@ ao_companion_status(void) __reentrant
 	printf("Companion running: %d\n", ao_companion_running);
 	if (!ao_companion_running)
 		return;
-	printf("device: %d\n", ao_companion_setup.board_id);
-	printf("update period: %d\n", ao_companion_setup.update_period);
-	printf("channels: %d\n", ao_companion_setup.channels);
-	printf("data:");
+	printf("device: %d\n"
+	       "update period: %d\n"
+	       "channels: %d\n"
+	       "data:",
+	       ao_companion_setup.board_id,
+	       ao_companion_setup.update_period,
+	       ao_companion_setup.channels);
 	for(i = 0; i < ao_companion_setup.channels; i++)
 		printf(" %5u", ao_companion_data[i]);
 	printf("\n");
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index d80da97c..d2f67e6b 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -21,6 +21,7 @@
 
 #ifndef ao_gps_getchar
 #define ao_gps_getchar	ao_serial1_getchar
+#define ao_gps_fifo	ao_serial1_rx_fifo
 #endif
 
 #ifndef ao_gps_putchar
@@ -453,6 +454,8 @@ ao_gps_nmea_parse(void)
 	}
 }
 
+static uint8_t	ao_gps_updating;
+
 void
 ao_gps(void) __reentrant
 {
@@ -468,6 +471,13 @@ ao_gps(void) __reentrant
 		if (ao_gps_getchar() == '$') {
 			ao_gps_nmea_parse();
 		}
+#ifndef AO_GPS_TEST
+		while (ao_gps_updating) {
+			ao_usb_putchar(ao_gps_getchar());
+			if (ao_fifo_empty(ao_gps_fifo))
+				flush();
+		}
+#endif
 	}
 }
 
@@ -492,8 +502,38 @@ gps_dump(void) __reentrant
 	ao_mutex_put(&ao_gps_mutex);
 }
 
+static __code uint8_t ao_gps_115200[] = {
+	SKYTRAQ_MSG_3(5,0,5,0)	/* Set to 115200 baud */
+};
+
+static void
+ao_gps_set_speed_delay(uint8_t speed) {
+	ao_delay(AO_MS_TO_TICKS(500));
+	ao_gps_set_speed(speed);
+	ao_delay(AO_MS_TO_TICKS(500));
+}
+
+static void
+gps_update(void) __reentrant
+{
+	ao_gps_updating = 1;
+	ao_task_minimize_latency = 1;
+#if HAS_ADC
+	ao_timer_set_adc_interval(0);
+#endif
+	ao_skytraq_sendstruct(ao_gps_115200);
+	ao_gps_set_speed_delay(AO_SERIAL_SPEED_4800);
+	ao_skytraq_sendstruct(ao_gps_115200);
+	ao_gps_set_speed_delay(AO_SERIAL_SPEED_115200);
+
+	/* It's a binary protocol; abandon attempts to escape */
+	for (;;)
+		ao_gps_putchar(ao_usb_getchar());
+}
+
 __code struct ao_cmds ao_gps_cmds[] = {
 	{ gps_dump, 	"g\0Display GPS" },
+	{ gps_update,	"U\0Update GPS firmware" },
 	{ 0, NULL },
 };
 
diff --git a/src/drivers/ao_m25.c b/src/drivers/ao_m25.c
index 9603c1de..9f696ace 100644
--- a/src/drivers/ao_m25.c
+++ b/src/drivers/ao_m25.c
@@ -99,18 +99,7 @@ static __xdata uint8_t ao_m25_mutex;
 
 static __xdata uint8_t	ao_m25_instruction[4];
 
-#if HAS_BOOT_RADIO
-extern uint8_t ao_radio_in_recv;
-
-static void ao_boot_radio(void) {
-	if (ao_radio_in_recv)
-		ao_radio_recv_abort();
-}
-#else
-#define ao_boot_radio()
-#endif
-
-#define M25_SELECT(cs)		do { ao_boot_radio(); ao_spi_get_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS, AO_SPI_SPEED_FAST); } while (0)
+#define M25_SELECT(cs)		ao_spi_get_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS, AO_SPI_SPEED_FAST)
 #define M25_DESELECT(cs)	ao_spi_put_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS)
 
 #define M25_BLOCK_SHIFT			16
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 3c1e7a18..91319923 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -21,8 +21,8 @@ __xdata struct ao_packet_recv ao_rx_packet;
 __xdata struct ao_packet ao_tx_packet;
 __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
 
-static __xdata char tx_data[AO_PACKET_MAX];
-static __xdata char rx_data[AO_PACKET_MAX];
+static __xdata uint8_t tx_data[AO_PACKET_MAX];
+static __xdata uint8_t rx_data[AO_PACKET_MAX];
 static __pdata uint8_t rx_seq;
 
 __xdata struct ao_task	ao_packet_task;
@@ -169,7 +169,7 @@ ao_packet_putchar(char c) __reentrant
 		tx_data[ao_packet_tx_used++] = c;
 }
 
-char
+int
 ao_packet_pollchar(void)
 {
 	/* No need to block interrupts, all variables here
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 481232df..023c788b 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -20,7 +20,7 @@
 static char
 ao_packet_getchar(void)
 {
-	char c;
+	int c;
 	while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
 		if (!ao_packet_enable)
 			break;
@@ -35,7 +35,7 @@ ao_packet_getchar(void)
 static void
 ao_packet_echo(void) __reentrant
 {
-	char	c;
+	int	c;
 	while (ao_packet_enable) {
 		c = ao_packet_getchar();
 		if (c != AO_READ_AGAIN)
diff --git a/src/megadongle-v0.1/ao_pins.h b/src/megadongle-v0.1/ao_pins.h
index cabe9ee2..d810cd4c 100644
--- a/src/megadongle-v0.1/ao_pins.h
+++ b/src/megadongle-v0.1/ao_pins.h
@@ -139,8 +139,14 @@
 #define AO_CC1120_INT_PORT	(&stm_gpioc)
 #define AO_CC1120_INT_PIN	14
 
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioc)
+#define AO_CC1120_MCU_WAKEUP_PIN	(0)
+
 #define AO_CC1120_INT_GPIO	2
-#define HAS_BOOT_RADIO		1
+#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO	3
+#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
 
 /*
  * Profiling Viterbi decoding
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
index 7d6c7388..a5fdcbb2 100644
--- a/src/megametrum-v0.1/Makefile
+++ b/src/megametrum-v0.1/Makefile
@@ -37,12 +37,12 @@ INC = \
 #PROFILE=ao_profile.c
 #PROFILE_DEF=-DAO_PROFILE=1
 
-SAMPLE_PROFILE=ao_sample_profile.c \
-	ao_sample_profile_timer.c
-SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+#SAMPLE_PROFILE=ao_sample_profile.c \
+#	ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
 
-STACK_GUARD=ao_mpu_stm.c
-STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
 ALTOS_SRC = \
 	ao_interrupt.c \
@@ -90,6 +90,7 @@ ALTOS_SRC = \
 	ao_packet.c \
 	ao_companion.c \
 	ao_pyro.c \
+	ao_aprs.c \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
 	$(STACK_GUARD)
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
index cb1eb417..fbdab64a 100644
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ b/src/megametrum-v0.1/ao_megametrum.c
@@ -53,7 +53,9 @@ main(void)
 	ao_exti_init();
 
 	ao_adc_init();
+#if HAS_BEEP
 	ao_beep_init();
+#endif
 	ao_cmd_init();
 
 #if HAS_MS5607
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index 5ae80ac5..b1a70ea2 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -62,6 +62,7 @@
 #define ao_gps_getchar		ao_serial3_getchar
 #define ao_gps_putchar		ao_serial3_putchar
 #define ao_gps_set_speed	ao_serial3_set_speed
+#define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
@@ -69,6 +70,7 @@
 #define HAS_BEEP		1
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
+#define HAS_APRS		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
@@ -280,11 +282,19 @@ struct ao_adc {
 #define AO_CC1120_SPI_CS_PIN	5
 #define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 
-#define AO_CC1120_INT_PORT	(&stm_gpioc)
-#define AO_CC1120_INT_PIN	14
+#define AO_CC1120_INT_PORT		(&stm_gpioc)
+#define AO_CC1120_INT_PIN		14
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioc)
+#define AO_CC1120_MCU_WAKEUP_PIN	(0)
 
 #define AO_CC1120_INT_GPIO	2
-#define HAS_BOOT_RADIO		1
+#define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO	3
+#define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
+
+
+#define HAS_BOOT_RADIO		0
 
 /*
  * Mag sensor (hmc5883)
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index e270199e..007f7e2e 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -123,42 +123,6 @@ void ao_lcd_font_init(void);
 
 void ao_lcd_font_string(char *s);
 
-char
-ao_serial1_getchar(void);
-
-void
-ao_serial1_putchar(char c);
-
-char
-ao_serial1_pollchar(void);
-
-void
-ao_serial1_set_speed(uint8_t speed);
-
-char
-ao_serial2_getchar(void);
-
-void
-ao_serial2_putchar(char c);
-
-char
-ao_serial2_pollchar(void);
-
-void
-ao_serial2_set_speed(uint8_t speed);
-
-char
-ao_serial3_getchar(void);
-
-void
-ao_serial3_putchar(char c);
-
-char
-ao_serial3_pollchar(void);
-
-void
-ao_serial3_set_speed(uint8_t speed);
-
 extern const uint32_t	ao_radio_cal;
 
 void
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index d6ab1465..87bbe73e 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -210,6 +210,26 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop);
 void
 ao_i2c_init(void);
 
+/* ao_serial_stm.c */
+struct ao_stm_usart {
+	struct ao_fifo		rx_fifo;
+	struct ao_fifo		tx_fifo;
+	struct stm_usart	*reg;
+	uint8_t			tx_started;
+};
+
+#if HAS_SERIAL_1
+extern struct ao_stm_usart	ao_stm_usart1;
+#endif
+
+#if HAS_SERIAL_2
+extern struct ao_stm_usart	ao_stm_usart2;
+#endif
+
+#if HAS_SERIAL_3
+extern struct ao_stm_usart	ao_stm_usart3;
+#endif
+
 #define ARM_PUSH32(stack, val)	(*(--(stack)) = (val))
 
 static inline uint32_t
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index 00409f4a..ce33f97e 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -17,13 +17,6 @@
 
 #include <ao.h>
 
-struct ao_stm_usart {
-	struct ao_fifo		rx_fifo;
-	struct ao_fifo		tx_fifo;
-	struct stm_usart	*reg;
-	uint8_t			tx_started;
-};
-
 void
 ao_debug_out(char c)
 {
@@ -78,16 +71,19 @@ ao_usart_getchar(struct ao_stm_usart *usart)
 	return c;
 }
 
-char
+int
 ao_usart_pollchar(struct ao_stm_usart *usart)
 {
-	char	c;
+	int	c;
 	
 	ao_arch_block_interrupts();
 	if (ao_fifo_empty(usart->rx_fifo))
 		c = AO_READ_AGAIN;
-	else
-		ao_fifo_remove(usart->rx_fifo,c);
+	else {
+		uint8_t	u;
+		ao_fifo_remove(usart->rx_fifo,u);
+		c = u;
+	}
 	ao_arch_release_interrupts();
 	return c;
 }
@@ -127,12 +123,15 @@ static const struct {
 	[AO_SERIAL_SPEED_57600] = {
 		AO_PCLK1 / 57600
 	},
+	[AO_SERIAL_SPEED_115200] = {
+		AO_PCLK1 / 115200
+	},
 };
 
 void
 ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed)
 {
-	if (speed > AO_SERIAL_SPEED_57600)
+	if (speed > AO_SERIAL_SPEED_115200)
 		return;
 	usart->reg->brr = ao_usart_speeds[speed].brr;
 }
@@ -201,7 +200,7 @@ ao_serial1_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart1, c);
 }
 
-char
+int
 ao_serial1_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart1);
@@ -232,7 +231,7 @@ ao_serial2_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart2, c);
 }
 
-char
+int
 ao_serial2_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart2);
@@ -263,7 +262,7 @@ ao_serial3_putchar(char c)
 	ao_usart_putchar(&ao_stm_usart3, c);
 }
 
-char
+int
 ao_serial3_pollchar(void)
 {
 	return ao_usart_pollchar(&ao_stm_usart3);
diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c
index d93a0c17..9379e5cd 100644
--- a/src/stm/ao_usb_stm.c
+++ b/src/stm/ao_usb_stm.c
@@ -873,10 +873,10 @@ _ao_usb_out_recv(void)
 	ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-	char c;
+	uint8_t c;
 
 	if (!ao_usb_running)
 		return AO_READ_AGAIN;
@@ -896,10 +896,10 @@ _ao_usb_pollchar(void)
 	return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-	char	c;
+	int	c;
 	ao_arch_block_interrupts();
 	c = _ao_usb_pollchar();
 	ao_arch_release_interrupts();
@@ -909,7 +909,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void)
 {
-	char	c;
+	int	c;
 
 	ao_arch_block_interrupts();
 	while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
diff --git a/src/teleballoon-v1.1/ao_pins.h b/src/teleballoon-v1.1/ao_pins.h
index 3305719a..7ba48c96 100644
--- a/src/teleballoon-v1.1/ao_pins.h
+++ b/src/teleballoon-v1.1/ao_pins.h
@@ -43,9 +43,9 @@
 	#define PACKET_HAS_SLAVE	1
 
 	#define HAS_COMPANION		1
-	#define COMPANION_CS_ON_P1	1
-	#define COMPANION_CS_MASK	0x4	/* CS1 is P1_2 */
-	#define COMPANION_CS		P1_2
+	#define AO_COMPANION_CS_PORT	P1
+	#define AO_COMPANION_CS_PIN	2
+	#define AO_COMPANION_CS		P1_2
 
 	#define AO_LED_RED		1
 	#define LEDS_AVAILABLE		(AO_LED_RED)
@@ -53,7 +53,7 @@
 	#define HAS_ACCEL_REF		1
 	#define SPI_CS_ON_P1		1
 	#define SPI_CS_ON_P0		0
-	#define M25_CS_MASK		0x02	/* CS0 is P1_1 */
+	#define AO_M25_SPI_CS_MASK	0x02	/* CS0 is P1_1 */
 	#define M25_MAX_CHIPS		1
 	#define HAS_ACCEL		1
 	#define HAS_IGNITE		0
@@ -114,6 +114,8 @@
 	#define SPI_CS_DIR	P0DIR
 #endif
 
+#define AO_M25_SPI_CS_PORT	SPI_CS_PORT
+
 #ifndef IGNITE_ON_P2
 #error Please define IGNITE_ON_P2
 #endif
@@ -212,4 +214,16 @@
 #define AO_IGNITER_FIRE_TIME	AO_MS_TO_TICKS(50)
 #define AO_IGNITER_CHARGE_TIME	AO_MS_TO_TICKS(2000)
 
+struct ao_adc {
+	int16_t		accel;		/* accelerometer */
+	int16_t		pres;		/* pressure sensor */
+	int16_t		temp;		/* temperature sensor */
+	int16_t		v_batt;		/* battery voltage */
+	int16_t		sense_d;	/* drogue continuity sense */
+	int16_t		sense_m;	/* main continuity sense */
+#if HAS_ACCEL_REF
+	uint16_t	accel_ref;	/* acceleration reference */
+#endif
+};
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/teleballoon-v1.1/ao_teleballoon.c b/src/teleballoon-v1.1/ao_teleballoon.c
index 3f12a59c..c8bf7760 100644
--- a/src/teleballoon-v1.1/ao_teleballoon.c
+++ b/src/teleballoon-v1.1/ao_teleballoon.c
@@ -26,6 +26,8 @@ ao_ignite_set_pins(void)
 	AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 }
 
+__pdata uint16_t ao_motor_number;
+
 void
 main(void)
 {
diff --git a/src/test/Makefile b/src/test/Makefile
index 44cee904..092bf360 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,7 +1,8 @@
 vpath % ..:../core:../drivers:../util
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
-	ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test
+	ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test \
+	ao_aprs_test
 
 INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h
 
@@ -9,7 +10,7 @@ KALMAN=make-kalman
 
 CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g -Wall
 
-all: $(PROGS)
+all: $(PROGS) ao_aprs_data.wav
 
 clean:
 	rm -f $(PROGS) run-out.baro run-out.full
@@ -29,7 +30,7 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kal
 	cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
 
 ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
-	cc -DMEGAMETRUM=1 $(CFLAGS) -o $@ $<
+	cc -DMEGAMETRUM=1 $(CFLAGS) -o $@ $< -lm
 
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc $(CFLAGS) -o $@ $<
@@ -49,5 +50,14 @@ ao_kalman.h: $(KALMAN)
 ao_fec_test: ao_fec_test.c ao_fec_tx.c ao_fec_rx.c
 	cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../core/ao_fec_tx.c ../core/ao_fec_rx.c -lm
 
+ao_aprs_test: ao_aprs_test.c ao_aprs.c
+	cc $(CFLAGS) -o $@ ao_aprs_test.c
+
+SOX_INPUT_ARGS=--type raw --encoding unsigned-integer -b 8 -c 1 -r 9600
+SOX_OUTPUT_ARGS=--type wav
+
+ao_aprs_data.wav: ao_aprs_test
+	./ao_aprs_test | sox $(SOX_INPUT_ARGS) - $(SOX_OUTPUT_ARGS) $@
+
 check: ao_fec_test ao_flight_test ao_flight_test_baro run-tests
 	./ao_fec_test && ./run-tests
\ No newline at end of file
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
new file mode 100644
index 00000000..3b31f2d3
--- /dev/null
+++ b/src/test/ao_aprs_test.c
@@ -0,0 +1,132 @@
+/*
+ * Copyright © 2012 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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <stdarg.h>
+
+#include <ao_telemetry.h>
+
+struct ao_telemetry_location ao_gps_data;
+
+#define AO_APRS_TEST
+
+typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
+
+#define DEBUG 0
+#if DEBUG
+void
+ao_aprs_bit(uint8_t bit)
+{
+	static int	seq = 0;
+	printf ("%6d %d\n", seq++, bit ? 1 : 0);
+}
+#else
+void
+ao_aprs_bit(uint8_t bit)
+{
+	putchar (bit ? 0xc0 : 0x40);
+}
+#endif
+
+void
+ao_radio_send_lots(ao_radio_fill_func fill);
+
+#include <ao_aprs.c>
+
+/*
+ * @section copyright_sec Copyright
+ *
+ * Copyright (c) 2001-2009 Michael Gray, KD7LMO
+
+
+ *
+ *
+ * @section gpl_sec GNU General Public License
+ *
+ *  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.
+ *
+ *  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
+ *  
+
+ */
+
+static void
+audio_gap(int secs)
+{
+#if !DEBUG
+	int	samples = secs * 9600;
+
+	while (samples--)
+		ao_aprs_bit(0);
+#endif
+}
+
+// This is where we go after reset.
+int main(int argc, char **argv)
+{
+    audio_gap(1);
+
+    ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
+    ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
+    ao_gps_data.altitude = 84;
+
+    /* Transmit one packet */
+    ao_aprs_send();
+
+    tncBuffer[strlen((char *) tncBuffer) - 2] = '\0';
+    fprintf(stderr, "packet: %s\n", tncBuffer);
+
+    exit(0);
+}
+
+void
+ao_radio_send_lots(ao_radio_fill_func fill)
+{
+	int16_t	len;
+	uint8_t	done = 0;
+	uint8_t	buf[16], *b, c;
+	uint8_t bit;
+
+	while (!done) {
+		len = (*fill)(buf, sizeof (buf));
+		if (len < 0) {
+			done = 1;
+			len = -len;
+		}
+		b = buf;
+		while (len--) {
+			c = *b++;
+			for (bit = 0; bit < 8; bit++) {
+				ao_aprs_bit(c & 0x80);
+				c <<= 1;
+			}
+		}
+	}
+}
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 7180f02d..cdd1f236 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -236,10 +236,14 @@ extern int32_t	ao_accel_scale;
 extern alt_t	ao_ground_height;
 extern alt_t	ao_sample_alt;
 
+double ao_sample_qangle;
+
 int ao_sample_prev_tick;
 uint16_t	prev_tick;
 
+
 #include "ao_kalman.c"
+#include "ao_sqrt.c"
 #include "ao_sample.c"
 #include "ao_flight.c"
 
@@ -309,7 +313,7 @@ ao_mpu6000_accel(int16_t sensor)
 }
 
 static double
-ao_mpu6000_gyro(int16_t sensor)
+ao_mpu6000_gyro(int32_t sensor)
 {
 	return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 }
@@ -370,6 +374,7 @@ ao_insert(void)
 		if (!ao_summary) {
 			printf("%7.2f height %8.2f accel %8.3f "
 #if MEGAMETRUM
+			       "roll %8.3f angle %8.3f qangle %8.3f "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 #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",
@@ -377,6 +382,9 @@ ao_insert(void)
 			       height,
 			       accel,
 #if MEGAMETRUM
+			       ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+			       ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+			       ao_sample_qangle,
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
@@ -547,6 +555,207 @@ int32(uint8_t *bytes, int off)
 
 static int log_format;
 
+#if MEGAMETRUM
+
+static double
+ao_vec_norm(double x, double y, double z)
+{
+	return x*x + y*y + z*z;
+}
+
+static void
+ao_vec_normalize(double *x, double *y, double *z)
+{
+	double	scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
+
+	*x *= scale;
+	*y *= scale;
+	*z *= scale;
+}
+
+struct ao_quat {
+	double	q0, q1, q2, q3;
+};
+
+static void
+ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
+{
+	r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
+	r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
+	r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
+	r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
+}
+
+#if 0
+static void
+ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
+{
+	r->q0 = a->q0 * s;
+	r->q1 = a->q1 * s;
+	r->q2 = a->q2 * s;
+	r->q3 = a->q3 * s;
+}
+#endif
+
+static void
+ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
+{
+	r->q0 =  a->q0;
+	r->q1 = -a->q1;
+	r->q2 = -a->q2;
+	r->q3 = -a->q3;
+}
+
+static void
+ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
+{
+	struct ao_quat	t;
+	struct ao_quat	c;
+	ao_quat_mul(&t, q, a);
+	ao_quat_conj(&c, q);
+	ao_quat_mul(r, &t, &c);
+}
+
+static void
+ao_quat_from_angle(struct ao_quat *r,
+		   double x_rad,
+		   double y_rad,
+		   double z_rad)
+{
+	double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
+	double s = sin(angle/2);
+	double c = cos(angle/2);
+
+	r->q0 = c;
+	r->q1 = x_rad * s / angle;
+	r->q2 = y_rad * s / angle;
+	r->q3 = z_rad * s / angle;
+}
+
+static void
+ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
+{
+	ao_vec_normalize(&x, &y, &z);
+	double	x_rad = atan2(z, y);
+	double	y_rad = atan2(x, z);
+	double	z_rad = atan2(y, x);
+
+	ao_quat_from_angle(r, x_rad, y_rad, z_rad);
+}
+
+static double
+ao_quat_norm(struct ao_quat *a)
+{
+	return (a->q0 * a->q0 +
+		a->q1 * a->q1 +
+		a->q2 * a->q2 +
+		a->q3 * a->q3);
+}
+
+static void
+ao_quat_normalize(struct ao_quat *a)
+{
+	double	norm = ao_quat_norm(a);
+
+	if (norm) {
+		double m = 1/sqrt(norm);
+
+		a->q0 *= m;
+		a->q1 *= m;
+		a->q2 *= m;
+		a->q3 *= m;
+	}
+}
+
+static struct ao_quat	ao_up, ao_current;
+static struct ao_quat	ao_orient;
+static int		ao_orient_tick;
+
+void
+set_orientation(double x, double y, double z, int tick)
+{
+	struct ao_quat	t;
+
+	printf ("set_orientation %g %g %g\n", x, y, z);
+	ao_quat_from_vector(&ao_orient, x, y, z);
+	ao_up.q1 = ao_up.q2 = 0;
+	ao_up.q0 = ao_up.q3 = sqrt(2)/2;
+	ao_orient_tick = tick;
+
+	ao_orient.q0 = 1;
+	ao_orient.q1 = 0;
+	ao_orient.q2 = 0;
+	ao_orient.q3 = 0;
+
+	printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
+		ao_orient.q0,
+		ao_orient.q1,
+		ao_orient.q2,
+		ao_orient.q3,
+		ao_up.q0,
+		ao_up.q1,
+		ao_up.q2,
+		ao_up.q3);
+
+	ao_quat_rot(&t, &ao_up, &ao_orient);
+	printf ("pad orient (%g) %g %g %g\n",
+		t.q0,
+		t.q1,
+		t.q2,
+		t.q3);
+
+}
+
+void
+update_orientation (double rate_x, double rate_y, double rate_z, int tick)
+{
+	struct ao_quat	q_dot;
+	double		lambda;
+	double		dt = (tick - ao_orient_tick) / 100.0;
+
+	ao_orient_tick = tick;
+ 
+//	lambda = 1 - ao_quat_norm(&ao_orient);
+	lambda = 0;
+
+	q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
+	q_dot.q1 =  0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
+	q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
+	q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
+
+#if 0
+	printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
+	printf ("q_dot (%g) %g %g %g\n",
+		q_dot.q0,
+		q_dot.q1,
+		q_dot.q2,
+		q_dot.q3);
+#endif
+
+	ao_orient.q0 += q_dot.q0 * dt;
+	ao_orient.q1 += q_dot.q1 * dt;
+	ao_orient.q2 += q_dot.q2 * dt;
+	ao_orient.q3 += q_dot.q3 * dt;
+
+	ao_quat_normalize(&ao_orient);
+
+	ao_quat_rot(&ao_current, &ao_up, &ao_orient);
+
+	ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
+	printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
+		ao_orient.q0,
+		ao_orient.q1,
+		ao_orient.q2,
+		ao_orient.q3,
+		ao_current.q0,
+		ao_current.q1,
+		ao_current.q2,
+		ao_current.q3);
+#endif
+}
+#endif
+
 void
 ao_sleep(void *wchan)
 {
@@ -635,6 +844,21 @@ ao_sleep(void *wchan)
 						f(gyro_x);
 						f(gyro_y);
 						f(gyro_z);
+
+						double		accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
+						double		accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
+						double		accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
+
+						/* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
+						 * Z is normal to the ground, the MPU y axis
+						 */
+						set_orientation(accel_x, accel_z, accel_y, tick);
+					} else {
+						double		rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
+						double		rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
+						double		rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
+
+						update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
 					}
 					ao_records_read++;
 					ao_insert();
@@ -779,6 +1003,8 @@ ao_sleep(void *wchan)
 				continue;
 
 #if MEGAMETRUM
+			(void) a;
+			(void) b;
 #else
 			switch (type) {
 			case 'F':
diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
index d75a12ec..3844a326 100644
--- a/src/test/ao_gps_test.c
+++ b/src/test/ao_gps_test.c
@@ -88,6 +88,7 @@ ao_mutex_put(uint8_t *mutex)
 static int
 ao_gps_fd;
 
+#if 0
 static void
 ao_dbg_char(char c)
 {
@@ -103,6 +104,7 @@ ao_dbg_char(char c)
 	}
 	write(1, line, strlen(line));
 }
+#endif
 
 #define QUEUE_LEN	4096
 
@@ -391,6 +393,7 @@ ao_serial1_putchar(char c)
 
 #define AO_SERIAL_SPEED_4800	0
 #define AO_SERIAL_SPEED_57600	1
+#define AO_SERIAL_SPEED_115200	2
 
 static void
 ao_serial1_set_speed(uint8_t speed)
@@ -407,6 +410,9 @@ ao_serial1_set_speed(uint8_t speed)
 	case AO_SERIAL_SPEED_57600:
 		cfsetspeed(&termios, B57600);
 		break;
+	case AO_SERIAL_SPEED_115200:
+		cfsetspeed(&termios, B115200);
+		break;
 	}
 	tcsetattr(fd, TCSAFLUSH, &termios);
 	tcflush(fd, TCIFLUSH);
@@ -420,7 +426,6 @@ ao_serial1_set_speed(uint8_t speed)
 void
 ao_dump_state(void *wchan)
 {
-	double	lat, lon;
 	int	i;
 	if (wchan == &ao_gps_data)
 		ao_gps_print(&ao_gps_data);
@@ -510,4 +515,5 @@ main (int argc, char **argv)
 	}
 	ao_gps_setup();
 	ao_gps();
+	return 0;
 }
diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index 846daa94..81008b39 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -397,6 +397,7 @@ ao_serial1_putchar(char c)
 #define AO_SERIAL_SPEED_4800	0
 #define AO_SERIAL_SPEED_9600	1
 #define AO_SERIAL_SPEED_57600	2
+#define AO_SERIAL_SPEED_115200	3
 
 static void
 ao_serial1_set_speed(uint8_t speed)
@@ -411,11 +412,14 @@ ao_serial1_set_speed(uint8_t speed)
 		cfsetspeed(&termios, B4800);
 		break;
 	case AO_SERIAL_SPEED_9600:
-		cfsetspeed(&termios, B38400);
+		cfsetspeed(&termios, B9600);
 		break;
 	case AO_SERIAL_SPEED_57600:
 		cfsetspeed(&termios, B57600);
 		break;
+	case AO_SERIAL_SPEED_115200:
+		cfsetspeed(&termios, B115200);
+		break;
 	}
 	tcsetattr(fd, TCSAFLUSH, &termios);
 	tcflush(fd, TCIFLUSH);
@@ -423,6 +427,10 @@ ao_serial1_set_speed(uint8_t speed)
 
 #define ao_time() 0
 
+uint8_t	ao_task_minimize_latency;
+
+#define ao_usb_getchar()	0
+
 #include "ao_gps_print.c"
 #include "ao_gps_skytraq.c"