X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosConfigData.java;h=3c5f6c06678977f6a7790c850e125a543dbc0611;hp=cb19ddf0f6cec054230296299366ded3f5ca6ccb;hb=HEAD;hpb=15e3f2dae15e41a8501e3e1d221536751af15f94

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index cb19ddf0..b076357d 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -16,12 +16,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_14;
 
 import java.util.*;
 import java.text.*;
 import java.util.concurrent.*;
 
+/* Don't change the field names in this structure; they're part of all .eeprom files */
 public class AltosConfigData {
 
 	/* Version information */
@@ -53,6 +54,8 @@ public class AltosConfigData {
 
 	/* HAS_ACCEL */
 	public int	accel_cal_plus, accel_cal_minus;
+	private int	accel_cal_plus_cooked, accel_cal_minus_cooked;
+	private boolean	accel_cal_adjusted;
 	public int	pad_orientation;
 
 	/* HAS_LOG */
@@ -75,16 +78,26 @@ public class AltosConfigData {
 	public int		aprs_interval;
 	public int		aprs_ssid;
 	public int		aprs_format;
+	public int		aprs_offset;
 
 	/* HAS_BEEP */
 	public int		beep;
 
+	/* HAS_RADIO_10MW */
+	public int		radio_10mw;
+
+	public int		report_feet;
+
+	/* HAS_GPS_MOSAIC */
+	public int		gps_receiver;
+
 	/* Storage info replies */
 	public int	storage_size;
 	public int	storage_erase_unit;
 
 	/* Log listing replies */
 	public int	stored_flight;
+	public AltosEepromFlight[] flights;
 
 	/* HAS_TRACKER */
 	public int	tracker_motion;
@@ -140,16 +153,16 @@ public class AltosConfigData {
 	}
 
 	public int log_space() {
-		if (log_space > 0)
+		if (log_space != AltosLib.MISSING)
 			return log_space;
 
-		if (storage_size > 0) {
+		if (storage_size != AltosLib.MISSING) {
 			int	space = storage_size;
 
-			if (storage_erase_unit > 0 && use_flash_for_config())
+			if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
 				space -= storage_erase_unit;
 
-			if (space > 0)
+			if (space != AltosLib.MISSING)
 				return space;
 		}
 		return 0;
@@ -158,7 +171,7 @@ public class AltosConfigData {
 	public int log_available() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TINY:
-			if (stored_flight == 0)
+			if (flights == null)
 				return 1;
 			return 0;
 		case AltosLib.AO_LOG_FORMAT_TELEMETRY:
@@ -171,10 +184,10 @@ public class AltosConfigData {
 			int	log_space = log_space();
 			int	log_used;
 
-			if (stored_flight <= 0)
+			if (flights == null)
 				log_used = 0;
 			else
-				log_used = stored_flight * log_max;
+				log_used = flights.length * log_max;
 			int	log_avail;
 
 			if (log_used >= log_space)
@@ -186,12 +199,56 @@ public class AltosConfigData {
 		}
 	}
 
+	public int invert_accel_value(int value) {
+		if (value == AltosLib.MISSING)
+			return AltosLib.MISSING;
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_FULL:
+			return 0x7fff - value;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+			return 4095 - value;
+		case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+			/*
+			 * TeleMetrum v2 and later use the same log format, but
+			 * have different accelerometers. This is the only place
+			 * it matters in altoslib.
+			 */
+			if (product.startsWith("TeleMetrum-v2"))
+				return 4095 - value;
+			/* fall through */
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
+			/* ADXL375 */
+			return -value;
+		case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
+			/* BMI088 */
+			return -value;
+		default:
+			if (product.startsWith("EasyTimer-"))
+				return -value;
+			return AltosLib.MISSING;
+		}
+	}
+
 	public boolean has_monitor_battery() {
+		if (product == null)
+			return false;
 		if (product.startsWith("TeleBT"))
 			return true;
 		return false;
 	}
 
+	public boolean has_radio() {
+		return product.startsWith("Tele");
+	}
+
 	int[] parse_version(String v) {
 		String[] parts = v.split("\\.");
 		int r[] = new int[parts.length];
@@ -252,9 +309,12 @@ public class AltosConfigData {
 		radio_setting = AltosLib.MISSING;
 		telemetry_rate = AltosLib.MISSING;
 
+		accel_cal_plus_cooked = AltosLib.MISSING;
+		accel_cal_minus_cooked = AltosLib.MISSING;
 		accel_cal_plus = AltosLib.MISSING;
 		accel_cal_minus = AltosLib.MISSING;
 		pad_orientation = AltosLib.MISSING;
+		accel_cal_adjusted = false;
 
 		flight_log_max = AltosLib.MISSING;
 		log_fixed = AltosLib.MISSING;
@@ -262,29 +322,108 @@ public class AltosConfigData {
 
 		aes_key = null;
 
-		pyro = 0;
-		npyro = 0;
+		pyro = AltosLib.MISSING;
+		npyro = AltosLib.MISSING;
 		pyros = null;
 		pyro_firing_time = AltosLib.MISSING;
 
 		aprs_interval = AltosLib.MISSING;
 		aprs_ssid = AltosLib.MISSING;
 		aprs_format = AltosLib.MISSING;
+		aprs_offset = AltosLib.MISSING;
 
 		beep = AltosLib.MISSING;
 
+		radio_10mw = AltosLib.MISSING;
+
+		report_feet = AltosLib.MISSING;
+
+		gps_receiver = AltosLib.MISSING;
+
 		tracker_motion = AltosLib.MISSING;
 		tracker_interval = AltosLib.MISSING;
 
 		storage_size = AltosLib.MISSING;
 		storage_erase_unit = AltosLib.MISSING;
-		stored_flight = AltosLib.MISSING;
+		stored_flight = 0;
+		flights = null;
 
 		accel_zero_along = AltosLib.MISSING;
 		accel_zero_across = AltosLib.MISSING;
 		accel_zero_through = AltosLib.MISSING;
 	}
 
+	/* Return + accel calibration relative to a specific pad orientation */
+	public int accel_cal_plus(int pad_orientation) {
+		adjust_accel_cal();
+		if (!accel_cal_adjusted)
+			return AltosLib.MISSING;
+
+		switch (pad_orientation) {
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+		case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
+		case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
+			return accel_cal_plus_cooked;
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+		case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
+		case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
+			return invert_accel_value(accel_cal_minus_cooked);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	/* Return - accel calibration relative to a specific pad orientation */
+	public int accel_cal_minus(int pad_orientation) {
+		adjust_accel_cal();
+		if (!accel_cal_adjusted)
+			return AltosLib.MISSING;
+
+		switch (pad_orientation) {
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+		case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
+		case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
+			return accel_cal_minus_cooked;
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+		case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
+		case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
+			return invert_accel_value(accel_cal_plus_cooked);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	/* Once we have all of the values from the config data, compute the
+	 * accel cal values relative to Antenna Up orientation.
+	 */
+	private void adjust_accel_cal() {
+		if (!accel_cal_adjusted &&
+		    product != null &&
+		    pad_orientation != AltosLib.MISSING &&
+		    accel_cal_plus != AltosLib.MISSING &&
+		    accel_cal_minus != AltosLib.MISSING)
+		{
+			switch (pad_orientation) {
+			case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+			case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
+			case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
+				accel_cal_plus_cooked = accel_cal_plus;
+				accel_cal_minus_cooked = accel_cal_minus;
+				accel_cal_adjusted = true;
+				break;
+			case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+			case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
+			case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
+				accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
+				accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
+				accel_cal_adjusted = true;
+				break;
+			default:
+				break;
+			}
+		}
+	}
+
 	public void parse_line(String line) {
 
 		/* Version replies */
@@ -351,6 +490,7 @@ public class AltosConfigData {
 				if (bits.length >= 6) {
 					accel_cal_plus = Integer.parseInt(bits[3]);
 					accel_cal_minus = Integer.parseInt(bits[5]);
+					accel_cal_adjusted = false;
 				}
 			}
 		} catch (Exception e) {}
@@ -372,7 +512,7 @@ public class AltosConfigData {
 			pyros = new AltosPyro[npyro];
 			pyro = 0;
 		} catch (Exception e) {}
-		if (npyro > 0) {
+		if (npyro != AltosLib.MISSING) {
 			try {
 				AltosPyro p = new AltosPyro(pyro, line);
 				if (pyro < npyro)
@@ -385,10 +525,18 @@ public class AltosConfigData {
 		try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 		try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 		try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
+		try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
 
 		/* HAS_BEEP */
 		try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 
+		/* HAS_RADIO_10MW */
+		try { radio_10mw = get_int(line, "Radio 10mw limit:"); } catch (Exception e) {}
+
+		try { report_feet = get_int(line, "Report in feet:"); } catch (Exception e) {}
+
+		try { gps_receiver = get_int(line, "GPS receiver:"); } catch (Exception e) {}
+
 		/* HAS_TRACKER */
 		try {
 			int[] values = get_values(line, "Tracker setting:");
@@ -401,11 +549,36 @@ public class AltosConfigData {
 		try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 
 		/* Log listing replies */
-		try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+		try {
+			int flight = get_int(line, "flight");
+			String[] tokens = line.split("\\s+");
+			if (tokens.length >= 6) {
+				int	start = -1, end = -1;
+				try {
+					if (tokens[2].equals("start"))
+						start = AltosParse.parse_hex(tokens[3]);
+					if (tokens[4].equals("end"))
+						end = AltosParse.parse_hex(tokens[5]);
+					if (flight != 0 && start >= 0 && end > 0) {
+						int len;
+						if (flights == null)
+							len = 0;
+						else
+							len = flights.length;
+						AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
+						for (int i = 0; i < len; i++)
+							new_flights[i] = flights[i];
+						new_flights[len] = new AltosEepromFlight(flight, start, end);
+						flights = new_flights;
+						stored_flight = flights.length;
+					}
+				} catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
+			}
+		}  catch (Exception e) {}
 
 		/* HAS_GYRO */
 		try {
-			if (line.startsWith("IMU call along")) {
+			if (line.startsWith("IMU cal along")) {
 				String[] bits = line.split("\\s+");
 				if (bits.length >= 8) {
 					accel_zero_along = Integer.parseInt(bits[3]);
@@ -436,23 +609,22 @@ public class AltosConfigData {
 	}
 
 	public boolean has_frequency() {
-		return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
+		return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 	}
 
 	public boolean has_telemetry_rate() {
-		return telemetry_rate >= 0;
+		return telemetry_rate != AltosLib.MISSING;
 	}
 
 	public void set_frequency(double freq) {
 		int	frequency = radio_frequency;
 		int	setting = radio_setting;
 
-		if (frequency > 0) {
+		if (frequency != AltosLib.MISSING) {
 			radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 			radio_channel = AltosLib.MISSING;
-		} else if (setting > 0) {
-			radio_setting =AltosConvert.radio_frequency_to_setting(freq,
-										    radio_calibration);
+		} else if (setting != AltosLib.MISSING) {
+			radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 			radio_channel = AltosLib.MISSING;
 		} else {
 			radio_channel = AltosConvert.radio_frequency_to_channel(freq);
@@ -463,12 +635,12 @@ public class AltosConfigData {
 		int	channel = radio_channel;
 		int	setting = radio_setting;
 
-		if (radio_frequency < 0 && channel < 0 && setting < 0)
+		if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 			return AltosLib.MISSING;
 
-		if (channel < 0)
+		if (channel == AltosLib.MISSING)
 			channel = 0;
-		if (setting < 0)
+		if (setting == AltosLib.MISSING)
 			setting = 0;
 
 		return AltosConvert.radio_to_frequency(radio_frequency,
@@ -482,6 +654,10 @@ public class AltosConfigData {
 			return false;
 		if (product.startsWith("TeleMetrum-v2"))
 			return false;
+		if (product.startsWith("TeleMetrum-v3"))
+			return false;
+		if (product.startsWith("TeleMetrum-v4"))
+			return true;
 		if (product.startsWith("EasyMega"))
 			return false;
 		return true;
@@ -489,70 +665,136 @@ 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);
+	}
+
+	public boolean adxl375_inverted() throws AltosUnknownProduct {
+		if (product != null) {
+			if (product.startsWith("EasyMega-v2"))
+				return true;
+			if (product.startsWith("TeleMetrum-v3"))
+				return true;
+			if (product.startsWith("TeleMetrum-v4"))
+				return true;
+			if (product.startsWith("TeleMega-v4"))
+				return true;
+			if (product.startsWith("TeleMega-v5"))
+				return true;
+			if (product.startsWith("TeleMega-v6"))
+				return true;
+			if (product.startsWith("EasyMotor-v2"))
+				return true;
+			if (product.startsWith("EasyMotor-v3"))
+				return true;
+		}
+		throw new AltosUnknownProduct(product);
+	}
+
+	public int adxl375_axis() throws AltosUnknownProduct {
+		if (product != null) {
+			if (product.startsWith("EasyMega-v2"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("TeleMetrum-v3"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("TeleMetrum-v4"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("TeleMega-v4"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("TeleMega-v5"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("TeleMega-v6"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("EasyMotor-v2"))
+				return AltosAdxl375.X_AXIS;
+			if (product.startsWith("EasyMotor-v3"))
+				return AltosAdxl375.X_AXIS;
+
+		}
 		throw new AltosUnknownProduct(product);
 	}
 
 	public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 
 		/* HAS_FLIGHT */
-		if (main_deploy >= 0)
+		if (main_deploy != AltosLib.MISSING)
 			main_deploy = source.main_deploy();
-		if (apogee_delay >= 0)
+		if (apogee_delay != AltosLib.MISSING)
 			apogee_delay = source.apogee_delay();
-		if (apogee_lockout >= 0)
+		if (apogee_lockout != AltosLib.MISSING)
 			apogee_lockout = source.apogee_lockout();
 
 		/* HAS_RADIO */
 		if (has_frequency())
 			set_frequency(source.radio_frequency());
-		if (radio_enable >= 0)
+		if (radio_enable != AltosLib.MISSING)
 			radio_enable = source.radio_enable();
 		if (callsign != null)
 			callsign = source.callsign();
-		if (telemetry_rate >= 0)
+		if (telemetry_rate != AltosLib.MISSING)
 			telemetry_rate = source.telemetry_rate();
 
 		/* HAS_ACCEL */
-		if (pad_orientation >= 0)
+		if (pad_orientation != AltosLib.MISSING)
 			pad_orientation = source.pad_orientation();
 
+		if (accel_cal_plus_cooked != AltosLib.MISSING)
+			accel_cal_plus_cooked = source.accel_cal_plus();
+
+		if (accel_cal_minus_cooked != AltosLib.MISSING)
+			accel_cal_minus_cooked = source.accel_cal_minus();
+
 		/* HAS_LOG */
-		if (flight_log_max >= 0)
+		if (flight_log_max != AltosLib.MISSING)
 			flight_log_max = source.flight_log_max();
 
 		/* HAS_IGNITE */
-		if (ignite_mode >= 0)
+		if (ignite_mode != AltosLib.MISSING)
 			ignite_mode = source.ignite_mode();
 
 		/* AO_PYRO_NUM */
-		if (npyro > 0)
+		if (npyro != AltosLib.MISSING)
 			pyros = source.pyros();
-		if (pyro_firing_time >= 0)
+		if (pyro_firing_time != AltosLib.MISSING)
 			pyro_firing_time = source.pyro_firing_time();
 
 		/* HAS_APRS */
-		if (aprs_interval >= 0)
+		if (aprs_interval != AltosLib.MISSING)
 			aprs_interval = source.aprs_interval();
-		if (aprs_ssid >= 0)
+		if (aprs_ssid != AltosLib.MISSING)
 			aprs_ssid = source.aprs_ssid();
-		if (aprs_format >= 0)
+		if (aprs_format != AltosLib.MISSING)
 			aprs_format = source.aprs_format();
+		if (aprs_offset != AltosLib.MISSING)
+			aprs_offset = source.aprs_offset();
 
 		/* HAS_BEEP */
-		if (beep >= 0)
+		if (beep != AltosLib.MISSING)
 			beep = source.beep();
+
+		/* HAS_RADIO_10MW */
+		if (radio_10mw != AltosLib.MISSING)
+			radio_10mw = source.radio_10mw();
+
+		if (report_feet != AltosLib.MISSING)
+			report_feet = source.report_feet();
+
+		if (gps_receiver != AltosLib.MISSING)
+			gps_receiver = source.gps_receiver();
+
 		/* HAS_TRACKER */
-		if (tracker_motion >= 0)
+		if (tracker_motion != AltosLib.MISSING)
 			tracker_motion = source.tracker_motion();
-		if (tracker_interval >= 0)
+		if (tracker_interval != AltosLib.MISSING)
 			tracker_interval = source.tracker_interval();
 	}
 
@@ -572,7 +814,7 @@ public class AltosConfigData {
 		if (log_space() == 0)
 			max_enabled = false;
 
-		if (log_fixed > 0)
+		if (log_fixed != AltosLib.MISSING)
 			max_enabled = false;
 
 		switch (log_format) {
@@ -580,19 +822,21 @@ public class AltosConfigData {
 			max_enabled = false;
 			break;
 		default:
-			if (stored_flight > 0)
+			if (flights != null)
 				max_enabled = false;
 			break;
 		}
 
 		dest.set_flight_log_max_enabled(max_enabled);
 		dest.set_radio_enable(radio_enable);
-		dest.set_flight_log_max_limit(log_space() / 1024);
+		dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
 		dest.set_flight_log_max(flight_log_max);
 		dest.set_ignite_mode(ignite_mode);
 		dest.set_pad_orientation(pad_orientation);
+		dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
+				   accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 		dest.set_callsign(callsign);
-		if (npyro > 0)
+		if (npyro != AltosLib.MISSING)
 			dest.set_pyros(pyros);
 		else
 			dest.set_pyros(null);
@@ -600,7 +844,11 @@ public class AltosConfigData {
 		dest.set_aprs_interval(aprs_interval);
 		dest.set_aprs_ssid(aprs_ssid);
 		dest.set_aprs_format(aprs_format);
+		dest.set_aprs_offset(aprs_offset);
 		dest.set_beep(beep);
+		dest.set_radio_10mw(radio_10mw);
+		dest.set_report_feet(report_feet);
+		dest.set_gps_receiver(gps_receiver);
 		dest.set_tracker_motion(tracker_motion);
 		dest.set_tracker_interval(tracker_interval);
 	}
@@ -616,104 +864,130 @@ public class AltosConfigData {
 	public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 
 		/* HAS_FLIGHT */
-		if (main_deploy >= 0)
+		if (main_deploy != AltosLib.MISSING)
 			link.printf("c m %d\n", main_deploy);
-		if (apogee_delay >= 0)
+		if (apogee_delay != AltosLib.MISSING)
 			link.printf("c d %d\n", apogee_delay);
-		if (apogee_lockout >= 0)
+		if (apogee_lockout != AltosLib.MISSING)
 			link.printf("c L %d\n", apogee_lockout);
 
 		/* HAS_RADIO */
 		if (has_frequency()) {
-			boolean has_frequency = radio_frequency >= 0;
-			boolean has_setting = radio_setting > 0;
+			boolean has_frequency = radio_frequency != AltosLib.MISSING;
+			boolean has_setting = radio_setting != AltosLib.MISSING;
 			double frequency = frequency();
 			link.set_radio_frequency(frequency,
 							has_frequency,
 							has_setting,
 							radio_calibration);
 			/* When remote, reset the dongle frequency at the same time */
-			if (remote) {
-				link.flush_output();
+			if (remote && frequency != link.frequency) {
 				link.stop_remote();
 				link.set_radio_frequency(frequency);
-				link.flush_output();
 				link.start_remote();
 			}
 		}
 
-		if (telemetry_rate >= 0) {
+		if (telemetry_rate != AltosLib.MISSING) {
 			link.printf("c T %d\n", telemetry_rate);
-			if (remote) {
-				link.flush_output();
+			if (remote && telemetry_rate != link.telemetry_rate) {
 				link.stop_remote();
 				link.set_telemetry_rate(telemetry_rate);
-				link.flush_output();
 				link.start_remote();
 			}
 		}
 
 		if (callsign != null) {
 			link.printf("c c %s\n", callsign);
-			if (remote) {
-				link.flush_output();
+			if (remote && !callsign.equals(link.callsign)) {
+				System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
 				link.stop_remote();
 				link.set_callsign(callsign);
-				link.flush_output();
 				link.start_remote();
 			}
 		}
 
-		if (radio_enable >= 0)
+		if (radio_enable != AltosLib.MISSING)
 			link.printf("c e %d\n", radio_enable);
 
 		/* HAS_ACCEL */
-		/* UI doesn't support accel cal */
-		if (pad_orientation >= 0)
+		/* set orientation first so that we know how to set the accel cal */
+		if (pad_orientation != AltosLib.MISSING)
 			link.printf("c o %d\n", pad_orientation);
+		int plus = accel_cal_plus(pad_orientation);
+		int minus = accel_cal_minus(pad_orientation);
+		if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
+			if (plus < 0)
+				plus = 65536 + plus;
+			if (minus < 0)
+				minus = 65536 + minus;
+			if (accel_zero_along != AltosLib.MISSING &&
+			    accel_zero_across != AltosLib.MISSING &&
+			    accel_zero_through != AltosLib.MISSING)
+				link.printf("c a %d %d %d %d %d\n",
+ 					    plus, minus,
+					    accel_zero_along,
+					    accel_zero_across,
+					    accel_zero_through);
+			else
+				link.printf("c a %d %d\n", plus, minus);
+		}
 
 		/* HAS_LOG */
-		if (flight_log_max != 0)
+		if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
 			link.printf("c l %d\n", flight_log_max);
 
 		/* HAS_IGNITE */
-		if (ignite_mode >= 0)
+		if (ignite_mode != AltosLib.MISSING)
 			link.printf("c i %d\n", ignite_mode);
 
 		/* HAS_AES */
 		/* UI doesn't support AES key config */
 
 		/* AO_PYRO_NUM */
-		if (npyro > 0) {
+		if (npyro != AltosLib.MISSING) {
 			for (int p = 0; p < pyros.length; p++) {
 				link.printf("c P %s\n",
 						   pyros[p].toString());
 			}
 		}
-		if (pyro_firing_time >= 0)
+		if (pyro_firing_time != AltosLib.MISSING)
 			link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 
 		/* HAS_APRS */
-		if (aprs_interval >= 0)
+		if (aprs_interval != AltosLib.MISSING)
 			link.printf("c A %d\n", aprs_interval);
-		if (aprs_ssid >= 0)
+		if (aprs_ssid != AltosLib.MISSING)
 			link.printf("c S %d\n", aprs_ssid);
-		if (aprs_format >= 0)
+		if (aprs_format != AltosLib.MISSING)
 			link.printf("c C %d\n", aprs_format);
+		if (aprs_offset != AltosLib.MISSING)
+			link.printf("c O %d\n", aprs_offset);
 
 		/* HAS_BEEP */
-		if (beep >= 0)
+		if (beep != AltosLib.MISSING)
 			link.printf("c b %d\n", beep);
 
+		/* HAS_RADIO_10MW */
+		if (radio_10mw != AltosLib.MISSING)
+			link.printf("c p %d\n", radio_10mw);
+
+		if (report_feet != AltosLib.MISSING)
+			link.printf("c u %d\n", report_feet);
+
+		/* HAS_GPS_MOSAIC */
+		if (gps_receiver != AltosLib.MISSING)
+			link.printf("c g %d\n", gps_receiver);
+
 		/* HAS_TRACKER */
-		if (tracker_motion >= 0 && tracker_interval >= 0)
+		if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 			link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 
 		/* HAS_GYRO */
 		/* UI doesn't support accel cal */
 
 		link.printf("c w\n");
-		link.flush_output();
+		read_link(link, "Saved");
 	}
 
 	public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
@@ -729,5 +1003,6 @@ public class AltosConfigData {
 			read_link(link, "done");
 			break;
 		}
+		adjust_accel_cal();
 	}
 }