Merge branch 'branch-1.6' into debian

6 files changed, 1127 insertions, 150 deletions

diff --git a/doc/Makefile b/doc/Makefile
index 2887a229..9c6189b4 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -18,7 +18,8 @@ RELNOTES=\
 	release-notes-1.4.html \
 	release-notes-1.4.1.html \
 	release-notes-1.5.html \
-	release-notes-1.6.html
+	release-notes-1.6.html \
+	release-notes-1.6.1.html
 
 PICTURES=\
 	altosui.png \
@@ -51,6 +52,7 @@ PICTURES=\
 	micropeak-statistics.png \
 	MicroPeakUSB-2.0-inuse.jpg \
 	MicroPeakUSB-2.0.jpg \
+	monitor-idle.png \
 	scan-channels.png \
 	site-map.png \
 	table.png \
diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index 1631983a..a40481f1 100644
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -41,6 +41,13 @@
     </legalnotice>
     <revhistory>
       <revision>
+	<revnumber>1.6.1</revnumber>
+	<date>15 July 2015</date>
+	<revremark>
+	  Minor release adding TeleBT v3.0 support.
+	</revremark>
+      </revision>
+      <revision>
 	<revnumber>1.6</revnumber>
 	<date>8 January 2015</date>
 	<revremark>
@@ -2620,9 +2627,9 @@ NAR #88757, TRA #12200
 	  <listitem>
 	    <para>
 	      After Motor. The flight software counts each time the
-	      rocket starts accelerating (presumably due to a motor or
-	      motors igniting). Use this value to count ignitions for
-	      multi-staged or multi-airstart launches.
+	      rocket starts accelerating and then decelerating
+	      (presumably due to a motor or motors burning). Use this
+	      value for multi-staged or multi-airstart launches.
 	    </para>
 	  </listitem>
 	  <listitem>
@@ -3853,8 +3860,7 @@ NAR #88757, TRA #12200
       <para>
 	Before heading out to a new launch site, you can use this to
 	load satellite images in case you don't have internet
-	connectivity at the site. This loads a fairly large area
-	around the launch site, which should cover any flight you're likely to make.
+	connectivity at the site.
       </para>
       <para>
 	There's a drop-down menu of launch sites we know about; if
@@ -3909,15 +3915,18 @@ NAR #88757, TRA #12200
 	You can specify the range of zoom levels to download; smaller
 	numbers show more area with less resolution. The default
 	level, 0, shows about 3m/pixel. One zoom level change
-	doubles or halves that number.
+	doubles or halves that number. Larger zoom levels show more
+	detail, smaller zoom levels less.
       </para>
       <para>
-	The Tile Radius value sets how large an area around the center
-	point to download. Each tile is 512x512 pixels, and the
-	'radius' value specifies how many tiles away from the center
-	will be downloaded. Specify a radius of 0 and you get only the
-	center tile. A radius of 1 loads a 3x3 grid, centered on the
-	specified location.
+	The Map Radius value sets how large an area around the center
+	point to download. Select a value large enough to cover any
+	plausible flight from that site. Be aware that loading a large
+	area with a high maximum zoom level can attempt to download a
+	lot of data. Loading hybrid maps with a 10km radius at a
+	minimum zoom of -2 and a maximum zoom of 2 consumes about
+	120MB of space. Terrain and road maps consume about 1/10 as
+	much space as satellite or hybrid maps.
       </para>
       <para>
 	Clicking the 'Load Map' button will fetch images from Google
@@ -3929,6 +3938,13 @@ NAR #88757, TRA #12200
     </section>
     <section>
       <title>Monitor Idle</title>
+      <informalfigure>
+	<mediaobject>
+	  <imageobject>
+	    <imagedata fileref="monitor-idle.png" width="5.2in" scalefit="1"/>
+	  </imageobject>
+	</mediaobject>
+      </informalfigure>
       <para>
 	This brings up a dialog similar to the Monitor Flight UI,
 	except it works with the altimeter in “idle” mode by sending
@@ -3939,22 +3955,28 @@ NAR #88757, TRA #12200
 	cannot manage to run Monitor Idle, then it's very likely that
 	your callsigns are different in some way.
       </para>
+      <para>
+	You can change the frequency and callsign used to communicate
+	with the flight computer; they must both match the
+	configuration in the flight computer exactly.
+      </para>
     </section>
   </chapter>
   <chapter>
     <title>AltosDroid</title>
     <para>
       AltosDroid provides the same flight monitoring capabilities as
-      AltosUI, but runs on Android devices and is designed to connect
-      to a TeleBT receiver over Bluetooth™. AltosDroid monitors
+      AltosUI, but runs on Android devices. AltosDroid is designed to connect
+      to a TeleBT receiver over Bluetooth™ and (on Android devices supporting
+      USB On-the-go) TeleDongle and TeleBT devices over USB. AltosDroid monitors
       telemetry data, logging it to internal storage in the Android
-      device, and presents that data in a UI the same way the 'Monitor
-      Flight' window does in AltosUI.
+      device, and presents that data in a UI similar to the 'Monitor
+      Flight' window in AltosUI.
     </para>
     <para>
-      This manual will explain how to configure AltosDroid, connect
-      to TeleBT, operate the flight monitoring interface and describe
-      what the displayed data means.
+      This manual will explain how to configure AltosDroid, connect to
+      TeleBT or TeleDongle, operate the flight monitoring interface
+      and describe what the displayed data means.
     </para>
     <section>
       <title>Installing AltosDroid</title>
@@ -3968,7 +3990,7 @@ NAR #88757, TRA #12200
       </para>
     </section>
     <section>
-      <title>Connecting to TeleBT</title>
+      <title>Connecting to TeleBT over Bluetooth™</title>
       <para>
 	Press the Android 'Menu' button or soft-key to see the
 	configuration options available. Select the 'Connect a device'
@@ -3983,14 +4005,90 @@ NAR #88757, TRA #12200
       </para>
     </section>
     <section>
+      <title>Connecting to TeleDongle or TeleBT over USB</title>
+      <para>
+	Get a special USB On-the-go adapter cable. These cables have a USB
+	micro-B male connector on one end and a standard A female
+	connector on the other end. Plug in your TeleDongle or TeleBT
+	device to the adapter cable and the adapter cable into your
+	phone and AltosDroid should automatically start up. If it
+	doesn't, the most likely reason is that your Android device
+	doesn't support USB On-the-go.
+      </para>
+    </section>
+    <section>
       <title>Configuring AltosDroid</title>
       <para>
-	The only configuration option available for AltosDroid is
-	which frequency to listen on. Press the Android 'Menu' button
-	or soft-key and pick the 'Select radio frequency' entry. That
-	brings up a menu of pre-set radio frequencies; pick the one
-	which matches your altimeter.
+	There are several configuration and operation parameters
+	available in the AltosDroid menu.
       </para>
+      <section>
+	<title>Select radio frequency</title>
+	<para>
+	  This selects which frequency to listen on by bringing up a
+	  menu of pre-set radio frequencies. Pick the one which matches
+	  your altimeter.
+	</para>
+      </section>
+      <section>
+	<title>Select data rate</title>
+	<para>
+	  Altus Metrum transmitters can be configured to operate at
+	  lower data rates to improve transmission range. If you have
+	  configured your device to do this, this menu item allows you
+	  to change the receiver to match.
+	</para>
+      </section>
+      <section>
+	<title>Change units</title>
+	<para>
+	  This toggles between metric and imperial units.
+	</para>
+      </section>
+      <section>
+	<title>Load maps</title>
+	<para>
+	  Brings up a dialog allowing you to download offline map
+	  tiles so that you can have maps available even if you have
+	  no network connectivity at the launch site.
+	</para>
+      </section>
+      <section>
+	<title>Map type</title>
+	<para>
+	  Displays a menu of map types and lets you select one. Hybrid
+	  maps include satellite images with a roadmap
+	  overlaid. Satellite maps dispense with the roadmap
+	  overlay. Roadmap shows just the roads. Terrain includes
+	  roads along with shadows indicating changes in elevation,
+	  and other geographical features.
+	</para>
+      </section>
+      <section>
+	<title>Toggle Online/Offline maps</title>
+	<para>
+	  Switches between online and offline maps. Online maps will
+	  show a 'move to current position' icon in the upper right
+	  corner, while offline maps will have copyright information
+	  all over the map. Otherwise, they're pretty similar.
+	</para>
+      </section>
+      <section>
+	<title>Select Tracker</title>
+	<para>
+	  Switches the information displays to show data for a
+	  different transmitting device. The map will always show all
+	  of the devices in view. Trackers are shown and selected by
+	  serial number, so make sure you note the serial number of
+	  devices in each airframe.
+	</para>
+      </section>
+      <section>
+	<title>Delete Track</title>
+	<para>
+	  Deletes all information about a transmitting device.
+	</para>
+      </section>
     </section>
     <section>
       <title>AltosDroid Flight Monitoring</title>
@@ -4004,91 +4102,353 @@ NAR #88757, TRA #12200
       <section>
 	<title>Pad</title>
         <para>
-          The 'Launch Pad' tab shows information used to decide when the
+          The 'Pad' tab shows information used to decide when the
           rocket is ready for flight. The first elements include red/green
           indicators, if any of these is red, you'll want to evaluate
-          whether the rocket is ready to launch:
-          <variablelist>
-	    <varlistentry>
-	      <term>Battery Voltage</term>
-	      <listitem>
-		<para>
-		  This indicates whether the Li-Po battery
-		  powering the TeleMetrum has sufficient charge to last for
-		  the duration of the flight. A value of more than
-		  3.8V is required for a 'GO' status.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Apogee Igniter Voltage</term>
-	      <listitem>
-		<para>
-		  This indicates whether the apogee
-		  igniter has continuity. If the igniter has a low
-		  resistance, then the voltage measured here will be close
-		  to the Li-Po battery voltage. A value greater than 3.2V is
-		  required for a 'GO' status.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Main Igniter Voltage</term>
-	      <listitem>
-		<para>
-		  This indicates whether the main
-		  igniter has continuity. If the igniter has a low
-		  resistance, then the voltage measured here will be close
-		  to the Li-Po battery voltage. A value greater than 3.2V is
-		  required for a 'GO' status.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>On-board Data Logging</term>
-	      <listitem>
-		<para>
-		  This indicates whether there is
-		  space remaining on-board to store flight data for the
-		  upcoming flight. If you've downloaded data, but failed
-		  to erase flights, there may not be any space
-		  left. TeleMetrum can store multiple flights, depending
-		  on the configured maximum flight log size. TeleMini
-		  stores only a single flight, so it will need to be
-		  downloaded and erased after each flight to capture
-		  data. This only affects on-board flight logging; the
-		  altimeter will still transmit telemetry and fire
-		  ejection charges at the proper times.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>GPS Locked</term>
-	      <listitem>
-		<para>
-		  For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
-		  currently able to compute position information. GPS requires
-		  at least 4 satellites to compute an accurate position.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>GPS Ready</term>
-	      <listitem>
-		<para>
-		  For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
-		  10 consecutive positions without losing lock. This ensures
-		  that the GPS receiver has reliable reception from the
-		  satellites.
-		</para>
-	      </listitem>
-	    </varlistentry>
-          </variablelist>
+          whether the rocket is ready to launch.
 	</para>
 	<para>
-	  The Launchpad tab also shows the computed launch pad position
-	  and altitude, averaging many reported positions to improve the
-	  accuracy of the fix.
+	  When the pad tab is selected, the voice responses will
+	  include status changes to the igniters and GPS reception,
+	  letting you know if the rocket is still ready for launch.
+	</para>
+        <variablelist>
+	  <varlistentry>
+	    <term>Battery</term>
+	    <listitem>
+	      <para>
+		This indicates whether the Li-Po battery
+		powering the transmitter has sufficient charge to last for
+		the duration of the flight. A value of more than
+		3.8V is required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Receiver Battery</term>
+	    <listitem>
+	      <para>
+		This indicates whether the Li-Po battery
+		powering the TeleBT has sufficient charge to last for
+		the duration of the flight. A value of more than
+		3.8V is required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Data Logging</term>
+	    <listitem>
+	      <para>
+		This indicates whether there is space remaining
+		on-board to store flight data for the upcoming
+		flight. If you've downloaded data, but failed to
+		erase flights, there may not be any space
+		left. TeleMetrum and TeleMega can store multiple
+		flights, depending on the configured maximum flight
+		log size. TeleGPS logs data continuously. TeleMini
+		stores only a single flight, so it will need to be
+		downloaded and erased after each flight to capture
+		data. This only affects on-board flight logging; the
+		altimeter will still transmit telemetry and fire
+		ejection charges at the proper times.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>GPS Locked</term>
+	    <listitem>
+	      <para>
+		For a TeleMetrum or TeleMega device, this indicates whether the GPS receiver is
+		currently able to compute position information. GPS requires
+		at least 4 satellites to compute an accurate position.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>GPS Ready</term>
+	    <listitem>
+	      <para>
+		For a TeleMetrum or TeleMega device, this indicates whether GPS has reported at least
+		10 consecutive positions without losing lock. This ensures
+		that the GPS receiver has reliable reception from the
+		satellites.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Apogee Igniter</term>
+	    <listitem>
+	      <para>
+		This indicates whether the apogee
+		igniter has continuity. If the igniter has a low
+		resistance, then the voltage measured here will be close
+		to the Li-Po battery voltage. A value greater than 3.2V is
+		required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Main Igniter</term>
+	    <listitem>
+	      <para>
+		This indicates whether the main
+		igniter has continuity. If the igniter has a low
+		resistance, then the voltage measured here will be close
+		to the Li-Po battery voltage. A value greater than 3.2V is
+		required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Igniter A-D</term>
+	    <listitem>
+	      <para>
+		This indicates whether the indicated additional pyro
+		channel igniter has continuity. If the igniter has a
+		low resistance, then the voltage measured here will
+		be close to the Li-Po battery voltage. A value
+		greater than 3.2V is required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+        </variablelist>
+	<para>
+	  The Pad tab also shows the location of the Android device.
+	</para>
+      </section>
+      <section>
+	<title>Flight</title>
+        <para>
+          The 'Flight' tab shows information used to evaluate and spot
+          a rocket while in flight. It displays speed and height data
+          to monitor the health of the rocket, along with elevation,
+          range and bearing to help locate the rocket in the sky.
+	</para>
+	<para>
+	  While the Flight tab is displayed, the voice announcements
+	  will include current speed, height, elevation and bearing
+	  information.
+	</para>
+        <variablelist>
+	  <varlistentry>
+	    <term>Speed</term>
+	    <listitem>
+	      <para>
+		Shows current vertical speed. During descent, the
+		speed values are averaged over a fairly long time to
+		try and make them steadier.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Height</term>
+	    <listitem>
+	      <para>
+		Shows the current height above the launch pad.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Max Speed</term>
+	    <listitem>
+	      <para>
+		Shows the maximum vertical speed seen during the flight.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Max Height</term>
+	    <listitem>
+	      <para>
+		Shows the maximum height above launch pad.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Elevation</term>
+	    <listitem>
+	      <para>
+		This is the angle above the horizon from the android
+		devices current position.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Range</term>
+	    <listitem>
+	      <para>
+		The total distance from the android device to the
+		rocket, including both ground distance and
+		difference in altitude. Use this to gauge how large
+		the rocket is likely to appear in the sky.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Bearing</term>
+	    <listitem>
+	      <para>
+		This is the aziumuth from true north for the rocket
+		from the android device. Use this in combination
+		with the Elevation value to help locate the rocket
+		in the sky, or at least to help point the antenna in
+		the general direction. This is provided in both
+		degrees and a compass point (like West South
+		West). You'll want to know which direction is true
+		north before launching your rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Ground Distance</term>
+	    <listitem>
+	      <para>
+		This shows the distance across the ground to the
+		lat/lon where the rocket is located. Use this to
+		estimate what is currently under the rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Latitude/Longitude</term>
+	    <listitem>
+	      <para>
+		Displays the last known location of the rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Apogee Igniter</term>
+	    <listitem>
+	      <para>
+		This indicates whether the apogee
+		igniter has continuity. If the igniter has a low
+		resistance, then the voltage measured here will be close
+		to the Li-Po battery voltage. A value greater than 3.2V is
+		required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Main Igniter</term>
+	    <listitem>
+	      <para>
+		This indicates whether the main
+		igniter has continuity. If the igniter has a low
+		resistance, then the voltage measured here will be close
+		to the Li-Po battery voltage. A value greater than 3.2V is
+		required for a 'GO' status.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+        </variablelist>
+      </section>
+      <section>
+	<title>Recover</title>
+        <para>
+          The 'Recover' tab shows information used while recovering the
+	  rocket on the ground after flight.
+	</para>
+	<para>
+	  While the Recover tab is displayed, the voice announcements
+	  will include distance along with either bearing or
+	  direction, depending on whether you are moving.
+	</para>
+        <variablelist>
+	  <varlistentry>
+	    <term>Bearing</term>
+	    <listitem>
+	      <para>
+		This is the aziumuth from true north for the rocket
+		from the android device. Use this in combination
+		with the Elevation value to help locate the rocket
+		in the sky, or at least to help point the antenna in
+		the general direction. This is provided in both
+		degrees and a compass point (like West South
+		West). You'll want to know which direction is true
+		north before launching your rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Direction</term>
+	    <listitem>
+	      <para>
+		When you are in motion, this provides the angle from
+		your current direction of motion towards the rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Distance</term>
+	    <listitem>
+	      <para>
+		Distance over the ground to the rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Tar Lat/Tar Lon</term>
+	    <listitem>
+	      <para>
+		Displays the last known location of the rocket.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>My Lat/My Lon</term>
+	    <listitem>
+	      <para>
+		Displays the location of the Android device.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Max Height</term>
+	    <listitem>
+	      <para>
+		Shows the maximum height above launch pad.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Max Speed</term>
+	    <listitem>
+	      <para>
+		Shows the maximum vertical speed seen during the flight.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+	  <varlistentry>
+	    <term>Max Accel</term>
+	    <listitem>
+	      <para>
+		Shows the maximum vertical acceleration seen during the flight.
+	      </para>
+	    </listitem>
+	  </varlistentry>
+        </variablelist>
+      </section>
+      <section>
+	<title>Map</title>
+	<para>
+	  The 'Map' tab shows a map of the area around the rocket
+	  being tracked along with information needed to recover it.
+	</para>
+	<para>
+	  On the map itself, icons showing the location of the android
+	  device along with the last known location of each tracker. A
+	  blue line is drawn from the android device location to the
+	  currently selected tracker.
+	</para>
+	<para>
+	  Below the map, the distance and either bearing or direction
+	  along with the lat/lon of the target and the android device
+	  are shown
+	</para>
+	<para>
+	  The Map tab provides the same voice announcements as the
+	  Recover tab.
 	</para>
       </section>
     </section>
@@ -4097,9 +4457,9 @@ NAR #88757, TRA #12200
       <para>
 	AltosDroid always saves every bit of telemetry data it
 	receives. To download that to a computer for use with AltosUI,
-	simply remove the SD card from your Android device, or connect
-	your device to your computer's USB port and browse the files
-	on that device. You will find '.telem' files in the TeleMetrum
+	remove the SD card from your Android device, or connect your
+	device to your computer's USB port and browse the files on
+	that device. You will find '.telem' files in the TeleMetrum
 	directory that will work with AltosUI directly.
       </para>
     </section>
@@ -5916,6 +6276,13 @@ NAR #88757, TRA #12200
   <appendix>
     <title>Release Notes</title>
     <simplesect>
+      <title>Version 1.6.1</title>
+      <xi:include
+	  xmlns:xi="http://www.w3.org/2001/XInclude"
+	  href="release-notes-1.6.1.xsl"
+	  xpointer="xpointer(/article/*)"/>
+    </simplesect>
+    <simplesect>
       <title>Version 1.6</title>
       <xi:include
 	  xmlns:xi="http://www.w3.org/2001/XInclude"
diff --git a/doc/load-maps.png b/doc/load-maps.png
index ae98c9a5..150b8b3c 100644
--- a/doc/load-maps.png
+++ b/doc/load-maps.png
diff --git a/doc/monitor-idle.png b/doc/monitor-idle.png
new file mode 100644
index 00000000..964063f1
--- /dev/null
+++ b/doc/monitor-idle.png
diff --git a/doc/release-notes-1.6.1.xsl b/doc/release-notes-1.6.1.xsl
new file mode 100644
index 00000000..058d43fe
--- /dev/null
+++ b/doc/release-notes-1.6.1.xsl
@@ -0,0 +1,189 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+  <para>
+    Version 1.6.1 includes support for our updated TeleBT v3.0
+    product and bug fixes in in the flight software for all our boards
+    and ground station interfaces.
+  </para>
+  <para>
+    AltOS New Features
+    <itemizedlist>
+      <listitem>
+	<para>
+	  Add support for TeleBT v3.0 boards.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Add support for uncompressed APRS data, providing support
+	  for older APRS receivers. Uncompressed APRS data is less
+	  precise, takes more bandwidth and doesn't have integrated
+	  altitude data.
+	</para>
+      </listitem>
+    </itemizedlist>
+  </para>
+  <para>
+    AltOS Fixes
+    <itemizedlist>
+      <listitem>
+	<para>
+	  Make TeleDongle and TeleBT more tolerant of data rate
+	  variations from transmitting devices.
+	</para>
+      </listitem>
+    </itemizedlist>
+  </para>
+  <para>
+    AltosUI and TeleGPS New Features
+    <itemizedlist>
+      <listitem>
+	<para>
+	  Add map to Monitor Idle display. It's nice to be able to
+	  verify that maps are working, instead of needing to use
+	  Monitor Flight.
+	</para>
+      </listitem>
+    </itemizedlist>
+  </para>
+  <para>
+    AltosUI Fixes
+    <itemizedlist>
+      <listitem>
+	<para>
+	  Fix frequency configuration to round values instead of
+	  truncate them, avoiding a common 1kHz error in the setting.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Turn the Windows stub into a more useful program that can
+	  launch the application with parameters so that file manager
+	  icons work more reliably.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Force KML export to use a C locale so that numbers are
+	  formatted with '.' instead of ',' for a decimal separator in
+	  non-US locales. 
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Preload map tiles based on distance rather than number of
+	  tiles; this means you get the same resolution covering the
+	  entire area, rather than having high resolution near the
+	  center and low resolution further away.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Allow configuration of frequency and callsign in Monitor
+	  Idle mode.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Fix layout weirdness when resizing windows on
+	  Windows. Windows shouldn't have giant blank spaces around
+	  the useful content anymore.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Fix layout weirdness when resizing windows on
+	  Windows. Windows shouldn't have giant blank spaces around
+	  the useful content anymore.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Use a longer filter for descent speed values. This should
+	  provide something more useful on the display, although it
+	  will take longer to respond to changes now.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Make Replay Flight run in realtime again. It had been set to
+	  run at 10x speed by mistake.
+	</para>
+      </listitem>
+    </itemizedlist>
+  </para>
+  <para>
+    AltosDroid New Features
+    <itemizedlist>
+      <listitem>
+	<para>
+	  Add offline map support using mapping code from AltosUI.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Support TeleDongle (and TeleBT via USB) on devices
+	  supporting USB On-The-Go.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Display additional TeleMega pyro channel status in Pad tab.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Switch between metric and imperial units.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Monitor TeleBT battery voltage.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Track multiple devices at the same time, selecting between
+	  them with a menu or using the map.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Add hybrid, satellite and terrain map types.
+	</para>
+      </listitem>
+    </itemizedlist>
+  </para>
+  <para>
+    AltosDroid Fixes
+    <itemizedlist>
+      <listitem>
+	<para>
+	  Use standard Android display conventions so that a menu
+	  button is available in the application title bar.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Adjust layout to work on large and small screens; shrinking
+	  the go/no-go lights in smaller environments to try and make
+	  everything visible.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Make voice announcements depend on current tab.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Compute adjustment to current travel direction while in
+	  motion towards rocket.
+	</para>
+      </listitem>
+    </itemizedlist>
+  </para>
+</article>
diff --git a/doc/telemetry.xsl b/doc/telemetry.xsl
index e4101507..2e0b3ea1 100644
--- a/doc/telemetry.xsl
+++ b/doc/telemetry.xsl
@@ -110,7 +110,7 @@
       </para>
     </section>
     <section>
-      <title>Sensor Data</title>
+      <title>TeleMetrum v1.x, TeleMini and TeleNano Sensor Data</title>
       <informaltable frame='none' label='' tocentry='0'>
 	<tgroup cols='2' align='center' colsep='1' rowsep='1'>
 	  <colspec align='center' colwidth='*' colname='Offset'/>
@@ -124,7 +124,7 @@
 	  <tbody>
 	    <row>
 	      <entry>0x01</entry>
-	      <entry>TeleMetrum Sensor Data</entry>
+	      <entry>TeleMetrum v1.x Sensor Data</entry>
 	    </row>
 	    <row>
 	      <entry>0x02</entry>
@@ -138,7 +138,7 @@
 	</tgroup>
       </informaltable>
       <para>
-	TeleMetrum, TeleMini and TeleNano share this same packet
+	TeleMetrum v1.x, TeleMini and TeleNano share this same packet
 	format for sensor data. Each uses a distinct packet type so
 	that the receiver knows which data values are valid and which
 	are undefined.
@@ -214,6 +214,316 @@
       </table>
     </section>
     <section>
+      <title>TeleMega Sensor  Data</title>
+      <informaltable frame='none' label='' tocentry='0'>
+	<tgroup cols='2' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='left' colwidth='3*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry>Type</entry>
+	      <entry>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>0x08</entry>
+	      <entry>TeleMega IMU Sensor Data</entry>
+	    </row>
+	    <row>
+	      <entry>0x09</entry>
+	      <entry>TeleMega Kalman and Voltage Data</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </informaltable>
+      <para>
+	TeleMega has a lot of sensors, and so it splits the sensor
+	data into two packets. The raw IMU data are sent more often;
+	the voltage values don't change very fast, and the Kalman
+	values can be reconstructed from the IMU data.
+      </para>
+      <para>
+	IMU Sensor Data packets are transmitted once per second on the
+	ground, 10 times per second during ascent and once per second
+	during descent and landing
+      </para>
+      <para>
+	Kalman and Voltage Data packets are transmitted once per second on the
+	ground, 5 times per second during ascent and once per second
+	during descent and landing
+      </para>
+      <para>
+	The high-g accelerometer is reported separately from the data
+	for the 9-axis IMU (accel/gyro/mag). The 9-axis IMU is mounted
+	so that the X axis is "across" the board (along the short
+	axis0, the Y axis is "along" the board (along the long axis,
+	with the high-g accelerometer) and the Z axis is "through" the
+	board (perpendicular to the board). Rotation measurements are
+	around the respective axis, so Y rotation measures the spin
+	rate of the rocket while X and Z rotation measure the tilt
+	rate.
+      </para>
+      <para>
+	The overall tilt angle of the rocket is computed by first
+	measuring the orientation of the rocket on the pad using the 3
+	axis accelerometer, and then integrating the overall tilt rate
+	from the 3 axis gyroscope to compute the total orientation
+	change of the airframe since liftoff.
+      </para>
+      <table frame='all'>
+	<title>TeleMega IMU Sensor Packet Contents</title>
+	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='center' colwidth='3*' colname='Data Type'/>
+	  <colspec align='left' colwidth='3*' colname='Name'/>
+	  <colspec align='left' colwidth='9*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry align='center'>Offset</entry>
+	      <entry align='center'>Data Type</entry>
+	      <entry align='center'>Name</entry>
+	      <entry align='center'>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>5</entry><entry>uint8_t</entry><entry>orient</entry><entry>Angle from vertical in degrees</entry>
+	    </row>
+	    <row>
+	      <entry>6</entry><entry>int16_t</entry><entry>accel</entry><entry>High G accelerometer</entry>
+	    </row>
+	    <row>
+	      <entry>8</entry><entry>int32_t</entry><entry>pres</entry><entry>pressure (Pa * 10)</entry>
+	    </row>
+	    <row>
+	      <entry>12</entry><entry>int16_t</entry><entry>temp</entry><entry>temperature (°C * 100)</entry>
+	    </row>
+	    <row>
+	      <entry>14</entry><entry>int16_t</entry><entry>accel_x</entry><entry>X axis acceleration (across)</entry>
+	    </row>
+	    <row>
+	      <entry>16</entry><entry>int16_t</entry><entry>accel_y</entry><entry>Y axis acceleration (along)</entry>
+	    </row>
+	    <row>
+	      <entry>18</entry><entry>int16_t</entry><entry>accel_z</entry><entry>Z axis acceleration (through)</entry>
+	    </row>
+	    <row>
+	      <entry>20</entry><entry>int16_t</entry><entry>gyro_x</entry><entry>X axis rotation (across)</entry>
+	    </row>
+	    <row>
+	      <entry>22</entry><entry>int16_t</entry><entry>gyro_y</entry><entry>Y axis rotation (along)</entry>
+	    </row>
+	    <row>
+	      <entry>24</entry><entry>int16_t</entry><entry>gyro_z</entry><entry>Z axis rotation (through)</entry>
+	    </row>
+	    <row>
+	      <entry>26</entry><entry>int16_t</entry><entry>mag_x</entry><entry>X field strength (across)</entry>
+	    </row>
+	    <row>
+	      <entry>28</entry><entry>int16_t</entry><entry>mag_y</entry><entry>Y field strength (along)</entry>
+	    </row>
+	    <row>
+	      <entry>30</entry><entry>int16_t</entry><entry>mag_z</entry><entry>Z field strength (through)</entry>
+	    </row>
+	    <row>
+	      <entry>32</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </table>
+      <table frame='all'>
+	<title>TeleMega Kalman and Voltage Data Packet Contents</title>
+	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='center' colwidth='3*' colname='Data Type'/>
+	  <colspec align='left' colwidth='3*' colname='Name'/>
+	  <colspec align='left' colwidth='9*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry align='center'>Offset</entry>
+	      <entry align='center'>Data Type</entry>
+	      <entry align='center'>Name</entry>
+	      <entry align='center'>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>5</entry><entry>uint8_t</entry><entry>state</entry><entry>Flight state</entry>
+	    </row>
+	    <row>
+	      <entry>6</entry><entry>int16_t</entry><entry>v_batt</entry><entry>battery voltage</entry>
+	    </row>
+	    <row>
+	      <entry>8</entry><entry>int16_t</entry><entry>v_pyro</entry><entry>pyro battery voltage</entry>
+	    </row>
+	    <row>
+	      <entry>10</entry><entry>int8_t[6]</entry><entry>sense</entry><entry>pyro continuity sense</entry>
+	    </row>
+	    <row>
+	      <entry>16</entry><entry>int32_t</entry><entry>ground_pres</entry><entry>Average barometer reading on ground</entry>
+	    </row>
+	    <row>
+	      <entry>20</entry><entry>int16_t</entry><entry>ground_accel</entry><entry>Average accelerometer reading on ground</entry>
+	    </row>
+	    <row>
+	      <entry>22</entry><entry>int16_t</entry><entry>accel_plus_g</entry><entry>Accel calibration at +1g</entry>
+	    </row>
+	    <row>
+	      <entry>24</entry><entry>int16_t</entry><entry>accel_minus_g</entry><entry>Accel calibration at -1g</entry>
+	    </row>
+	    <row>
+	      <entry>26</entry><entry>int16_t</entry><entry>acceleration</entry><entry>m/s² * 16</entry>
+	    </row>
+	    <row>
+	      <entry>28</entry><entry>int16_t</entry><entry>speed</entry><entry>m/s * 16</entry>
+	    </row>
+	    <row>
+	      <entry>30</entry><entry>int16_t</entry><entry>height</entry><entry>m</entry>
+	    </row>
+	    <row>
+	      <entry>32</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </table>
+    </section>
+    <section>
+      <title>TeleMetrum v2 Sensor  Data</title>
+      <informaltable frame='none' label='' tocentry='0'>
+	<tgroup cols='2' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='left' colwidth='3*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry>Type</entry>
+	      <entry>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>0x0A</entry>
+	      <entry>TeleMetrum v2 Sensor Data</entry>
+	    </row>
+	    <row>
+	      <entry>0x0B</entry>
+	      <entry>TeleMetrum v2 Calibration Data</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </informaltable>
+      <para>
+	TeleMetrum v2 has higher resolution barometric data than
+	TeleMetrum v1, and so the constant calibration data is
+	split out into a separate packet.
+      </para>
+      <para>
+	TeleMetrum v2 Sensor Data packets are transmitted once per second on the
+	ground, 10 times per second during ascent and once per second
+	during descent and landing
+      </para>
+      <para>
+	TeleMetrum v2 Calibration Data packets are always transmitted once per second.
+      </para>
+      <table frame='all'>
+	<title>TeleMetrum v2 Sensor Packet Contents</title>
+	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='center' colwidth='3*' colname='Data Type'/>
+	  <colspec align='left' colwidth='3*' colname='Name'/>
+	  <colspec align='left' colwidth='9*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry align='center'>Offset</entry>
+	      <entry align='center'>Data Type</entry>
+	      <entry align='center'>Name</entry>
+	      <entry align='center'>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>5</entry><entry>uint8_t</entry><entry>state</entry><entry>Flight state</entry>
+	    </row>
+	    <row>
+	      <entry>6</entry><entry>int16_t</entry><entry>accel</entry><entry>accelerometer</entry>
+	    </row>
+	    <row>
+	      <entry>8</entry><entry>int32_t</entry><entry>pres</entry><entry>pressure sensor (Pa * 10)</entry>
+	    </row>
+	    <row>
+	      <entry>12</entry><entry>int16_t</entry><entry>temp</entry><entry>temperature sensor (°C * 100)</entry>
+	    </row>
+
+	    <row>
+	      <entry>14</entry><entry>int16_t</entry><entry>acceleration</entry><entry>m/s² * 16</entry>
+	    </row>
+	    <row>
+	      <entry>16</entry><entry>int16_t</entry><entry>speed</entry><entry>m/s * 16</entry>
+	    </row>
+	    <row>
+	      <entry>18</entry><entry>int16_t</entry><entry>height</entry><entry>m</entry>
+	    </row>
+
+	    <row>
+	      <entry>20</entry><entry>int16_t</entry><entry>v_batt</entry><entry>battery voltage</entry>
+	    </row>
+	    <row>
+	      <entry>22</entry><entry>int16_t</entry><entry>sense_d</entry><entry>drogue continuity sense</entry>
+	    </row>
+	    <row>
+	      <entry>24</entry><entry>int16_t</entry><entry>sense_m</entry><entry>main continuity sense</entry>
+	    </row>
+	    <row>
+	      <entry>26</entry><entry>pad[6]</entry><entry>pad bytes</entry><entry></entry>
+	    </row>
+	    <row>
+	      <entry>32</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </table>
+      <table frame='all'>
+	<title>TeleMetrum v2 Calibration Data Packet Contents</title>
+	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='center' colwidth='3*' colname='Data Type'/>
+	  <colspec align='left' colwidth='3*' colname='Name'/>
+	  <colspec align='left' colwidth='9*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry align='center'>Offset</entry>
+	      <entry align='center'>Data Type</entry>
+	      <entry align='center'>Name</entry>
+	      <entry align='center'>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>5</entry><entry>pad[3]</entry><entry>pad bytes</entry><entry></entry>
+	    </row>
+	    <row>
+	      <entry>8</entry><entry>int32_t</entry><entry>ground_pres</entry><entry>Average barometer reading on ground</entry>
+	    </row>
+	    <row>
+	      <entry>12</entry><entry>int16_t</entry><entry>ground_accel</entry><entry>Average accelerometer reading on ground</entry>
+	    </row>
+	    <row>
+	      <entry>14</entry><entry>int16_t</entry><entry>accel_plus_g</entry><entry>Accel calibration at +1g</entry>
+	    </row>
+	    <row>
+	      <entry>16</entry><entry>int16_t</entry><entry>accel_minus_g</entry><entry>Accel calibration at -1g</entry>
+	    </row>
+	    <row>
+	      <entry>18</entry><entry>pad[14]</entry><entry>pad bytes</entry><entry></entry>
+	    </row>
+	    <row>
+	      <entry>32</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </table>
+    </section>
+    <section>
       <title>Configuration Data</title>
       <informaltable frame='none' label='' tocentry='0'>
 	<tgroup cols='2' align='center' colsep='1' rowsep='1'>
@@ -315,7 +625,7 @@
       </informaltable>
       <para>
 	This packet provides all of the information available from the
-	Venus SkyTraq GPS receiver—position, time, speed and precision
+	GPS receiver—position, time, speed and precision
 	estimates. 
       </para>
       <para>
@@ -604,62 +914,169 @@
 	</tgroup>
       </table>
     </section>
+    <section>
+      <title>Companion Data Data</title>
+      <informaltable frame='none' label='' tocentry='0'>
+	<tgroup cols='2' align='center' colsep='1' rowsep='1'>
+	  <colspec align='center' colwidth='*' colname='Offset'/>
+	  <colspec align='left' colwidth='3*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry>Type</entry>
+	      <entry>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>0x07</entry>
+	      <entry>Companion Data Data</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </informaltable>
+      <para>
+	When a companion board is attached to TeleMega or TeleMetrum,
+	it can provide telemetry data to be included in the
+	downlink. The companion board can provide up to 12 16-bit data
+	values.
+      </para>
+      <para>
+	The companion board itself specifies the transmission rate. On
+	the ground and during descent, that rate is limited to one
+	packet per second. During ascent, that rate is limited to 10
+	packets per second.
+      </para>
+      <table frame='all'>
+	<title>Companion Data Contents</title>
+	<tgroup cols='4' align='center' colsep='1' rowsep='1'>
+	  <colspec align='right' colwidth='*' colname='Offset'/>
+	  <colspec align='center' colwidth='3*' colname='Data Type'/>
+	  <colspec align='left' colwidth='3*' colname='Name'/>
+	  <colspec align='left' colwidth='9*' colname='Description'/>
+	  <thead>
+	    <row>
+	      <entry align='center'>Offset</entry>
+	      <entry align='center'>Data Type</entry>
+	      <entry align='center'>Name</entry>
+	      <entry align='center'>Description</entry>
+	    </row>
+	  </thead>
+	  <tbody>
+	    <row>
+	      <entry>5</entry><entry>uint8_t</entry><entry>board_id</entry>
+	      <entry>Type of companion board attached</entry>
+	    </row>
+	    <row>
+	      <entry>6</entry><entry>uint8_t</entry><entry>update_period</entry>
+	      <entry>How often telemetry is sent, in 1/100ths of a second</entry>
+	    </row>
+	    <row>
+	      <entry>7</entry><entry>uint8_t</entry><entry>channels</entry>
+	      <entry>Number of data channels supplied</entry>
+	    </row>
+	    <row>
+	      <entry>8</entry><entry>uint16_t[12]</entry><entry>companion_data</entry>
+	      <entry>Up to 12 channels of 16-bit companion data</entry>
+	    </row>
+	    <row>
+	      <entry>32</entry>
+	    </row>
+	  </tbody>
+	</tgroup>
+      </table>
+    </section>
   </section>
   <section>
     <title>Data Transmission</title>
     <para>
-      Altus Metrum devices use the Texas Instruments CC1111
-      microcontroller which includes an integrated sub-GHz digital
-      transceiver. This transceiver is used to both transmit and
-      receive the telemetry packets. This section discusses what
-      modulation scheme is used and how this device is configured.
+      Altus Metrum devices use Texas Instruments sub-GHz digital radio
+      products. Ground stations use parts with HW FEC while some
+      flight computers perform FEC in software. TeleGPS is
+      transmit-only.
     </para>
+    <table>
+      <title>Altus Metrum Radio Parts</title>
+      <tgroup cols='3'>
+	<colspec align="center" colwidth="*" colname="Part Number"/>
+	<colspec align="center" colwidth="*" colname="Description"/>
+	<colspec align="left" colwidth="*" colname="Used in"/>
+	<thead>
+	  <row>
+	    <entry align="center">Part Number</entry>
+	    <entry align="center">Description</entry>
+	    <entry align="center">Used in</entry>
+	  </row>
+	</thead>
+	<tbody>
+	  <row>
+	    <entry>CC1111</entry><entry>10mW transceiver with integrated SoC</entry>
+	    <entry>TeleDongle v0.2, TeleBT v1.0, TeleMetrum v1.x, TeleMini</entry>
+	  </row>
+	  <row>
+	    <entry>CC1120</entry><entry>35mW transceiver with SW FEC</entry>
+	    <entry>TeleMetrum v2, TeleMega</entry>
+	  </row>
+	  <row>
+	    <entry>CC1200</entry><entry>35mW transceiver with HW FEC</entry>
+	    <entry>TeleDongle v3.0, TeleBT v3.0</entry>
+	  </row>
+	  <row>
+	    <entry>CC115L</entry><entry>14mW transmitter with SW FEC</entry>
+	    <entry>TeleGPS</entry>
+	  </row>
+	</tbody>
+      </tgroup>
+    </table>
     <section>
       <title>Modulation Scheme</title>
       <para>
 	Texas Instruments provides a tool for computing modulation
 	parameters given a desired modulation format and basic bit
-	rate. For AltOS, the basic bit rate was specified as 38 kBaud,
-	resulting in the following signal parmeters:
+	rate.
+
+	While we might like to use something with better low-signal
+	performance like BPSK, the radios we use don't support that,
+	but do support Gaussian frequency shift keying (GFSK). Regular
+	frequency shift keying (FSK) encodes the signal by switching
+	the carrier between two frequencies. The Gaussian version is
+	essentially the same, but the shift between frequencies gently
+	follows a gaussian curve, rather than switching
+	immediately. This tames the bandwidth of the signal without
+	affecting the ability to transmit data.
+
+	For AltOS, there are three available bit rates, 38.4kBaud,
+	9.6kBaud and 2.4kBaud resulting in the following signal
+	parmeters:
+
       </para>
       <table>
 	<title>Modulation Scheme</title>
 	<tgroup cols='3'>
-	  <colspec align="center" colwidth="*" colname="parameter"/>
-	  <colspec align="center" colwidth="*" colname="value"/>
-	  <colspec align="center" colwidth="*" colname="description"/>
+	  <colspec align="center" colwidth="*" colname="rate"/>
+	  <colspec align="center" colwidth="*" colname="deviation"/>
+	  <colspec align="center" colwidth="*" colname="bandwidth"/>
 	  <thead>
 	    <row>
-	      <entry align='center'>Parameter</entry>
-	      <entry align='center'>Value</entry>
-	      <entry align='center'>Description</entry>
+	      <entry align='center'>Rate</entry>
+	      <entry align='center'>Deviation</entry>
+	      <entry align='center'>Receiver Bandwidth</entry>
 	    </row>
 	  </thead>
 	  <tbody>
 	    <row>
-	      <entry>Modulation</entry>
-	      <entry>GFSK</entry>
-	      <entry>Gaussian Frequency Shift Keying</entry>
-	    </row>
-	    <row>
-	      <entry>Deviation</entry>
-	      <entry>20.507812 kHz</entry>
-	      <entry>Frequency modulation</entry>
-	    </row>
-	    <row>
-	      <entry>Data rate</entry>
-	      <entry>38.360596 kBaud</entry>
-	      <entry>Raw bit rate</entry>
+	      <entry>38.4kBaud</entry>
+	      <entry>20.5kHz</entry>
+	      <entry>100kHz</entry>
 	    </row>
 	    <row>
-	      <entry>RX Filter Bandwidth</entry>
-	      <entry>93.75 kHz</entry>
-	      <entry>Receiver Band pass filter bandwidth</entry>
+	      <entry>9.6kBaud</entry>
+	      <entry>5.125kHz</entry>
+	      <entry>25kHz</entry>
 	    </row>
 	    <row>
-	      <entry>IF Frequency</entry>
-	      <entry>140.62 kHz</entry>
-	      <entry>Receiver intermediate frequency</entry>
+	      <entry>2.4kBaud</entry>
+	      <entry>1.5kHz</entry>
+	      <entry>5kHz</entry>
 	    </row>
 	  </tbody>
 	</tgroup>
@@ -668,10 +1085,12 @@
     <section>
       <title>Error Correction</title>
       <para>
-	The cc1111 provides forward error correction in hardware,
-	which AltOS uses to improve reception of weak signals. The
-	overall effect of this is to halve the available bandwidth for
-	data from 38 kBaud to 19 kBaud.
+	The cc1111 and cc1200 provide forward error correction in
+	hardware; on the cc1120 and cc115l that's done in
+	software. AltOS uses this to improve reception of weak
+	signals. As it's a rate 1/2 encoding, each bit of data takes
+	two bits when transmitted, so the effective data rate is half
+	of the raw transmitted bit rate.
       </para>
       <table>
 	<title>Error Correction</title>