+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+ <para>
+ Version 1.2.1 is a minor release. It adds support for TeleBT and
+ the AltosDroid application, provides several new features in
+ AltosUI and fixes some bugs in the AltOS firmware.
+ </para>
+ <para>
+ AltOS Firmware Changes
+ <itemizedlist>
+ <listitem>
+ Add support for TeleBT
+ </listitem>
+ <listitem>
+ In TeleMini recovery mode (when booted with the outer two
+ debug pins connected together), the radio parameters are also
+ set back to defaults (434.550MHz, N0CALL, factory radio cal).
+ </listitem>
+ <listitem>
+ Add support for reflashing the SkyTraq GPS chips. This
+ requires special host-side code which currently only exists
+ for Linux.
+ </listitem>
+ <listitem>
+ Correct Kalman filter model error covariance matrix. The
+ values used previously assumed continuous measurements instead
+ of discrete measurements.
+ </listitem>
+ <listitem>
+ Fix some bugs in the USB driver for TeleMetrum and TeleDongle
+ that affected Windows users.
+ </listitem>
+ <listitem>
+ Adjusted the automatic gain control parameters that affect
+ receive performance for TeleDongle. Field tests indicate that this
+ may improve receive performance somewhat.
+ </listitem>
+ </itemizedlist>
+ </para>
+ <para>
+ AltosUI Changes
+ <itemizedlist>
+ <listitem>
+ Handle missing GPS lock in 'Descent' tab. Previously, if the
+ GPS position of the pad was unknown, an exception would be
+ raised, breaking the Descent tab contents.
+ </listitem>
+ <listitem>
+ Improve the graph, adding tool-tips to show values near the
+ cursor and making the displayed set of values configurable,
+ adding all of the flight data as options while leaving the
+ default settings alone so that the graph starts by showing
+ height, speed and acceleration.
+ </listitem>
+ <listitem>
+ Make the initial position of the AltosUI top level window
+ configurable. Along with this change, the other windows will
+ pop up at 'sensible' places now, instead of on top of one
+ another.
+ </listitem>
+ <listitem>
+ Add callsign to Monitor idle window and connecting
+ dialogs. This makes it clear which callsign is being used so
+ that the operator will be aware that it must match the flight
+ computer value or no communication will work.
+ </listitem>
+ <listitem>
+ When downloading flight data, display the block number so that
+ the user has some sense of progress. Unfortunately, we don't
+ know how many blocks will need to be downloaded, but at least
+ it isn't just sitting there doing nothing for a long time.
+ </listitem>
+ <listitem>
+ Add GPS data and a map to the graph window. This lets you see
+ a complete summary of the flight without needing to 'replay'
+ the whole thing.
+ </listitem>
+ </itemizedlist>
+ </para>
+</article>