+change of the airframe since liftoff.</p>
+</div>
+<table class="tableblock frame-all grid-all stretch">
+<caption class="title">Table 5. TeleMega IMU Sensor Packet Contents</caption>
+<colgroup>
+<col style="width: 11.7647%;">
+<col style="width: 17.647%;">
+<col style="width: 17.647%;">
+<col style="width: 52.9413%;">
+</colgroup>
+<tbody>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Offset</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Data Type</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Name</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Description</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">uint8_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">orient</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Angle from vertical in degrees</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">6</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">accel</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">High G accelerometer</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">8</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int32_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">pres</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">pressure (Pa * 10)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">12</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">temp</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">temperature (°C * 100)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">14</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">accel_x</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">X axis acceleration (across)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">16</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">accel_y</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Y axis acceleration (along)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">18</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">accel_z</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Z axis acceleration (through)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">20</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">gyro_x</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">X axis rotation (across)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">22</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">gyro_y</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Y axis rotation (along)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">24</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">gyro_z</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Z axis rotation (through)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">26</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">mag_x</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">X field strength (across)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">28</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">mag_y</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Y field strength (along)</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">30</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">mag_z</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Z field strength (through)</p></td>
+</tr>
+</tbody>
+</table>
+<table class="tableblock frame-all grid-all stretch">
+<caption class="title">Table 6. TeleMega Kalman and Voltage Data Packet Contents</caption>
+<colgroup>
+<col style="width: 11.7647%;">
+<col style="width: 17.647%;">
+<col style="width: 17.647%;">
+<col style="width: 52.9413%;">
+</colgroup>
+<tbody>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Offset</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Data Type</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Name</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Description</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">uint8_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">state</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Flight state</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">6</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">v_batt</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">battery voltage</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">8</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">v_pyro</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">pyro battery voltage</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">10</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int8_t[6]</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">sense</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">pyro continuity sense</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">16</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int32_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">ground_pres</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Average barometer reading on ground</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">20</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">ground_accel</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Average accelerometer reading on ground</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">22</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">accel_plus_g</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Accel calibration at +1g</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">24</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">accel_minus_g</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Accel calibration at -1g</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">26</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">acceleration</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">m/s² * 16</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">28</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">speed</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">m/s * 16</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">30</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">int16_t</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">height</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">m</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="sect2">
+<h3 id="_telemetrum_v2_and_newer_sensor_data">2.4. TeleMetrum v2 and newer Sensor Data</h3>
+<table class="tableblock frame-all grid-all stretch">
+<caption class="title">Table 7. TeleMetrum v2 Packet Type</caption>
+<colgroup>
+<col style="width: 25%;">
+<col style="width: 75%;">
+</colgroup>
+<tbody>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Type</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">Description</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">0x0A</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">TeleMetrum v2 Sensor Data</p></td>
+</tr>
+<tr>
+<td class="tableblock halign-left valign-top"><p class="tableblock">0x0B</p></td>
+<td class="tableblock halign-left valign-top"><p class="tableblock">TeleMetrum v2 Calibration Data</p></td>
+</tr>
+</tbody>
+</table>
+<div class="paragraph">
+<p>TeleMetrum v2 and newer have higher resolution barometric data than