From: Bdale Garbee <bdale@gag.com>
Date: Sat, 6 Sep 2014 19:41:36 +0000 (-0600)
Subject: Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
X-Git-Tag: 1.4.9.3~3
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=8c212cd5bfa03f71a31d84bd0051314e77d88461;hp=e9714e34091abe657aa1b30aeda9466331aa39c1

Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

Conflicts:
	ao-bringup/turnon_telemega
---

diff --git a/altosdroid/Notebook b/altosdroid/Notebook
index ebb3578d..5a4df032 100644
--- a/altosdroid/Notebook
+++ b/altosdroid/Notebook
@@ -8,6 +8,8 @@ Desired AltosDroid feature list
 
  *) Highlight current frequency in the frequency list.
 
+	Placed current frequency in title bar
+
  *) Random frequency selection. Provide some mechanism to input
     arbitrary radio frequencies. Could be like AltosUI which allows
     you to edit the list of frequencies and assign names to them,
@@ -23,10 +25,16 @@ Desired AltosDroid feature list
 
  *) Remember most-recently-used TBT and frequency, perhaps
     auto-connect at startup.
+
+	Done
     
  *) Re-loading flight data from .telem file to get back to
     'find my rocket' mode after shutting down the application.
 
+	Done
+
  *) Imperial Units mode
 
+	Done
+
  *) TeleBT battery voltage
diff --git a/altosdroid/res/layout/device_list.xml b/altosdroid/res/layout/device_list.xml
index 395695f8..93d65517 100644
--- a/altosdroid/res/layout/device_list.xml
+++ b/altosdroid/res/layout/device_list.xml
@@ -18,39 +18,39 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     >
-    <TextView android:id="@+id/title_paired_devices"
+    <Button android:id="@+id/button_scan"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:text="@string/title_paired_devices"
+        android:text="@string/button_scan"
+    />
+    <TextView android:id="@+id/title_new_devices"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:text="@string/title_other_devices"
         android:visibility="gone"
         android:background="#666"
         android:textColor="#fff"
         android:paddingLeft="5dp"
     />
-    <ListView android:id="@+id/paired_devices"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:stackFromBottom="true"
-        android:layout_weight="1"
-    />
-    <TextView android:id="@+id/title_new_devices"
+    <TextView android:id="@+id/title_paired_devices"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:text="@string/title_other_devices"
+        android:text="@string/title_paired_devices"
         android:visibility="gone"
         android:background="#666"
         android:textColor="#fff"
         android:paddingLeft="5dp"
     />
-    <ListView android:id="@+id/new_devices"
+    <ListView android:id="@+id/paired_devices"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
         android:stackFromBottom="true"
-        android:layout_weight="2"
+        android:layout_weight="1"
     />
-    <Button android:id="@+id/button_scan"
+    <ListView android:id="@+id/new_devices"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:text="@string/button_scan"
+        android:stackFromBottom="true"
+        android:layout_weight="2"
     />
-</LinearLayout>
\ No newline at end of file
+</LinearLayout>
diff --git a/altosdroid/res/menu/option_menu.xml b/altosdroid/res/menu/option_menu.xml
index ee9d475f..3bd5a54e 100644
--- a/altosdroid/res/menu/option_menu.xml
+++ b/altosdroid/res/menu/option_menu.xml
@@ -17,10 +17,16 @@
     <item android:id="@+id/connect_scan"
           android:icon="@android:drawable/ic_menu_search"
           android:title="@string/connect_device" />
+    <item android:id="@+id/quit"
+          android:icon="@android:drawable/ic_menu_close_clear_cancel"
+          android:title="@string/quit" />
     <item android:id="@+id/select_freq"
           android:icon="@android:drawable/ic_menu_preferences"
           android:title="@string/select_freq" />
     <item android:id="@+id/select_rate"
           android:icon="@android:drawable/ic_menu_preferences"
           android:title="@string/select_rate" />
+    <item android:id="@+id/change_units"
+	  android:icon="@android:drawable/ic_menu_view"
+	  android:title="@string/change_units" />
 </menu>
diff --git a/altosdroid/res/values/strings.xml b/altosdroid/res/values/strings.xml
index ce335b76..0cc99349 100644
--- a/altosdroid/res/values/strings.xml
+++ b/altosdroid/res/values/strings.xml
@@ -22,13 +22,15 @@
 	<!-- AltosDroid -->
 	<string name="bt_not_enabled">Bluetooth was not enabled.</string>
 	<string name="title_connecting">connecting…</string>
-	<string name="title_connected_to">connected: </string>
+	<string name="title_connected_to">connected</string>
 	<string name="title_not_connected">not connected</string>
 
 	<!-- Options Menu -->
 	<string name="connect_device">Connect a device</string>
+	<string name="quit">Quit</string>
 	<string name="select_freq">Select radio frequency</string>
 	<string name="select_rate">Select data rate</string>
+	<string name="change_units">Change units</string>
 
 	<!-- DeviceListActivity -->
 	<string name="scanning">scanning for devices…</string>
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java
index 484efaf8..51ef5e94 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java
@@ -52,6 +52,7 @@ public class AltosBluetooth extends AltosLink {
 
 	// Constructor
 	public AltosBluetooth(BluetoothDevice in_device, Handler in_handler) {
+//		set_debug(D);
 		adapter = BluetoothAdapter.getDefaultAdapter();
 		device = in_device;
 		handler = in_handler;
@@ -136,9 +137,27 @@ public class AltosBluetooth extends AltosLink {
 		}
 	}
 
+	public double frequency() {
+		return frequency;
+	}
+
+	public int telemetry_rate() {
+		return telemetry_rate;
+	}
+
+	public void save_frequency() {
+		AltosPreferences.set_frequency(0, frequency);
+	}
+
+	public void save_telemetry_rate() {
+		AltosPreferences.set_telemetry_rate(0, telemetry_rate);
+	}
+
 	private synchronized void wait_connected() throws InterruptedException, IOException {
 		if (input == null) {
+			if (D) Log.d(TAG, "wait_connected...");
 			wait();
+			if (D) Log.d(TAG, "wait_connected done");
 			if (input == null) throw new IOException();
 		}
 	}
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
index c9c38d98..f6cceac9 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
@@ -44,32 +44,34 @@ import android.view.Menu;
 import android.view.MenuInflater;
 import android.view.MenuItem;
 import android.view.Window;
+import android.view.View;
 import android.widget.TabHost;
 import android.widget.TextView;
+import android.widget.RelativeLayout;
 import android.widget.Toast;
 import android.app.AlertDialog;
 import android.location.Location;
 
 import org.altusmetrum.altoslib_5.*;
 
-public class AltosDroid extends FragmentActivity {
+public class AltosDroid extends FragmentActivity implements AltosUnitsListener {
 	// Debugging
 	static final String TAG = "AltosDroid";
 	static final boolean D = true;
 
 	// Message types received by our Handler
-	public static final int MSG_STATE_CHANGE    = 1;
-	public static final int MSG_TELEMETRY       = 2;
-	public static final int MSG_UPDATE_AGE      = 3;
-	public static final int MSG_LOCATION	    = 4;
-	public static final int MSG_CRC_ERROR	    = 5;
+
+	public static final int MSG_STATE           = 1;
+	public static final int MSG_UPDATE_AGE      = 2;
 
 	// Intent request codes
-	private static final int REQUEST_CONNECT_DEVICE = 1;
-	private static final int REQUEST_ENABLE_BT      = 2;
+	public static final int REQUEST_CONNECT_DEVICE = 1;
+	public static final int REQUEST_ENABLE_BT      = 2;
 
 	public static FragmentManager	fm;
 
+	private BluetoothAdapter mBluetoothAdapter = null;
+
 	// Layout Views
 	private TextView mTitle;
 
@@ -78,12 +80,16 @@ public class AltosDroid extends FragmentActivity {
 	private TextView mRSSIView;
 	private TextView mSerialView;
 	private TextView mFlightView;
+	private RelativeLayout mStateLayout;
 	private TextView mStateView;
 	private TextView mAgeView;
 
 	// field to display the version at the bottom of the screen
 	private TextView mVersion;
 
+	private double frequency;
+	private int telemetry_rate;
+
 	// Tabs
 	TabHost         mTabHost;
 	AltosViewPager  mViewPager;
@@ -92,23 +98,14 @@ public class AltosDroid extends FragmentActivity {
 	int             tabHeight;
 
 	// Timer and Saved flight state for Age calculation
-	private Timer timer = new Timer();
+	private Timer timer;
 	AltosState saved_state;
-	Location saved_location;
 
 	// Service
 	private boolean mIsBound   = false;
 	private Messenger mService = null;
 	final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 
-	// Preferences
-	private AltosDroidPreferences prefs = null;
-
-	// TeleBT Config data
-	private AltosConfigData mConfigData = null;
-	// Local Bluetooth adapter
-	private BluetoothAdapter mBluetoothAdapter = null;
-
 	// Text to Speech
 	private AltosVoice mAltosVoice = null;
 
@@ -120,39 +117,21 @@ public class AltosDroid extends FragmentActivity {
 		@Override
 		public void handleMessage(Message msg) {
 			AltosDroid ad = mAltosDroid.get();
+
 			switch (msg.what) {
-			case MSG_STATE_CHANGE:
-				if(D) Log.d(TAG, "MSG_STATE_CHANGE: " + msg.arg1);
-				switch (msg.arg1) {
-				case TelemetryService.STATE_CONNECTED:
-					ad.mConfigData = (AltosConfigData) msg.obj;
-					String str = String.format(" %s S/N: %d", ad.mConfigData.product, ad.mConfigData.serial);
-					ad.mTitle.setText(R.string.title_connected_to);
-					ad.mTitle.append(str);
-					Toast.makeText(ad.getApplicationContext(), "Connected to " + str, Toast.LENGTH_SHORT).show();
-					break;
-				case TelemetryService.STATE_CONNECTING:
-					ad.mTitle.setText(R.string.title_connecting);
-					break;
-				case TelemetryService.STATE_READY:
-				case TelemetryService.STATE_NONE:
-					ad.mConfigData = null;
-					ad.mTitle.setText(R.string.title_not_connected);
-					break;
+			case MSG_STATE:
+				if(D) Log.d(TAG, "MSG_STATE");
+				TelemetryState telemetry_state = (TelemetryState) msg.obj;
+				if (telemetry_state == null) {
+					Log.d(TAG, "telemetry_state null!");
+					return;
 				}
-				break;
-			case MSG_TELEMETRY:
-				ad.update_ui((AltosState) msg.obj);
-				break;
-			case MSG_LOCATION:
-				ad.set_location((Location) msg.obj);
-				break;
-			case MSG_CRC_ERROR:
+
+				ad.update_state(telemetry_state);
 				break;
 			case MSG_UPDATE_AGE:
-				if (ad.saved_state != null) {
-					ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.received_time + 500) / 1000));
-				}
+				if(D) Log.d(TAG, "MSG_UPDATE_AGE");
+				ad.update_age();
 				break;
 			}
 		}
@@ -208,10 +187,65 @@ public class AltosDroid extends FragmentActivity {
 		mTabs.remove(mTab);
 	}
 
-	void set_location(Location location) {
-		saved_location = location;
-		Log.d(TAG, "set_location");
-		update_ui(saved_state);
+	public void units_changed(boolean imperial_units) {
+		for (AltosDroidTab mTab : mTabs)
+			mTab.units_changed(imperial_units);
+	}
+
+	void update_title(TelemetryState telemetry_state) {
+		switch (telemetry_state.connect) {
+		case TelemetryState.CONNECT_CONNECTED:
+			if (telemetry_state.config != null) {
+				String str = String.format("S/N %d %6.3f MHz", telemetry_state.config.serial,
+							   telemetry_state.frequency);
+				if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
+					str = str.concat(String.format(" %d bps",
+								       AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
+				mTitle.setText(str);
+			} else {
+				mTitle.setText(R.string.title_connected_to);
+			}
+			break;
+		case TelemetryState.CONNECT_CONNECTING:
+			mTitle.setText(R.string.title_connecting);
+			break;
+		case TelemetryState.CONNECT_READY:
+		case TelemetryState.CONNECT_NONE:
+			mTitle.setText(R.string.title_not_connected);
+			break;
+		}
+	}
+
+	void start_timer() {
+		if (timer == null) {
+			timer = new Timer();
+			timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
+		}
+	}
+
+	void stop_timer() {
+		if (timer != null) {
+			timer.cancel();
+			timer.purge();
+			timer = null;
+		}
+	}
+
+	boolean	registered_units_listener;
+
+	void update_state(TelemetryState telemetry_state) {
+
+		if (!registered_units_listener) {
+			registered_units_listener = true;
+			AltosPreferences.register_units_listener(this);
+		}
+
+		update_title(telemetry_state);
+		update_ui(telemetry_state.state, telemetry_state.location);
+		if (telemetry_state.connect == TelemetryState.CONNECT_CONNECTED)
+			start_timer();
+		else
+			stop_timer();
 	}
 
 	boolean same_string(String a, String b) {
@@ -226,42 +260,73 @@ public class AltosDroid extends FragmentActivity {
 		}
 	}
 
-	void update_ui(AltosState state) {
+	void update_age() {
+		if (saved_state != null)
+			mAgeView.setText(String.format("%d", (System.currentTimeMillis() - saved_state.received_time + 500) / 1000));
+	}
+
+	void update_ui(AltosState state, Location location) {
 
 		Log.d(TAG, "update_ui");
-		if (state != null && saved_state != null) {
-			if (saved_state.state != state.state) {
-				String currentTab = mTabHost.getCurrentTabTag();
-				Log.d(TAG, "switch state");
-				switch (state.state) {
-				case AltosLib.ao_flight_boost:
-					if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("ascent");
-					break;
-				case AltosLib.ao_flight_drogue:
-					if (currentTab.equals("ascent")) mTabHost.setCurrentTabByTag("descent");
-					break;
-				case AltosLib.ao_flight_landed:
-					if (currentTab.equals("descent")) mTabHost.setCurrentTabByTag("landed");
-					break;
-				}
-			}
-		}
+
+		int prev_state = AltosLib.ao_flight_invalid;
 
 		AltosGreatCircle from_receiver = null;
 
-		if (state != null && saved_location != null && state.gps != null && state.gps.locked) {
-			double altitude = 0;
-			if (saved_location.hasAltitude())
-				altitude = saved_location.getAltitude();
-			from_receiver = new AltosGreatCircle(saved_location.getLatitude(),
-							     saved_location.getLongitude(),
-							     altitude,
-							     state.gps.lat,
-							     state.gps.lon,
-							     state.gps.alt);
-		}
+		if (saved_state != null)
+			prev_state = saved_state.state;
 
 		if (state != null) {
+			Log.d(TAG, String.format("prev state %d new state  %d\n", prev_state, state.state));
+			if (state.state == AltosLib.ao_flight_stateless) {
+				boolean	prev_locked = false;
+				boolean locked = false;
+
+				if(state.gps != null)
+					locked = state.gps.locked;
+				if (saved_state != null && saved_state.gps != null)
+					prev_locked = saved_state.gps.locked;
+				if (prev_locked != locked) {
+					String currentTab = mTabHost.getCurrentTabTag();
+					if (locked) {
+						if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("descent");
+					} else {
+						if (currentTab.equals("descent")) mTabHost.setCurrentTabByTag("pad");
+					}
+				}
+			} else {
+				if (prev_state != state.state) {
+					String currentTab = mTabHost.getCurrentTabTag();
+					Log.d(TAG, "switch state");
+					switch (state.state) {
+					case AltosLib.ao_flight_boost:
+						if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("ascent");
+						break;
+					case AltosLib.ao_flight_drogue:
+						if (currentTab.equals("ascent")) mTabHost.setCurrentTabByTag("descent");
+						break;
+					case AltosLib.ao_flight_landed:
+						if (currentTab.equals("descent")) mTabHost.setCurrentTabByTag("landed");
+						break;
+					case AltosLib.ao_flight_stateless:
+						if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("descent");
+						break;
+					}
+				}
+			}
+
+			if (location != null && state.gps != null && state.gps.locked) {
+				double altitude = 0;
+				if (location.hasAltitude())
+					altitude = location.getAltitude();
+				from_receiver = new AltosGreatCircle(location.getLatitude(),
+								     location.getLongitude(),
+								     altitude,
+								     state.gps.lat,
+								     state.gps.lon,
+								     state.gps.alt);
+			}
+
 			if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 				Log.d(TAG, "update callsign");
 				mCallsignView.setText(state.callsign);
@@ -276,7 +341,12 @@ public class AltosDroid extends FragmentActivity {
 			}
 			if (saved_state == null || state.state != saved_state.state) {
 				Log.d(TAG, "update state");
-				mStateView.setText(state.state_name());
+				if (state.state == AltosLib.ao_flight_stateless) {
+					mStateLayout.setVisibility(View.GONE);
+				} else {
+					mStateView.setText(state.state_name());
+					mStateLayout.setVisibility(View.VISIBLE);
+				}
 			}
 			if (saved_state == null || state.rssi != saved_state.rssi) {
 				Log.d(TAG, "update rssi");
@@ -285,10 +355,10 @@ public class AltosDroid extends FragmentActivity {
 		}
 
 		for (AltosDroidTab mTab : mTabs)
-			mTab.update_ui(state, from_receiver, saved_location, mTab == mTabsAdapter.currentItem());
+			mTab.update_ui(state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 
 		if (state != null)
-			mAltosVoice.tell(state);
+			mAltosVoice.tell(state, from_receiver);
 
 		saved_state = state;
 	}
@@ -330,8 +400,6 @@ public class AltosDroid extends FragmentActivity {
 		super.onCreate(savedInstanceState);
 		if(D) Log.e(TAG, "+++ ON CREATE +++");
 
-		fm = getSupportFragmentManager();
-
 		// Get local Bluetooth adapter
 		mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 
@@ -339,12 +407,9 @@ public class AltosDroid extends FragmentActivity {
 		if (mBluetoothAdapter == null) {
 			Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 			finish();
-			return;
 		}
 
-		// Initialise preferences
-		prefs = new AltosDroidPreferences(this);
-		AltosPreferences.init(prefs);
+		fm = getSupportFragmentManager();
 
 		// Set up the window layout
 		requestWindowFeature(Window.FEATURE_CUSTOM_TITLE);
@@ -387,7 +452,6 @@ public class AltosDroid extends FragmentActivity {
 		for (int i = 0; i < 5; i++)
 			mTabHost.getTabWidget().getChildAt(i).getLayoutParams().height = tabHeight;
 
-
 		// Set up the custom title
 		mTitle = (TextView) findViewById(R.id.title_left_text);
 		mTitle.setText(R.string.app_name);
@@ -403,11 +467,10 @@ public class AltosDroid extends FragmentActivity {
 		mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 		mSerialView    = (TextView) findViewById(R.id.serial_value);
 		mFlightView    = (TextView) findViewById(R.id.flight_value);
+		mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 		mStateView     = (TextView) findViewById(R.id.state_value);
 		mAgeView       = (TextView) findViewById(R.id.age_value);
 
-		timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 100L);
-
 		mAltosVoice = new AltosVoice(this);
 	}
 
@@ -416,15 +479,16 @@ public class AltosDroid extends FragmentActivity {
 		super.onStart();
 		if(D) Log.e(TAG, "++ ON START ++");
 
+		// Start Telemetry Service
+		startService(new Intent(AltosDroid.this, TelemetryService.class));
+
 		if (!mBluetoothAdapter.isEnabled()) {
 			Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
-			startActivityForResult(enableIntent, REQUEST_ENABLE_BT);
+			startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 		}
 
-		// Start Telemetry Service
-		startService(new Intent(AltosDroid.this, TelemetryService.class));
-
 		doBindService();
+
 	}
 
 	@Override
@@ -453,6 +517,7 @@ public class AltosDroid extends FragmentActivity {
 		if(D) Log.e(TAG, "--- ON DESTROY ---");
 
 		if (mAltosVoice != null) mAltosVoice.stop();
+		stop_timer();
 	}
 
 	public void onActivityResult(int requestCode, int resultCode, Intent data) {
@@ -480,19 +545,21 @@ public class AltosDroid extends FragmentActivity {
 		}
 	}
 
-	private void connectDevice(Intent data) {
-		// Get the device MAC address
-		String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
-		// Get the BLuetoothDevice object
-		BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);
+	private void connectDevice(String address) {
 		// Attempt to connect to the device
 		try {
-			if (D) Log.d(TAG, "Connecting to " + device.getName());
-			mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, device));
+			if (D) Log.d(TAG, "Connecting to " + address);
+			mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, address));
 		} catch (RemoteException e) {
 		}
 	}
 
+	private void connectDevice(Intent data) {
+		// Get the device MAC address
+		String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
+		connectDevice(address);
+	}
+
 	@Override
 	public boolean onCreateOptionsMenu(Menu menu) {
 		MenuInflater inflater = getMenuInflater();
@@ -550,6 +617,11 @@ public class AltosDroid extends FragmentActivity {
 			serverIntent = new Intent(this, DeviceListActivity.class);
 			startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 			return true;
+		case R.id.quit:
+			Log.d(TAG, "R.id.quit");
+			stopService(new Intent(AltosDroid.this, TelemetryService.class));
+			finish();
+			return true;
 		case R.id.select_freq:
 			// Set the TBT radio frequency
 
@@ -597,6 +669,10 @@ public class AltosDroid extends FragmentActivity {
 			AlertDialog alert_rate = builder_rate.create();
 			alert_rate.show();
 			return true;
+		case R.id.change_units:
+			boolean	imperial = AltosPreferences.imperial_units();
+			AltosPreferences.set_imperial_units(!imperial);
+			return true;
 		}
 		return false;
 	}
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java
index 70d7def8..9cef1319 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java
@@ -1,5 +1,5 @@
 /*
- * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -14,88 +14,38 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
-
 package org.altusmetrum.AltosDroid;
 
-import java.io.File;
-import java.util.Map;
 import android.content.Context;
-import android.content.SharedPreferences;
-import android.os.Environment;
-
 import org.altusmetrum.altoslib_5.*;
 
-public class AltosDroidPreferences implements AltosPreferencesBackend {
-	public final static String        NAME    = "org.altusmetrum.AltosDroid";
-	private Context                   context = null;
-	private SharedPreferences         prefs   = null;
-	private SharedPreferences.Editor  editor  = null;
-
-	public AltosDroidPreferences(Context in_context) {
-		this(in_context, NAME);
-	}
-
-	public AltosDroidPreferences(Context in_context, String in_prefs) {
-		context = in_context;
-		prefs   = context.getSharedPreferences(in_prefs, 0);
-		editor  = prefs.edit();
-	}
-
-	public String[] keys() {
-		Map<String, ?> all = prefs.getAll();
-		return (String[])all.keySet().toArray();
-	}
-
-	public AltosPreferencesBackend node(String key) {
-		return new AltosDroidPreferences(context, key);
-	}
-
-	public boolean nodeExists(String key) {
-		return prefs.contains(key);
-	}
-
-	public boolean getBoolean(String key, boolean def) {
-		return prefs.getBoolean(key, def);
-	}
-
-	public double getDouble(String key, double def) {
-		Float f = Float.valueOf(prefs.getFloat(key, (float)def));
-		return f.doubleValue();
-	}
-
-	public int getInt(String key, int def) {
-		return prefs.getInt(key, def);
-	}
-
-	public String getString(String key, String def) {
-		return prefs.getString(key, def);
-	}
+public class AltosDroidPreferences extends AltosPreferences {
 
-	public void putBoolean(String key, boolean value) {
-		editor.putBoolean(key, value);
-	}
+	/* Active device preference name */
+	final static String activeDevicePreference = "ACTIVE-DEVICE";
 
-	public void putDouble(String key, double value) {
-		editor.putFloat(key, (float)value);
-	}
+	static String active_device_address;
 
-	public void putInt(String key, int value) {
-		editor.putInt(key, value);
-	}
+	public static void init(Context context) {
+		if (backend != null)
+			return;
 
-	public void putString(String key, String value) {
-		editor.putString(key, value);
-	}
+		AltosPreferences.init(new AltosDroidPreferencesBackend(context));
 
-	public void remove(String key) {
-		editor.remove(key);
+		active_device_address = backend.getString(activeDevicePreference, null);
 	}
 
-	public void flush() {
-		editor.apply();
+	public static void set_active_device(String address) {
+		synchronized(backend) {
+			active_device_address = address;
+			backend.putString(activeDevicePreference, active_device_address);
+			flush_preferences();
+		}
 	}
 
-	public File homeDirectory() {
-		return Environment.getExternalStorageDirectory();
+	public static String active_device() {
+		synchronized(backend) {
+			return active_device_address;
+		}
 	}
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferencesBackend.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferencesBackend.java
new file mode 100644
index 00000000..be41ae7c
--- /dev/null
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferencesBackend.java
@@ -0,0 +1,101 @@
+/*
+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosDroid;
+
+import java.io.File;
+import java.util.Map;
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.os.Environment;
+
+import org.altusmetrum.altoslib_5.*;
+
+public class AltosDroidPreferencesBackend implements AltosPreferencesBackend {
+	public final static String        NAME    = "org.altusmetrum.AltosDroid";
+	private Context                   context = null;
+	private SharedPreferences         prefs   = null;
+	private SharedPreferences.Editor  editor  = null;
+
+	public AltosDroidPreferencesBackend(Context in_context) {
+		this(in_context, NAME);
+	}
+
+	public AltosDroidPreferencesBackend(Context in_context, String in_prefs) {
+		context = in_context;
+		prefs   = context.getSharedPreferences(in_prefs, 0);
+		editor  = prefs.edit();
+	}
+
+	public String[] keys() {
+		Map<String, ?> all = prefs.getAll();
+		return (String[])all.keySet().toArray();
+	}
+
+	public AltosPreferencesBackend node(String key) {
+		return new AltosDroidPreferencesBackend(context, key);
+	}
+
+	public boolean nodeExists(String key) {
+		return prefs.contains(key);
+	}
+
+	public boolean getBoolean(String key, boolean def) {
+		return prefs.getBoolean(key, def);
+	}
+
+	public double getDouble(String key, double def) {
+		Float f = Float.valueOf(prefs.getFloat(key, (float)def));
+		return f.doubleValue();
+	}
+
+	public int getInt(String key, int def) {
+		return prefs.getInt(key, def);
+	}
+
+	public String getString(String key, String def) {
+		return prefs.getString(key, def);
+	}
+
+	public void putBoolean(String key, boolean value) {
+		editor.putBoolean(key, value);
+	}
+
+	public void putDouble(String key, double value) {
+		editor.putFloat(key, (float)value);
+	}
+
+	public void putInt(String key, int value) {
+		editor.putInt(key, value);
+	}
+
+	public void putString(String key, String value) {
+		editor.putString(key, value);
+	}
+
+	public void remove(String key) {
+		editor.remove(key);
+	}
+
+	public void flush() {
+		editor.apply();
+	}
+
+	public File homeDirectory() {
+		return Environment.getExternalStorageDirectory();
+	}
+}
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
index b960eb1a..8e625da6 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
@@ -27,8 +27,9 @@ import android.support.v4.app.FragmentTransaction;
 import android.support.v4.app.FragmentManager;
 import android.location.Location;
 import android.util.Log;
+import android.widget.TextView;
 
-public abstract class AltosDroidTab extends Fragment {
+public abstract class AltosDroidTab extends Fragment implements AltosUnitsListener {
 	AltosState		last_state;
 	AltosGreatCircle	last_from_receiver;
 	Location		last_receiver;
@@ -37,39 +38,46 @@ public abstract class AltosDroidTab extends Fragment {
 
 	public abstract String tab_name();
 
+	public void units_changed(boolean imperial_units) {
+		if (!isHidden() && last_state != null)
+			show(last_state, last_from_receiver, last_receiver);
+	}
+
+	public void set_value(TextView text_view,
+			      AltosUnits units,
+			      int width,
+			      double value) {
+		if (value == AltosLib.MISSING)
+			text_view.setText("");
+		else
+			text_view.setText(units.show(width, value));
+	}
+
 	public void set_visible(boolean visible) {
 		FragmentTransaction	ft = AltosDroid.fm.beginTransaction();
-		if (visible)
+		if (visible) {
+			AltosState		state = last_state;
+			AltosGreatCircle	from_receiver = last_from_receiver;
+			Location		receiver = last_receiver;
+
+			show(state, from_receiver, receiver);
 			ft.show(this);
-		else
+		} else
 			ft.hide(this);
 		ft.commit();
 	}
 
 	public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver, boolean is_current) {
+		last_state = state;
+		last_from_receiver = from_receiver;
+		last_receiver = receiver;
 		if (is_current) {
-			Log.d(AltosDroid.TAG, String.format("%s: visible, performing update", tab_name()));
+			if (AltosDroid.D) Log.d(AltosDroid.TAG, String.format("%s: visible, performing update", tab_name()));
 
 			show(state, from_receiver, receiver);
 		} else {
-			Log.d(AltosDroid.TAG, String.format("%s: not visible, skipping update", tab_name()));
-			last_state = state;
-			last_from_receiver = from_receiver;
-			last_receiver = receiver;
+			if (AltosDroid.D) Log.d(AltosDroid.TAG, String.format("%s: not visible, skipping update", tab_name()));
 			return;
 		}
 	}
-
-	public void onHiddenChanged(boolean hidden) {
-		if (last_state != null && isVisible()) {
-			AltosState		state = last_state;
-			AltosGreatCircle	from_receiver = last_from_receiver;
-			Location		receiver = last_receiver;
-
-			last_state = null;
-			last_from_receiver = null;
-			last_receiver = null;
-			show(state, from_receiver, receiver);
-		}
-	}
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
index b05913b6..969992d3 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
@@ -58,7 +58,7 @@ public class AltosVoice {
 		}
 	}
 
-	public void tell(AltosState state) {
+	public void tell(AltosState state, AltosGreatCircle from_receiver) {
 		if (!tts_enabled) return;
 
 		boolean	spoke = false;
@@ -68,12 +68,14 @@ public class AltosVoice {
 			if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&
 			    state.state > AltosLib.ao_flight_boost) {
 				if (state.max_speed() != AltosLib.MISSING)
-					speak(String.format("max speed: %d meters per second.", (int) (state.max_speed() + 0.5)));
+					speak(String.format("Max speed: %s.",
+							    AltosConvert.speed.say_units(state.max_speed())));
 				spoke = true;
 			} else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&
 			           state.state >= AltosLib.ao_flight_drogue) {
 				if (state.max_height() != AltosLib.MISSING)
-					speak(String.format("max height: %d meters.", (int) (state.max_height() + 0.5)));
+					speak(String.format("Max height: %s.",
+							    AltosConvert.height.say_units(state.max_height())));
 				spoke = true;
 			}
 		}
@@ -88,13 +90,14 @@ public class AltosVoice {
 		}
 		old_state = state;
 		if (idle_thread != null)
-			idle_thread.notice(state, spoke);
+			idle_thread.notice(state, from_receiver, spoke);
 	}
 
 
 	class IdleThread extends Thread {
 		boolean	           started;
 		private AltosState state;
+		private AltosGreatCircle from_receiver;
 		int                reported_landing;
 		int                report_interval;
 		long               report_time;
@@ -112,29 +115,30 @@ public class AltosVoice {
 				return;
 			}
 
-			/* If the rocket isn't on the pad, then report height */
-			if (((AltosLib.ao_flight_drogue <= state.state &&
+			/* If the rocket isn't on the pad, then report location */
+			if ((AltosLib.ao_flight_drogue <= state.state &&
 			      state.state < AltosLib.ao_flight_landed) ||
-			     state.state == AltosLib.ao_flight_stateless) &&
-			    state.range >= 0)
+			     state.state == AltosLib.ao_flight_stateless)
 			{
-				if (state.from_pad != null) {
-					speak(String.format("Height %d, bearing %s %d, elevation %d, range %d.\n",
-							    (int) (state.height() + 0.5),
-							    state.from_pad.bearing_words(
+				AltosGreatCircle	position;
+
+				if (from_receiver != null)
+					position = from_receiver;
+				else
+					position = state.from_pad;
+
+				if (position != null) {
+					speak(String.format("Height %s, bearing %s %d, elevation %d, range %s.\n",
+							    AltosConvert.height.say_units(state.height()),
+							    position.bearing_words(
 								    AltosGreatCircle.BEARING_VOICE),
-							    (int) (state.from_pad.bearing + 0.5),
-							    (int) (state.elevation + 0.5),
-							    (int) (state.range + 0.5)));
-				} else {
-					speak(String.format("Height %d, elevation %d, range %d.\n",
-							    (int) (state.height() + 0.5),
-							    (int) (state.elevation + 0.5),
-							    (int) (state.range + 0.5)));
+							    (int) (position.bearing + 0.5),
+							    (int) (position.elevation + 0.5),
+							    AltosConvert.distance.say_units(position.range)));
 				}
 			} else if (state.state > AltosLib.ao_flight_pad) {
 				if (state.height() != AltosLib.MISSING)
-					speak(String.format("%d meters", (int) (state.height() + 0.5)));
+					speak(AltosConvert.height.say_units(state.height()));
 			} else {
 				reported_landing = 0;
 			}
@@ -153,9 +157,9 @@ public class AltosVoice {
 				else
 					speak("rocket may have crashed");
 				if (state.from_pad != null)
-					speak(String.format("Bearing %d degrees, range %d meters.",
+					speak(String.format("Bearing %d degrees, range %s.",
 					                    (int) (state.from_pad.bearing + 0.5),
-					                    (int) (state.from_pad.distance + 0.5)));
+							    AltosConvert.distance.say_units(state.from_pad.distance)));
 				++reported_landing;
 			}
 		}
@@ -186,9 +190,10 @@ public class AltosVoice {
 			}
 		}
 
-		public synchronized void notice(AltosState new_state, boolean spoken) {
+		public synchronized void notice(AltosState new_state, AltosGreatCircle new_from_receiver, boolean spoken) {
 			AltosState old_state = state;
 			state = new_state;
+			from_receiver = new_from_receiver;
 			if (!started && state.state > AltosLib.ao_flight_pad) {
 				started = true;
 				start();
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java b/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java
index 8e8d9c03..267c90f8 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/GoNoGoLights.java
@@ -20,6 +20,7 @@ package org.altusmetrum.AltosDroid;
 import android.content.res.Resources;
 import android.graphics.drawable.Drawable;
 import android.widget.ImageView;
+import android.view.View;
 
 public class GoNoGoLights {
 	private Boolean state;
@@ -51,14 +52,27 @@ public class GoNoGoLights {
 		missing = m;
 		set = true;
 		if (missing) {
+			hide();
 			red.setImageDrawable(dGray);
 			green.setImageDrawable(dGray);
 		} else if (state) {
 			red.setImageDrawable(dGray);
 			green.setImageDrawable(dGreen);
+			show();
 		} else {
 			red.setImageDrawable(dRed);
 			green.setImageDrawable(dGray);
+			show();
 		}
 	}
+
+	public void show() {
+		red.setVisibility(View.VISIBLE);
+		green.setVisibility(View.VISIBLE);
+	}
+
+	public void hide() {
+		red.setVisibility(View.GONE);
+		green.setVisibility(View.GONE);
+	}
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
index c146c277..fa4e3c8b 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
@@ -91,12 +91,13 @@ public class TabAscent extends AltosDroidTab {
 
 	public void show(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
 		if (state != null) {
-			mHeightView.setText(AltosDroid.number("%6.0f m", state.height()));
-			mMaxHeightView.setText(AltosDroid.number("%6.0f m", state.max_height()));
-			mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed()));
-			mMaxSpeedView.setText(AltosDroid.number("%6.0f m/s", state.max_speed()));
-			mAccelView.setText(AltosDroid.number("%6.0f m/s²", state.acceleration()));
-			mMaxAccelView.setText(AltosDroid.number("%6.0f m/s²", state.max_acceleration()));
+			set_value(mHeightView, AltosConvert.height, 6, state.height());
+			set_value(mHeightView, AltosConvert.height, 6, state.height());
+			set_value(mMaxHeightView, AltosConvert.height, 6, state.max_height());
+			set_value(mSpeedView, AltosConvert.speed, 6, state.speed());
+			set_value(mMaxSpeedView, AltosConvert.speed, 6, state.max_speed());
+			set_value(mAccelView, AltosConvert.accel, 6, state.acceleration());
+			set_value(mMaxAccelView, AltosConvert.accel, 6, state.max_acceleration());
 
 			if (state.gps != null) {
 				mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
index 6d781efd..28068666 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
@@ -93,14 +93,14 @@ public class TabDescent extends AltosDroidTab {
 
 	public void show(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
 		if (state != null) {
-			mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed()));
-			mHeightView.setText(AltosDroid.number("%6.0f m", state.height()));
+			set_value(mSpeedView, AltosConvert.speed, 6, state.speed());
+			set_value(mHeightView, AltosConvert.height, 6, state.height());
 			if (from_receiver != null) {
 				mElevationView.setText(AltosDroid.number("%3.0f°", from_receiver.elevation));
-				mRangeView.setText(AltosDroid.number("%6.0f m", from_receiver.range));
+				set_value(mRangeView, AltosConvert.distance, 6, from_receiver.range);
 				mBearingView.setText(AltosDroid.number("%3.0f°", from_receiver.bearing));
 				mCompassView.setText(from_receiver.bearing_words(AltosGreatCircle.BEARING_LONG));
-				mDistanceView.setText(AltosDroid.number("%6.0f m", from_receiver.distance));
+				set_value(mDistanceView, AltosConvert.distance, 6, from_receiver.distance);
 			} else { 
 				mElevationView.setText("<unknown>");
 				mRangeView.setText("<unknown>");
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
index 16427d8b..b257b936 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
@@ -78,7 +78,7 @@ public class TabLanded extends AltosDroidTab {
 	public void show(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
 		if (from_receiver != null) {
 			mBearingView.setText(String.format("%3.0f°", from_receiver.bearing));
-			mDistanceView.setText(String.format("%6.0f m", from_receiver.distance));
+			set_value(mDistanceView, AltosConvert.distance, 6, from_receiver.distance);
 		}
 		if (state != null && state.gps != null) {
 			mTargetLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
@@ -91,9 +91,9 @@ public class TabLanded extends AltosDroidTab {
 		}
 
 		if (state != null) {
-			mMaxHeightView.setText(String.format("%6.0f m", state.max_height()));
-			mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration()));
-			mMaxSpeedView.setText(String.format("%6.0f m/s", state.max_speed()));
+			set_value(mMaxHeightView, AltosConvert.height, 6, state.max_height());
+			set_value(mMaxAccelView, AltosConvert.accel, 6, state.max_acceleration());
+			set_value(mMaxSpeedView, AltosConvert.speed, 6, state.max_speed());
 		}
 	}
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
index 811e5482..ab338ac2 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
@@ -158,7 +158,7 @@ public class TabMap extends AltosDroidTab {
 	public void show(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
 		if (from_receiver != null) {
 			mBearingView.setText(String.format("%3.0f°", from_receiver.bearing));
-			mDistanceView.setText(String.format("%6.0f m", from_receiver.distance));
+			set_value(mDistanceView, AltosConvert.distance, 6, from_receiver.distance);
 		}
 
 		if (state != null) {
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
index 03b78b75..32df71d7 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
@@ -33,10 +33,13 @@ public class TabPad extends AltosDroidTab {
 	AltosDroid mAltosDroid;
 
 	private TextView mBatteryVoltageView;
+	private TextView mBatteryVoltageLabel;
 	private GoNoGoLights mBatteryLights;
 	private TextView mApogeeVoltageView;
+	private TextView mApogeeVoltageLabel;
 	private GoNoGoLights mApogeeLights;
 	private TextView mMainVoltageView;
+	private TextView mMainVoltageLabel;
 	private GoNoGoLights mMainLights;
 	private TextView mDataLoggingView;
 	private GoNoGoLights mDataLoggingLights;
@@ -59,16 +62,19 @@ public class TabPad extends AltosDroidTab {
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
 		View v = inflater.inflate(R.layout.tab_pad, container, false);
 		mBatteryVoltageView = (TextView) v.findViewById(R.id.battery_voltage_value);
+		mBatteryVoltageLabel = (TextView) v.findViewById(R.id.battery_voltage_label);
 		mBatteryLights = new GoNoGoLights((ImageView) v.findViewById(R.id.battery_redled),
 		                                  (ImageView) v.findViewById(R.id.battery_greenled),
 		                                  getResources());
 
 		mApogeeVoltageView = (TextView) v.findViewById(R.id.apogee_voltage_value);
+		mApogeeVoltageLabel = (TextView) v.findViewById(R.id.apogee_voltage_label);
 		mApogeeLights = new GoNoGoLights((ImageView) v.findViewById(R.id.apogee_redled),
 		                                 (ImageView) v.findViewById(R.id.apogee_greenled),
 		                                 getResources());
 
 		mMainVoltageView = (TextView) v.findViewById(R.id.main_voltage_value);
+		mMainVoltageLabel = (TextView) v.findViewById(R.id.main_voltage_label);
 		mMainLights = new GoNoGoLights((ImageView) v.findViewById(R.id.main_redled),
 		                               (ImageView) v.findViewById(R.id.main_greenled),
 		                               getResources());
@@ -107,11 +113,23 @@ public class TabPad extends AltosDroidTab {
 		if (state != null) {
 			mBatteryVoltageView.setText(AltosDroid.number("%4.2f V", state.battery_voltage));
 			mBatteryLights.set(state.battery_voltage >= AltosLib.ao_battery_good, state.battery_voltage == AltosLib.MISSING);
-
-			mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage));
+			if (state.apogee_voltage == AltosLib.MISSING) {
+				mApogeeVoltageView.setVisibility(View.GONE);
+				mApogeeVoltageLabel.setVisibility(View.GONE);
+			} else {
+				mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage));
+				mApogeeVoltageView.setVisibility(View.VISIBLE);
+				mApogeeVoltageLabel.setVisibility(View.VISIBLE);
+			}
 			mApogeeLights.set(state.apogee_voltage >= AltosLib.ao_igniter_good, state.apogee_voltage == AltosLib.MISSING);
-
-			mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage));
+			if (state.main_voltage == AltosLib.MISSING) {
+				mMainVoltageView.setVisibility(View.GONE);
+				mMainVoltageLabel.setVisibility(View.GONE);
+			} else {
+				mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage));
+				mMainVoltageView.setVisibility(View.VISIBLE);
+				mMainVoltageLabel.setVisibility(View.VISIBLE);
+			}
 			mMainLights.set(state.main_voltage >= AltosLib.ao_igniter_good, state.main_voltage == AltosLib.MISSING);
 
 			if (state.flight != 0) {
@@ -141,12 +159,12 @@ public class TabPad extends AltosDroidTab {
 		}
 
 		if (receiver != null) {
-			double altitude = 0;
+			double altitude = AltosLib.MISSING;
 			if (receiver.hasAltitude())
 				altitude = receiver.getAltitude();
 			mPadLatitudeView.setText(AltosDroid.pos(receiver.getLatitude(), "N", "S"));
 			mPadLongitudeView.setText(AltosDroid.pos(receiver.getLongitude(), "W", "E"));
-			mPadAltitudeView.setText(AltosDroid.number("%4.0f m", altitude));
+			set_value(mPadAltitudeView, AltosConvert.height, 6, altitude);
 		}
 	}
 
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
index 3ba5afa9..971c3e80 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
@@ -31,6 +31,7 @@ import org.altusmetrum.altoslib_5.*;
 public class TelemetryReader extends Thread {
 
 	private static final String TAG = "TelemetryReader";
+	private static final boolean D = true;
 
 	int         crc_errors;
 
@@ -39,6 +40,8 @@ public class TelemetryReader extends Thread {
 	AltosLink   link;
 	AltosState  state = null;
 
+	AltosFlightReader	stacked;
+
 	LinkedBlockingQueue<AltosLine> telemQueue;
 
 	public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
@@ -56,6 +59,10 @@ public class TelemetryReader extends Thread {
 
 	public void close() {
 		state = null;
+		if (stacked != null) {
+			stacked.close(false);
+			stacked = null;
+		}
 		link.remove_monitor(telemQueue);
 		link = null;
 		telemQueue.clear();
@@ -66,7 +73,27 @@ public class TelemetryReader extends Thread {
 		AltosState  state = null;
 
 		try {
-			for (;;) {
+			if (D) Log.d(TAG, "starting reader");
+			while (stacked != null) {
+				AltosState	stacked_state = null;
+				try {
+					stacked_state = stacked.read();
+				} catch (ParseException pe) {
+					continue;
+				} catch (AltosCRCException ce) {
+					continue;
+				}
+				if (stacked_state != null)
+					state = stacked_state;
+				else
+					stacked = null;
+			}
+			if (state != null) {
+				if (D) Log.d(TAG, "Send initial state");
+				handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
+			}
+			if (D) Log.d(TAG, "starting loop");
+			while (telemQueue != null) {
 				try {
 					state = read();
 					handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
@@ -84,12 +111,34 @@ public class TelemetryReader extends Thread {
 		}
 	}
 
-	public TelemetryReader (AltosLink in_link, Handler in_handler) {
+	public TelemetryReader (AltosLink in_link, Handler in_handler, AltosFlightReader in_stacked) {
+		if (D) Log.d(TAG, "connected TelemetryReader create started");
 		link    = in_link;
 		handler = in_handler;
+		stacked = in_stacked;
 
 		state = null;
 		telemQueue = new LinkedBlockingQueue<AltosLine>();
 		link.add_monitor(telemQueue);
+		link.set_telemetry(AltosLib.ao_telemetry_standard);
+
+		if (D) Log.d(TAG, "connected TelemetryReader created");
+	}
+
+	private static AltosFlightReader existing_data(AltosLink link) {
+		if (link == null)
+			return null;
+
+		File	file = AltosPreferences.logfile(link.serial);
+		if (file != null) {
+			AltosStateIterable	iterable = AltosStateIterable.iterable(file);
+			if (iterable != null)
+				return new AltosReplayReader(iterable.iterator(), file, false);
+		}
+		return null;
+	}
+
+	public TelemetryReader(AltosLink link, Handler handler) {
+		this(link, handler, existing_data(link));
 	}
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
index 4ec353e3..30d94409 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
@@ -28,6 +28,7 @@ import android.app.Notification;
 import android.app.PendingIntent;
 import android.app.Service;
 import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothAdapter;
 import android.content.Intent;
 import android.content.Context;
 import android.os.Bundle;
@@ -63,11 +64,6 @@ public class TelemetryService extends Service implements LocationListener {
 	static final int MSG_CRC_ERROR	       = 9;
 	static final int MSG_SETBAUD	       = 10;
 
-	public static final int STATE_NONE       = 0;
-	public static final int STATE_READY      = 1;
-	public static final int STATE_CONNECTING = 2;
-	public static final int STATE_CONNECTED  = 3;
-
 	// Unique Identification Number for the Notification.
 	// We use it on Notification start, and to cancel it.
 	private int NOTIFICATION = R.string.telemetry_service_label;
@@ -81,21 +77,17 @@ public class TelemetryService extends Service implements LocationListener {
 	final Messenger mMessenger = new Messenger(mHandler); // Target we publish for clients to send messages to IncomingHandler.
 
 	// Name of the connected device
-	private BluetoothDevice device           = null;
+	String address;
 	private AltosBluetooth  mAltosBluetooth  = null;
-	private AltosConfigData mConfigData      = null;
 	private TelemetryReader mTelemetryReader = null;
 	private TelemetryLogger mTelemetryLogger = null;
+	// Local Bluetooth adapter
+	private BluetoothAdapter mBluetoothAdapter = null;
 
-	// internally track state of bluetooth connection
-	private int state = STATE_NONE;
+	private TelemetryState	telemetry_state;
 
 	// Last data seen; send to UI when it starts
 
-	private AltosState last_state;
-	private Location last_location;
-	private int last_crc_errors;
-
 	// Handler of incoming messages from clients.
 	static class IncomingHandler extends Handler {
 		private final WeakReference<TelemetryService> service;
@@ -104,17 +96,15 @@ public class TelemetryService extends Service implements LocationListener {
 		@Override
 		public void handleMessage(Message msg) {
 			TelemetryService s = service.get();
+			if (s == null)
+				return;
 			switch (msg.what) {
 			case MSG_REGISTER_CLIENT:
 				s.mClients.add(msg.replyTo);
 				try {
 					// Now we try to send the freshly connected UI any relavant information about what
-					// we're talking to - Basically state and Config Data.
-					msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1, s.mConfigData));
-					// We also send any recent telemetry or location data that's cached
-					if (s.last_state      != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_TELEMETRY, s.last_state     ));
-					if (s.last_location   != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_LOCATION , s.last_location  ));
-					if (s.last_crc_errors != 0   ) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, s.last_crc_errors));
+					// we're talking to
+					msg.replyTo.send(s.message());
 				} catch (RemoteException e) {
 					s.mClients.remove(msg.replyTo);
 				}
@@ -126,47 +116,59 @@ public class TelemetryService extends Service implements LocationListener {
 				break;
 			case MSG_CONNECT:
 				if (D) Log.d(TAG, "Connect command received");
-				s.device = (BluetoothDevice) msg.obj;
-				s.startAltosBluetooth();
+				String address = (String) msg.obj;
+				AltosDroidPreferences.set_active_device(address);
+				s.startAltosBluetooth(address);
 				break;
 			case MSG_CONNECTED:
 				if (D) Log.d(TAG, "Connected to device");
-				s.connected();
+				try {
+					s.connected();
+				} catch (InterruptedException ie) {
+				}
 				break;
 			case MSG_CONNECT_FAILED:
 				if (D) Log.d(TAG, "Connection failed... retrying");
-				s.startAltosBluetooth();
+				if (s.address != null)
+					s.startAltosBluetooth(s.address);
 				break;
 			case MSG_DISCONNECTED:
-				// Only do the following if we haven't been shutdown elsewhere..
-				if (s.device != null) {
-					if (D) Log.d(TAG, "Disconnected from " + s.device.getName());
-					s.stopAltosBluetooth();
-				}
+				Log.d(TAG, "MSG_DISCONNECTED");
+				s.stopAltosBluetooth();
 				break;
 			case MSG_TELEMETRY:
 				// forward telemetry messages
-				s.last_state = (AltosState) msg.obj;
-				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
+				s.telemetry_state.state = (AltosState) msg.obj;
+				if (D) Log.d(TAG, "MSG_TELEMETRY");
+				s.sendMessageToClients();
 				break;
 			case MSG_CRC_ERROR:
 				// forward crc error messages
-				s.last_crc_errors = (Integer) msg.obj;
-				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, msg.obj));
+				s.telemetry_state.crc_errors = (Integer) msg.obj;
+				if (D) Log.d(TAG, "MSG_CRC_ERROR");
+				s.sendMessageToClients();
 				break;
 			case MSG_SETFREQUENCY:
-				if (s.state == STATE_CONNECTED) {
+				if (D) Log.d(TAG, "MSG_SETFREQUENCY");
+				s.telemetry_state.frequency = (Double) msg.obj;
+				if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 					try {
-						s.mAltosBluetooth.set_radio_frequency((Double) msg.obj);
+						s.mAltosBluetooth.set_radio_frequency(s.telemetry_state.frequency);
+						s.mAltosBluetooth.save_frequency();
 					} catch (InterruptedException e) {
 					} catch (TimeoutException e) {
 					}
 				}
+				s.sendMessageToClients();
 				break;
 			case MSG_SETBAUD:
-				if (s.state == STATE_CONNECTED) {
-					s.mAltosBluetooth.set_telemetry_rate((Integer) msg.obj);
+				if (D) Log.d(TAG, "MSG_SETBAUD");
+				s.telemetry_state.telemetry_rate = (Integer) msg.obj;
+				if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
+					s.mAltosBluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate);
+					s.mAltosBluetooth.save_telemetry_rate();
 				}
+				s.sendMessageToClients();
 				break;
 			default:
 				super.handleMessage(msg);
@@ -174,9 +176,18 @@ public class TelemetryService extends Service implements LocationListener {
 		}
 	}
 
-	private void sendMessageToClients(Message m) {
+	private Message message() {
+		if (telemetry_state == null)
+			Log.d(TAG, "telemetry_state null!");
+		return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
+	}
+
+	private void sendMessageToClients() {
+		Message m = message();
+		if (D) Log.d(TAG, String.format("Send message to %d clients", mClients.size()));
 		for (int i=mClients.size()-1; i>=0; i--) {
 			try {
+				if (D) Log.d(TAG, String.format("Send message to client %d", i));
 				mClients.get(i).send(m);
 			} catch (RemoteException e) {
 				mClients.remove(i);
@@ -186,7 +197,7 @@ public class TelemetryService extends Service implements LocationListener {
 
 	private void stopAltosBluetooth() {
 		if (D) Log.d(TAG, "stopAltosBluetooth(): begin");
-		setState(STATE_READY);
+		telemetry_state.connect = TelemetryState.CONNECT_READY;
 		if (mTelemetryReader != null) {
 			if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader");
 			mTelemetryReader.interrupt();
@@ -206,18 +217,21 @@ public class TelemetryService extends Service implements LocationListener {
 			mAltosBluetooth.close();
 			mAltosBluetooth = null;
 		}
-		device = null;
-		mConfigData = null;
+		telemetry_state.config = null;
+		if (D) Log.d(TAG, "stopAltosBluetooth(): send message to clients");
+		sendMessageToClients();
 	}
 
-	private void startAltosBluetooth() {
-		if (device == null) {
-			return;
-		}
+	private void startAltosBluetooth(String address) {
+		// Get the BLuetoothDevice object
+		BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);
+
+		this.address = address;
 		if (mAltosBluetooth == null) {
 			if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
 			mAltosBluetooth = new AltosBluetooth(device, mHandler);
-			setState(STATE_CONNECTING);
+			telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
+			sendMessageToClients();
 		} else {
 			// This is a bit of a hack - if it appears we're still connected, we treat this as a restart.
 			// So, to give a suitable delay to teardown/bringup, we just schedule a resend of a message
@@ -225,28 +239,19 @@ public class TelemetryService extends Service implements LocationListener {
 			// ... then we tear down the existing connection.
 			// We do it this way around so that we don't lose a reference to the device when this method
 			// is called on reception of MSG_CONNECT_FAILED in the handler above.
-			mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, device), 3000);
+			mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, address), 3000);
 			stopAltosBluetooth();
 		}
 	}
 
-	private synchronized void setState(int s) {
-		if (D) Log.d(TAG, "setState(): " + state + " -> " + s);
-		state = s;
-
-		// This shouldn't be required - mConfigData should be null for any non-connected
-		// state, but to be safe and to reduce message size
-		AltosConfigData acd = (state == STATE_CONNECTED) ? mConfigData : null;
-
-		sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1, acd));
-	}
-
-	private void connected() {
+	private void connected() throws InterruptedException {
+		if (D) Log.d(TAG, "connected top");
 		try {
 			if (mAltosBluetooth == null)
 				throw new InterruptedException("no bluetooth");
-			mConfigData = mAltosBluetooth.config_data();
-		} catch (InterruptedException e) {
+			telemetry_state.config = mAltosBluetooth.config_data();
+			mAltosBluetooth.set_radio_frequency(telemetry_state.frequency);
+			mAltosBluetooth.set_telemetry_rate(telemetry_state.telemetry_rate);
 		} catch (TimeoutException e) {
 			// If this timed out, then we really want to retry it, but
 			// probably safer to just retry the connection from scratch.
@@ -254,19 +259,25 @@ public class TelemetryService extends Service implements LocationListener {
 			return;
 		}
 
-		setState(STATE_CONNECTED);
+		if (D) Log.d(TAG, "connected bluetooth configured");
+		telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 
 		mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
 		mTelemetryReader.start();
-		
+
+		if (D) Log.d(TAG, "connected TelemetryReader started");
+
 		mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth);
-	}
 
+		if (D) Log.d(TAG, "Notify UI of connection");
+
+		sendMessageToClients();
+	}
 
 	private void onTimerTick() {
 		if (D) Log.d(TAG, "Timer wakeup");
 		try {
-			if (mClients.size() <= 0 && state != STATE_CONNECTED) {
+			if (mClients.size() <= 0 && telemetry_state.connect != TelemetryState.CONNECT_CONNECTED) {
 				stopSelf();
 			}
 		} catch (Throwable t) {
@@ -277,19 +288,35 @@ public class TelemetryService extends Service implements LocationListener {
 
 	@Override
 	public void onCreate() {
+		// Get local Bluetooth adapter
+		mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+
+		// If the adapter is null, then Bluetooth is not supported
+		if (mBluetoothAdapter == null) {
+			Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
+		}
+
+		// Initialise preferences
+		AltosDroidPreferences.init(this);
+
+		telemetry_state = new TelemetryState();
+
 		// Create a reference to the NotificationManager so that we can update our notifcation text later
 		//mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 
-		setState(STATE_READY);
+		telemetry_state.connect = TelemetryState.CONNECT_READY;
 
 		// Start our timer - first event in 10 seconds, then every 10 seconds after that.
 		timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L);
 
 		// Listen for GPS and Network position updates
 		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
-		
+
 		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
-//		locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, this);
+
+		String address = AltosDroidPreferences.active_device();
+		if (address != null)
+			startAltosBluetooth(address);
 	}
 
 	@Override
@@ -345,8 +372,9 @@ public class TelemetryService extends Service implements LocationListener {
 
 
 	public void onLocationChanged(Location location) {
-		last_location = location;
-		sendMessageToClients(Message.obtain(null, AltosDroid.MSG_LOCATION, location));
+		telemetry_state.location = location;
+		if (D) Log.d(TAG, "location changed");
+		sendMessageToClients();
 	}
 
 	public void onStatusChanged(String provider, int status, Bundle extras) {
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryState.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryState.java
new file mode 100644
index 00000000..d3341739
--- /dev/null
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryState.java
@@ -0,0 +1,46 @@
+/*
+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosDroid;
+
+import org.altusmetrum.altoslib_5.*;
+import android.location.Location;
+
+public class TelemetryState {
+	public static final int CONNECT_NONE       = 0;
+	public static final int CONNECT_READY      = 1;
+	public static final int CONNECT_CONNECTING = 2;
+	public static final int CONNECT_CONNECTED  = 3;
+
+	int		connect;
+	AltosConfigData	config;
+	AltosState	state;
+	Location	location;
+	int		crc_errors;
+	double		frequency;
+	int		telemetry_rate;
+
+	public TelemetryState() {
+		connect = CONNECT_NONE;
+		config = null;
+		state = null;
+		location = null;
+		crc_errors = 0;
+		frequency = AltosPreferences.frequency(0);
+		telemetry_rate = AltosPreferences.telemetry_rate(0);
+	}
+}
diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index 482f0b5f..8c991a6e 100644
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -91,8 +91,10 @@ public class AltosEepromGPS extends AltosEeprom {
 
 		switch (cmd) {
 		case AltosLib.AO_LOG_FLIGHT:
-			state.set_boost_tick(tick);
-			state.set_flight(flight());
+			if (state.flight == AltosLib.MISSING) {
+				state.set_boost_tick(tick);
+				state.set_flight(flight());
+			}
 			/* no place to log start lat/lon yet */
 			break;
 		case AltosLib.AO_LOG_GPS_TIME:
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index c0565e88..be103838 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -21,16 +21,16 @@ import java.text.*;
 import java.io.*;
 import java.util.concurrent.*;
 
-public class AltosFlightReader {
+public abstract class AltosFlightReader {
 	public String name;
 
 	public int serial;
 
-	public void init() { }
+	public void init() {}
 
-	public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
+	public abstract AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException;
 
-	public void close(boolean interrupted) { }
+	public abstract void close(boolean interrupted);
 
 	public void set_frequency(double frequency) throws InterruptedException, TimeoutException { }
 
diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java
index 1cac6b52..28116e3d 100644
--- a/altoslib/AltosLog.java
+++ b/altoslib/AltosLog.java
@@ -72,6 +72,7 @@ public class AltosLog implements Runnable {
 			}
 			log_file.flush();
 			file = a;
+			AltosPreferences.set_logfile(link.serial, file);
 		}
 		return log_file != null;
 	}
diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java
index 72cfeb4b..dba57dcb 100644
--- a/altoslib/AltosPreferences.java
+++ b/altoslib/AltosPreferences.java
@@ -38,6 +38,9 @@ public class AltosPreferences {
 	/* telemetry rate format preference name */
 	public final static String telemetryRatePreferenceFormat = "RATE-%d";
 
+	/* log file format preference name */
+	public final static String logfilePreferenceFormat = "LOGFILE-%d";
+
 	/* voice preference name */
 	public final static String voicePreference = "VOICE";
 
@@ -83,6 +86,9 @@ public class AltosPreferences {
 	/* Telemetry rate (map serial to telemetry format) */
 	public static Hashtable<Integer, Integer> telemetry_rates;
 
+	/* Log file (map serial to logfile name) */
+	public static Hashtable<Integer, File> logfiles;
+
 	/* Voice preference */
 	public static boolean voice;
 
@@ -151,6 +157,10 @@ public class AltosPreferences {
 	public static int launcher_channel;
 
 	public static void init(AltosPreferencesBackend in_backend) {
+
+		if (backend != null)
+			return;
+
 		backend = in_backend;
 
 		/* Initialize logdir from preferences */
@@ -172,6 +182,8 @@ public class AltosPreferences {
 
 		telemetry_rates = new Hashtable<Integer,Integer>();
 
+		logfiles = new Hashtable<Integer,File>();
+
 		voice = backend.getBoolean(voicePreference, true);
 
 		callsign = backend.getString(callsignPreference,"N0CALL");
@@ -300,6 +312,27 @@ public class AltosPreferences {
 		}
 	}
 
+	public static void set_logfile(int serial, File new_logfile) {
+		synchronized(backend) {
+			logfiles.put(serial, new_logfile);
+			backend.putString(String.format(logfilePreferenceFormat, serial), new_logfile.getPath());
+			flush_preferences();
+		}
+	}
+
+	public static File logfile(int serial) {
+		synchronized(backend) {
+			if (logfiles.containsKey(serial))
+				return logfiles.get(serial);
+			String logfile_string = backend.getString(String.format(logfilePreferenceFormat, serial), null);
+			if (logfile_string == null)
+				return null;
+			File logfile = new File(logfile_string);
+			logfiles.put(serial, logfile);
+			return logfile;
+		}
+	}
+
 	public static void set_scanning_telemetry(int new_scanning_telemetry) {
 		synchronized (backend) {
 			scanning_telemetry = new_scanning_telemetry;
diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java
index 15093af1..2864e02a 100644
--- a/altoslib/AltosReplayReader.java
+++ b/altoslib/AltosReplayReader.java
@@ -27,6 +27,7 @@ import java.util.*;
 public class AltosReplayReader extends AltosFlightReader {
 	Iterator<AltosState>	iterator;
 	File	file;
+	boolean real_time;
 
 	public AltosState read() {
 		if (iterator.hasNext())
@@ -39,16 +40,22 @@ public class AltosReplayReader extends AltosFlightReader {
 
 	public void update(AltosState state) throws InterruptedException {
 		/* Make it run in realtime after the rocket leaves the pad */
-		if (state.state > AltosLib.ao_flight_pad && state.time_change > 0)
+		if (real_time && state.state > AltosLib.ao_flight_pad && state.time_change > 0)
 			Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 		state.set_received_time(System.currentTimeMillis());
 	}
 
 	public File backing_file() { return file; }
 
-	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
+	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file,
+				 boolean in_real_time) {
 		iterator = in_iterator;
 		file = in_file;
+		real_time = in_real_time;
 		name = file.getName();
 	}
+
+	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
+		this(in_iterator, in_file, false);
+	}
 }
diff --git a/altoslib/AltosStateIterable.java b/altoslib/AltosStateIterable.java
index f7cd424d..4154b71c 100644
--- a/altoslib/AltosStateIterable.java
+++ b/altoslib/AltosStateIterable.java
@@ -26,4 +26,18 @@ public abstract class AltosStateIterable implements Iterable<AltosState> {
 	}
 
 	public abstract void write(PrintStream out);
+
+	public static AltosStateIterable iterable(File file) {
+		FileInputStream in;
+		try {
+			in = new FileInputStream(file);
+		} catch (Exception e) {
+			System.out.printf("Failed to open file '%s'\n", file);
+			return null;
+		}
+		if (file.getName().endsWith("telem"))
+			return new AltosTelemetryFile(in);
+		else
+			return new AltosEepromFile(in);
+	}
 }
diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java
index 8b1869bb..d949c02f 100644
--- a/altoslib/AltosTelemetryMegaData.java
+++ b/altoslib/AltosTelemetryMegaData.java
@@ -36,7 +36,7 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 	public AltosTelemetryMegaData(int[] bytes) {
 		super(bytes);
 
-		state = int8(5);
+		state = uint8(5);
 
 		v_batt = int16(6);
 		v_pyro = int16(8);
@@ -44,7 +44,7 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 		sense = new int[6];
 
 		for (int i = 0; i < 6; i++) {
-			sense[i] = int8(10 + i) << 4;
+			sense[i] = uint8(10 + i) << 4;
 			sense[i] |= sense[i] >> 8;
 		}
 
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index 5ed50134..7539452d 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -28,10 +28,17 @@ public class AltosTelemetryReader extends AltosFlightReader {
 	int		telemetry;
 	int		telemetry_rate;
 	AltosState	state = null;
+	AltosFlightReader	stacked;
 
 	LinkedBlockingQueue<AltosLine> telem;
 
 	public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+		if (stacked != null) {
+			state = stacked.read();
+			if (state != null)
+				return state;
+			stacked = null;
+		}
 		AltosLine l = telem.take();
 		if (l.line == null)
 			throw new IOException("IO error");
@@ -53,6 +60,12 @@ public class AltosTelemetryReader extends AltosFlightReader {
 	}
 
 	public void close(boolean interrupted) {
+
+		if (stacked != null) {
+			stacked.close(interrupted);
+			stacked = null;
+		}
+
 		link.remove_monitor(telem);
 		log.close();
 		try {
@@ -148,9 +161,10 @@ public class AltosTelemetryReader extends AltosFlightReader {
 		return link.monitor_battery();
 	}
 
-	public AltosTelemetryReader (AltosLink in_link)
+	public AltosTelemetryReader (AltosLink in_link, AltosFlightReader in_stacked)
 		throws IOException, InterruptedException, TimeoutException {
 		link = in_link;
+		stacked = in_stacked;
 		boolean success = false;
 		try {
 			log = new AltosLog(link);
@@ -169,4 +183,22 @@ public class AltosTelemetryReader extends AltosFlightReader {
 				close(true);
 		}
 	}
+
+	private static AltosFlightReader existing_data(AltosLink link) {
+		if (link == null)
+			return null;
+
+		File	file = AltosPreferences.logfile(link.serial);
+		if (file != null) {
+			AltosStateIterable	iterable = AltosStateIterable.iterable(file);
+			if (iterable != null)
+				return new AltosReplayReader(iterable.iterator(), file, false);
+		}
+		return null;
+	}
+
+	public AltosTelemetryReader(AltosLink link)
+		throws IOException, InterruptedException, TimeoutException {
+		this(link, existing_data(link));
+	}
 }
diff --git a/altosui/AltosConfigPyroUI.java b/altosui/AltosConfigPyroUI.java
index dd4fb505..64336c8e 100644
--- a/altosui/AltosConfigPyroUI.java
+++ b/altosui/AltosConfigPyroUI.java
@@ -285,9 +285,13 @@ public class AltosConfigPyroUI
 		"0.050", "0.100", "0.250", "0.500", "1.0", "2.0"
 	};
 
+	boolean	initializing;
+
 	public void set_pyro_firing_time(double new_pyro_firing_time) {
+		initializing = true;
 		pyro_firing_time_value.setSelectedItem(Double.toString(new_pyro_firing_time));
 		pyro_firing_time_value.setEnabled(new_pyro_firing_time >= 0);
+		initializing = false;
 	}
 
 	public double get_pyro_firing_time() throws AltosConfigDataException {
@@ -301,23 +305,28 @@ public class AltosConfigPyroUI
 	}
 
 	public void set_dirty() {
-		owner.set_dirty();
+		if (!initializing)
+			owner.set_dirty();
 	}
 
 	public void itemStateChanged(ItemEvent e) {
-		owner.set_dirty();
+		if (!initializing)
+			owner.set_dirty();
 	}
 
 	public void changedUpdate(DocumentEvent e) {
-		owner.set_dirty();
+		if (!initializing)
+			owner.set_dirty();
 	}
 
 	public void insertUpdate(DocumentEvent e) {
-		owner.set_dirty();
+		if (!initializing)
+			owner.set_dirty();
 	}
 
 	public void removeUpdate(DocumentEvent e) {
-		owner.set_dirty();
+		if (!initializing)
+			owner.set_dirty();
 	}
 
 	public void units_changed(boolean imperial_units) {
diff --git a/altosui/AltosConfigTD.java b/altosui/AltosConfigTD.java
index 4389e49b..9020ed9d 100644
--- a/altosui/AltosConfigTD.java
+++ b/altosui/AltosConfigTD.java
@@ -223,8 +223,10 @@ public class AltosConfigTD implements ActionListener {
 					if (!config_version.get().equals("0.0"))
 						break;
 					been_there = true;
-					config.serial_line.printf("C\n ");
-					config.serial_line.flush_input();
+					if (config != null && config.serial_line != null) {
+						config.serial_line.printf("C\n ");
+						config.serial_line.flush_input();
+					}
 				}
 			} catch (InterruptedException ie) {
 			}
@@ -277,8 +279,10 @@ public class AltosConfigTD implements ActionListener {
 	}
 
 	void abort() {
-		serial_line.close();
-		serial_line = null;
+		if (serial_line != null) {
+			serial_line.close();
+			serial_line = null;
+		}
 		JOptionPane.showMessageDialog(owner,
 					      String.format("Connection to \"%s\" failed",
 							    device.toShortString()),
diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java
index 5c33fd16..eb0c5644 100644
--- a/altosui/AltosPad.java
+++ b/altosui/AltosPad.java
@@ -117,6 +117,17 @@ public class AltosPad extends AltosUIFlightTab {
 		}
 	}
 
+	boolean report_pad(AltosState state) {
+		if ((state.state == AltosLib.ao_flight_stateless ||
+		     state.state < AltosLib.ao_flight_pad) &&
+		    state.gps != null &&
+		    state.gps.lat != AltosLib.MISSING)
+		{
+			return false;
+		}
+		return true;
+	}
+
 	class PadLat extends AltosUIIndicator {
 
 		double	last_lat = AltosLib.MISSING - 1;
@@ -126,12 +137,12 @@ public class AltosPad extends AltosUIFlightTab {
 			String label = null;
 
 			if (state != null) {
-				if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.lat != AltosLib.MISSING) {
-					lat = state.gps.lat;
-					label = "Latitude";
-				} else {
+				if (report_pad(state)) {
 					lat = state.pad_lat;
 					label = "Pad Latitude";
+				} else {
+					lat = state.gps.lat;
+					label = "Latitude";
 				}
 			}
 			if (lat != last_lat) {
@@ -163,12 +174,12 @@ public class AltosPad extends AltosUIFlightTab {
 			String label = null;
 
 			if (state != null) {
-				if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.lon != AltosLib.MISSING) {
-					lon = state.gps.lon;
-					label = "Longitude";
-				} else {
+				if (report_pad(state)) {
 					lon = state.pad_lon;
 					label = "Pad Longitude";
+				} else {
+					lon = state.gps.lon;
+					label = "Longitude";
 				}
 			}
 			if (lon != last_lon) {
@@ -200,12 +211,12 @@ public class AltosPad extends AltosUIFlightTab {
 			String label = null;
 
 			if (state != null) {
-				if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.alt != AltosLib.MISSING) {
-					alt = state.gps.alt;
-					label = "Altitude";
-				} else {
+				if (report_pad(state)) {
 					alt = state.pad_alt;
 					label = "Pad Altitude";
+				} else {
+					alt = state.gps.alt;
+					label = "Altitude";
 				}
 			}
 			if (alt != last_alt) {
diff --git a/ao-bringup/test-easymega b/ao-bringup/test-easymega
new file mode 100755
index 00000000..eabe1ee5
--- /dev/null
+++ b/ao-bringup/test-easymega
@@ -0,0 +1,68 @@
+#!/bin/sh
+
+VERSION=1.0
+PRODUCT=EasyMega
+BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
+
+echo "$PRODUCT-v$VERSION Test Program"
+echo "Copyright 2014 by Keith Packard.  Released under GPL v2"
+echo
+echo "Expectations:"
+echo "\t$PRODUCT v$VERSION powered from USB"
+echo
+
+ret=1
+ao-list | while read product serial dev; do
+    case "$product" in
+	"$PRODUCT-v$VERSION")
+
+	    echo "Testing $product $serial $dev"
+
+	    for igniter in drogue main 0 1 2 3; do
+		echo "Testing $igniter igniter."
+		echo -n "Press enter to continue..."
+		read foo < /dev/tty
+		../ao-tools/ao-test-igniter/ao-test-igniter --tty="$dev" $igniter
+
+		case $? in
+		    0)
+			;;
+		    *)
+			echo "failed"
+			exit 1
+			;;
+		esac
+	    done
+
+	    echo "Testing baro sensor"
+	    ../ao-tools/ao-test-baro/ao-test-baro --tty="$dev"
+
+	    case $? in
+		0)
+		    ;;
+		*)
+		    echo "failed"
+		    exit 1
+	    esac
+
+	    FLASHSIZE=8388608
+
+	    echo "Testing flash"
+	    ../ao-tools/ao-test-flash/ao-test-flash --tty="$dev" "$FLASHSIZE"
+
+	    case $? in
+		0)
+		    ;;
+		*)
+		    echo "failed"
+		    exit 1
+	    esac
+
+	    echo "$PRODUCT-v$VERSION" serial "$serial" is ready to ship
+	    ret=0
+	    ;;
+	*)
+	    echo "Skipping $product $serial $dev"
+	    ;;
+    esac
+done
diff --git a/ao-bringup/turnon_easymega b/ao-bringup/turnon_easymega
index 7d23f5f7..b313e162 100755
--- a/ao-bringup/turnon_easymega
+++ b/ao-bringup/turnon_easymega
@@ -52,6 +52,10 @@ esac
 
 echo 'E 0' > $dev
 
-./cal-accel $dev
+../ao-tools/ao-cal-accel/ao-cal-accel $dev
 
 echo 'E 1' > $dev
+
+./test-easymega
+
+exit $?
diff --git a/ao-bringup/turnon_telemega b/ao-bringup/turnon_telemega
index 46c254b6..7745a8e5 100755
--- a/ao-bringup/turnon_telemega
+++ b/ao-bringup/turnon_telemega
@@ -54,6 +54,6 @@ echo 'E 0' > $dev
 
 SERIAL=$SERIAL ./cal-freq $dev
 
-./cal-accel $dev
+../ao-tools/ao-cal-accel/ao-cal-accel $dev
 
 echo 'E 1' > $dev
diff --git a/ao-bringup/turnon_telemetrum b/ao-bringup/turnon_telemetrum
index c6e7d1cc..48ff1e27 100755
--- a/ao-bringup/turnon_telemetrum
+++ b/ao-bringup/turnon_telemetrum
@@ -20,7 +20,7 @@ echo "TeleMetrum v$VERSION Turn-On and Calibration Program"
 echo "Copyright 2014 by Bdale Garbee.  Released under GPL v2"
 echo
 echo "Expectations:"
-echo "\tTeleMetrum v$VERSIOn powered from USB"
+echo "\tTeleMetrum v$VERSION powered from USB"
 echo "\t\twith ST-Link-V2 cabled to debug header"
 echo "\t\twith coax from UHF to frequency counter"
 echo
@@ -53,6 +53,6 @@ echo 'E 0' > $dev
 
 SERIAL=$SERIAL ./cal-freq $dev
 
-./cal-accel $dev
+../ao-tools/ao-cal-accel/ao-cal-accel $dev
 
 echo 'E 1' > $dev
diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 4526f514..2d873e50 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -2,7 +2,7 @@ SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list \
 	ao-load ao-telem ao-send-telem ao-sky-flash \
 	ao-dumpflash ao-edit-telem ao-dump-up ao-elftohex \
 	ao-flash ao-usbload ao-test-igniter ao-test-baro \
-	ao-test-flash
+	ao-test-flash ao-cal-accel
 if LIBSTLINK
 SUBDIRS += ao-stmload
 endif
diff --git a/ao-tools/ao-cal-accel/.gitignore b/ao-tools/ao-cal-accel/.gitignore
new file mode 100644
index 00000000..73402b2b
--- /dev/null
+++ b/ao-tools/ao-cal-accel/.gitignore
@@ -0,0 +1 @@
+ao-cal-accel
diff --git a/ao-tools/ao-cal-accel/Makefile.am b/ao-tools/ao-cal-accel/Makefile.am
new file mode 100644
index 00000000..d278097a
--- /dev/null
+++ b/ao-tools/ao-cal-accel/Makefile.am
@@ -0,0 +1,11 @@
+bin_PROGRAMS=ao-cal-accel
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+
+ao_cal_accel_DEPENDENCIES = $(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_cal_accel_LDADD=$(top_builddir)/ao-tools/lib/libao-tools.a $(LIBUSB_LIBS)
+
+ao_cal_accel_SOURCES=ao-cal-accel.c
+
+man_MANS = ao-cal-accel.1
diff --git a/ao-tools/ao-cal-accel/ao-cal-accel.1 b/ao-tools/ao-cal-accel/ao-cal-accel.1
new file mode 100644
index 00000000..eb75d7c7
--- /dev/null
+++ b/ao-tools/ao-cal-accel/ao-cal-accel.1
@@ -0,0 +1,58 @@
+.\"
+.\" Copyright © 2009 Keith Packard <keithp@keithp.com>
+.\"
+.\" This program is free software; you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation; either version 2 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful, but
+.\" WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+.\" General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License along
+.\" with this program; if not, write to the Free Software Foundation, Inc.,
+.\" 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+.\"
+.\"
+.TH AO-LOAD 1 "ao-cal-accel" ""
+.SH NAME
+ao-cal-accel \- Calibrate AltOS flight computer accelerometers
+.SH SYNOPSIS
+.B "ao-cal-accel"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+.SH DESCRIPTION
+.I ao-cal-accel
+drives the built-in accelerometer calibration and validates the results.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device. The special name 'BITBANG' directs ao-dbg to use
+the cp2103 connection, otherwise this should be a usb serial port
+connected to a suitable cc1111 debug node.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMega:2
+.br
+TeleMega
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.SH USAGE
+.I ao-cal-accel
+opens the target device, executes the accelerometer calibration
+command, verifies that it executed correctly, then shows the resulting
+calibration values and saves them to configuration memory.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-cal-accel/ao-cal-accel.c b/ao-tools/ao-cal-accel/ao-cal-accel.c
new file mode 100644
index 00000000..9a988648
--- /dev/null
+++ b/ao-tools/ao-cal-accel/ao-cal-accel.c
@@ -0,0 +1,284 @@
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <err.h>
+#include <fcntl.h>
+#include <gelf.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <sysexits.h>
+#include <unistd.h>
+#include <getopt.h>
+#include <string.h>
+#include <stdbool.h>
+#include <termios.h>
+#include "ao-elf.h"
+#include "ccdbg.h"
+#include "cc-usb.h"
+#include "cc.h"
+#include "ao-verbose.h"
+
+static const struct option options[] = {
+	{ .name = "tty", .has_arg = 1, .val = 'T' },
+	{ .name = "device", .has_arg = 1, .val = 'D' },
+	{ .name = "raw", .has_arg = 0, .val = 'r' },
+	{ .name = "verbose", .has_arg = 1, .val = 'v' },
+	{ 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+	fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>]\n", program);
+	exit(1);
+}
+
+void
+done(struct cc_usb *cc, int code)
+{
+	cc_usb_close(cc);
+	exit (code);
+}
+
+static int
+ends_with(char *whole, char *suffix)
+{
+	int whole_len = strlen(whole);
+	int suffix_len = strlen(suffix);
+
+	if (suffix_len > whole_len)
+		return 0;
+	return strcmp(whole + whole_len - suffix_len, suffix) == 0;
+}
+
+static int
+starts_with(char *whole, char *prefix)
+{
+	int whole_len = strlen(whole);
+	int prefix_len = strlen(prefix);
+
+	if (prefix_len > whole_len)
+		return 0;
+	return strncmp(whole, prefix, prefix_len) == 0;
+}
+
+static char **
+tok(char *line) {
+	char	**strs = malloc (sizeof (char *)), *str;
+	int	n = 0;
+
+	while ((str = strtok(line, " \t"))) {
+		line = NULL;
+		strs = realloc(strs, (n + 2) * sizeof (char *));
+		strs[n] = strdup(str);
+		n++;
+	}
+	strs[n] = '\0';
+	return strs;
+}
+
+static void
+free_strs(char **strs) {
+	char	*str;
+	int	i;
+
+	for (i = 0; (str = strs[i]) != NULL; i++)
+		free(str);
+	free(strs);
+}
+
+struct flash {
+	struct flash	*next;
+	char		line[512];
+	char		**strs;
+};
+
+static struct flash *
+flash(struct cc_usb *usb)
+{
+	struct flash	*head = NULL, **tail = &head;
+	cc_usb_printf(usb, "c s\nv\n");
+	for (;;) {
+		char	line[512];
+		struct flash	*b;
+
+		cc_usb_getline(usb, line, sizeof (line));
+		b = malloc (sizeof (struct flash));
+		strcpy(b->line, line);
+		b->strs = tok(line);
+		b->next = NULL;
+		*tail = b;
+		tail = &b->next;
+		if (strstr(line, "software-version"))
+			break;
+	}
+	return head;
+}
+
+static void
+free_flash(struct flash *b) {
+	struct flash *n;
+
+	while (b) {
+		n = b->next;
+		free_strs(b->strs);
+		free(b);
+		b = n;
+	}
+}
+
+char **
+find_flash(struct flash *b, char *word0) {
+	int i;
+	for (;b; b = b->next) {
+		if (strstr(b->line, word0))
+			return b->strs;
+	}
+	return NULL;
+}
+
+void
+await_key(void)
+{
+	struct termios	termios, termios_save;
+	char	buf[512];
+
+	tcgetattr(0, &termios);
+	termios_save = termios;
+	cfmakeraw(&termios);
+	tcsetattr(0, TCSAFLUSH, &termios);
+	read(0, buf, sizeof (buf));
+	tcsetattr(0, TCSAFLUSH, &termios_save);
+}
+
+int
+do_cal(struct cc_usb *usb) {
+	struct flash	*b;
+	char	**accel;
+	char	line[1024];
+	int	l;
+	int	running = 0;
+	int	worked = 1;
+
+	cc_usb_printf(usb, "E 1\nc a 0\n");
+
+	for (;;) {
+		int	c = cc_usb_getchar_timeout(usb, 20*1000);
+
+		if (c == '\n')
+			l = 0;
+		else if (l < sizeof (line) - 1)
+			line[l++] = c;
+		line[l] = '\0';
+		putchar(c); fflush(stdout);
+		if (strstr(line, "press a key...")) {
+			await_key();
+			cc_usb_printf(usb, " ");
+			l = 0;
+			running = 1;
+		}
+		else if (strstr(line, "Invalid"))
+			worked = 0;
+		if (running && strstr(line, ">")) {
+			printf("\n");
+			break;
+		}
+	}
+	cc_usb_printf(usb, "E 0\n");
+
+	if (!worked) {
+		printf("Calibration failed\n");
+		return 0;
+	}
+
+	b = flash(usb);
+
+	accel = find_flash(b, "Accel cal");
+	if (!accel) {
+		printf("no response\n");
+		return 0;
+	}
+
+	printf ("Accel cal +1g: %s -1g: %s\n",
+		accel[3], accel[5]);
+
+	printf ("Saving..."); fflush(stdout);
+	cc_usb_printf (usb, "c w\n");
+	cc_usb_sync(usb);
+	b = flash(usb);
+	printf ("done\n");
+
+	return worked;
+}
+
+int
+main (int argc, char **argv)
+{
+	char			*device = NULL;
+	char			*filename;
+	Elf			*e;
+	unsigned int		s;
+	int			i;
+	int			c;
+	int			tries;
+	struct cc_usb		*cc = NULL;
+	char			*tty = NULL;
+	int			success;
+	int			verbose = 0;
+	int			ret = 0;
+	int			expected_size;
+
+	while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
+		switch (c) {
+		case 'T':
+			tty = optarg;
+			break;
+		case 'D':
+			device = optarg;
+			break;
+		case 'v':
+			verbose++;
+			break;
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+
+	ao_verbose = verbose;
+
+	if (verbose > 1)
+		ccdbg_add_debug(CC_DEBUG_BITBANG);
+
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "AltosFlash");
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "TeleMega");
+	if (!tty)
+		tty = getenv("ALTOS_TTY");
+	if (!tty)
+		tty="/dev/ttyACM0";
+
+	cc = cc_usb_open(tty);
+
+	if (!cc)
+		exit(1);
+
+	if (!do_cal(cc))
+		ret = 1;
+	done(cc, ret);
+}
diff --git a/configure.ac b/configure.ac
index 38bab8e1..683da846 100644
--- a/configure.ac
+++ b/configure.ac
@@ -537,6 +537,7 @@ ao-tools/ao-flash/Makefile
 ao-tools/ao-test-igniter/Makefile
 ao-tools/ao-test-baro/Makefile
 ao-tools/ao-test-flash/Makefile
+ao-tools/ao-cal-accel/Makefile
 ao-utils/Makefile
 src/Version
 ])
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 144cbd70..dc2c83fe 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -362,14 +362,26 @@ ao_pad_test(void)
 void
 ao_pad_manual(void)
 {
+	uint8_t	ignite;
+	int	repeat;
 	ao_cmd_white();
 	if (!ao_match_word("DoIt"))
 		return;
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	ao_pad_ignite = 1 << ao_cmd_lex_i;
-	ao_wakeup(&ao_pad_ignite);
+	ignite = 1 << ao_cmd_lex_i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success) {
+		repeat = 1;
+		ao_cmd_status = ao_cmd_success;
+	} else
+		repeat = ao_cmd_lex_i;
+	while (repeat-- > 0) {
+		ao_pad_ignite = ignite;
+		ao_wakeup(&ao_pad_ignite);
+		ao_delay(AO_PAD_FIRE_TIME>>1);
+	}
 }
 
 static __xdata struct ao_task ao_pad_task;
diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index dc3b6486..40a96ef7 100644
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -192,12 +192,14 @@ ao_log_find_max_erase_flight(void) __reentrant
 		ao_flight_number = 1;
 }
 
-void
+uint8_t
 ao_log_scan(void) __reentrant
 {
 	uint8_t		log_slot;
 	uint8_t		log_slots;
-#if !FLIGHT_LOG_APPEND
+#if FLIGHT_LOG_APPEND
+	uint8_t		ret;
+#else
 	uint8_t		log_want;
 #endif
 
@@ -248,9 +250,13 @@ ao_log_scan(void) __reentrant
 				empty = ao_log_current_pos;
 			}
 		}
+		ret = 1;
 	} else {
 		ao_log_find_max_erase_flight();
+		ret = 0;
 	}
+	ao_wakeup(&ao_flight_number);
+	return ret;
 #else
 
 	if (ao_flight_number)
@@ -278,8 +284,9 @@ ao_log_scan(void) __reentrant
 		if (++log_slot >= log_slots)
 			log_slot = 0;
 	} while (log_slot != log_want);
-#endif
 	ao_wakeup(&ao_flight_number);
+	return 0;
+#endif
 }
 
 void
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index c5fa7fab..c13a2580 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -72,7 +72,7 @@ ao_log(void);
 /* functions provided in ao_log.c */
 
 /* Figure out the current flight number */
-void
+uint8_t
 ao_log_scan(void) __reentrant;
 
 /* Return the position of the start of the given log slot */
diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 0b286466..3044d565 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -252,7 +252,7 @@ ao_pyro_check(void)
 	struct ao_pyro	*pyro;
 	uint8_t		p, any_waiting;
 	uint16_t	fire = 0;
-	
+
 	any_waiting = 0;
 	for (p = 0; p < AO_PYRO_NUM; p++) {
 		pyro = &ao_config.pyro[p];
@@ -288,6 +288,16 @@ ao_pyro_check(void)
 		 * the delay to expire
 		 */
 		if (pyro->delay_done) {
+
+			/* Check to make sure the required conditions
+			 * remain valid. If not, inhibit the channel
+			 * by setting the fired bit
+			 */
+			if (!ao_pyro_ready(pyro)) {
+				pyro->fired = 1;
+				continue;
+			}
+
 			if ((int16_t) (ao_time() - pyro->delay_done) < 0)
 				continue;
 		}
@@ -465,7 +475,7 @@ ao_pyro_set(void)
 		printf ("invalid pyro channel %d\n", p);
 		return;
 	}
-	pyro_tmp.flags = 0;
+	memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
 	for (;;) {
 		ao_cmd_white();
 		if (ao_cmd_lex_c == '\n')
@@ -489,13 +499,26 @@ ao_pyro_set(void)
 		}
 		pyro_tmp.flags |= ao_pyro_values[v].flag;
 		if (ao_pyro_values[v].offset != NO_VALUE) {
+			uint8_t negative = 0;
+			ao_cmd_white();
+			if (ao_cmd_lex_c == '-') {
+				negative = 1;
+				ao_cmd_lex();
+			}
 			ao_cmd_decimal();
 			if (ao_cmd_status != ao_cmd_success)
 				return;
-			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
+				if (negative) {
+					ao_cmd_status = ao_cmd_syntax_error;
+					return;
+				}
 				*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
-			else
+			} else {
+				if (negative)
+					ao_cmd_lex_i = -ao_cmd_lex_i;
 				*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			}
 		}
 	}
 	_ao_config_edit_start();
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index d9434048..9b007af8 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -72,7 +72,7 @@ ao_tracker(void)
 #if !HAS_USB_CONNECT
 	ao_tracker_force_telem = 1;
 #endif
-	ao_log_scan();
+	log_started = ao_log_scan();
 
 	ao_rdf_set(1);
 
@@ -181,8 +181,7 @@ void
 ao_tracker_erase_end(void)
 {
 	if (erasing_current) {
-		ao_log_scan();
-		log_started = 0;
+		log_started = ao_log_scan();
 		ao_mutex_put(&tracker_mutex);
 	}
 }