Merge branch 'altosdroid'

12 files changed, 322 insertions, 160 deletions

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
index c9ce46a0..e10982f7 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
@@ -37,7 +37,7 @@ import android.os.Message;
 import android.os.Messenger;
 import android.os.RemoteException;
 import android.support.v4.app.FragmentActivity;
-import android.support.v4.view.ViewPager;
+import android.util.DisplayMetrics;
 import android.util.Log;
 import android.view.Menu;
 import android.view.MenuInflater;
@@ -47,6 +47,7 @@ import android.widget.TabHost;
 import android.widget.TextView;
 import android.widget.Toast;
 import android.app.AlertDialog;
+import android.location.Location;
 
 import org.altusmetrum.altoslib_1.*;
 
@@ -59,6 +60,8 @@ public class AltosDroid extends FragmentActivity {
 	public static final int MSG_STATE_CHANGE    = 1;
 	public static final int MSG_TELEMETRY       = 2;
 	public static final int MSG_UPDATE_AGE      = 3;
+	public static final int MSG_LOCATION	    = 4;
+	public static final int MSG_CRC_ERROR	    = 5;
 
 	// Intent request codes
 	private static final int REQUEST_CONNECT_DEVICE = 1;
@@ -79,14 +82,16 @@ public class AltosDroid extends FragmentActivity {
 	private TextView mVersion;
 
 	// Tabs
-	TabHost     mTabHost;
-	AltosViewPager   mViewPager;
-	TabsAdapter mTabsAdapter;
+	TabHost         mTabHost;
+	AltosViewPager  mViewPager;
+	TabsAdapter     mTabsAdapter;
 	ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
+	int             tabHeight;
 
 	// Timer and Saved flight state for Age calculation
 	private Timer timer = new Timer();
 	AltosState saved_state;
+	Location saved_location;
 
 	// Service
 	private boolean mIsBound   = false;
@@ -122,7 +127,6 @@ public class AltosDroid extends FragmentActivity {
 					ad.mTitle.setText(R.string.title_connected_to);
 					ad.mTitle.append(str);
 					Toast.makeText(ad.getApplicationContext(), "Connected to " + str, Toast.LENGTH_SHORT).show();
-					ad.mAltosVoice.speak("Connected");
 					break;
 				case TelemetryService.STATE_CONNECTING:
 					ad.mTitle.setText(R.string.title_connecting);
@@ -137,6 +141,10 @@ public class AltosDroid extends FragmentActivity {
 			case MSG_TELEMETRY:
 				ad.update_ui((AltosState) msg.obj);
 				break;
+			case MSG_LOCATION:
+				ad.set_location((Location) msg.obj);
+				break;
+			case MSG_CRC_ERROR:
 			case MSG_UPDATE_AGE:
 				if (ad.saved_state != null) {
 					ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.report_time + 500) / 1000));
@@ -196,8 +204,13 @@ public class AltosDroid extends FragmentActivity {
 		mTabs.remove(mTab);
 	}
 
+	void set_location(Location location) {
+		saved_location = location;
+		update_ui(saved_state);
+	}
+
 	void update_ui(AltosState state) {
-		if (saved_state != null) {
+		if (state != null && saved_state != null) {
 			if (saved_state.state != state.state) {
 				String currentTab = mTabHost.getCurrentTabTag();
 				switch (state.state) {
@@ -215,16 +228,33 @@ public class AltosDroid extends FragmentActivity {
 		}
 		saved_state = state;
 
-		mCallsignView.setText(state.data.callsign);
-		mSerialView.setText(String.format("%d", state.data.serial));
-		mFlightView.setText(String.format("%d", state.data.flight));
-		mStateView.setText(state.data.state());
-		mRSSIView.setText(String.format("%d", state.data.rssi));
+		AltosGreatCircle from_receiver = null;
+
+		if (state != null && saved_location != null && state.gps != null && state.gps.locked) {
+			double altitude = 0;
+			if (saved_location.hasAltitude())
+				altitude = saved_location.getAltitude();
+			from_receiver = new AltosGreatCircle(saved_location.getLatitude(),
+							     saved_location.getLongitude(),
+							     altitude,
+							     state.gps.lat,
+							     state.gps.lon,
+							     state.gps.alt);
+		}
+
+		if (state != null) {
+			mCallsignView.setText(state.data.callsign);
+			mSerialView.setText(String.format("%d", state.data.serial));
+			mFlightView.setText(String.format("%d", state.data.flight));
+			mStateView.setText(state.data.state());
+			mRSSIView.setText(String.format("%d", state.data.rssi));
+		}
 
 		for (AltosDroidTab mTab : mTabs)
-			mTab.update_ui(state);
+			mTab.update_ui(state, from_receiver, saved_location);
 
-		mAltosVoice.tell(state);
+		if (state != null)
+			mAltosVoice.tell(state);
 	}
 
 	private void onTimerTick() {
@@ -236,13 +266,27 @@ public class AltosDroid extends FragmentActivity {
 
 	static String pos(double p, String pos, String neg) {
 		String	h = pos;
+		if (p == AltosRecord.MISSING)
+			return "";
 		if (p < 0) {
 			h = neg;
 			p = -p;
 		}
 		int deg = (int) Math.floor(p);
 		double min = (p - Math.floor(p)) * 60.0;
-		return String.format("%d° %9.6f\" %s", deg, min, h);
+		return String.format("%d°%9.4f\" %s", deg, min, h);
+	}
+
+	static String number(String format, double value) {
+		if (value == AltosRecord.MISSING)
+			return "";
+		return String.format(format, value);
+	}
+
+	static String integer(String format, int value) {
+		if (value == AltosRecord.MISSING)
+			return "";
+		return String.format(format, value);
 	}
 
 	@Override
@@ -269,6 +313,7 @@ public class AltosDroid extends FragmentActivity {
 		setContentView(R.layout.altosdroid);
 		getWindow().setFeatureInt(Window.FEATURE_CUSTOM_TITLE, R.layout.custom_title);
 
+		// Create the Tabs and ViewPager
 		mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 		mTabHost.setup();
 
@@ -284,6 +329,27 @@ public class AltosDroid extends FragmentActivity {
 		mTabsAdapter.addTab(mTabHost.newTabSpec("map").setIndicator("Map"), TabMap.class, null);
 
 
+		// Scale the size of the Tab bar for different screen densities
+		// This probably won't be needed when we start supporting ICS+ tabs.
+		DisplayMetrics metrics = new DisplayMetrics();
+		getWindowManager().getDefaultDisplay().getMetrics(metrics);
+		int density = metrics.densityDpi;
+
+		if (density==DisplayMetrics.DENSITY_XHIGH)
+			tabHeight = 65;
+		else if (density==DisplayMetrics.DENSITY_HIGH)
+			tabHeight = 45;
+		else if (density==DisplayMetrics.DENSITY_MEDIUM)
+			tabHeight = 35;
+		else if (density==DisplayMetrics.DENSITY_LOW)
+			tabHeight = 25;
+		else
+			tabHeight = 65;
+
+		for (int i = 0; i < 5; i++)
+			mTabHost.getTabWidget().getChildAt(i).getLayoutParams().height = tabHeight;
+
+
 		// Set up the custom title
 		mTitle = (TextView) findViewById(R.id.title_left_text);
 		mTitle.setText(R.string.app_name);
@@ -348,7 +414,7 @@ public class AltosDroid extends FragmentActivity {
 		super.onDestroy();
 		if(D) Log.e(TAG, "--- ON DESTROY ---");
 
-		mAltosVoice.stop();
+		if (mAltosVoice != null) mAltosVoice.stop();
 	}
 
 	public void onActivityResult(int requestCode, int resultCode, Intent data) {
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
index 68bbe593..6ebb47f7 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
@@ -17,8 +17,9 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
+import android.location.Location;
 
 public interface AltosDroidTab {
-	public void update_ui(AltosState state);
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver);
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
index 7da5c4a9..b3dba626 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
@@ -38,7 +38,6 @@ public class AltosVoice {
 			public void onInit(int status) {

 				if (status == TextToSpeech.SUCCESS) tts_enabled = true;

 				if (tts_enabled) {

-					speak("AltosDroid ready");

 					idle_thread = new IdleThread();

 				}

 			}

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/DeviceListActivity.java b/altosdroid/src/org/altusmetrum/AltosDroid/DeviceListActivity.java
index 7b9cbde7..71692122 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/DeviceListActivity.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/DeviceListActivity.java
@@ -109,9 +109,10 @@ public class DeviceListActivity extends Activity {
 		// If there are paired devices, add each one to the ArrayAdapter
 		if (pairedDevices.size() > 0) {
 			findViewById(R.id.title_paired_devices).setVisibility(View.VISIBLE);
-			for (BluetoothDevice device : pairedDevices) {
-				mPairedDevicesArrayAdapter.add(device.getName() + "\n" + device.getAddress());
-			}
+			for (BluetoothDevice device : pairedDevices)
+				if (device.getName().startsWith("TeleBT"))
+					mPairedDevicesArrayAdapter.add(device.getName() + "\n" + device.getAddress());
+
 		} else {
 			String noDevices = getResources().getText(R.string.none_paired).toString();
 			mPairedDevicesArrayAdapter.add(noDevices);
@@ -185,7 +186,8 @@ public class DeviceListActivity extends Activity {
 				// Get the BluetoothDevice object from the Intent
 				BluetoothDevice device = intent.getParcelableExtra(BluetoothDevice.EXTRA_DEVICE);
 				// If it's already paired, skip it, because it's been listed already
-				if (device.getBondState() != BluetoothDevice.BOND_BONDED) {
+				if (   device.getBondState() != BluetoothDevice.BOND_BONDED
+				    && device.getName().startsWith("TeleBT")               ) {
 					mNewDevicesArrayAdapter.add(device.getName() + "\n" + device.getAddress());
 				}
 			// When discovery is finished, change the Activity title
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java b/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java
index 0f95bc22..8e8d9c03 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java
@@ -23,6 +23,8 @@ import android.widget.ImageView;
 
 public class GoNoGoLights {
 	private Boolean state;
+	private Boolean missing;
+	private Boolean set;
 
 	private ImageView red;
 	private ImageView green;
@@ -35,16 +37,23 @@ public class GoNoGoLights {
 		red = in_red;
 		green = in_green;
 		state = false;
+		missing = true;
+		set = false;
 
 		dRed   = r.getDrawable(R.drawable.redled);
 		dGreen = r.getDrawable(R.drawable.greenled);
 		dGray  = r.getDrawable(R.drawable.grayled);
 	}
 
-	public void set(Boolean s) {
-		if (s == state) return;
+	public void set(Boolean s, Boolean m) {
+		if (set && s == state && m == missing) return;
 		state = s;
-		if (state) {
+		missing = m;
+		set = true;
+		if (missing) {
+			red.setImageDrawable(dGray);
+			green.setImageDrawable(dGray);
+		} else if (state) {
 			red.setImageDrawable(dGray);
 			green.setImageDrawable(dGreen);
 		} else {
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
index bda6b1fd..0e141ae4 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
@@ -17,7 +17,7 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -27,6 +27,7 @@ import android.view.View;
 import android.view.ViewGroup;
 import android.widget.ImageView;
 import android.widget.TextView;
+import android.location.Location;
 
 public class TabAscent extends Fragment implements AltosDroidTab {
 	AltosDroid mAltosDroid;
@@ -84,21 +85,28 @@ public class TabAscent extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
-		mHeightView.setText(String.format("%6.0f m", state.height));
-		mMaxHeightView.setText(String.format("%6.0f m", state.max_height));
-		mSpeedView.setText(String.format("%6.0f m/s", state.speed()));
-		mMaxSpeedView.setText(String.format("%6.0f m/s", state.max_speed()));
-		mAccelView.setText(String.format("%6.0f m/s²", state.acceleration));
-		mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration));
-
-		mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
-		mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
-
-		mApogeeVoltageView.setText(String.format("%4.2f V", state.drogue_sense));
-		mApogeeLights.set(state.drogue_sense > 3.2);
-
-		mMainVoltageView.setText(String.format("%4.2f V", state.main_sense));
-		mMainLights.set(state.main_sense > 3.2);
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
+		if (state != null) {
+			mHeightView.setText(AltosDroid.number("%6.0f m", state.height));
+			mMaxHeightView.setText(AltosDroid.number("%6.0f m", state.max_height));
+			mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed()));
+			mMaxSpeedView.setText(AltosDroid.number("%6.0f m/s", state.max_speed()));
+			mAccelView.setText(AltosDroid.number("%6.0f m/s²", state.acceleration));
+			mMaxAccelView.setText(AltosDroid.number("%6.0f m/s²", state.max_acceleration));
+
+			if (state.gps != null) {
+				mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
+				mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
+			} else {
+				mLatitudeView.setText("");
+				mLongitudeView.setText("");
+			}
+
+			mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense));
+			mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING);
+
+			mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense));
+			mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING);
+		}
 	}
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
index 3805b7e7..09e7169b 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
@@ -17,8 +17,7 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosGreatCircle;
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -28,6 +27,7 @@ import android.view.View;
 import android.view.ViewGroup;
 import android.widget.ImageView;
 import android.widget.TextView;
+import android.location.Location;
 
 public class TabDescent extends Fragment implements AltosDroidTab {
 	AltosDroid mAltosDroid;
@@ -89,24 +89,34 @@ public class TabDescent extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
-		mSpeedView.setText(String.format("%6.0f m/s", state.speed()));
-		mHeightView.setText(String.format("%6.0f m", state.height));
-		mElevationView.setText(String.format("%3.0f°", state.elevation));
-		mRangeView.setText(String.format("%6.0f m", state.range));
-		if (state.from_pad != null) {
-			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
-			mCompassView.setText(state.from_pad.bearing_words(AltosGreatCircle.BEARING_LONG));
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
+		if (state != null) {
+			mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed()));
+			mHeightView.setText(AltosDroid.number("%6.0f m", state.height));
+			if (from_receiver != null) {
+				mElevationView.setText(AltosDroid.number("%3.0f°", from_receiver.elevation));
+				mRangeView.setText(AltosDroid.number("%6.0f m", from_receiver.range));
+				mBearingView.setText(AltosDroid.number("%3.0f°", from_receiver.bearing));
+				mCompassView.setText(from_receiver.bearing_words(AltosGreatCircle.BEARING_LONG));
+				mDistanceView.setText(AltosDroid.number("%6.0f m", from_receiver.distance));
+			} else { 
+				mElevationView.setText("<unknown>");
+				mRangeView.setText("<unknown>");
+				mBearingView.setText("<unknown>");
+				mCompassView.setText("<unknown>");
+				mDistanceView.setText("<unknown>");
+			}
+			if (state.gps != null) {
+				mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
+				mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
+			}
+
+			mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense));
+			mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING);
+
+			mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense));
+			mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING);
 		}
-		mDistanceView.setText(String.format("%6.0f m", state.range));
-		mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
-		mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
-
-		mApogeeVoltageView.setText(String.format("%4.2f V", state.drogue_sense));
-		mApogeeLights.set(state.drogue_sense > 3.2);
-
-		mMainVoltageView.setText(String.format("%4.2f V", state.main_sense));
-		mMainLights.set(state.main_sense > 3.2);
 	}
 
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
index a95e9145..f42b46b5 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
@@ -17,7 +17,7 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -26,14 +26,17 @@ import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.TextView;
+import android.location.Location;
 
 public class TabLanded extends Fragment implements AltosDroidTab {
 	AltosDroid mAltosDroid;
 
 	private TextView mBearingView;
 	private TextView mDistanceView;
-	private TextView mLatitudeView;
-	private TextView mLongitudeView;
+	private TextView mTargetLatitudeView;
+	private TextView mTargetLongitudeView;
+	private TextView mReceiverLatitudeView;
+	private TextView mReceiverLongitudeView;
 	private TextView mMaxHeightView;
 	private TextView mMaxSpeedView;
 	private TextView mMaxAccelView;
@@ -52,8 +55,10 @@ public class TabLanded extends Fragment implements AltosDroidTab {
 
 		mBearingView   = (TextView) v.findViewById(R.id.bearing_value);
 		mDistanceView  = (TextView) v.findViewById(R.id.distance_value);
-		mLatitudeView  = (TextView) v.findViewById(R.id.lat_value);
-		mLongitudeView = (TextView) v.findViewById(R.id.lon_value);
+		mTargetLatitudeView  = (TextView) v.findViewById(R.id.target_lat_value);
+		mTargetLongitudeView = (TextView) v.findViewById(R.id.target_lon_value);
+		mReceiverLatitudeView  = (TextView) v.findViewById(R.id.receiver_lat_value);
+		mReceiverLongitudeView = (TextView) v.findViewById(R.id.receiver_lon_value);
 		mMaxHeightView = (TextView) v.findViewById(R.id.max_height_value);
 		mMaxSpeedView  = (TextView) v.findViewById(R.id.max_speed_value);
 		mMaxAccelView  = (TextView) v.findViewById(R.id.max_accel_value);
@@ -68,16 +73,26 @@ public class TabLanded extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
-		if (state.from_pad != null) {
-			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
-			mDistanceView.setText(String.format("%6.0f m", state.from_pad.distance));
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
+		if (from_receiver != null) {
+			mBearingView.setText(String.format("%3.0f°", from_receiver.bearing));
+			mDistanceView.setText(String.format("%6.0f m", from_receiver.distance));
+		}
+		if (state != null && state.gps != null) {
+			mTargetLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
+			mTargetLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
+		}
+
+		if (receiver != null) {
+			mReceiverLatitudeView.setText(AltosDroid.pos(receiver.getLatitude(), "N", "S"));
+			mReceiverLongitudeView.setText(AltosDroid.pos(receiver.getLongitude(), "W", "E"));
+		}
+	       
+		if (state != null) {
+			mMaxHeightView.setText(String.format("%6.0f m", state.max_height));
+			mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration));
+			mMaxSpeedView.setText(String.format("%6.0f m/s", state.max_speed()));
 		}
-		mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
-		mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
-		mMaxHeightView.setText(String.format("%6.0f m", state.max_height));
-		mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration));
-		mMaxSpeedView.setText(String.format("%6.0f m/s", state.max_speed()));
 	}
 
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
index 8fc8f592..d831f117 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
@@ -35,11 +35,12 @@ import android.app.Activity;
 import android.graphics.Color;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
-import android.support.v4.app.FragmentTransaction;
+//import android.support.v4.app.FragmentTransaction;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.TextView;
+import android.location.Location;
 
 public class TabMap extends Fragment implements AltosDroidTab {
 	AltosDroid mAltosDroid;
@@ -54,8 +55,12 @@ public class TabMap extends Fragment implements AltosDroidTab {
 
 	private TextView mDistanceView;
 	private TextView mBearingView;
-	private TextView mLatitudeView;
-	private TextView mLongitudeView;
+	private TextView mTargetLatitudeView;
+	private TextView mTargetLongitudeView;
+	private TextView mReceiverLatitudeView;
+	private TextView mReceiverLongitudeView;
+
+	private double mapAccuracy = -1;
 
 	@Override
 	public void onAttach(Activity activity) {
@@ -83,8 +88,10 @@ public class TabMap extends Fragment implements AltosDroidTab {
 		View v = inflater.inflate(R.layout.tab_map, container, false);
 		mDistanceView  = (TextView)v.findViewById(R.id.distance_value);
 		mBearingView   = (TextView)v.findViewById(R.id.bearing_value);
-		mLatitudeView  = (TextView)v.findViewById(R.id.lat_value);
-		mLongitudeView = (TextView)v.findViewById(R.id.lon_value);
+		mTargetLatitudeView  = (TextView)v.findViewById(R.id.target_lat_value);
+		mTargetLongitudeView = (TextView)v.findViewById(R.id.target_lon_value);
+		mReceiverLatitudeView  = (TextView)v.findViewById(R.id.receiver_lat_value);
+		mReceiverLongitudeView = (TextView)v.findViewById(R.id.receiver_lon_value);
 		return v;
 	}
 
@@ -113,7 +120,6 @@ public class TabMap extends Fragment implements AltosDroidTab {
 			mMap.setMyLocationEnabled(true);
 			mMap.getUiSettings().setTiltGesturesEnabled(false);
 			mMap.getUiSettings().setZoomControlsEnabled(false);
-			mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(40.8,-104.7),8));
 
 			mRocketMarker = mMap.addMarker(
 					// From: http://mapicons.nicolasmollet.com/markers/industry/military/missile-2/
@@ -139,26 +145,54 @@ public class TabMap extends Fragment implements AltosDroidTab {
 		}
 	}
 
-	public void update_ui(AltosState state) {
-		if (state.from_pad != null) {
-			mDistanceView.setText(String.format("%6.0f m", state.from_pad.distance));
-			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
+	private void center(double lat, double lon, double accuracy) {
+		if (mapAccuracy < 0 || accuracy < mapAccuracy/10) {
+			mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(lat, lon),14));
+			mapAccuracy = accuracy;
 		}
-		mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
-		mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
+	}
 
-		if (mapLoaded) {
-			mRocketMarker.setPosition(new LatLng(state.gps.lat, state.gps.lon));
-			mRocketMarker.setVisible(true);
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
+		if (from_receiver != null) {
+			mBearingView.setText(String.format("%3.0f°", from_receiver.bearing));
+			mDistanceView.setText(String.format("%6.0f m", from_receiver.distance));
+		}
 
-			mPolyline.setPoints(Arrays.asList(new LatLng(state.pad_lat, state.pad_lon), new LatLng(state.gps.lat, state.gps.lon)));
-			mPolyline.setVisible(true);
+		if (state != null) {
+			if (mapLoaded) {
+				if (state.gps != null) {
+					mRocketMarker.setPosition(new LatLng(state.gps.lat, state.gps.lon));
+					mRocketMarker.setVisible(true);
 
-			if (state.state == AltosLib.ao_flight_pad) {
-				mPadMarker.setPosition(new LatLng(state.pad_lat, state.pad_lon));
-				mPadMarker.setVisible(true);
+					mPolyline.setPoints(Arrays.asList(new LatLng(state.pad_lat, state.pad_lon), new LatLng(state.gps.lat, state.gps.lon)));
+					mPolyline.setVisible(true);
+				}
+
+				if (state.state == AltosLib.ao_flight_pad) {
+					mPadMarker.setPosition(new LatLng(state.pad_lat, state.pad_lon));
+					mPadMarker.setVisible(true);
+				}
+			}
+			if (state.gps != null) {
+				mTargetLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
+				mTargetLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
+				if (state.gps.locked && state.gps.nsat >= 4)
+					center (state.gps.lat, state.gps.lon, 10);
 			}
 		}
+
+		if (receiver != null) {
+			double accuracy;
+
+			if (receiver.hasAccuracy())
+				accuracy = receiver.getAccuracy();
+			else
+				accuracy = 1000;
+			mReceiverLatitudeView.setText(AltosDroid.pos(receiver.getLatitude(), "N", "S"));
+			mReceiverLongitudeView.setText(AltosDroid.pos(receiver.getLongitude(), "W", "E"));
+			center (receiver.getLatitude(), receiver.getLongitude(), accuracy);
+		}
+
 	}
 
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
index 41776c10..066c1353 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
@@ -27,6 +27,7 @@ import android.view.View;
 import android.view.ViewGroup;
 import android.widget.ImageView;
 import android.widget.TextView;
+import android.location.Location;
 
 public class TabPad extends Fragment implements AltosDroidTab {
 	AltosDroid mAltosDroid;
@@ -100,40 +101,49 @@ public class TabPad extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
-		mBatteryVoltageView.setText(String.format("%4.2f V", state.battery));
-		mBatteryLights.set(state.battery > 3.7);
-
-		mApogeeVoltageView.setText(String.format("%4.2f V", state.drogue_sense));
-		mApogeeLights.set(state.drogue_sense > 3.2);
-
-		mMainVoltageView.setText(String.format("%4.2f V", state.main_sense));
-		mMainLights.set(state.main_sense > 3.2);
-
-		if (state.data.flight != 0) {
-			if (state.data.state <= AltosLib.ao_flight_pad)
-				mDataLoggingView.setText("Ready to record");
-			else if (state.data.state < AltosLib.ao_flight_landed)
-				mDataLoggingView.setText("Recording data");
-			else
-				mDataLoggingView.setText("Recorded data");
-		} else {
-			mDataLoggingView.setText("Storage full");
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
+		if (state != null) {
+			mBatteryVoltageView.setText(AltosDroid.number("%4.2f V", state.battery));
+			mBatteryLights.set(state.battery > 3.7, state.battery == AltosRecord.MISSING);
+
+			mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense));
+			mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING);
+
+			mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense));
+			mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING);
+
+			if (state.data.flight != 0) {
+				if (state.data.state <= AltosLib.ao_flight_pad)
+					mDataLoggingView.setText("Ready to record");
+				else if (state.data.state < AltosLib.ao_flight_landed)
+					mDataLoggingView.setText("Recording data");
+				else
+					mDataLoggingView.setText("Recorded data");
+			} else {
+				mDataLoggingView.setText("Storage full");
+			}
+			mDataLoggingLights.set(state.data.flight != 0, state.data.flight == AltosRecord.MISSING);
+
+			if (state.gps != null) {
+				mGPSLockedView.setText(AltosDroid.integer("%4d sats", state.gps.nsat));
+				mGPSLockedLights.set(state.gps.locked && state.gps.nsat >= 4, false);
+				if (state.gps_ready)
+					mGPSReadyView.setText("Ready");
+				else
+					mGPSReadyView.setText(AltosDroid.integer("Waiting %d", state.gps_waiting));
+			} else
+				mGPSLockedLights.set(false, true);
+			mGPSReadyLights.set(state.gps_ready, state.gps == null);
 		}
-		mDataLoggingLights.set(state.data.flight != 0);
 
-		mGPSLockedView.setText(String.format("%4d sats", state.gps.nsat));
-		mGPSLockedLights.set(state.gps.locked && state.gps.nsat >= 4);
-
-		if (state.gps_ready)
-			mGPSReadyView.setText("Ready");
-		else
-			mGPSReadyView.setText(String.format("Waiting %d", state.gps_waiting));
-		mGPSReadyLights.set(state.gps_ready);
-
-		mPadLatitudeView.setText(AltosDroid.pos(state.pad_lat, "N", "S"));
-		mPadLongitudeView.setText(AltosDroid.pos(state.pad_lon, "W", "E"));
-		mPadAltitudeView.setText(String.format("%4.0f m", state.pad_alt));
+		if (receiver != null) {
+			double altitude = 0;
+			if (receiver.hasAltitude())
+				altitude = receiver.getAltitude();
+			mPadLatitudeView.setText(AltosDroid.pos(receiver.getLatitude(), "N", "S"));
+			mPadLongitudeView.setText(AltosDroid.pos(receiver.getLongitude(), "W", "E"));
+			mPadAltitudeView.setText(AltosDroid.number("%4.0f m", altitude));
+		}
 	}
 
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
index 9460bdbc..716ec589 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
@@ -68,12 +68,12 @@ public class TelemetryReader extends Thread {
 					if (record == null)

 						break;

 					state = new AltosState(record, state);

-

 					handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();

 				} catch (ParseException pp) {

 					Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));

 				} catch (AltosCRCException ce) {

 					++crc_errors;

+					handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();

 				}

 			}

 		} catch (InterruptedException ee) {

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
index e1a5ada8..0236b537 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
@@ -44,27 +44,8 @@ import android.location.LocationListener;
 
 import org.altusmetrum.altoslib_1.*;
 
-class AltosLocationListener implements LocationListener {
-	boolean	fine;
 
-	public void onLocationChanged(Location location) {
-	}
-
-	public void onStatusChanged(String provider, int status, Bundle extras) {
-	}
-
-	public void onProviderEnabled(String provider) {
-	}
-
-	public void onProviderDisabled(String provider) {
-	}
-
-	public AltosLocationListener(boolean fine) {
-		this.fine = fine;
-	}
-}
-
-public class TelemetryService extends Service {
+public class TelemetryService extends Service implements LocationListener {
 
 	private static final String TAG = "TelemetryService";
 	private static final boolean D = true;
@@ -77,6 +58,7 @@ public class TelemetryService extends Service {
 	static final int MSG_DISCONNECTED      = 6;
 	static final int MSG_TELEMETRY         = 7;
 	static final int MSG_SETFREQUENCY      = 8;
+	static final int MSG_CRC_ERROR	       = 9;
 
 	public static final int STATE_NONE       = 0;
 	public static final int STATE_READY      = 1;
@@ -105,11 +87,12 @@ public class TelemetryService extends Service {
 	// internally track state of bluetooth connection
 	private int state = STATE_NONE;
 
-	// location listeners
+	// Last data seen; send to UI when it starts
+
+	private AltosState last_state;
+	private Location last_location;
+	private int last_crc_errors;
 
-	private AltosLocationListener gpsListener;
-	private AltosLocationListener netListener;
-	
 	// Handler of incoming messages from clients.
 	static class IncomingHandler extends Handler {
 		private final WeakReference<TelemetryService> service;
@@ -125,6 +108,10 @@ public class TelemetryService extends Service {
 					// Now we try to send the freshly connected UI any relavant information about what
 					// we're talking to - Basically state and Config Data.
 					msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1, s.mConfigData));
+					// We also send any recent telemetry or location data that's cached
+					if (s.last_state      != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_TELEMETRY, s.last_state     ));
+					if (s.last_location   != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_LOCATION , s.last_location  ));
+					if (s.last_crc_errors != 0   ) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, s.last_crc_errors));
 				} catch (RemoteException e) {
 					s.mClients.remove(msg.replyTo);
 				}
@@ -155,8 +142,15 @@ public class TelemetryService extends Service {
 				}
 				break;
 			case MSG_TELEMETRY:
+				// forward telemetry messages
+				s.last_state = (AltosState) msg.obj;
 				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
 				break;
+			case MSG_CRC_ERROR:
+				// forward crc error messages
+				s.last_crc_errors = (Integer) msg.obj;
+				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, msg.obj));
+				break;
 			case MSG_SETFREQUENCY:
 				if (s.state == STATE_CONNECTED) {
 					try {
@@ -209,6 +203,9 @@ public class TelemetryService extends Service {
 	}
 
 	private void startAltosBluetooth() {
+		if (device == null) {
+			return;
+		}
 		if (mAltosBluetooth == null) {
 			if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
 			mAltosBluetooth = new AltosBluetooth(device, mHandler);
@@ -238,6 +235,8 @@ public class TelemetryService extends Service {
 
 	private void connected() {
 		try {
+			if (mAltosBluetooth == null)
+				throw new InterruptedException("no bluetooth");
 			mConfigData = mAltosBluetooth.config_data();
 		} catch (InterruptedException e) {
 		} catch (TimeoutException e) {
@@ -279,13 +278,10 @@ public class TelemetryService extends Service {
 		timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L);
 
 		// Listen for GPS and Network position updates
-		gpsListener = new AltosLocationListener(true);
-		netListener = new AltosLocationListener(false);
-
 		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 		
-		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, gpsListener);
-		locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, netListener);
+		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, this);
+		locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, this);
 	}
 
 	@Override
@@ -319,9 +315,7 @@ public class TelemetryService extends Service {
 	public void onDestroy() {
 
 		// Stop listening for location updates
-		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
-		locationManager.removeUpdates(gpsListener);
-		locationManager.removeUpdates(netListener);
+		((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 
 		// Stop the bluetooth Comms threads
 		stopAltosBluetooth();
@@ -342,4 +336,18 @@ public class TelemetryService extends Service {
 	}
 
 
+	public void onLocationChanged(Location location) {
+		last_location = location;
+		sendMessageToClients(Message.obtain(null, AltosDroid.MSG_LOCATION, location));
+	}
+
+	public void onStatusChanged(String provider, int status, Bundle extras) {
+	}
+
+	public void onProviderEnabled(String provider) {
+	}
+
+	public void onProviderDisabled(String provider) {
+	}
+
 }