Meanwhile, [Keith](http://keithp.com/keithp) has completely rewritten the guts
of the firmware in the last few days to eliminate
[FreeRTOS](http://www.freertos.org/) since it turns out to just be too heavy
-for our needs on this project. My board now is now running a snapshot of his
+for our needs on this project. My board is now running a snapshot of his
latest work, and in bench testing I've confirmed that it can do launch detect,
log sensor data until the non-volatile memory chip is full, and dump the raw
data over USB for analysis after a flight.