From 43e2275250d9c91560a770942f3c06a8f74ed501 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 12 Aug 2017 01:37:07 -0400
Subject: install: Add 'fat-install' target

This uses the existing --with-fat-dir option and instead of installing
everything to that directory, creates a normal ikiwiki hierarchy of
files including .mdwn files, whacked release notes html files and all
of the appropriate packages.

One stop shopping for adding the release to the web site.

Attempted to update Releasing file to match.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 Makefile.am           |  7 +++++++
 Releasing             | 45 ++++++++++++++++++++++++++++++---------------
 altosui/Makefile.am   | 34 +++++++++++++++++++++++-----------
 altosui/mdwn.tmpl     |  7 +++++++
 configure.ac          |  2 +-
 micropeak/Makefile.am | 35 ++++++++++++++++++++++++-----------
 micropeak/mdwn.tmpl   |  7 +++++++
 telegps/Makefile.am   | 35 ++++++++++++++++++++++++-----------
 telegps/mdwn.tmpl     |  7 +++++++
 9 files changed, 130 insertions(+), 49 deletions(-)
 create mode 100644 altosui/mdwn.tmpl
 create mode 100644 micropeak/mdwn.tmpl
 create mode 100644 telegps/mdwn.tmpl

diff --git a/Makefile.am b/Makefile.am
index 2fdbd109..cac02c62 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -18,6 +18,13 @@ ChangeLog:
 
 dist-hook: ChangeLog
 
+if FATINSTALL
+fat-install: fat
+	cd altosui && $(MAKE) fat-install
+	cd telegps && $(MAKE) fat-install
+	cd micropeak && $(MAKE) fat-install
+endif
+
 fat:
 	cd src && $(MAKE) all
 	cd doc && $(MAKE) all
diff --git a/Releasing b/Releasing
index cb92b1e9..5780f3ce 100644
--- a/Releasing
+++ b/Releasing
@@ -7,6 +7,26 @@ Adding a product to the release
 
 	Add the firmware to altosui/altos-windows.nsi.in
 
+	Add the firmware to telegps/Makefile.am
+
+	Add the firmware to telegps/telegps-windows.nsi.in
+
+	Add the firmware to Releasing
+
+These are Keith's notes on how to do a release
+
+	- update the version and date in configure.ac if Bdale hasn't already
+
+	- make sure there is a doc/release-notes-<version>.inc
+
+	- make sure doc/release-notes.inc points at that
+
+	- make sure doc/Makefile points at that too
+
+	- make sure that doc/altusmetrum-docinfo.xml has the right copyright 
+	  year, and add release to the revision history at the front (release 
+	  notes will be pulled in by release-notes.inc)
+
 These are Bdale's notes on how to do a release.
 
 	- make sure build environment is up to date
@@ -72,10 +92,12 @@ These are Bdale's notes on how to do a release.
 	make distclean
 
 	./autogen.sh --enable-multi-arch \
-		--with-fat-dir=/home/bdale/web/altusmetrum/AltOS/releases
+		--with-fat-dir=/home/bdale/web/altusmetrum/
 	make && make fat
 
-		this pushes packages for each platform to web site
+		this pushes packages for each platform and application
+		to web site, including auto-generated mdwn files and
+		release notes in html format.
 
 	# store a stable copy of ARM binaries for production use
 	cp src/chaoskey-v1.0/{*.elf,*.ihx} \
@@ -110,22 +132,15 @@ These are Bdale's notes on how to do a release.
 	- copy the relevant release notes .html file from doc/ to 
 	    /home/bdale/web/altusmetrum/AltOS/releases/<rev>
 
-	(cd ~/web/altusmetrum/AltOS/releases/<rev> ; rm *.tar.bz2)
-
-	- create /home/bdale/web/altusmetrum/MicroPeak/releases/<rev>,
-	  and move the MicroPeak installers from AltOS/releases to there
-		
-	- create /home/bdale/web/altusmetrum/TeleGPS/releases/<rev>,
-	  and move the TeleGPS installers from AltOS/releases to there
-		
-	- go edit ~/web/altusmetrum/AltOS/releases/<rev>.mdwn, 
-	  /home/bdale/web/altusmetrum/MicroPeak/releases/<rev>.mdwn, and
-	  /home/bdale/web/altusmetrum/TeleGPS/releases/<rev>.mdwn
-
-		- make sure the Windows stuff is like 1-4-1, not 1.4.1!
+	- Push new release to web site
 
+	make fat-install
 	(cd doc ; make publish)
 
+	(cd ~/web/altusmetrum/ && git add AltOS/releases
+	TeleGPS/releases MicroPeak/releases && git commit -m'Release
+	<rev>' && git push origin master)
+
 		this pushes fresh documents to the web site
 
 	sudo debian/rules clean
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index 31ec06bc..53762aec 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -171,6 +171,8 @@ LINUX_DIST=Altos-Linux-$(VERSION).tar.bz2
 LINUX_SH=Altos-Linux-$(VERSION).sh
 MACOSX_DIST=Altos-Mac-$(VERSION).dmg
 WINDOWS_DIST=Altos-Windows-$(VERSION_DASH).exe
+MDWN=$(VERSION).mdwn
+MDWNTMPL=mdwn.tmpl
 
 FAT_FILES=$(FATJAR) $(ALTOSLIB_CLASS) $(ALTOSUILIB_CLASS) $(FREETTS_CLASS) $(JFREECHART_CLASS) $(JCOMMON_CLASS)
 
@@ -185,14 +187,14 @@ MACOSX_EXTRA=$(FIRMWARE)
 
 WINDOWS_FILES=$(FAT_FILES) $(FIRMWARE) altos.dll altos64.dll $(top_srcdir)/altusmetrum.inf $(top_srcdir)/altusmetrum.cat $(WINDOWS_ICONS)
 
-all-local: classes/altosui $(JAR) altosui altosui-test altosui-jdb
+all-local: classes/altosui $(JAR) altosui altosui-test altosui-jdb $(MDWN)
 
 clean-local:
 	-rm -rf classes $(JAR) $(FATJAR) \
 		Altos-Linux-*.tar.bz2 Altos-Linux-*.sh Altos-Mac-*.dmg Altos-Windows-*.exe \
 		windows altoslib_*.jar altosuilib_*.jar $(FREETTS_CLASS) \
 		$(JFREECHART_CLASS) $(JCOMMON_CLASS) $(LIBALTOS) Manifest.txt Manifest-fat.txt altos-windows.log altos-windows.nsi \
-		altosui altosui-test altosui-jdb macosx linux *.desktop
+		altosui altosui-test altosui-jdb macosx linux *.desktop $(MDWN)
 
 EXTRA_DIST = $(desktop_file).in
 
@@ -202,18 +204,17 @@ $(desktop_file): $(desktop_file).in
 
 if FATINSTALL
 
-FATTARGET=$(FATDIR)/$(VERSION)
+FATTARGET=$(FATDIR)/AltOS/releases/$(VERSION)
 
-LINUX_DIST_TARGET=$(FATTARGET)/$(LINUX_DIST)
 LINUX_SH_TARGET=$(FATTARGET)/$(LINUX_SH)
 MACOSX_DIST_TARGET=$(FATTARGET)/$(MACOSX_DIST)
 WINDOWS_DIST_TARGET=$(FATTARGET)/$(WINDOWS_DIST)
+MDWN_TARGET=$(FATDIR)/AltOS/releases/$(MDWN)
+RELNOTES=release-notes-$(VERSION).html
+RELNOTES_SRC=$(top_builddir)/doc/$(RELNOTES)
+RELNOTES_TARGET=$(FATTARGET)/$(RELNOTES)
 
-fat: $(LINUX_DIST_TARGET) $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET)
-
-$(LINUX_DIST_TARGET): $(LINUX_DIST)
-	mkdir -p $(FATTARGET)
-	cp -p $< $@
+fat-install: fat $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET) $(MDWN_TARGET) $(RELNOTES_TARGET)
 
 $(LINUX_SH_TARGET): $(LINUX_SH)
 	mkdir -p $(FATTARGET)
@@ -227,10 +228,21 @@ $(WINDOWS_DIST_TARGET): $(WINDOWS_DIST)
 	mkdir -p $(FATTARGET)
 	cp -p $< $@
 
-else
-fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+$(MDWN_TARGET): $(MDWN)
+	mkdir -p $(FATTARGET)
+	cp -p $< $@
+
+$(RELNOTES_TARGET): $(RELNOTES_SRC)
+	mkdir -p $(FATTARGET)
+	sh $(top_srcdir)/doc/install-html -d $(FATTARGET) $(RELNOTES_SRC)
+
 endif
 
+$(MDWN): $(MDWNTMPL)
+	sed -e 's/%version%/$(VERSION)/g' -e 's/%version_dash%/$(VERSION_DASH)/g' $(MDWNTMPL) > $@
+
+fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+
 altosuidir=$(datadir)/java
 
 install-altosuiJAVA: altosui.jar
diff --git a/altosui/mdwn.tmpl b/altosui/mdwn.tmpl
new file mode 100644
index 00000000..b64825a6
--- /dev/null
+++ b/altosui/mdwn.tmpl
@@ -0,0 +1,7 @@
+[[!inline pages="./%version%/release-notes-%version%.html" rss="no" raw="yes" ]]
+
+- Available Files:
+	- [Windows Installer](/AltOS/releases/%version%/Altos-Windows-%version_dash%.exe)
+	- [Mac OS X Package](/AltOS/releases/%version%/Altos-Mac-%version%.dmg)
+	- [Linux](/AltOS/releases/%version%/Altos-Linux-%version%.sh)
+	- [Source Snapshot](http://git.gag.com/?p=fw/altos;a=snapshot;h=refs/tags/%version%;sf=tgz)
diff --git a/configure.ac b/configure.ac
index f4509b4c..ec221df1 100644
--- a/configure.ac
+++ b/configure.ac
@@ -165,7 +165,7 @@ AM_CONDITIONAL([ANDROID_RELEASE], [test x$ANDROID_RELEASE = xyes])
 AC_SUBST(ANDROID_SDK)
 
 AC_ARG_WITH(fat-dir, AS_HELP_STRING([--with-fat-dir=PATH],
-	    [Set the directory to install the 'fat' distribution files to (defaults to not installing)]),
+	    [Set the directory to install the 'fat-install' distribution files to (defaults to no such target)]),
 	    [FATDIR=$withval], [FATDIR=none])
 
 AM_CONDITIONAL(FATINSTALL, [test "x$FATDIR" != "xnone"])
diff --git a/micropeak/Makefile.am b/micropeak/Makefile.am
index 52b62358..6f674b19 100644
--- a/micropeak/Makefile.am
+++ b/micropeak/Makefile.am
@@ -95,7 +95,7 @@ desktopdir = $(datadir)/applications
 desktop_file = altusmetrum-micropeak.desktop
 desktop_SCRIPTS = $(desktop_file)
 
-all-local: micropeak-test micropeak-jdb $(JAR)
+all-local: micropeak-test micropeak-jdb $(JAR) $(MDWN)
 
 clean-local:
 	-rm -rf classes $(JAR) $(FATJAR) \
@@ -103,7 +103,7 @@ clean-local:
 		altoslib_*.jar altosuilib_*.jar \
 		$(JFREECHART_CLASS) $(JCOMMON_CLASS) $(LIBALTOS) Manifest.txt Manifest-fat.txt \
 		micropeak micropeak-test micropeak-jdb macosx linux windows micropeak-windows.log \
-		micropeak-windows.nsi *.desktop
+		micropeak-windows.nsi *.desktop $(MDWN)
 
 EXTRA_DIST = $(desktop_file).in
 
@@ -115,6 +115,8 @@ LINUX_DIST=MicroPeak-Linux-$(VERSION).tar.bz2
 LINUX_SH=MicroPeak-Linux-$(VERSION).sh
 MACOSX_DIST=MicroPeak-Mac-$(VERSION).dmg
 WINDOWS_DIST=MicroPeak-Windows-$(VERSION_DASH).exe
+MDWN=$(VERSION).mdwn
+MDWNTMPL=mdwn.tmpl
 
 MICROPEAK_DOC=$(top_srcdir)/doc/micropeak.pdf
 
@@ -153,18 +155,17 @@ WINDOWS_FILES=$(FAT_FILES) altos.dll altos64.dll $(DOC) $(WINDOWS_ICONS) $(WINDO
 
 if FATINSTALL
 
-FATTARGET=$(FATDIR)/$(VERSION)
+FATTARGET=$(FATDIR)/MicroPeak/releases/$(VERSION)
 
-LINUX_DIST_TARGET=$(FATTARGET)/$(LINUX_DIST)
 LINUX_SH_TARGET=$(FATTARGET)/$(LINUX_SH)
 MACOSX_DIST_TARGET=$(FATTARGET)/$(MACOSX_DIST)
 WINDOWS_DIST_TARGET=$(FATTARGET)/$(WINDOWS_DIST)
+MDWN_TARGET=$(FATDIR)/MicroPeak/releases/$(MDWN)
+RELNOTES=release-notes-$(VERSION).html
+RELNOTES_SRC=$(top_builddir)/doc/$(RELNOTES)
+RELNOTES_TARGET=$(FATTARGET)/$(RELNOTES)
 
-fat: $(LINUX_DIST_TARGET) $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET)
-
-$(LINUX_DIST_TARGET): $(LINUX_DIST)
-	mkdir -p $(FATTARGET)
-	cp -p $< $@
+fat-install: $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET) $(MDWN_TARGET) $(RELNOTES_TARGET)
 
 $(LINUX_SH_TARGET): $(LINUX_SH)
 	mkdir -p $(FATTARGET)
@@ -178,10 +179,22 @@ $(WINDOWS_DIST_TARGET): $(WINDOWS_DIST)
 	mkdir -p $(FATTARGET)
 	cp -p $< $@
 
-else
-fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+$(MDWN_TARGET): $(MDWN)
+	mkdir -p $(FATTARGET)
+	cp -p $< $@
+
+$(RELNOTES_TARGET): $(RELNOTES_SRC)
+	mkdir -p $(FATTARGET)
+	sh $(top_srcdir)/doc/install-html -d $(FATTARGET) $(RELNOTES_SRC)
+
 endif
 
+$(MDWN): $(MDWNTMPL)
+	sed -e 's/%version%/$(VERSION)/g' -e 's/%version_dash%/$(VERSION_DASH)/g' $(MDWNTMPL) > $@
+
+fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+
+
 micropeak: Makefile
 	echo "#!/bin/sh" > $@
 	echo 'exec java  -Djava.library.path="$(altoslibdir)" -jar "$(micropeakdir)/micropeak.jar" "$$@"' >> $@
diff --git a/micropeak/mdwn.tmpl b/micropeak/mdwn.tmpl
new file mode 100644
index 00000000..232dde5b
--- /dev/null
+++ b/micropeak/mdwn.tmpl
@@ -0,0 +1,7 @@
+[[!inline pages="./%version%/release-notes-%version%.html" rss="no" raw="yes" ]]
+
+- Available Files:
+	- [Windows Installer](/MicroPeak/releases/%version%/MicroPeak-Windows-%version_dash%.exe)
+	- [Mac OS X Package](/MicroPeak/releases/%version%/MicroPeak-Mac-%version%.dmg)
+	- [Linux](/MicroPeak/releases/%version%/MicroPeak-Linux-%version%.sh)
+	- [Source Snapshot](http://git.gag.com/?p=fw/altos;a=snapshot;h=refs/tags/%version%;sf=tgz)
diff --git a/telegps/Makefile.am b/telegps/Makefile.am
index bd69bd50..a1c4a0a1 100644
--- a/telegps/Makefile.am
+++ b/telegps/Makefile.am
@@ -120,7 +120,7 @@ desktopdir = $(datadir)/applications
 desktop_file = altusmetrum-telegps.desktop
 desktop_SCRIPTS = $(desktop_file)
 
-all-local: telegps-test telegps-jdb $(JAR)
+all-local: telegps-test telegps-jdb $(JAR) $(MDWN)
 
 clean-local:
 	-rm -rf classes $(JAR) $(FATJAR) \
@@ -128,7 +128,7 @@ clean-local:
 		altoslib_*.jar altosuilib_*.jar \
 		$(JFREECHART_CLASS) $(JCOMMON_CLASS) $(FREETTS_CLASS) $(LIBALTOS) Manifest.txt Manifest-fat.txt \
 		telegps telegps-test telegps-jdb macosx linux windows telegps-windows.log \
-		telegps-windows.nsi *.desktop
+		telegps-windows.nsi *.desktop $(MDWN)
 
 EXTRA_DIST = $(desktop_file).in
 
@@ -140,6 +140,8 @@ LINUX_DIST=TeleGPS-Linux-$(VERSION).tar.bz2
 LINUX_SH=TeleGPS-Linux-$(VERSION).sh
 MACOSX_DIST=TeleGPS-Mac-$(VERSION).dmg
 WINDOWS_DIST=TeleGPS-Windows-$(VERSION_DASH).exe
+MDWN=$(VERSION).mdwn
+MDWNTMPL=mdwn.tmpl
 
 TELEGPS_DOC=$(top_srcdir)/doc/telegps.pdf
 
@@ -159,18 +161,17 @@ WINDOWS_FILES=$(FAT_FILES) altos.dll altos64.dll $(top_srcdir)/altusmetrum.inf $
 
 if FATINSTALL
 
-FATTARGET=$(FATDIR)/$(VERSION)
+FATTARGET=$(FATDIR)/TeleGPS/releases/$(VERSION)
 
-LINUX_DIST_TARGET=$(FATTARGET)/$(LINUX_DIST)
 LINUX_SH_TARGET=$(FATTARGET)/$(LINUX_SH)
 MACOSX_DIST_TARGET=$(FATTARGET)/$(MACOSX_DIST)
 WINDOWS_DIST_TARGET=$(FATTARGET)/$(WINDOWS_DIST)
+MDWN_TARGET=$(FATDIR)/TeleGPS/releases/$(MDWN)
+RELNOTES=release-notes-$(VERSION).html
+RELNOTES_SRC=$(top_builddir)/doc/$(RELNOTES)
+RELNOTES_TARGET=$(FATTARGET)/$(RELNOTES)
 
-fat: $(LINUX_DIST_TARGET) $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET)
-
-$(LINUX_DIST_TARGET): $(LINUX_DIST)
-	mkdir -p $(FATTARGET)
-	cp -p $< $@
+fat-install: $(LINUX_SH_TARGET) $(MACOSX_DIST_TARGET) $(WINDOWS_DIST_TARGET) $(MDWN_TARGET) $(RELNOTES_TARGET)
 
 $(LINUX_SH_TARGET): $(LINUX_SH)
 	mkdir -p $(FATTARGET)
@@ -184,10 +185,22 @@ $(WINDOWS_DIST_TARGET): $(WINDOWS_DIST)
 	mkdir -p $(FATTARGET)
 	cp -p $< $@
 
-else
-fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+$(MDWN_TARGET): $(MDWN)
+	mkdir -p $(FATTARGET)
+	cp -p $< $@
+
+$(RELNOTES_TARGET): $(RELNOTES_SRC)
+	mkdir -p $(FATTARGET)
+	sh $(top_srcdir)/doc/install-html -d $(FATTARGET) $(RELNOTES_SRC)
+
 endif
 
+$(MDWN): $(MDWNTMPL)
+	sed -e 's/%version%/$(VERSION)/g' -e 's/%version_dash%/$(VERSION_DASH)/g' $(MDWNTMPL) > $@
+
+fat: $(LINUX_DIST) $(LINUX_SH) $(MACOSX_DIST) $(WINDOWS_DIST)
+
+
 telegps: Makefile
 	echo "#!/bin/sh" > $@
 	echo 'exec java  -Djava.library.path="$(altoslibdir)" -jar "$(telegpsdir)/telegps.jar" "$$@"' >> $@
diff --git a/telegps/mdwn.tmpl b/telegps/mdwn.tmpl
new file mode 100644
index 00000000..05b3e40b
--- /dev/null
+++ b/telegps/mdwn.tmpl
@@ -0,0 +1,7 @@
+[[!inline pages="./%version%/release-notes-%version%.html" rss="no" raw="yes" ]]
+
+- Available Files:
+	- [Windows Installer](/TeleGPS/releases/%version%/TeleGPS-Windows-%version_dash%.exe)
+	- [Mac OS X Package](/TeleGPS/releases/%version%/TeleGPS-Mac-%version%.dmg)
+	- [Linux](/TeleGPS/releases/%version%/TeleGPS-Linux-%version%.sh)
+	- [Source Snapshot](http://git.gag.com/?p=fw/altos;a=snapshot;h=refs/tags/%version%;sf=tgz)
-- 
cgit v1.2.3


From cf20e213f39fb24f15e0ac94307c2d138fcadecb Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 24 Aug 2017 16:45:54 -0700
Subject: altos: Perform time comparisons using 16-bit arithmetic to handle
 wrap

Subtracting two 16-bit unsigned values to perform time comparisons
yields mystic results unless we carefully cast that to int16_t.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_flight.c |  2 +-
 src/kernel/ao_kalman.c | 18 +++++++++---------
 src/kernel/ao_sample.c |  2 +-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 50f2b68f..b0d911ed 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -269,7 +269,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 69a1b3de..d401a3c8 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -55,14 +55,14 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
 				(ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
 		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
 
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
 				(ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
 		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
@@ -141,13 +141,13 @@ ao_kalman_correct_baro(void)
 {
 	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
 		ao_k_speed  += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
 		ao_k_accel  += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
 		ao_k_speed  += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
 		ao_k_accel  += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
@@ -180,7 +180,7 @@ ao_kalman_correct_both(void)
 	ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -201,7 +201,7 @@ ao_kalman_correct_both(void)
 			(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -250,7 +250,7 @@ ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
 		ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
 		ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
@@ -285,9 +285,9 @@ ao_kalman(void)
 		ao_max_height = ao_height;
 	ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50)
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
 		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-	else if (ao_sample_tick - ao_sample_prev_tick > 5)
+	else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
 		ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
 	else 
 #endif
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 90ea07ad..f0ab0169 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -180,7 +180,7 @@ static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+	float	dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
-- 
cgit v1.2.3


From 3dde7f4d05414ac4907c91c68c88cc1d06233605 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 26 Aug 2017 19:14:10 -0700
Subject: micropeak: Track font changes in raw data display

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 micropeak/MicroPeak.java |  1 +
 micropeak/MicroRaw.java  | 11 ++++++++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/micropeak/MicroPeak.java b/micropeak/MicroPeak.java
index 607bf20c..749d0f64 100644
--- a/micropeak/MicroPeak.java
+++ b/micropeak/MicroPeak.java
@@ -262,6 +262,7 @@ public class MicroPeak extends MicroFrame implements ActionListener, ItemListene
 			@Override
 			public void windowClosing(WindowEvent e) {
 				statsTable.tell_closing();
+				raw.tell_closing();
 				Close();
 			}
 		});
diff --git a/micropeak/MicroRaw.java b/micropeak/MicroRaw.java
index d1d5d076..7a60499e 100644
--- a/micropeak/MicroRaw.java
+++ b/micropeak/MicroRaw.java
@@ -24,7 +24,11 @@ import javax.swing.*;
 import org.altusmetrum.altoslib_12.*;
 import org.altusmetrum.altosuilib_12.*;
 
-public class MicroRaw extends JTextArea {
+public class MicroRaw extends JTextArea implements AltosFontListener {
+
+	public void font_size_changed(int font_size) {
+		setFont(AltosUILib.table_value_font);
+	}
 
 	public void setData(MicroData data) {
 		StringWriter	sw = new StringWriter();
@@ -38,9 +42,14 @@ public class MicroRaw extends JTextArea {
 		setCaretPosition(0);
 	}
 
+	public void tell_closing() {
+		AltosUIPreferences.unregister_font_listener(this);
+	}
+
 	public MicroRaw() {
 		super(1, 30);
 		setFont(AltosUILib.table_value_font);
 		setEditable(false);
+		AltosUIPreferences.register_font_listener(this);
 	}
 }
-- 
cgit v1.2.3


From 465bb7242f39f6f8489e5fd52ce88031106c1c76 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 26 Aug 2017 19:15:07 -0700
Subject: altosuilib: Add "Huge" font size

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altosuilib/AltosUIConfigure.java | 2 +-
 altosuilib/AltosUILib.java       | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/altosuilib/AltosUIConfigure.java b/altosuilib/AltosUIConfigure.java
index e3d86724..6ca8c777 100644
--- a/altosuilib/AltosUIConfigure.java
+++ b/altosuilib/AltosUIConfigure.java
@@ -75,7 +75,7 @@ public class AltosUIConfigure
 
 	public int		row;
 
-	final static String[] font_size_names = { "Small", "Medium", "Large" };
+	final static String[] font_size_names = { "Small", "Medium", "Large", "Huge" };
 
 	public GridBagConstraints constraints (int x, int width, int fill) {
 		GridBagConstraints c = new GridBagConstraints();
diff --git a/altosuilib/AltosUILib.java b/altosuilib/AltosUILib.java
index ef706e36..81a8b131 100644
--- a/altosuilib/AltosUILib.java
+++ b/altosuilib/AltosUILib.java
@@ -36,6 +36,7 @@ public class AltosUILib extends AltosLib {
 	final public static int font_size_small = 1;
 	final public static int font_size_medium = 2;
 	final public static int font_size_large = 3;
+	final public static int font_size_huge = 4;
 
 	final public static int position_top_left = 0;
 	final public static int position_top = 1;
@@ -69,6 +70,11 @@ public class AltosUILib extends AltosLib {
 			status_size = 30;
 			table_size = 17;
 			break;
+		case font_size_huge:
+			brief_size = 30;
+			status_size = 36;
+			table_size = 24;
+			break;
 		}
 		label_font = new Font("Dialog", Font.PLAIN, brief_size);
 		value_font = new Font("Monospaced", Font.PLAIN, brief_size);
-- 
cgit v1.2.3


From f972000642f9c9835a0b7d14155d4c5695455d94 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 26 Aug 2017 19:15:59 -0700
Subject: altosui: Add --oneline mode to briefly summarize flights

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altosui/AltosUI.java | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index 4bc2a5f8..1c18dbb1 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -408,6 +408,7 @@ public class AltosUI extends AltosUIFrame {
 	static final int process_graph = 3;
 	static final int process_replay = 4;
 	static final int process_summary = 5;
+	static final int process_oneline = 6;
 
 	static boolean process_csv(File input) {
 		AltosRecordSet set = record_set(input);
@@ -530,12 +531,40 @@ public class AltosUI extends AltosUIFrame {
 		return true;
 	}
 
+	static boolean process_oneline(File file) {
+		AltosRecordSet set = record_set(file);
+		if (set == null)
+			return false;
+		System.out.printf("%s:", file.toString());
+		AltosFlightSeries series = make_series(set);
+		AltosFlightStats stats = new AltosFlightStats(series);
+//		if (stats.serial != AltosLib.MISSING)
+//			System.out.printf("Serial:       %5d\n", stats.serial);
+//		if (stats.flight != AltosLib.MISSING)
+//			System.out.printf("Flight:       %5d\n", stats.flight);
+//		if (stats.year != AltosLib.MISSING)
+//			System.out.printf("Date:    %04d-%02d-%02d\n",
+//					  stats.year, stats.month, stats.day);
+//		if (stats.hour != AltosLib.MISSING)
+//			System.out.printf("Time:      %02d:%02d:%02d UTC\n",
+//					  stats.hour, stats.minute, stats.second);
+		if (stats.max_height != AltosLib.MISSING)
+			System.out.printf(" height:  %6.0f m", stats.max_height);
+		if (stats.max_speed != AltosLib.MISSING)
+			System.out.printf(" speed:   %6.0f m/s", stats.max_speed);
+		if (stats.max_acceleration != AltosLib.MISSING)
+			System.out.printf(" accel:   %6.0f m/s²", stats.max_acceleration);
+		System.out.printf("\n");
+		return true;
+	}
+
 	public static void help(int code) {
 		System.out.printf("Usage: altosui [OPTION]... [FILE]...\n");
 		System.out.printf("  Options:\n");
 		System.out.printf("    --replay <filename>\t\trelive the glory of past flights \n");
 		System.out.printf("    --graph <filename>\t\tgraph a flight\n");
 		System.out.printf("    --summary <filename>\t\tText summary of a flight\n");
+		System.out.printf("    --oneline <filename>\t\tOne line summary of a flight\n");
 		System.out.printf("    --csv\tgenerate comma separated output for spreadsheets, etc\n");
 		System.out.printf("    --kml\tgenerate KML output for use with Google Earth\n");
 		System.exit(code);
@@ -572,6 +601,8 @@ public class AltosUI extends AltosUIFrame {
 					process = process_graph;
 				else if (args[i].equals("--summary"))
 					process = process_summary;
+				else if (args[i].equals("--oneline"))
+					process = process_oneline;
 				else if (args[i].startsWith("--"))
 					help(1);
 				else {
@@ -600,6 +631,10 @@ public class AltosUI extends AltosUIFrame {
 						if (!process_summary(file))
 							++errors;
 						break;
+					case process_oneline:
+						if (!process_oneline(file))
+							++errors;
+						break;
 					}
 				}
 			}
-- 
cgit v1.2.3


From 12ef994a24eb996458092dc35c671d6b824b1576 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 16:57:13 -0700
Subject: altos: Eliminate separate height error filter for accelerometer
 devices

We don't use the error value in flight for those models anyways; it's
only useful on baro-only hardware.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_kalman.c | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index d401a3c8..87f1bf66 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -96,13 +96,8 @@ ao_kalman_err_height(void)
 		e = -e;
 	if (e > 127)
 		e = 127;
-#if HAS_ACCEL
-	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
-	ao_error_h_sq_avg += (e * e) >> 2;
-#else
 	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
 	ao_error_h_sq_avg += (e * e) >> 4;
-#endif
 
 	if (ao_flight_state >= ao_flight_drogue)
 		return;
-- 
cgit v1.2.3


From ea6fe21d78744d7e6225a56c369d54f7cd956767 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 26 Aug 2017 19:16:47 -0700
Subject: altos: Don't eliminate baro above mach speed, just trust it less

Instead of completely eliminating the baro sensor above mach speed,
just derate it a bit so that the accel will dominate for speed
computation and keep the device from false-triggering across mach
transitions.

When we completely ignored the baro sensor above mach, and the flight
spent considerable time in that speed range, then the estimated height
could be far from the real value. When the estimated speed dropped
back down and the baro values were brought back into the computation,
then the resulting rapid shift in estimated speed could trigger
accidental apogee detection.

By mixing in a bit of baro data even above mach, we keep the estimated
height closer to the baro value and prevent this error, at least in
flights measured so far.

The flight known to have this problem is:

	2015-09-26-serial-2093-flight-0012.eeprom

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_flight.c | 4 +++-
 src/kernel/ao_kalman.c | 8 ++++----
 src/kernel/ao_sample.h | 7 ++++++-
 3 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index b0d911ed..f06125cd 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -282,9 +282,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
+#define AO_ERROR_BOUND	100
+
 			if (ao_speed < 0
 #if !HAS_ACCEL
-			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
 				)
 			{
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 87f1bf66..82315c48 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -103,13 +103,13 @@ ao_kalman_err_height(void)
 		return;
 	height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
-	/* speed is stored * 16, but we need to ramp between 200 and 328, so
+	/* speed is stored * 16, but we need to ramp between 248 and 328, so
 	 * we want to multiply by 2. The result is a shift by 3.
 	 */
 	speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
-	if (speed_distrust <= 0)
-		speed_distrust = 0;
-	else if (speed_distrust > height_distrust)
+	if (speed_distrust > AO_MAX_SPEED_DISTRUST)
+		speed_distrust = AO_MAX_SPEED_DISTRUST;
+	if (speed_distrust > height_distrust)
 		height_distrust = speed_distrust;
 #endif
 	if (height_distrust > 0) {
diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index da40187b..f89d6a4c 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -95,7 +95,12 @@ typedef int16_t			ao_v_t;
 /*
  * Above this speed, baro measurements are unreliable
  */
-#define AO_MAX_BARO_SPEED	200
+#define AO_MAX_BARO_SPEED	248
+
+/* The maximum amount (in a range of 0-256) to de-rate the
+ * baro sensor data based on speed.
+ */
+#define AO_MAX_SPEED_DISTRUST	160
 
 #define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
 
-- 
cgit v1.2.3


From 2dce02efd54ad4051f1ddb94048696e8677dd225 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:04:27 -0700
Subject: altos/test: telemetrum baro data is inverted before being written to
 eeprom

No need for the test code to invert it during replay

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/test/ao_flight_test.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index d3d39f2a..65b939c0 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -72,7 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE	2
 #define HAS_MS5607		1
 #define HAS_MMA655X		1
-#define AO_MMA655X_INVERT	1
+#define AO_MMA655X_INVERT	0
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
 
-- 
cgit v1.2.3


From bef7c37d1c986cd477367c0c015be61368a788d2 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:30:15 -0700
Subject: altos/test: Integrate raw accel to provide speed for comparison

This can provide a useful visualization of the 'true' vs 'kalman'
speed value, as the kalman is necessarily delayed due to the model
assuming constant acceleration.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/test/ao_flight_test.c | 37 +++++++++++++++++++++----------------
 src/test/plottest         | 13 +++++++------
 2 files changed, 28 insertions(+), 22 deletions(-)

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 65b939c0..7683a4d9 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -264,6 +264,7 @@ double	main_time;
 int	tick_offset;
 
 static ao_k_t	ao_k_height;
+static double	simple_speed;
 
 int16_t
 ao_time(void)
@@ -501,6 +502,7 @@ ao_insert(void)
 			tick_offset = -ao_data_static.tick;
 		if ((prev_tick - ao_data_static.tick) > 0x400)
 			tick_offset += 65536;
+		simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
 		prev_tick = ao_data_static.tick;
 		time = (double) (ao_data_static.tick + tick_offset) / 100;
 
@@ -616,17 +618,27 @@ ao_insert(void)
 #endif
 
 #if 1
-			printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 1
-			       "angle %5d "
+			printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
+			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+#if TELEMEGA
+			       " angle %5d "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 #endif
-			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+			       "\n",
 			       time,
 			       height,
 			       accel,
-#if TELEMEGA && 1
-			       ao_sample_orient,
+			       simple_speed > -100.0 ? simple_speed : -100.0,
+			       ao_state_names[ao_flight_state],
+			       ao_k_height / 65536.0,
+			       ao_k_speed / 65536.0 / 16.0,
+			       ao_k_accel / 65536.0 / 16.0,
+			       ao_avg_height,
+			       drogue_height,
+			       main_height,
+			       ao_error_h_sq_avg
+#if TELEMEGA
+			       , ao_sample_orient,
 
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
@@ -637,18 +649,11 @@ ao_insert(void)
 			       ao_data_static.hmc5883.x,
 			       ao_data_static.hmc5883.y,
 			       ao_data_static.hmc5883.z,
-			       ao_mag_angle,
+			       ao_mag_angle
 #endif
-			       ao_state_names[ao_flight_state],
-			       ao_k_height / 65536.0,
-			       ao_k_speed / 65536.0 / 16.0,
-			       ao_k_accel / 65536.0 / 16.0,
-			       ao_avg_height,
-			       drogue_height,
-			       main_height,
-			       ao_error_h_sq_avg);
+				);
 #endif
-			
+
 //			if (ao_flight_state == ao_flight_landed)
 //				ao_test_exit();
 		}
diff --git a/src/test/plottest b/src/test/plottest
index 7d253ff1..95337f10 100755
--- a/src/test/plottest
+++ b/src/test/plottest
@@ -7,10 +7,11 @@ set ytics border out nomirror
 set y2tics border out nomirror
 plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
 "$1" using 1:5 with lines axes x1y2 title "raw accel",\
-"$1" using 1:9 with lines axes x1y1 title "height",\
-"$1" using 1:11 with lines axes x1y2 title "speed",\
-"$1" using 1:13 with lines axes x1y2 title "accel",\
-"$1" using 1:17 with lines axes x1y1 title "drogue",\
-"$1" using 1:19 with lines axes x1y1 title "main",\
-"$1" using 1:21 with lines axes x1y1 title "error"
+"$1" using 1:7 with lines axes x1y2 title "accel speed",\
+"$1" using 1:11 with lines axes x1y1 title "height",\
+"$1" using 1:13 with lines axes x1y2 title "speed",\
+"$1" using 1:15 with lines axes x1y2 title "accel",\
+"$1" using 1:19 with lines axes x1y1 title "drogue",\
+"$1" using 1:21 with lines axes x1y1 title "main",\
+"$1" using 1:23 with lines axes x1y1 title "error"
 EOF
-- 
cgit v1.2.3


From f5642db4e03856b1f2ffeae6570fcf35fb7d93fb Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:32:27 -0700
Subject: altos/test: Fake baro data for flight 12 serial 2093

This flight had a baro spike due to an accidental drogue charge firing
but is otherwise quite useful when testing for various mach delay
effects, so fake out the data during that spike.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/test/ao_flight_test.c | 42 ++++++++++++++++++++++++++++++++----------
 1 file changed, 32 insertions(+), 10 deletions(-)

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 7683a4d9..55bfe410 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -321,7 +321,7 @@ ao_dump_state(void);
 void
 ao_sleep(void *wchan);
 
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
 	"startup", "idle", "pad", "boost", "fast",
 	"coast", "drogue", "main", "landed", "invalid"
 };
@@ -362,6 +362,9 @@ extern int16_t ao_accel_2g;
 
 typedef int16_t	accel_t;
 
+uint16_t	ao_serial_number;
+uint16_t	ao_flight_number;
+
 extern uint16_t	ao_sample_tick;
 
 extern alt_t	ao_sample_height;
@@ -480,7 +483,6 @@ ao_insert(void)
 	double	time;
 
 	ao_data_ring[ao_data_head] = ao_data_static;
-	ao_data_head = ao_data_ring_next(ao_data_head);
 	if (ao_flight_state != ao_flight_startup) {
 #if HAS_ACCEL
 		double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
@@ -488,14 +490,6 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
-		double	height;
-
-		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
-		height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
-#else
-		double	height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
-#endif
 
 		(void) accel;
 		if (!tick_offset)
@@ -506,6 +500,27 @@ ao_insert(void)
 		prev_tick = ao_data_static.tick;
 		time = (double) (ao_data_static.tick + tick_offset) / 100;
 
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
+		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
+		double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
+
+		/* Hack to skip baro spike at accidental drogue charge
+		 * firing in 2015-09-26-serial-2093-flight-0012.eeprom
+		 * so we can test the kalman filter with this data. Just
+		 * keep reporting the same baro value across the pressure spike
+		 */
+		{
+			static struct ao_ms5607_sample save;
+			if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
+				ao_data_ring[ao_data_head].ms5607_raw = save;
+			} else {
+				save = ao_data_static.ms5607_raw;
+			}
+		}
+#else
+		double	height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
+
 		if (ao_test_max_height < height) {
 			ao_test_max_height = height;
 			ao_test_max_height_time = time;
@@ -658,6 +673,7 @@ ao_insert(void)
 //				ao_test_exit();
 		}
 	}
+	ao_data_head = ao_data_ring_next(ao_data_head);
 }
 
 
@@ -768,6 +784,7 @@ ao_sleep(void *wchan)
 //				printf ("\n");
 				switch (type) {
 				case 'F':
+					ao_flight_number = uint16(bytes, 0);
 					ao_flight_ground_accel = int16(bytes, 2);
 					ao_flight_started = 1;
 					ao_ground_pres = int32(bytes, 4);
@@ -877,6 +894,7 @@ ao_sleep(void *wchan)
 				switch (type) {
 				case 'F':
 					ao_flight_started = 1;
+					ao_flight_number = uint16(bytes, 0);
 					ao_ground_pres = uint32(bytes, 4);
 					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 #if 0
@@ -942,6 +960,7 @@ ao_sleep(void *wchan)
 //				printf ("\n");
 				switch (type) {
 				case 'F':
+					ao_flight_number = uint16(bytes, 0);
 					ao_flight_ground_accel = int16(bytes, 2);
 					ao_flight_started = 1;
 					ao_ground_pres = int32(bytes, 4);
@@ -990,6 +1009,8 @@ ao_sleep(void *wchan)
 #endif
 			else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 				log_format = strtoul(words[1], NULL, 10);
+			} else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
+				ao_serial_number = strtoul(words[1], NULL, 10);
 			} else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 				ao_config.accel_plus_g = atoi(words[3]);
 				ao_config.accel_minus_g = atoi(words[5]);
@@ -1112,6 +1133,7 @@ ao_sleep(void *wchan)
 			switch (type) {
 			case 'F':
 				ao_flight_ground_accel = a;
+				ao_flight_number = b;
 				if (ao_config.accel_plus_g == 0) {
 					ao_config.accel_plus_g = a;
 					ao_config.accel_minus_g = a + 530;
-- 
cgit v1.2.3


From 6e244a73d8c2a475416480f83328b7d363693402 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:33:38 -0700
Subject: altoslib: Remove debug printf for gyro adjust

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altoslib/AltosCalData.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index b49e3792..6258c1a8 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -342,8 +342,8 @@ public class AltosCalData {
 			v = Math.ceil(v);
 		else
 			v = Math.floor(v);
-		if (v != 0)
-			System.out.printf("Adjusting gyro axis by %g steps\n", v);
+//		if (v != 0)
+//			System.out.printf("Adjusting gyro axis by %g steps\n", v);
 		return v * 128.0;
 	}
 
-- 
cgit v1.2.3


From 92b689bfd78a96ba56f0e1022ba68b7384a9b9b6 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:34:07 -0700
Subject: altoslib: Allow for missing product when checking for mma655x
 inverted

If there's no product, assume we've got some ancient log file.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altoslib/AltosConfigData.java | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 97a80bcb..63c34310 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -488,14 +488,16 @@ public class AltosConfigData {
 
 
 	public boolean mma655x_inverted() throws AltosUnknownProduct {
-		if (product.startsWith("EasyMega-v1"))
-			return false;
-		if (product.startsWith("TeleMetrum-v2"))
-			return true;
-		if (product.startsWith("TeleMega-v2"))
-			return false;
-		if (product.startsWith("TeleMega-v1"))
-			return false;
+		if (product != null) {
+			if (product.startsWith("EasyMega-v1"))
+				return false;
+			if (product.startsWith("TeleMetrum-v2"))
+				return true;
+			if (product.startsWith("TeleMega-v2"))
+				return false;
+			if (product.startsWith("TeleMega-v1"))
+				return false;
+		}
 		throw new AltosUnknownProduct(product);
 	}
 
-- 
cgit v1.2.3


From 9537a21b6ddb73b9f086858dad9a7b9d05279741 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:34:49 -0700
Subject: altoslib: Fix parsing of old TM log GPS sat data

Attempting to fetch sat data from wrong byte led to array bounds
exception.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altoslib/AltosEepromRecordFull.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/altoslib/AltosEepromRecordFull.java b/altoslib/AltosEepromRecordFull.java
index 85709f73..32df9578 100644
--- a/altoslib/AltosEepromRecordFull.java
+++ b/altoslib/AltosEepromRecordFull.java
@@ -85,7 +85,7 @@ public class AltosEepromRecordFull extends AltosEepromRecord {
 		case AltosLib.AO_LOG_GPS_SAT:
 			gps = cal_data.make_temp_gps(tick(),true);
 			int svid = data16(0);
-			int c_n0 = data16(3);
+			int c_n0 = data16(2);
 			gps.add_sat(svid, c_n0);
 			break;
 		case AltosLib.AO_LOG_GPS_DATE:
-- 
cgit v1.2.3


From dd72c9144b207b12150eb6a7ffb012f217f37374 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:35:49 -0700
Subject: altoslib: Compute speed at entry to each state

Useful to have drogue/main deployment speeds

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altoslib/AltosFlightStats.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 6f8732cf..c2e4e2a3 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -26,6 +26,7 @@ public class AltosFlightStats {
 	public double		max_speed;
 	public double		max_acceleration;
 	public double[]		state_speed = new double[AltosLib.ao_flight_invalid + 1];
+	public double[]		state_enter_speed = new double[AltosLib.ao_flight_invalid + 1];
 	public double[]		state_accel = new double[AltosLib.ao_flight_invalid + 1];
 	public double[]		state_time = new double[AltosLib.ao_flight_invalid + 1];
 	public String		product;
@@ -131,6 +132,8 @@ public class AltosFlightStats {
 	private void add_times(AltosFlightSeries series, int state, double start_time, double end_time) {
 		double delta_time = end_time - start_time;
 		if (0 <= state && state <= AltosLib.ao_flight_invalid && delta_time > 0) {
+			if (state_enter_speed[state] == AltosLib.MISSING)
+				state_enter_speed[state] = series.speed_series.value(start_time);
 			speeds[state].value += series.speed_series.average(start_time, end_time) * delta_time;
 			speeds[state].time += delta_time;
 			accels[state].value += series.accel_series.average(start_time, end_time) * delta_time;
@@ -192,6 +195,7 @@ public class AltosFlightStats {
 
 		for (int s = 0; s < AltosLib.ao_flight_invalid + 1; s++) {
 			state_speed[s] = AltosLib.MISSING;
+			state_enter_speed[s] = AltosLib.MISSING;
 			state_accel[s] = AltosLib.MISSING;
 			state_time[s] = 0;
 			speeds[s] = new AltosTimeValue(0, 0);
-- 
cgit v1.2.3


From 7f5f37ac7fb71d3059f639b39315712f90e9bfd6 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 17:37:10 -0700
Subject: altosui: Make --oneline show drogue deploy speed

Also remove some commented out values.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altosui/AltosUI.java | 22 +++++++---------------
 1 file changed, 7 insertions(+), 15 deletions(-)

diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java
index 1c18dbb1..bc8eaa71 100644
--- a/altosui/AltosUI.java
+++ b/altosui/AltosUI.java
@@ -397,7 +397,7 @@ public class AltosUI extends AltosUIFrame {
 			String message = ie.getMessage();
 			if (message == null)
 				message = String.format("%s (I/O error)", input.toString());
-			System.err.printf("%s\n", message);
+			System.err.printf("%s: %s\n", input.toString(), message);
 		}
 		return null;
 	}
@@ -535,25 +535,17 @@ public class AltosUI extends AltosUIFrame {
 		AltosRecordSet set = record_set(file);
 		if (set == null)
 			return false;
-		System.out.printf("%s:", file.toString());
+		System.out.printf("%s", file.toString());
 		AltosFlightSeries series = make_series(set);
 		AltosFlightStats stats = new AltosFlightStats(series);
-//		if (stats.serial != AltosLib.MISSING)
-//			System.out.printf("Serial:       %5d\n", stats.serial);
-//		if (stats.flight != AltosLib.MISSING)
-//			System.out.printf("Flight:       %5d\n", stats.flight);
-//		if (stats.year != AltosLib.MISSING)
-//			System.out.printf("Date:    %04d-%02d-%02d\n",
-//					  stats.year, stats.month, stats.day);
-//		if (stats.hour != AltosLib.MISSING)
-//			System.out.printf("Time:      %02d:%02d:%02d UTC\n",
-//					  stats.hour, stats.minute, stats.second);
 		if (stats.max_height != AltosLib.MISSING)
-			System.out.printf(" height:  %6.0f m", stats.max_height);
+			System.out.printf(" height  %6.0f m", stats.max_height);
 		if (stats.max_speed != AltosLib.MISSING)
-			System.out.printf(" speed:   %6.0f m/s", stats.max_speed);
+			System.out.printf(" speed   %6.0f m/s", stats.max_speed);
+		if (stats.state_enter_speed[AltosLib.ao_flight_drogue] != AltosLib.MISSING)
+			System.out.printf(" drogue-deploy   %6.0f m/s", stats.state_enter_speed[AltosLib.ao_flight_drogue]);
 		if (stats.max_acceleration != AltosLib.MISSING)
-			System.out.printf(" accel:   %6.0f m/s²", stats.max_acceleration);
+			System.out.printf(" accel   %6.0f m/s²", stats.max_acceleration);
 		System.out.printf("\n");
 		return true;
 	}
-- 
cgit v1.2.3


From dacd4c70700041a018b1f8ba47f22071b9600eaf Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 28 Aug 2017 00:10:04 -0700
Subject: altoslib: Fix freq preference loading

Allocate throw-away freq array to get the class pointer.
Add null-ary AltosFrequency constructor for JSON code.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 altoslib/AltosFrequency.java   | 3 +++
 altoslib/AltosPreferences.java | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java
index 6838be8a..dfe33789 100644
--- a/altoslib/AltosFrequency.java
+++ b/altoslib/AltosFrequency.java
@@ -62,4 +62,7 @@ public class AltosFrequency {
 		frequency = f;
 		description = d;
 	}
+	public AltosFrequency() {
+		this(0, null);
+	}
 }
diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java
index 0c388f1b..c511332b 100644
--- a/altoslib/AltosPreferences.java
+++ b/altoslib/AltosPreferences.java
@@ -139,7 +139,7 @@ public class AltosPreferences {
 		try {
 			AltosJson json = AltosJson.fromString(backend.getString(frequenciesPreference,
 										null));
-			frequencies = (AltosFrequency[]) json.make(frequencies.getClass());
+			frequencies = (AltosFrequency[]) json.make((new AltosFrequency[1]).getClass());
 		} catch (Exception e) {
 		}
 
-- 
cgit v1.2.3


From 4775b1d9b50a8732d66a0ad3b73ff74901a8cb7f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 28 Aug 2017 00:15:43 -0700
Subject: altos: Don't compute filtered average of height error when HAS_ACCEL

We only use this for baro-only devices to avoid firing drogue charges
at mach transitions; we trust the combination of accel+baro to do the
right thing when available.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_kalman.c | 6 ++++++
 src/kernel/ao_sample.h | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 82315c48..ac41085d 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -45,7 +45,9 @@ static __pdata ao_k_t		ao_avg_height_scaled;
 __xdata ao_v_t			ao_avg_height;
 
 __pdata ao_v_t			ao_error_h;
+#if !HAS_ACCEL
 __pdata ao_v_t			ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
 __pdata ao_v_t			ao_error_a;
@@ -83,7 +85,9 @@ ao_kalman_predict(void)
 static void
 ao_kalman_err_height(void)
 {
+#if !HAS_ACCEL
 	ao_v_t	e;
+#endif
 	ao_v_t height_distrust;
 #if HAS_ACCEL
 	ao_v_t	speed_distrust;
@@ -91,6 +95,7 @@ ao_kalman_err_height(void)
 
 	ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
+#if !HAS_ACCEL
 	e = ao_error_h;
 	if (e < 0)
 		e = -e;
@@ -98,6 +103,7 @@ ao_kalman_err_height(void)
 		e = 127;
 	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
 	ao_error_h_sq_avg += (e * e) >> 4;
+#endif
 
 	if (ao_flight_state >= ao_flight_drogue)
 		return;
diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index f89d6a4c..fbef031d 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -180,7 +180,9 @@ extern __xdata ao_v_t			ao_max_height;	/* max of ao_height */
 extern __xdata ao_v_t			ao_avg_height;	/* running average of height */
 
 extern __pdata ao_v_t			ao_error_h;
+#if !HAS_ACCEL
 extern __pdata ao_v_t			ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
 extern __pdata ao_v_t			ao_error_a;
-- 
cgit v1.2.3


From abe100385cedf2b0734191611d97e794805d0ef4 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 22:48:46 -0700
Subject: doc: Update for 1.8.1

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/Makefile                |  1 +
 doc/altusmetrum-docinfo.xml |  8 ++++++++
 doc/release-notes-1.8.1.inc | 47 +++++++++++++++++++++++++++++++++++++++++++++
 doc/release-notes.inc       |  4 ++++
 4 files changed, 60 insertions(+)
 create mode 100644 doc/release-notes-1.8.1.inc

diff --git a/doc/Makefile b/doc/Makefile
index a09380cf..5b264e02 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -3,6 +3,7 @@
 #
 
 RELNOTES_INC=\
+	release-notes-1.8.1.inc \
 	release-notes-1.8.inc \
 	release-notes-1.7.inc \
 	release-notes-1.6.8.inc \
diff --git a/doc/altusmetrum-docinfo.xml b/doc/altusmetrum-docinfo.xml
index 3c230f1a..595422f1 100644
--- a/doc/altusmetrum-docinfo.xml
+++ b/doc/altusmetrum-docinfo.xml
@@ -46,6 +46,14 @@
 </legalnotice>
 <revhistory>
   <?dbhtml filename="altusmetrum-revhistory.html"?>
+  <revision>
+    <revnumber>1.8.1</revnumber>
+    <date>27 Aug 2017</date>
+    <revremark>
+      Fix Apogee Lockout time value wrapping bug. Change high-speed
+      Kalman filter function.
+    </revremark>
+  </revision>
   <revision>
     <revnumber>1.8</revnumber>
     <date>12 Aug 2017</date>
diff --git a/doc/release-notes-1.8.1.inc b/doc/release-notes-1.8.1.inc
new file mode 100644
index 00000000..d9e4a2d9
--- /dev/null
+++ b/doc/release-notes-1.8.1.inc
@@ -0,0 +1,47 @@
+= Release Notes for Version 1.8.1
+:toc!:
+:doctype: article
+
+	Version 1.8.1 includes an important bug fix for Apogee Lockout
+	operation in all flight computers. Anyone using this option
+	must update firmware.
+
+	This release also contains a change in how flight computers
+	with accelerometers deal with speeds around and above Mach
+	1. In previous versions, the flight computer would completely
+	disregard the barometric sensor above 330m/s (around Mach
+	1). Now, the data from the barometric sensor is reduced in
+	effect without ever going away entirely. This prevents early
+	drogue deployment for flights which spend considerable time
+	above Mach 1.
+
+	1.8.1 also contains a couple of minor fixes for AltosUI when
+	analyzing saved data files.
+
+	== AltOS
+
+	AltOS Bug Fixes
+
+	* Handle time value wrapping in Apogee Lockout
+          correctly. Without this, apogee lockout would sometimes
+          prevent any drogue charge from firing.
+
+	* Change Kalman filter on flight computers with accelerometer
+          to continue using the barometric sensor even at high speeds
+          to avoid unintentional drogue deployment during
+          deceleration.
+
+	== AltosUI and TeleGPS Applications
+
+	AltosUI New Features
+
+	* Add new 'Huge' font size to make text even bigger on high
+          resolution monitors.
+
+	AltosUI Bug Fixes
+
+	* Prevent some crashes when reading older saved flight data
+          for graphing or KML export.
+
+	* Load frequency preference at startup. The loading code was
+          broken, so you'd see only the default frequencies.
diff --git a/doc/release-notes.inc b/doc/release-notes.inc
index e52e36b5..adcf57ed 100644
--- a/doc/release-notes.inc
+++ b/doc/release-notes.inc
@@ -1,6 +1,10 @@
 [appendix]
 == Release Notes
 
+	:leveloffset: 2
+	include::release-notes-1.8.1.raw[]
+
+	<<<<
 	:leveloffset: 2
 	include::release-notes-1.8.raw[]
 
-- 
cgit v1.2.3


From b68c0482d4fae8eb54cde1df0e4bcf4c5d272bad Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 22:49:09 -0700
Subject: Version 1.8.1

Android version 15

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 configure.ac | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/configure.ac b/configure.ac
index ec221df1..dc80f6e3 100644
--- a/configure.ac
+++ b/configure.ac
@@ -18,13 +18,13 @@ dnl
 dnl Process this file with autoconf to create configure.
 
 AC_PREREQ(2.57)
-AC_INIT([altos], 1.8)
-ANDROID_VERSION=14
+AC_INIT([altos], 1.8.1)
+ANDROID_VERSION=15
 AC_CONFIG_SRCDIR([src/kernel/ao.h])
 AM_INIT_AUTOMAKE([foreign dist-bzip2])
 AM_MAINTAINER_MODE
 
-RELEASE_DATE=2017-08-11
+RELEASE_DATE=2017-08-27
 AC_SUBST(RELEASE_DATE)
 
 VERSION_DASH=`echo $VERSION | sed 's/\./-/g'`
-- 
cgit v1.2.3


From b1cf0dab1e28433e06ab02cec033951ea0149ea3 Mon Sep 17 00:00:00 2001
From: Bdale Garbee <bdale@gag.com>
Date: Mon, 28 Aug 2017 12:05:17 -0600
Subject: releasing 1.8.1

---
 ChangeLog | 221 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 221 insertions(+)

diff --git a/ChangeLog b/ChangeLog
index c76ca125..94cb5875 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,224 @@
+commit b68c0482d4fae8eb54cde1df0e4bcf4c5d272bad
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 22:49:09 2017 -0700
+
+    Version 1.8.1
+    
+    Android version 15
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit abe100385cedf2b0734191611d97e794805d0ef4
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 22:48:46 2017 -0700
+
+    doc: Update for 1.8.1
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 4775b1d9b50a8732d66a0ad3b73ff74901a8cb7f
+Author: Keith Packard <keithp@keithp.com>
+Date:   Mon Aug 28 00:15:43 2017 -0700
+
+    altos: Don't compute filtered average of height error when HAS_ACCEL
+    
+    We only use this for baro-only devices to avoid firing drogue charges
+    at mach transitions; we trust the combination of accel+baro to do the
+    right thing when available.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit dacd4c70700041a018b1f8ba47f22071b9600eaf
+Author: Keith Packard <keithp@keithp.com>
+Date:   Mon Aug 28 00:10:04 2017 -0700
+
+    altoslib: Fix freq preference loading
+    
+    Allocate throw-away freq array to get the class pointer.
+    Add null-ary AltosFrequency constructor for JSON code.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 7f5f37ac7fb71d3059f639b39315712f90e9bfd6
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:37:10 2017 -0700
+
+    altosui: Make --oneline show drogue deploy speed
+    
+    Also remove some commented out values.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit dd72c9144b207b12150eb6a7ffb012f217f37374
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:35:49 2017 -0700
+
+    altoslib: Compute speed at entry to each state
+    
+    Useful to have drogue/main deployment speeds
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 9537a21b6ddb73b9f086858dad9a7b9d05279741
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:34:49 2017 -0700
+
+    altoslib: Fix parsing of old TM log GPS sat data
+    
+    Attempting to fetch sat data from wrong byte led to array bounds
+    exception.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 92b689bfd78a96ba56f0e1022ba68b7384a9b9b6
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:34:07 2017 -0700
+
+    altoslib: Allow for missing product when checking for mma655x inverted
+    
+    If there's no product, assume we've got some ancient log file.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 6e244a73d8c2a475416480f83328b7d363693402
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:33:38 2017 -0700
+
+    altoslib: Remove debug printf for gyro adjust
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit f5642db4e03856b1f2ffeae6570fcf35fb7d93fb
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:32:27 2017 -0700
+
+    altos/test: Fake baro data for flight 12 serial 2093
+    
+    This flight had a baro spike due to an accidental drogue charge firing
+    but is otherwise quite useful when testing for various mach delay
+    effects, so fake out the data during that spike.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit bef7c37d1c986cd477367c0c015be61368a788d2
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:30:15 2017 -0700
+
+    altos/test: Integrate raw accel to provide speed for comparison
+    
+    This can provide a useful visualization of the 'true' vs 'kalman'
+    speed value, as the kalman is necessarily delayed due to the model
+    assuming constant acceleration.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 2dce02efd54ad4051f1ddb94048696e8677dd225
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 17:04:27 2017 -0700
+
+    altos/test: telemetrum baro data is inverted before being written to eeprom
+    
+    No need for the test code to invert it during replay
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit ea6fe21d78744d7e6225a56c369d54f7cd956767
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:16:47 2017 -0700
+
+    altos: Don't eliminate baro above mach speed, just trust it less
+    
+    Instead of completely eliminating the baro sensor above mach speed,
+    just derate it a bit so that the accel will dominate for speed
+    computation and keep the device from false-triggering across mach
+    transitions.
+    
+    When we completely ignored the baro sensor above mach, and the flight
+    spent considerable time in that speed range, then the estimated height
+    could be far from the real value. When the estimated speed dropped
+    back down and the baro values were brought back into the computation,
+    then the resulting rapid shift in estimated speed could trigger
+    accidental apogee detection.
+    
+    By mixing in a bit of baro data even above mach, we keep the estimated
+    height closer to the baro value and prevent this error, at least in
+    flights measured so far.
+    
+    The flight known to have this problem is:
+    
+            2015-09-26-serial-2093-flight-0012.eeprom
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 12ef994a24eb996458092dc35c671d6b824b1576
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun Aug 27 16:57:13 2017 -0700
+
+    altos: Eliminate separate height error filter for accelerometer devices
+    
+    We don't use the error value in flight for those models anyways; it's
+    only useful on baro-only hardware.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit f972000642f9c9835a0b7d14155d4c5695455d94
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:15:59 2017 -0700
+
+    altosui: Add --oneline mode to briefly summarize flights
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 465bb7242f39f6f8489e5fd52ce88031106c1c76
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:15:07 2017 -0700
+
+    altosuilib: Add "Huge" font size
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 3dde7f4d05414ac4907c91c68c88cc1d06233605
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 26 19:14:10 2017 -0700
+
+    micropeak: Track font changes in raw data display
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cf20e213f39fb24f15e0ac94307c2d138fcadecb
+Author: Keith Packard <keithp@keithp.com>
+Date:   Thu Aug 24 16:45:54 2017 -0700
+
+    altos: Perform time comparisons using 16-bit arithmetic to handle wrap
+    
+    Subtracting two 16-bit unsigned values to perform time comparisons
+    yields mystic results unless we carefully cast that to int16_t.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 43e2275250d9c91560a770942f3c06a8f74ed501
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sat Aug 12 01:37:07 2017 -0400
+
+    install: Add 'fat-install' target
+    
+    This uses the existing --with-fat-dir option and instead of installing
+    everything to that directory, creates a normal ikiwiki hierarchy of
+    files including .mdwn files, whacked release notes html files and all
+    of the appropriate packages.
+    
+    One stop shopping for adding the release to the web site.
+    
+    Attempted to update Releasing file to match.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit fccfa54bb3b746cecfcdc1fd497cf736bbfe3ef3
+Author: Bdale Garbee <bdale@gag.com>
+Date:   Sat Aug 12 00:23:27 2017 -0400
+
+    releasing 1.8
+
 commit dbcb68f684a96d13efeb9993685f61b27b45e7dc
 Author: Bdale Garbee <bdale@gag.com>
 Date:   Sat Aug 12 00:21:43 2017 -0400
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