From 07be67ea1ce06de889357c1120a49fdd7cbd13e3 Mon Sep 17 00:00:00 2001
From: jhauerst <114038876+jhauerst@users.noreply.github.com>
Date: Mon, 4 Mar 2024 17:24:53 -0500
Subject: [PATCH 01/41] modified radio code to handle binary data

---
 .../Teensy-Based Avionics/include/Radio.h     |   8 +-
 .../Teensy-Based Avionics/src/RFM69HCW.cpp    | 286 +++++++++++-------
 .../Code/Teensy-Based Avionics/src/RFM69HCW.h |  22 +-
 .../test/ReceiverTest.cpp                     |   4 +-
 .../test/TransmitterTest.cpp                  |   2 +-
 5 files changed, 202 insertions(+), 120 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h
index 6f6a930c..9e8ab573 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
@@ -33,11 +33,11 @@ class Radio
 public:
     virtual ~Radio(){}; // Virtual descructor. Very important
     virtual bool begin() = 0;
-    virtual bool tx(const char *message) = 0;
+    virtual bool tx(const char *message, int len = -1) = 0;
     virtual const char *rx() = 0;
-    virtual bool encode(char *message, EncodingType type) = 0;
-    virtual bool decode(char *message, EncodingType type) = 0;
-    virtual bool send(const char *message, EncodingType type) = 0;
+    virtual bool encode(char *message, EncodingType type, int len = -1) = 0;
+    virtual bool decode(char *message, EncodingType type, int len = -1) = 0;
+    virtual bool send(const char *message, EncodingType type, int len = -1) = 0;
     virtual const char *receive(EncodingType type) = 0;
     virtual int RSSI() = 0;
 };
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
index 0e70ece1..8853c819 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
@@ -7,39 +7,37 @@ Constructor
     - highBitrate true for 300kbps, false for 4.8kbps
     - config with APRS settings
 */
-RFM69HCW::RFM69HCW(const RadioSettings s, const APRSConfig config) : radio(s.cs, s.irq, *s.spi)
+RFM69HCW::RFM69HCW(const RadioSettings *s, const APRSConfig *config) : radio(s->cs, s->irq, *s->spi)
 {
-    if (s.transmitter)
+
+    this->settings = *s;
+    this->cfg = *config;
+    this->avail = false;
+    this->msgLen = -1;
+
+    if (this->settings.transmitter)
     {
         // addresses for transmitters
         this->addr = 0x02;
         this->toAddr = 0x01;
-        this->id = 0x00; // to fit the max number of bytes in a packet, this will change
-                         // based on message length, but it will be reset to this value
-                         // after each complete transmission
     }
     else
     {
         // addresses for receivers
         this->addr = 0x01;
         this->toAddr = 0x02;
-        this->id = 0x00;
     }
-
-    this->avail = false;
-
-    this->settings = s;
-    this->cfg = config;
+    this->id = 0x00; // to fit the max number of bytes in a packet, this will change
+                     // based on message length, but it will be reset to this value
+                     // after each complete transmission/reception
 }
 
 /*
 Initializer to call in setup
-    - s is the spi interface that should be used
-    - cs is the chip select pin
-    - irq is the interrupt pin
 */
 bool RFM69HCW::begin()
 {
+    // reset the radio
     pinMode(this->settings.rst, OUTPUT);
     digitalWrite(this->settings.rst, LOW);
     delay(10);
@@ -53,6 +51,8 @@ bool RFM69HCW::begin()
     // then use this to actually set the frequency
     if (!this->radio.setFrequency(this->settings.frequency))
         return false;
+
+    // set transmit power
     this->radio.setTxPower(this->txPower, true);
 
     // always set FSK mode
@@ -64,47 +64,58 @@ bool RFM69HCW::begin()
     this->radio.setThisAddress(this->addr);
     this->radio.setHeaderId(this->id);
 
-    if (this->settings.highBitrate)
+    if (this->settings.highBitrate) // Note: not working
     {
         // the default bitrate of 4.8kbps should be fine unless we want high bitrate for video
-        set300KBPS();
+        // set300KBPS();
+        this->radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
         // remove as much overhead as possible
-        this->radio.setPreambleLength(0);
-        this->radio.setSyncWords();
+        // this->radio.setPreambleLength(0);
+        // this->radio.setSyncWords();
     }
 
     return true;
 }
 
 /*
-Transmit function
 Most basic transmission method, simply transmits the string without modification
-    - message is the message to be transmitted, must be null terminated
+    \param message is the message to be transmitted, set to nullptr if this->msg already contains the message
+    \param len [optional] is the length of the message, if not used it is assumed this->msgLen is already set to the length
 */
-bool RFM69HCW::tx(const char *message)
+bool RFM69HCW::tx(const char *message, int len)
 {
-    // get length because message may be too long to transmit at one time
-    int len = strlen(message);
+    // figure out how long the message should be
+    if (len > 0)
+        this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+    else if (this->msgLen == -1)
+        return false;
+
+    // reset variables for tx
+    this->id = 0x00;
 
     // get number of packets for this message, and set this radio's id to that value so the receiver knows how many packets to expect
-    this->id = len / this->bufSize + (len % this->bufSize > 0);
+    this->totalPackets = len / this->bufSize + (len % this->bufSize > 0);
     this->radio.setHeaderId(this->id);
 
-    // fill the buffer repeatedly until the entire message has been sent
-    for (unsigned int j = 0; j < this->id; j++)
-    {
-        memset(this->buf, 0, this->bufSize);
-        memcpy(this->buf, message + j * this->bufSize, min(this->bufSize, len - j * this->bufSize));
-        this->radio.send(this->buf, min(this->bufSize, len - j * this->bufSize));
-        if (j != this->id - 1u)
-            this->radio.waitPacketSent();
-        // delay(100); // leaving this here for now, should try to remove later
-    }
+    if (message != nullptr)
+        memcpy(this->msg, message, len);
+
+    return true;
+}
 
+bool RFM69HCW::sendBuffer()
+{
+    memcpy(this->buf, this->msg + this->id * this->bufSize, min(this->bufSize, this->msgLen - this->id * this->bufSize));
+    this->radio.send(this->buf, min(this->bufSize, this->msgLen - this->id * this->bufSize));
+    this->id++;
+    return this->id == this->totalPackets;
+}
+
+void RFM69HCW::endtx()
+{
+    this->msgLen = -1;
     this->id = 0x00;
     this->radio.setHeaderId(this->id);
-
-    return true;
 }
 
 /*
@@ -122,75 +133,76 @@ const char *RFM69HCW::rx()
         if (this->radio.recv(this->buf, &(receivedLen)))
         {
             // check if this is the first part of the message
-            if (this->incomingMsgLen == 0)
+            if (this->totalPackets == 0)
             {
-                this->incomingMsgLen = this->radio.headerId();
-                if (this->incomingMsgLen == 0)
-                    return "Error parsing message";
-                memcpy(this->msg, this->buf, receivedLen);
-                this->msg[receivedLen] = '\0';
+                this->totalPackets = this->radio.headerId();
+                if (this->totalPackets <= 0)
+                    return 0;
+                this->msgLen = 0;
+                this->rssi = 0;
             }
-            else // otherwise append to the end of the message, removing the \0 from last time
-            {
-                int len = strlen(this->msg);
-                memcpy(this->msg + len, this->buf, min(MSG_LEN - (len + receivedLen), receivedLen));
-                this->msg[min(MSG_LEN, len + receivedLen)] = '\0'; // make sure we don't go over MSG_LEN
-            }
-            this->id++;
-            // Debug
-            // Serial.print("Received [");
-            // Serial.print(this->bufSize);
-            // Serial.print("]: ");
-            // this->buf[this->bufSize] = 0;
-            // Serial.println((char *)this->buf);
-            // Serial.print("RSSI: ");
-            // Serial.println(this->radio.lastRssi(), DEC);
-            // Serial.println("");
 
+            // copy data from this->buf to this->msg, making sure not to overflow
+            memcpy(this->msg + this->msgLen, this->buf, min(MSG_LEN - (this->msgLen + receivedLen), receivedLen));
+
+            this->msgLen += receivedLen;
+            this->id++;
             this->rssi += radio.lastRssi();
 
             // check if the full message has been received
-            // int msgLen = strlen(this->msg);
-            if (this->incomingMsgLen == this->id) // this works for now, maybe find a better way later?
+            if (this->totalPackets == this->id)
             {
-                this->id = 0;
-                this->rssi /= this->incomingMsgLen;
-                this->incomingMsgLen = 0;
+                this->id = 0x00;
+                this->rssi /= this->totalPackets;
+                this->totalPackets = 0;
                 this->avail = true;
             }
 
             return this->msg;
         }
-        return "Failed to receive message";
+        return 0;
     }
-    return "No message available";
+    return 0;
+}
+
+/*
+\return ```true``` if the radio is currently busy
+*/
+bool RFM69HCW::busy()
+{
+    RHGenericDriver::RHMode mode = this->radio.mode();
+    if (mode == RHGenericDriver::RHModeTx)
+        return true;
+    return false;
 }
 
 /*
 Multi-purpose encoder function
 Encodes the message into a format selected by type
-char *message must be a dynamically allocated null terminated string
+char *message is the message to be encoded
+sets this->msgLen to the encoded length of message
 - Telemetry:
     message - input: latitude,longitude,altitude,speed,heading,precision,stage,t0 -> output: APRS message
-- Video: TODO
-    message - input: char* filled with raw bytes -> output: Raw byte array
+- Video:
+    message - input: char* filled with raw bytes -> output: char* filled with raw bytes + error checking
 - Ground Station: TODO
     message - input: Source:Value,Destination:Value,Path:Value,Type:Value,Body:Value -> output: APRS message
 */
-bool RFM69HCW::encode(char *message, EncodingType type)
+bool RFM69HCW::encode(char *message, EncodingType type, int len)
 {
-    if (type == ENCT_NONE)
-        return true;
     if (type == ENCT_TELEMETRY)
     {
-        int msgLen = strlen(message);
+        if (len > 0)
+            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+        else if (this->msgLen == -1)
+            return false;
 
         // holds the data to be assembled into the aprs body
         APRSData data;
 
         // find each value separated in order by a comma and put in the APRSData array
         {
-            char currentVal[MSG_LEN];
+            char *currentVal = new char[this->msgLen];
             int currentValIndex = 0;
             int currentValCount = 0;
             for (int i = 0; i < msgLen; i++)
@@ -225,6 +237,8 @@ bool RFM69HCW::encode(char *message, EncodingType type)
                     currentValCount++;
                 }
             }
+
+            delete[] currentVal;
         }
 
         // get lat and long string for low or high precision
@@ -263,13 +277,13 @@ bool RFM69HCW::encode(char *message, EncodingType type)
         padding(spd_int, 3, data.spd);
         padding(hdg_int, 3, data.hdg);
 
+        // generate the aprs message
         APRSMsg aprs;
 
         aprs.setSource(this->cfg.CALLSIGN);
         aprs.setPath(this->cfg.PATH);
         aprs.setDestination(this->cfg.TOCALL);
 
-        // generate the aprs message
         char body[80];
         sprintf(body, "%c%s%c%s%c%s%c%s%s%s%s%c%s%c%s", '!', data.lat, this->cfg.OVERLAY, data.lng, this->cfg.SYMBOL,
                 data.hdg, '/', data.spd, data.alt, "/S", data.stage, '/',
@@ -278,26 +292,45 @@ bool RFM69HCW::encode(char *message, EncodingType type)
         aprs.encode(message);
         return true;
     }
+    if (type == ENCT_VIDEO)
+    {
+        // lower bound for received message length, for basic error checking
+        if (len > 0)
+            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+        // if len wasn't set, make sure this->msgLen is
+        if (this->msgLen == -1)
+            return false;
+        message[this->msgLen] = this->msgLen / 255;
+    }
+    if (type == ENCT_NONE)
+        return true;
     return false;
 }
 
 /*
-Multi-purpose encoder function
+Multi-purpose decoder function
 Decodes the message into a format selected by type
-char *message must be a dynamically allocated null terminated string
-- Telemetry:
+char *message is the message to be decoded
+sets this->msgLen to the length of the decoded message
+- Telemetry: TODO: fix
     message - output: latitude,longitude,altitude,speed,heading,precision,stage,t0 <- input: APRS message
 - Video: TODO
     message - output: char* filled with raw bytes <- input: Raw byte array
 - Ground Station:
     message - output: Source:Value,Destination:Value,Path:Value,Type:Value,Body:Value <- input: APRS message
 */
-bool RFM69HCW::decode(char *message, EncodingType type)
+bool RFM69HCW::decode(char *message, EncodingType type, int len)
 {
-    if (type == ENCT_NONE)
-        return true;
     if (type == ENCT_TELEMETRY)
     {
+        if (len > 0)
+            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+        else if (this->msgLen == -1)
+            return false;
+
+        // make sure message is null terminated
+        message[this->msgLen] = 0;
+
         APRSMsg aprs;
         aprs.decode(message);
 
@@ -322,7 +355,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.lat, bodyptr, i - (bodyptr - body));
-        data.lat[i - (bodyptr - body)] = '\0';
+        data.lat[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -332,7 +365,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.lng, bodyptr, i - (bodyptr - body));
-        data.lng[i - (bodyptr - body)] = '\0';
+        data.lng[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -342,7 +375,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.hdg, bodyptr, i - (bodyptr - body));
-        data.hdg[i - (bodyptr - body)] = '\0';
+        data.hdg[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -352,7 +385,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.spd, bodyptr, i - (bodyptr - body));
-        data.spd[i - (bodyptr - body)] = '\0';
+        data.spd[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -366,7 +399,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.alt, bodyptr, i - (bodyptr - body));
-        data.alt[i - (bodyptr - body)] = '\0';
+        data.alt[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -380,7 +413,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.stage, bodyptr, i - (bodyptr - body));
-        data.stage[i - (bodyptr - body)] = '\0';
+        data.stage[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -390,7 +423,7 @@ bool RFM69HCW::decode(char *message, EncodingType type)
         if (i == len)
             return false;
         strncpy(data.t0, bodyptr, i - (bodyptr - body));
-        data.t0[i - (bodyptr - body)] = '\0';
+        data.t0[i - (bodyptr - body)] = 0;
         i++;
         bodyptr = body + i;
 
@@ -478,37 +511,80 @@ bool RFM69HCW::decode(char *message, EncodingType type)
 
         sprintf(message, "%f,%f,%s,%s,%s,%c,%s,%s", lat, lng, data.alt, data.spd, data.hdg, strlen(data.dao) > 0 ? 'H' : 'L', data.stage, data.t0);
 
+        this->msgLen = strlen(message);
         return true;
     }
     if (type == ENCT_GROUNDSTATION)
     {
+        if (len > 0)
+            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+        else if (this->msgLen == -1)
+            return false;
+
+        // make sure message is null terminated
+        message[this->msgLen] = 0;
+
         // put the message into a APRSMessage object to decode it
         APRSMsg aprs;
         aprs.decode(message);
-
         aprs.toString(message);
+
         // add RSSI to the end of message
         sprintf(message + strlen(message), "%s%d", ",RSSI:", this->rssi);
+
+        this->msgLen = strlen(message);
         return true;
     }
+    if (type == ENCT_VIDEO)
+    {
+        if (len > 0)
+            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+
+        // if len wasn't set, make sure this->msgLen is
+        if (this->msgLen == -1)
+            return false;
+
+        // otherwise, check if the length of the message is within the expected bounds
+        return this->msgLen >= message[this->msgLen] * 255 && this->msgLen < (message[this->msgLen] + 1) * 255;
+    }
+    if (type == ENCT_NONE)
+        return true;
     return false;
 }
 
 /*
-Comprehensive send function
-Encodes the message into the selected type, then sends it
-char *message must be a null terminated string
-Transmitted and encoded message length must not exceed MSG_LEN
-    - message is the message to be sent
-    - type is the encoding type
+Encodes the message into the selected type, then sends it. Transmitted and encoded message length must not exceed ```MSG_LEN```
+    \param message is the message to be sent
+    \param type is the encoding type
+    \param len optional length of message, required if message is not a null terminated string
+\return ```true``` if the message was sent successfully
 */
-bool RFM69HCW::send(const char *message, EncodingType type)
+bool RFM69HCW::send(const char *message, EncodingType type, int len)
 {
-    strcpy(this->msg, message);
-    this->msg[MSG_LEN] = '\0'; // make sure msg is null terminated just in case
-    encode(this->msg, type);
-    tx(this->msg);
-    return true;
+    if (type == ENCT_TELEMETRY || type == ENCT_GROUNDSTATION)
+    {
+        // assume message is a valid string, but maybe it's not null terminated
+        strncpy(this->msg, message, MSG_LEN);
+        this->msg[MSG_LEN] = 0; // so null terminate it just in case
+        // figure out what the length of the message should be
+        if (len > 0 && len <= MSG_LEN)
+            this->msgLen = len;
+        else
+            this->msgLen = strlen(this->msg);
+        return encode(this->msg, type, this->msgLen) && tx(nullptr, strlen(this->msg)); // length needs to be updated since encode() modifies the message
+    }
+    if (type == ENCT_VIDEO && len != -1)
+    {
+        // can't assume message is a valid string
+        this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+        memcpy(this->msg, message, this->msgLen);
+        return encode(this->msg, type) && tx(nullptr); // length does not change with ENCT_VIDEO
+    }
+    if (type == ENCT_NONE && len != -1)
+    {
+        return tx(message, len);
+    }
+    return false;
 }
 
 /*
@@ -516,17 +592,18 @@ Comprehensive receive function
 Should be called after verifying there is an available message by calling available()
 Decodes the last received message according to the type
 Received and decoded message length must not exceed MSG_LEN
-    - type is the decoding type
+    \param type is the decoding type
 */
 const char *RFM69HCW::receive(EncodingType type)
 {
     if (this->avail)
     {
         this->avail = false;
-        decode(this->msg, type);
+        if (!decode(this->msg, type, this->msgLen)) // Note: this->msgLen is never set to -1
+            return 0;
         return this->msg;
     }
-    return "";
+    return 0;
 }
 
 /*
@@ -546,6 +623,7 @@ int RFM69HCW::RSSI()
     return this->rssi;
 }
 
+// probably broken
 void RFM69HCW::set300KBPS()
 {
     this->radio.spiWrite(0x03, 0x00);       // REG_BITRATEMSB: 300kbps (0x006B, see DS p20)
@@ -567,7 +645,6 @@ int max(int a, int b)
         return a;
     return b;
 }
-
 #endif
 
 #ifndef min
@@ -577,5 +654,4 @@ int min(int a, int b)
         return a;
     return b;
 }
-
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
index d301a6e8..9abf9506 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
@@ -38,18 +38,26 @@ struct RadioSettings
 class RFM69HCW : public Radio
 {
 public:
-    RFM69HCW(const RadioSettings s, const APRSConfig config);
+    RFM69HCW(const RadioSettings *s, const APRSConfig *config);
     bool begin() override;
-    bool tx(const char *message) override;
+    bool tx(const char *message, int len = -1) override;
+    bool sendBuffer();
+    void endtx();
     const char *rx() override;
-    bool encode(char *message, EncodingType type) override;
-    bool decode(char *message, EncodingType type) override;
-    bool send(const char *message, EncodingType type) override;
+    bool busy();
+    bool encode(char *message, EncodingType type, int len = -1) override;
+    bool decode(char *message, EncodingType type, int len = -1) override;
+    bool send(const char *message, EncodingType type, int len = -1) override;
     const char *receive(EncodingType type) override;
     int RSSI() override;
     bool available();
     void set300KBPS();
 
+    // stores full messages, max length determined by platform
+    char msg[MSG_LEN + 1];
+    // length of msg for recieving binary messages
+    int msgLen = 0;
+
 private:
     RH_RF69 radio;
     // all radios should have the same networkID
@@ -68,9 +76,7 @@ class RFM69HCW : public Radio
     APRSConfig cfg;
     bool avail;
     int rssi;
-    int incomingMsgLen;
-    // stores full messages, max length determined by platform
-    char msg[MSG_LEN + 1];
+    int totalPackets;
 };
 
 #endif // RFM69HCW_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp
index aafb5b27..5730c4d6 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp	
@@ -6,8 +6,8 @@
 #define PATH "WIDE1-1"
 
 APRSConfig config = {CALLSIGN, TOCALL, PATH, '[', '/'};
-RadioSettings settings = {433.775, false, false, &hardware_spi, 10, 31, 32};
-RFM69HCW receive = {settings, config};
+RadioSettings settings = {433.775, false, false, &hardware_spi, 10, 2, 9};
+RFM69HCW receive = {&settings, &config};
 
 void setup()
 {
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/test/TransmitterTest.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/test/TransmitterTest.cpp
index f30a9090..a59a1bf4 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/test/TransmitterTest.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/test/TransmitterTest.cpp	
@@ -7,7 +7,7 @@
 
 APRSConfig config = {CALLSIGN, TOCALL, PATH, '[', '/'};
 RadioSettings settings = {433.775, true, false, &hardware_spi, 10, 2, 9};
-RFM69HCW transmit = {settings, config};
+RFM69HCW transmit = {&settings, &config};
 
 void setup()
 {

From 6f45546894a19e2c36c7b85a7d084b1cc2ff5aca Mon Sep 17 00:00:00 2001
From: jhauerst <114038876+jhauerst@users.noreply.github.com>
Date: Mon, 4 Mar 2024 17:40:40 -0500
Subject: [PATCH 02/41] consolidated APRS code

---
 .../src/APRSEncodeFunctions.cpp               | 167 ------------------
 .../src/APRSEncodeFunctions.h                 |  47 -----
 .../Teensy-Based Avionics/src/APRSMsg.cpp     | 158 +++++++++++++++++
 .../Code/Teensy-Based Avionics/src/APRSMsg.h  |  17 +-
 .../Teensy-Based Avionics/src/RFM69HCW.cpp    |  18 +-
 5 files changed, 178 insertions(+), 229 deletions(-)
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.cpp
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.h

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.cpp
deleted file mode 100644
index b785f731..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.cpp	
+++ /dev/null
@@ -1,167 +0,0 @@
-/*
-MIT License
-
-Copyright (c) 2020 Peter Buchegger
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-*/
-
-#include "APRSEncodeFunctions.h"
-
-// takes in decimal minutes and converts to MM.dddd
-char *s_min_nn(uint32_t min_nnnnn, int high_precision)
-{
-    /* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth
-     * degree (-> *= 6 -> nn.mmmmmm minutes) high_precision: 0: round at decimal
-     * position 2. 1: round at decimal position 4. 2: return decimal position 3-4
-     * as base91 encoded char
-     */
-
-    static char buf[6];
-
-    // make sure there are nine digits
-    int missingDigits = 9 - numDigits(min_nnnnn);
-    if (missingDigits < 0)
-        for (int i = 0; i < missingDigits * -1; i++)
-            min_nnnnn /= 10;
-    if (missingDigits > 0)
-        for (int i = 0; i < missingDigits; i++)
-            min_nnnnn *= 10;
-
-    min_nnnnn = min_nnnnn * 0.006;
-
-    if (high_precision)
-    {
-        if ((min_nnnnn % 10) >= 5 && min_nnnnn < 6000000 - 5)
-        {
-            // round up. Avoid overflow (59.999999 should never become 60.0 or more)
-            min_nnnnn = min_nnnnn + 5;
-        }
-    }
-    else
-    {
-        if ((min_nnnnn % 1000) >= 500 && min_nnnnn < (6000000 - 500))
-        {
-            // round up. Avoid overflow (59.9999 should never become 60.0 or more)
-            min_nnnnn = min_nnnnn + 500;
-        }
-    }
-
-    if (high_precision < 2)
-        sprintf(buf, "%02u.%02u", (unsigned int)((min_nnnnn / 100000) % 100), (unsigned int)((min_nnnnn / 1000) % 100));
-    else
-        sprintf(buf, "%c", (char)((min_nnnnn % 1000) / 11) + 33);
-    // Like to verify? type in python for i.e. RawDegrees billions 566688333: i =
-    // 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
-    return buf;
-}
-
-// creates the latitude string for the APRS message based on whether the GPS coordinates are high precision
-void create_lat_aprs(char *lat, bool hp)
-{
-    bool negative = lat[0] == '-';
-
-    int len = strlen(lat);
-    int decimalPos = 0;
-    // use for loop in case there is no decimal
-    for (int i = 0; i < len; i++)
-    {
-        if (lat[i] == '.')
-        {
-            decimalPos = i;
-            break;
-        }
-    }
-    // we like sprintf's float up-rounding.
-    // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
-    // ;)
-    sprintf(lat, "%02d%s%c", atoi(lat) * (negative ? -1 : 1), s_min_nn(atoi(lat + decimalPos + 1), hp), negative ? 'S' : 'N');
-}
-
-// creates the longitude string for the APRS message based on whether the GPS coordinates are high precision
-void create_long_aprs(char *lng, bool hp)
-{
-    bool negative = lng[0] == '-';
-
-    int len = strlen(lng);
-    int decimalPos = 0;
-    // use for loop in case there is no decimal
-    for (int i = 0; i < len; i++)
-    {
-        if (lng[i] == '.')
-        {
-            decimalPos = i;
-            break;
-        }
-    }
-    // we like sprintf's float up-rounding.
-    // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
-    // ;)
-    sprintf(lng, "%02d%s%c", atoi(lng) * (negative ? -1 : 1), s_min_nn(atoi(lng + decimalPos + 1), hp), negative ? 'W' : 'E');
-}
-
-// creates the dao at the end of aprs message based on latitude and longitude
-void create_dao_aprs(char *lat, char *lng, char *dao)
-{
-    // !DAO! extension, use Base91 format for best precision
-    // /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest
-    // integer https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
-    // http://www.aprs.org/aprs12/datum.txt
-
-    int len = strlen(lat);
-    int decimalPos = 0;
-    // use for loop in case there is no decimal
-    for (int i = 0; i < len; i++)
-    {
-        if (lat[i] == '.')
-            decimalPos = i;
-    }
-    sprintf(dao, "!w%s", s_min_nn((int)(lat + decimalPos + 1), 2));
-
-    len = strlen(lng);
-    decimalPos = 0;
-    for (int i = 0; i < len; i++)
-    {
-        if (lng[i] == '.')
-            decimalPos = i;
-    }
-    sprintf(dao + 3, "%s!", s_min_nn((int)(lng + decimalPos + 1), 2));
-}
-
-// adds a specified number of zeros to the begining of a number
-void padding(unsigned int number, unsigned int width, char *output, int offset)
-{
-    unsigned int numLen = numDigits(number);
-    if (numLen > width)
-    {
-        width = numLen;
-    }
-    for (unsigned int i = 0; i < width - numLen; i++)
-    {
-        output[offset + i] = '0';
-    }
-    sprintf(output + offset + width - numLen, "%u", number);
-}
-
-int numDigits(unsigned int num)
-{
-    if (num < 10)
-        return 1;
-    return 1 + numDigits(num / 10);
-}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.h
deleted file mode 100644
index 2e367ab0..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSEncodeFunctions.h	
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-MIT License
-
-Copyright (c) 2020 Peter Buchegger
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-*/
-
-#ifndef APRS_ENCODE_FUNCTIONS_H
-#define APRS_ENCODE_FUNCTIONS_H
-
-#if defined(ARDUINO)
-#include <Arduino.h>
-#elif defined(_WIN32) || defined(_WIN64) // Windows
-#include <cstdint>
-#include <string>
-#include <cstring>
-#elif defined(__unix__)  // Linux
-// TODO
-#elif defined(__APPLE__) // OSX
-// TODO
-#endif
-
-char *s_min_nn(uint32_t min_nnnnn, int high_precision);
-void create_lat_aprs(char *lat, bool hp);
-void create_long_aprs(char *lng, bool hp);
-void create_dao_aprs(char *lat, char *lng, char *dao);
-void padding(unsigned int number, unsigned int width, char *output, int offset = 0);
-int numDigits(unsigned int num);
-
-#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index 69359f1a..3240f409 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -208,4 +208,162 @@ const char *APRSBody::encode()
 void APRSBody::toString(char *str)
 {
     sprintf(str, "Data:%s", _data);
+}
+
+// creates the latitude string for the APRS message based on whether the GPS coordinates are high precision
+void APRSMsg::formatLat(char *lat, bool hp)
+{
+    bool negative = lat[0] == '-';
+
+    int len = strlen(lat);
+    int decimalPos = 0;
+    // use for loop in case there is no decimal
+    for (int i = 0; i < len; i++)
+    {
+        if (lat[i] == '.')
+        {
+            decimalPos = i;
+            break;
+        }
+    }
+    int decLen = strlen(lat + decimalPos + 1);
+    int dec = atoi(lat + decimalPos + 1);
+
+    // make sure there are nine digits
+    int missingDigits = 9 - decLen;
+    if (missingDigits < 0)
+        for (int i = 0; i < missingDigits * -1; i++)
+            dec /= 10;
+    if (missingDigits > 0)
+        for (int i = 0; i < missingDigits; i++)
+            dec *= 10;
+
+    // we like sprintf's float up-rounding.
+    // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
+    // ;)
+    sprintf(lat, "%02d%s%c", atoi(lat) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'S' : 'N');
+}
+
+// creates the longitude string for the APRS message based on whether the GPS coordinates are high precision
+void APRSMsg::formatLong(char *lng, bool hp)
+{
+    bool negative = lng[0] == '-';
+
+    int len = strlen(lng);
+    int decimalPos = 0;
+    // use for loop in case there is no decimal
+    for (int i = 0; i < len; i++)
+    {
+        if (lng[i] == '.')
+        {
+            decimalPos = i;
+            break;
+        }
+    }
+
+    int decLen = strlen(lng + decimalPos + 1);
+    int dec = atoi(lng + decimalPos + 1);
+
+    // make sure there are nine digits
+    int missingDigits = 9 - decLen;
+    if (missingDigits < 0)
+        for (int i = 0; i < missingDigits * -1; i++)
+            dec /= 10;
+    if (missingDigits > 0)
+        for (int i = 0; i < missingDigits; i++)
+            dec *= 10;
+
+    // we like sprintf's float up-rounding.
+    // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
+    // ;)
+    sprintf(lng, "%02d%s%c", atoi(lng) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'W' : 'E');
+}
+
+// creates the dao at the end of aprs message based on latitude and longitude
+void APRSMsg::formatDao(char *lat, char *lng, char *dao)
+{
+    // !DAO! extension, use Base91 format for best precision
+    // /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest
+    // integer https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
+    // http://www.aprs.org/aprs12/datum.txt
+
+    int len = strlen(lat);
+    int decimalPos = 0;
+    // use for loop in case there is no decimal
+    for (int i = 0; i < len; i++)
+    {
+        if (lat[i] == '.')
+            decimalPos = i;
+    }
+    sprintf(dao, "!w%s", s_min_nn((int)(lat + decimalPos + 1), 2));
+
+    len = strlen(lng);
+    decimalPos = 0;
+    for (int i = 0; i < len; i++)
+    {
+        if (lng[i] == '.')
+            decimalPos = i;
+    }
+    sprintf(dao + 3, "%s!", s_min_nn((int)(lng + decimalPos + 1), 2));
+}
+
+// adds a specified number of zeros to the begining of a number
+void APRSMsg::padding(unsigned int number, unsigned int width, char *output, int offset)
+{
+    unsigned int numLen = numDigits(number);
+    if (numLen > width)
+    {
+        width = numLen;
+    }
+    for (unsigned int i = 0; i < width - numLen; i++)
+    {
+        output[offset + i] = '0';
+    }
+    sprintf(output + offset + width - numLen, "%u", number);
+}
+
+// takes in decimal minutes and converts to MM.dddd
+char *s_min_nn(uint32_t min_nnnnn, int high_precision)
+{
+    /* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth
+     * degree (-> *= 6 -> nn.mmmmmm minutes) high_precision: 0: round at decimal
+     * position 2. 1: round at decimal position 4. 2: return decimal position 3-4
+     * as base91 encoded char
+     */
+
+    static char buf[6];
+
+    min_nnnnn = min_nnnnn * 0.006;
+
+    if (high_precision)
+    {
+        if ((min_nnnnn % 10) >= 5 && min_nnnnn < 6000000 - 5)
+        {
+            // round up. Avoid overflow (59.999999 should never become 60.0 or more)
+            min_nnnnn = min_nnnnn + 5;
+        }
+    }
+    else
+    {
+        if ((min_nnnnn % 1000) >= 500 && min_nnnnn < (6000000 - 500))
+        {
+            // round up. Avoid overflow (59.9999 should never become 60.0 or more)
+            min_nnnnn = min_nnnnn + 500;
+        }
+    }
+
+    if (high_precision < 2)
+        sprintf(buf, "%02u.%02u", (unsigned int)((min_nnnnn / 100000) % 100), (unsigned int)((min_nnnnn / 1000) % 100));
+    else
+        sprintf(buf, "%c", (char)((min_nnnnn % 1000) / 11) + 33);
+    // Like to verify? type in python for i.e. RawDegrees billions 566688333: i =
+    // 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
+    return buf;
+}
+
+int numDigits(unsigned int num)
+{
+    if (num < 10)
+        return 1;
+    return 1 + numDigits(num / 10);
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
index ac6ae169..bca89ae5 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
@@ -122,7 +122,7 @@ class APRSMessageType
     }
 
 private:
-    Value value;
+    Value value = Error;
 };
 
 class APRSBody
@@ -139,7 +139,7 @@ class APRSBody
     virtual void toString(char *str);
 
 private:
-    char _data[80];
+    char _data[80]{0};
 };
 
 class APRSMsg
@@ -168,12 +168,17 @@ class APRSMsg
     virtual void encode(char *message);
     virtual void toString(char *str);
 
+    static void formatLat(char *lat, bool hp);
+    static void formatLong(char *lng, bool hp);
+    static void formatDao(char *lat, char *lng, char *dao);
+    static void padding(unsigned int number, unsigned int width, char *output, int offset = 0);
+
 private:
-    char _source[8];
-    char _destination[8];
-    char _path[10];
+    char _source[8]{0};
+    char _destination[8]{0};
+    char _path[10]{0};
     APRSMessageType _type;
-    char _rawBody[80];
+    char _rawBody[80]{0};
     APRSBody _body;
 };
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
index 8853c819..4635b0c6 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
@@ -245,14 +245,14 @@ bool RFM69HCW::encode(char *message, EncodingType type, int len)
         if (data.precision == 'L')
         {
             strcpy(data.dao, "");
-            create_lat_aprs(data.lat, 0);
-            create_long_aprs(data.lng, 0);
+            APRSMsg::formatLat(data.lat, 0);
+            APRSMsg::formatLong(data.lng, 0);
         }
         else if (data.precision == 'H')
         {
-            create_dao_aprs(data.lat, data.lng, data.dao);
-            create_lat_aprs(data.lat, 1);
-            create_long_aprs(data.lng, 1);
+            APRSMsg::formatDao(data.lat, data.lng, data.dao);
+            APRSMsg::formatLat(data.lat, 1);
+            APRSMsg::formatLong(data.lng, 1);
         }
 
         // get alt string
@@ -260,12 +260,12 @@ bool RFM69HCW::encode(char *message, EncodingType type, int len)
         if (alt_int < 0)
         {
             strcpy(data.alt, "/A=-");
-            padding(alt_int * -1, 5, data.alt, 4);
+            APRSMsg::padding(alt_int * -1, 5, data.alt, 4);
         }
         else
         {
             strcpy(data.alt, "/A=");
-            padding(alt_int, 6, data.alt, 3);
+            APRSMsg::padding(alt_int, 6, data.alt, 3);
         }
 
         // get course/speed strings
@@ -274,8 +274,8 @@ bool RFM69HCW::encode(char *message, EncodingType type, int len)
         int hdg_int = max(0, min(360, atoi(data.hdg)));
         if (hdg_int == 0)
             hdg_int = 360;
-        padding(spd_int, 3, data.spd);
-        padding(hdg_int, 3, data.hdg);
+        APRSMsg::padding(spd_int, 3, data.spd);
+        APRSMsg::padding(hdg_int, 3, data.hdg);
 
         // generate the aprs message
         APRSMsg aprs;

From fa056e7ec94a795f74a1c854168ab477f547a57c Mon Sep 17 00:00:00 2001
From: jhauerst <114038876+jhauerst@users.noreply.github.com>
Date: Fri, 5 Apr 2024 01:05:34 -0400
Subject: [PATCH 03/41] radio code bug fixes, preparing for long packets

---
 .../Teensy-Based Avionics/src/APRSMsg.cpp     |  3 +
 .../Teensy-Based Avionics/src/RFM69HCW.cpp    | 78 ++++++++++++++++++-
 .../Code/Teensy-Based Avionics/src/RFM69HCW.h |  6 +-
 3 files changed, 84 insertions(+), 3 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index 3a139132..44a26d2e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -24,6 +24,9 @@ SOFTWARE.
 
 #include "APRSMsg.h"
 
+char *s_min_nn(uint32_t min_nnnnn, int high_precision);
+int numDigits(unsigned int num);
+
 APRSMsg::APRSMsg() : _body()
 {
 }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
index 3a2d8b77..235bbb84 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
@@ -1,5 +1,13 @@
 #include "RFM69HCW.h"
 
+#ifndef max
+int max(int a, int b);
+#endif
+
+#ifndef min
+int min(int a, int b);
+#endif
+
 /*
 Constructor
     - frequency in hertz
@@ -64,6 +72,10 @@ bool RFM69HCW::begin()
     this->radio.setThisAddress(this->addr);
     this->radio.setHeaderId(this->id);
 
+    // configure unlimited packet length mode, don't do this for now
+    // this->radio.spiWrite(0x37, 0b00000000);                // Packet format (0x37) set to 00000000 (see manual for meaning of each bit)
+    // this->radio.spiWrite(RH_RF69_REG_38_PAYLOADLENGTH, 0); // Payload length (0x38) set to 0
+
     if (this->settings.highBitrate) // Note: not working
     {
         // the default bitrate of 4.8kbps should be fine unless we want high bitrate for video
@@ -91,11 +103,11 @@ bool RFM69HCW::tx(const char *message, int len)
         return false;
 
     // reset variables for tx
-    this->id = 0x00;
+    this->totalPackets = 0x00;
 
     // get number of packets for this message, and set this radio's id to that value so the receiver knows how many packets to expect
     this->totalPackets = len / this->bufSize + (len % this->bufSize > 0);
-    this->radio.setHeaderId(this->id);
+    this->radio.setHeaderId(this->totalPackets);
     sendBuffer();
 
     if (message != nullptr)
@@ -119,6 +131,68 @@ void RFM69HCW::endtx()
     this->radio.setHeaderId(this->id);
 }
 
+// partially adapted from RadioHead library
+bool RFM69HCW::txs(const char *message, int len)
+{
+    // figure out how long the message should be
+    if (len > 0)
+        this->msgLen = len > MSG_LEN ? MSG_LEN : len;
+    else if (this->msgLen == -1)
+        return false;
+
+    if (message != nullptr)
+        memcpy(this->msg, message, len);
+
+    this->radio.waitPacketSent(); // Make sure we dont interrupt an outgoing message
+    this->radio.setModeIdle();    // Prevent RX while filling the fifo
+
+    if (!this->radio.waitCAD())
+        return false; // Check channel activity
+
+    ATOMIC_BLOCK_START;
+    this->settings.spi->beginTransaction();
+    digitalWrite(this->settings.cs, LOW);
+    this->settings.spi->transfer(RH_RF69_REG_00_FIFO | RH_RF69_SPI_WRITE_MASK); // Send the start address with the write mask on
+    this->settings.spi->transfer(this->msgLen + 1);                             // Include length of headers
+    // First the header
+    this->settings.spi->transfer(this->toAddr); // type of transmitter that should receive this message
+    // Now the payload
+    while (this->msgIndex++ != this->msgLen && !this->radio.spiRead(RH_RF69_IRQFLAGS2_FIFOFULL)) // these conditions need to be verified
+        this->settings.spi->transfer(this->msg[this->msgIndex]);
+    digitalWrite(this->settings.cs, HIGH);
+    this->settings.spi->endTransaction();
+    ATOMIC_BLOCK_END;
+
+    this->radio.setModeTx(); // Start the transmitter
+    return true;
+}
+
+bool RFM69HCW::txT()
+{
+    if (!this->radio.spiRead(RH_RF69_IRQFLAGS2_FIFONOTEMPTY) || !this->radio.spiRead(RH_RF69_FIFOTHRESH_FIFOTHRESHOLD))
+    {
+        // this is basically tx without preprocessing and no toAddr byte
+        ATOMIC_BLOCK_START;
+        this->settings.spi->beginTransaction();
+        digitalWrite(this->settings.cs, LOW);
+        this->settings.spi->transfer(RH_RF69_REG_00_FIFO | RH_RF69_SPI_WRITE_MASK);                  // Send the start address with the write mask on
+        while (this->msgIndex++ != this->msgLen && !this->radio.spiRead(RH_RF69_IRQFLAGS2_FIFOFULL)) // these conditions need to be verified
+            this->settings.spi->transfer(this->msg[this->msgIndex]);
+        digitalWrite(this->settings.cs, HIGH);
+        this->settings.spi->endTransaction();
+        ATOMIC_BLOCK_END;
+        return this->radio.spiRead(RH_RF69_IRQFLAGS2_PACKETSENT);
+    }
+    return false;
+}
+
+void RFM69HCW::txe() // try to get rid of this one
+{
+    this->msgLen = -1;
+    this->id = 0x00;
+    this->radio.setHeaderId(this->id);
+}
+
 /*
 Receive function
 Most basic receiving method, simply checks for a message and returns a pointer to it
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
index 9fc4cda6..11a54040 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
@@ -12,7 +12,6 @@
 #include "Radio.h"
 #include "APRSMsg.h"
 #include "RH_RF69.h"
-#include "APRSEncodeFunctions.h"
 
 /*
 Settings:
@@ -43,7 +42,11 @@ class RFM69HCW : public Radio
     bool tx(const char *message, int len = -1) override;
     bool sendBuffer();
     void endtx();
+    bool txs(const char *message, int len = -1);
+    bool txT();
+    void txe();
     const char *rx() override;
+    void rxL();
     bool busy();
     bool encode(char *message, EncodingType type, int len = -1) override;
     bool decode(char *message, EncodingType type, int len = -1) override;
@@ -83,6 +86,7 @@ class RFM69HCW : public Radio
     bool avail;
     int rssi;
     int totalPackets;
+    int msgIndex = 0;
 };
 
 #endif // RFM69HCW_H
\ No newline at end of file

From a2411e67ab3909177a25b4e50923068763bbb88d Mon Sep 17 00:00:00 2001
From: Varun Unnithan <varun.unnithan33@gmail.com>
Date: Fri, 5 Apr 2024 01:18:19 -0400
Subject: [PATCH 04/41] Small bug fixes from merge

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp | 4 ++--
 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h   | 5 -----
 2 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
index 235bbb84..194e0a04 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
@@ -333,12 +333,12 @@ bool RFM69HCW::encode(char *message, EncodingType type, int len)
         if (altInt < 0)
         {
             strcpy(data.alt, "/A=-");
-            APRSMsg::padding(alt_int * -1, 5, data.alt, 4);
+            APRSMsg::padding(altInt * -1, 5, data.alt, 4);
         }
         else
         {
             strcpy(data.alt, "/A=");
-            APRSMsg::padding(alt_int, 6, data.alt, 3);
+            APRSMsg::padding(altInt, 6, data.alt, 3);
         }
 
         // get course/speed strings
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
index 11a54040..19abb2ff 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
@@ -62,11 +62,6 @@ class RFM69HCW : public Radio
     // length of msg for recieving binary messages
     int msgLen = 0;
 
-    // stores full messages, max length determined by platform
-    char msg[MSG_LEN + 1];
-    // length of msg for recieving binary messages
-    int msgLen = 0;
-
 private:
     RH_RF69 radio;
     // all radios should have the same networkID

From 71306cca37fbff1d387c89a2f7954b30d9d6c28c Mon Sep 17 00:00:00 2001
From: Varun Unnithan <varun.unnithan33@gmail.com>
Date: Fri, 5 Apr 2024 01:20:43 -0400
Subject: [PATCH 05/41] added artificial newlines

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp   | 2 +-
 .../Code/Teensy-Based Avionics/test/ReceiverTest.cpp      | 8 +++++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 458bc4f4..938a8281 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -12,7 +12,7 @@ BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 DS3231 rtc();               // I2C Address 0x68
 APRSConfig config = {"KC3UTM", "APRS", "WIDE1-1", '[', '/'};
-RadioSettings settings = {433.775, true, false, &hardware_spi, 10, 31, 32};
+RadioSettings settings = {915.0, true, false, &hardware_spi, 10, 31, 32};
 RFM69HCW radio = {settings, config};
 State computer;// = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp
index 5730c4d6..a44acb50 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp	
@@ -6,12 +6,12 @@
 #define PATH "WIDE1-1"
 
 APRSConfig config = {CALLSIGN, TOCALL, PATH, '[', '/'};
-RadioSettings settings = {433.775, false, false, &hardware_spi, 10, 2, 9};
+RadioSettings settings = {915.0, false, false, &hardware_spi, 10, 31, 32};
 RFM69HCW receive = {&settings, &config};
 
 void setup()
 {
-    Serial.begin(9600);
+    Serial.begin(115200);
     while (!Serial)
         ;
 
@@ -25,6 +25,8 @@ void loop()
 {
     if (receive.available())
     {
-        Serial.println(receive.receive(ENCT_GROUNDSTATION));
+        Serial.print("s\n");
+        Serial.print(receive.receive(ENCT_GROUNDSTATION));
+        Serial.print("\ne\n");
     }
 }
\ No newline at end of file

From cde1a15670a47c41935f27dd43906d45ff993f0f Mon Sep 17 00:00:00 2001
From: Varun Unnithan <varun.unnithan33@gmail.com>
Date: Fri, 5 Apr 2024 01:31:57 -0400
Subject: [PATCH 06/41] small fixes

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp | 3 +++
 Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp     | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
index 194e0a04..97145a81 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
@@ -131,6 +131,9 @@ void RFM69HCW::endtx()
     this->radio.setHeaderId(this->id);
 }
 
+RHGenericDriver::RHMode RFM69HCW::mode() { return radio.mode(); }
+
+
 // partially adapted from RadioHead library
 bool RFM69HCW::txs(const char *message, int len)
 {
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 938a8281..61291c55 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -13,7 +13,7 @@ MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 DS3231 rtc();               // I2C Address 0x68
 APRSConfig config = {"KC3UTM", "APRS", "WIDE1-1", '[', '/'};
 RadioSettings settings = {915.0, true, false, &hardware_spi, 10, 31, 32};
-RFM69HCW radio = {settings, config};
+RFM69HCW radio = {&settings, &config};
 State computer;// = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
 

From 1a5a87dd517901042ee4210f34fb7344608e467f Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Sat, 20 Apr 2024 22:32:30 -0400
Subject: [PATCH 07/41] Added switch BNO to 16G mode

---
 .../23-24/Code/Teensy-Based Avionics/src/BNO055.cpp   | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp
index faf8ecf9..6a2e078f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
@@ -14,6 +14,17 @@ bool BNO055::initialize()
     }
     bno.setExtCrystalUse(true);
 
+    // set to +-16g range
+    adafruit_bno055_opmode_t mode = bno.getMode();
+    bno.setMode(OPERATION_MODE_CONFIG);
+    delay(25);
+    Wire.beginTransmission(0x29);//BNO055 address
+    Wire.write(0x08);//ACC_CONFIG register address on BNO055
+    Wire.write(0b11);//set to +-16g range
+    Wire.endTransmission(true); // send stop
+    bno.setMode(mode);
+    delay(25);
+
     initialMagField = bno.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
     imu::Vector<3> read = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
     for (int i = 0; i < 20; i++)

From 9a2a39dc1bc4499822e63986c14294c7896870b0 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Sat, 20 Apr 2024 22:35:41 -0400
Subject: [PATCH 08/41] Added if RAM dead, continue to print to SD card

---
 .../lib/RecordData/RecordData.cpp                 | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp
index b90935bc..4fd1761e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
@@ -4,9 +4,9 @@ static const char *logTypeStrings[] = {"LOG", "ERROR", "WARNING", "INFO"};
 static Mode mode = GROUND;
 void recordFlightData(char *data)
 {
-    if(!isSDReady())
+    if (!isSDReady())
         return;
-    if (mode == GROUND)
+    if (mode == GROUND || !ram->isReady())
     {
         flightDataFile = sd.open(flightDataFileName, FILE_WRITE); // during preflight, print to SD card constantly. ignore PSRAM for this stage.
         if (flightDataFile)
@@ -15,7 +15,7 @@ void recordFlightData(char *data)
             flightDataFile.close();
         }
     }
-    else if(ram->isReady())
+    else
         ram->println(data); // while in flight, print to PSRAM for later dumping to SD card.
 }
 
@@ -40,7 +40,7 @@ void recordLogData(double timeStamp, LogType type, const char *data, Dest dest)
     }
     if ((dest == BOTH || dest == TO_FILE) && isSDReady())
     {
-        if (mode == GROUND)
+        if (mode == GROUND || !ram->isReady())
         {
             logFile = sd.open(logFileName, FILE_WRITE); // during preflight, print to SD card constantly. ignore PSRAM for this stage. With both files printing, may be bad...
             if (logFile)
@@ -50,7 +50,7 @@ void recordLogData(double timeStamp, LogType type, const char *data, Dest dest)
                 logFile.close();
             }
         }
-        else if (ram->isReady()) // while in flight, print to PSRAM for later dumping to SD card.
+        else // while in flight, print to PSRAM for later dumping to SD card.
         {
             ram->print(logPrefix, false);
             ram->println(data, false);
@@ -60,10 +60,11 @@ void recordLogData(double timeStamp, LogType type, const char *data, Dest dest)
 
 void setRecordMode(Mode m)
 {
-    if(mode == FLIGHT && m == GROUND){
+    if (mode == FLIGHT && m == GROUND && ram->isReady())
+    {
         ram->dumpFlightData();
         ram->dumpLogData();
-        bb.aonoff(LED_BUILTIN, 2000);//turn on LED for 2 seconds to indicate that the PSRAM is being dumped to the SD card.
+        bb.aonoff(LED_BUILTIN, 2000); // turn on LED for 2 seconds to indicate that the PSRAM is being dumped to the SD card.
     }
     mode = m;
 }

From ea63e5f41e8ef1d2453c0eebe188c911c7a0b817 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 2 May 2024 14:48:02 -0400
Subject: [PATCH 09/41] Refactor LinearKalmanFilter constructor to remove
 unused include statement

---
 .../src/Filters/LinearKalmanFilter/LinearKalmanFilter.cpp      | 1 -
 Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini      | 3 ---
 2 files changed, 4 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/Kalman-Filter-main/src/Filters/LinearKalmanFilter/LinearKalmanFilter.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/Kalman-Filter-main/src/Filters/LinearKalmanFilter/LinearKalmanFilter.cpp
index 37abd7a0..5a930f4c 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/Kalman-Filter-main/src/Filters/LinearKalmanFilter/LinearKalmanFilter.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/Kalman-Filter-main/src/Filters/LinearKalmanFilter/LinearKalmanFilter.cpp	
@@ -1,5 +1,4 @@
 #include "LinearKalmanFilter.h"
-#include "Matrix.h"
 LinearKalmanFilter::LinearKalmanFilter(Matrix X, Matrix U, Matrix P, Matrix F, Matrix G, Matrix R, Matrix Q)
 {
     state.X = X;
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index 292bd841..43e5628c 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -22,7 +22,6 @@ lib_deps =
 	adafruit/Adafruit BMP3XX Library@^2.1.2
 	adafruit/RTClib @ ^2.1.1
 	adafruit/Adafruit BNO055@^1.6.3
-	adafruit/Adafruit Unified Sensor@^1.1.14
 	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
 	https://github.com/DrewBrandt/BlinkBuzz.git
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
@@ -41,7 +40,6 @@ lib_deps =
 	adafruit/Adafruit BMP3XX Library@^2.1.2
 	adafruit/RTClib @ ^2.1.1
 	adafruit/Adafruit BNO055@^1.6.3
-	adafruit/Adafruit Unified Sensor@^1.1.14
 	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
@@ -59,7 +57,6 @@ lib_deps =
 	adafruit/Adafruit BMP3XX Library@^2.1.2
 	adafruit/RTClib @ ^2.1.1
 	adafruit/Adafruit BNO055@^1.6.3
-	adafruit/Adafruit Unified Sensor@^1.1.14
 	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
 	https://github.com/DrewBrandt/BlinkBuzz.git
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>

From 610ada1a16b9619111b001efb1bf7792632a559b Mon Sep 17 00:00:00 2001
From: Varun Unnithan <varun.unnithan33@gmail.com>
Date: Sat, 11 May 2024 17:47:18 -0400
Subject: [PATCH 10/41] change?

---
 Spaceport/23-24/Code/Rpi-Middleman/data7.log  | Bin 0 -> 13107022 bytes
 .../Code/Teensy-Based Avionics/src/main.cpp   | 135 +++---------------
 .../test/ReceiverTest.cpp                     |   6 +-
 3 files changed, 20 insertions(+), 121 deletions(-)
 create mode 100644 Spaceport/23-24/Code/Rpi-Middleman/data7.log

diff --git a/Spaceport/23-24/Code/Rpi-Middleman/data7.log b/Spaceport/23-24/Code/Rpi-Middleman/data7.log
new file mode 100644
index 0000000000000000000000000000000000000000..015f5acedd66d4c21fc0d3f48456e2dbe2216df6
GIT binary patch
literal 13107022
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zb@KjH<io!1?)G`c-OxIDH{QjE9opUPy^QCjb@F+2<--o`?)F~B{n0vkf2#30K8)vo
ze*ODb=Jb@=FCX%mYd4hHeog4ihkV_7?aJic*fSq;dTW1_$@|ll5Ba*a8_ML}=*owD
z-P#Rh@@{;R5BafmUdrV2>dJ@w*xC(c@^0*z5Ba*aKg#6&>B@&(+}aIg@^19xb9hXi
zoSrhd6Yk50edb}pc`8Hw>B^a%-eJOvDntEw7iV^8>)%NJd!bDBUZN&Lc4&tQ52*}2
zmn(8+hjy6okjhXuDspCDcbIUV%1}2da%Nw5m~fuTP&c}AW?y%haGuIge=2fjUw4>r
zp2|=+>TzCeH+_axCZGFf`LG{5PIyRVXr>i8v->(uI7Vft8(lfGt2|CPPi3e-6*;qu
zJ5D%HWvCk!IkSs9PB>3xs2deIvx_@UI8SA$8(lfGuRBh7QDvw<6*;quJ5D%HWvCnP
z;>>>RIN>3cp?THge46l(%H(tJ%ZFXuX~KE_Gntk8kNdyXfQ<iUWh|jj^BH~J)-06y
zYoFfU_>3-Y>)MscyU~@;=;F4zp-kS5u6#xpx77`0@@{;R&*;at=A}$NuRZe_{n%E2
zl*#+kmCxwMwz{EA-i@w&Mi;l$4Q29f^yIS`=NWfHncvP+e7r+jCLE(O)F1Y=H5szc
zT+Ck3t>>54$^JIgWXQg5G5b8Xx}kOQZoG>RJG8~@z1*6Y*2(8pkq<kx#q7P@>W0?I
zyU~>oJH5s1&)n*d*2()*kq`U2#q7P@>W0?IyHSx3`?|&Kz1-@C*2%k3kq`U2#q9Ik
z>W0?IyU~-+dBTe-lY6bceAw5WC%mXK)Sq{8W`B5|@Q}*Tyee{LKX#t*kjhXuDspBQ
zcb;&b%1}4Da%Nw5p75f|P=Bg%9`AP*eeTrb&-;OO<U{Xk^>{x2>U{Wpa(?~#?|(NR
zdatX;^ZEVLeCYkA9?$3V?R@C{pdQcXTb&Pm&#lMv`B&#d-(~CZeE!w>(D&7PJfHu!
z^P%sY^>{wt>U``8kC7o#!v0dH7Z3J7N{sWjCw|7ymv;~&FJ(`TjQ<^4!%nUf5Ar(e
zPP6<kml9(;ejdAw>JTGqWY40EUmdi@IR8q-$SK*=CgbUA4Lki#JjglO6DQ+-Xbszs
zIy}fY*)t{M>1z!;{Z2f{NZB(Z<9=uj+mAXt$XD4@A>-+54Lkk6&%>TM7*SVZWd8H`
zjREcKtCS#PWY2eu`%!g`gS*@MI$L`!N?3Ch@laxXeXwU<u6OSrA6@@*rG)iT(X}Ws
z&ext;8Bf0xF>CUoekfu4(TRsOSJCv9u+#6v!+NP``bya8?~8{uS5ZHdu>JT94{MB~
zxhP@h(us#PM$z<@u+#6uW3@Nq&WzXTD>2Ug=dmwiU&P3M`O^ra25F74LzRe;$ve6G
z>qOJn8g}}fc#yd|xqWO=KeUGJM;#tyu1@YQI??pChMj&L9%Qag?jAVN^tFba{yTV(
zQ#!eOZbx&`8g?$7c#u;%x%+NM{m>e=A9Z+;xjMN!Ye&=98g}}1c#yd|xqD|v)7Khy
z`h9r#69HeRuf#a}pU3ALvVoNn<mvorbx}XG#@LWv#K>Iv6YHXWXbszsIy}fr`E&iE
z>1z!;{de#nW8}~8i{_#=>|E;bAY<fD=!>SWHSF{|@gQ^MPvDFCp*3tj>hK^h<<HoQ
zrmr>Z^y}~-FXd0si>9wN?DRYFAamtU(u?|`HEchs@bIU&z0OvNak4*;Z?nnu^-7S*
z^XJ?}4bmE8hu%YsjFCUjE}Dzhuyd)ygN%_su`Zgv*09sB!-Kq(Ka(z+zSgkQ@5F=5
zl|OSX>W9{_{iwr(ywn+Y{wXoeetpkhhbeifGw$nC!cV^wQ!-a)-1(=3??)Y`<fYEI
z^G^vs{lCxjf=)>ZOMP!V$e>;D{&Y(C2GwCoUh0Cszg5CdzYbIKQWyMntrC9votToj
zy5R3`mGJ$j!<4+#1%H35gr9yLrsSnAXs(p-)9=KT%+&>LVCTf~<sQubYX7N(HAd0@
ziW1}V^5U#yZDQ6KMc1N)o&KJ9T%8Sk?S~R$JANL2!|a~C+Qh7vimpY8asF55K5G-R
zUMjj4CG7O~#lxDbs2@t$estnty;L-PCG7M&@vvShn!XZt`rpFCI;CiGO4!MD;$baZ
zG<_xP^gHn&lXpe8rNr2d_49rwrsTG+ZckqH`k^((hSVW;Lvy9XIN6`aGoM^vr39J0
z8@eqed_OudCAW2RJO5t)HYnlyQHLp+tDD>T7foMljPw5#F|tlKw<j-}oYt_DtHXn=
z)6MP4i>9wN?DXsKAaiwdd-9^`YYjX7Iy}f+-Q145X!=^iPQMcmGFLZrTS|=WSdBm(
zrsU~v==zlK)9=Idj&4f{JN;ff$Xwmg1}fqE@foJ%l<w&1l<<@L7N%s-?r7nZ@U!j2
zl)Tg(U7r%ZA9a|Lm%5|tQ^HTb4pZ_{cXWM9`000IO6Ka0Hc$!Qk2*}rOWo02DdDHz
zi7A<@JK8`cd_O+H^ziU>v<pp{fB*W|!&jXiq)rd}VdwPoc%&vn@=5D;DU;8=D<3je
zYd4h1yU~>o8Lzb)%H-YX%7<*%+6`s$ZtR&4`LeY?%H;j&%7<*)+6`s$Zgk~CCT;D8
zGI=*X$%ow6Ixl7Nd3EJO-fQiKGI=+8@>wTOE>4-;Rrck>F77blGnJwKROHMq?l9pq
zm7#7_<jgK^{aed_ca+KAll(6XPr-L>ew}|dV_jVQzopFYx$ldQ^=$FAE0cHQlYFfE
zisz+FKCiBPtow?)p-kS5J@c_HF7A&qd4Ia{u`Vv|hBA3Kdh$6spBZ&SnWuBu7a!}{
e;%iqXd)+uX-`j_w^=$EVDU)}jE1$nS<o^M#^$?2y

literal 0
HcmV?d00001

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 61291c55..ab71c360 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -1,133 +1,32 @@
 #include <Arduino.h>
-#include "State.h"
-#include "BMP390.h"
-#include "BNO055.h"
-#include "MAX_M10S.h"
-#include "DS3231.h"
 #include "RFM69HCW.h"
-#include "RecordData.h"
 
-BNO055 bno(13, 12);         // I2C Address 0x29
-BMP390 bmp(13, 12);         // I2C Address 0x77
-MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
-DS3231 rtc();               // I2C Address 0x68
-APRSConfig config = {"KC3UTM", "APRS", "WIDE1-1", '[', '/'};
-RadioSettings settings = {915.0, true, false, &hardware_spi, 10, 31, 32};
-RFM69HCW radio = {&settings, &config};
-State computer;// = useKalmanFilter = true, stateRecordsOwnData = true
-uint32_t radioTimer = millis();
+#define CALLSIGN "KC3UTM"
+#define TOCALL "APRS"
+#define PATH "WIDE1-1"
 
-PSRAM *ram;
-
-#define BUZZER 33
-#define BMP_ADDR_PIN 36
-
-static double last = 0; // for better timing than "delay(100)"
+APRSConfig config = {CALLSIGN, TOCALL, PATH, '[', '/'};
+RadioSettings settings = {915.0, false, false, &hardware_spi, 10, 31, 32};
+RFM69HCW receive = {&settings, &config};
 
 void setup()
 {
-    recordLogData(INFO, "Initializing Avionics System. 10 second delay to prevent unnecessary file generation.", TO_USB);
-    delay(5000);
-
-    pinMode(BMP_ADDR_PIN, OUTPUT);
-    digitalWrite(BMP_ADDR_PIN, HIGH);
-
-    pinMode(LED_BUILTIN, OUTPUT);
-    pinMode(BUZZER, OUTPUT); //its very loud during testing
-
-    pinMode(0, OUTPUT); // RASPBERRY PI TURN ON
-    pinMode(1, OUTPUT); // RASPBERRY PI TURN ON
-
-
-    digitalWrite(LED_BUILTIN, HIGH);
-    delay(100);
-    digitalWrite(LED_BUILTIN, LOW);
-    ram = new PSRAM(); // init after the SD card for better data logging.
-
-    // The SD card MUST be initialized first to allow proper data logging.
-    if (setupSDCard())
-    {
-
-        recordLogData(INFO, "SD Card Initialized");
-        digitalWrite(BUZZER, HIGH);
-        delay(1000);
-        digitalWrite(BUZZER, LOW);
-    }
-    else
-    {
-        recordLogData(ERROR, "SD Card Failed to Initialize");
-
-        digitalWrite(BUZZER, HIGH);
-        delay(200);
-        digitalWrite(BUZZER, LOW);
-        delay(200);
-        digitalWrite(BUZZER, HIGH);
-        delay(200);
-        digitalWrite(BUZZER, LOW);
-    }
-
-    // The PSRAM must be initialized before the sensors to allow for proper data logging.
+    Serial.begin(9600);
+    // while (!Serial)
+    //     ;
 
-    if (ram->init())
-        recordLogData(INFO, "PSRAM Initialized");
-    else
-        recordLogData(ERROR, "PSRAM Failed to Initialize");
+    if (!receive.begin())
+        Serial.println("Reciever failed to begin");
 
-    if (!computer.addSensor(&bmp))
-        recordLogData(INFO, "Failed to add BMP390 Sensor");
-    if (!computer.addSensor(&gps))
-        recordLogData(INFO, "Failed to add MAX_M10S Sensor");
-    if (!computer.addSensor(&bno))
-        recordLogData(INFO, "Failed to add BNO055 Sensor");
-    computer.setRadio(&radio);
-    if (computer.init()){
-        recordLogData(INFO, "All Sensors Initialized");
-        digitalWrite(BUZZER, HIGH);
-        delay(1000);
-        digitalWrite(BUZZER, LOW);
-    }
-    else{
-        recordLogData(ERROR, "Some Sensors Failed to Initialize. Disabling those sensors.");
-        digitalWrite(BUZZER, HIGH);
-        delay(200);
-        digitalWrite(BUZZER, LOW);
-        delay(200);
-        digitalWrite(BUZZER, HIGH);
-        delay(200);
-        digitalWrite(BUZZER, LOW);
-    }
-
-    digitalWrite(LED_BUILTIN, HIGH);
-    delay(1000);
-    digitalWrite(LED_BUILTIN, LOW);
-    sendSDCardHeader(computer.getCsvHeader());
+    Serial.println("RFM69r began");
 }
-static bool more = false;
+
 void loop()
 {
-    double time = millis();
-
-    if (time - radioTimer >= 2000)
+    if (receive.available())
     {
-        more = computer.transmit();
-        radioTimer = time;
-    }
-    if (radio.mode() != RHGenericDriver::RHModeTx && more){
-        more = !radio.sendBuffer();
-    }
-    if (time - last < 100)
-        return;
-
-    last = time;
-    computer.updateState();
-    recordLogData(INFO, computer.getStateString(), TO_USB);
-
-
-    // RASPBERRY PI TURN ON
-    if (time / 1000.0 > 600) {
-        digitalWrite(0, HIGH);
-    }
-    if (computer.getStageNum() == 1) {
-        digitalWrite(1, HIGH);
+        Serial.println("s");
+        Serial.println(receive.receive(ENCT_GROUNDSTATION));
+        Serial.println("e");
     }
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp
index a44acb50..57d80725 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/test/ReceiverTest.cpp	
@@ -25,8 +25,8 @@ void loop()
 {
     if (receive.available())
     {
-        Serial.print("s\n");
-        Serial.print(receive.receive(ENCT_GROUNDSTATION));
-        Serial.print("\ne\n");
+        Serial.println("s");
+        Serial.println(receive.receive(ENCT_GROUNDSTATION));
+        Serial.println("e");
     }
 }
\ No newline at end of file

From 2b783deecde23ed8b4ac1263dfb362720ef0dd04 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 15 May 2024 16:54:06 -0400
Subject: [PATCH 11/41] minor changes

---
 .../Teensy-Based Avionics/include/Radio.h     |  30 +-
 .../lib/imumaths/imumaths.h                   |  31 -
 .../lib/imumaths/matrix.h                     | 185 -----
 .../lib/imumaths/quaternion.h                 | 214 -----
 .../lib/imumaths/vector.h                     | 184 -----
 .../Teensy-Based Avionics/src/APRSMsg.cpp     | 432 +++--------
 .../Code/Teensy-Based Avionics/src/APRSMsg.h  | 225 ++----
 .../Teensy-Based Avionics/src/APRSMsgOld.cpp  | 372 +++++++++
 .../Teensy-Based Avionics/src/APRSMsgOld.h    | 227 ++++++
 .../Teensy-Based Avionics/src/RFM69HCW.cpp    | 733 ------------------
 .../Code/Teensy-Based Avionics/src/RFM69HCW.h |  87 ---
 .../Teensy-Based Avionics/src/RFM69HCWNew.cpp | 324 ++++++++
 .../Teensy-Based Avionics/src/RFM69HCWNew.h   |  91 +++
 .../Code/Teensy-Based Avionics/src/State.cpp  |  14 +-
 .../Code/Teensy-Based Avionics/src/State.h    |   6 +
 .../Code/Teensy-Based Avionics/src/main.cpp   |  14 +-
 16 files changed, 1221 insertions(+), 1948 deletions(-)
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/imumaths.h
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/matrix.h
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/quaternion.h
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/vector.h
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h
index 9e8ab573..2f46df68 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
@@ -28,18 +28,34 @@ enum EncodingType
     ENCT_NONE
 };
 
+class RadioMessage
+{
+public:
+    virtual const uint8_t *encode() = 0;                      // use stored variables to encode a message
+    virtual bool decode(const uint8_t *message, int len) = 0; // use `message` to set stored variables
+    virtual int length() const = 0;                           // return the length of the message
+    virtual ~RadioMessage(){};
+
+protected:
+    uint8_t len;
+};
+
 class Radio
 {
 public:
     virtual ~Radio(){}; // Virtual descructor. Very important
-    virtual bool begin() = 0;
-    virtual bool tx(const char *message, int len = -1) = 0;
-    virtual const char *rx() = 0;
-    virtual bool encode(char *message, EncodingType type, int len = -1) = 0;
-    virtual bool decode(char *message, EncodingType type, int len = -1) = 0;
-    virtual bool send(const char *message, EncodingType type, int len = -1) = 0;
-    virtual const char *receive(EncodingType type) = 0;
+    virtual bool init() = 0;
+    virtual bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) = 0; // designed to be used internally. cannot exceed 66 bytes including headers
+    virtual const uint8_t *rx() = 0;
     virtual int RSSI() = 0;
+    virtual bool enqueueSend(const uint8_t *message, uint8_t len) = 0;
+    virtual bool enqueueSend(const char *message) = 0;
+    virtual bool enqueueSend(RadioMessage *message) = 0;
+    virtual bool dequeueReceive(RadioMessage *message) = 0;
+    virtual bool dequeueReceive(char *message) = 0;
+    virtual bool dequeueReceive(uint8_t *message) = 0;
 };
 
+
+
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/imumaths.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/imumaths.h
deleted file mode 100644
index a168750e..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/imumaths.h	
+++ /dev/null
@@ -1,31 +0,0 @@
-
-//  Inertial Measurement Unit Maths Library
-//
-//  Copyright 2013-2021 Sam Cowen <samuel.cowen@camelsoftware.com>
-//
-//  Permission is hereby granted, free of charge, to any person obtaining a
-//  copy of this software and associated documentation files (the "Software"),
-//  to deal in the Software without restriction, including without limitation
-//  the rights to use, copy, modify, merge, publish, distribute, sublicense,
-//  and/or sell copies of the Software, and to permit persons to whom the
-//  Software is furnished to do so, subject to the following conditions:
-//
-//  The above copyright notice and this permission notice shall be included in
-//  all copies or substantial portions of the Software.
-//
-//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
-//  OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-//  FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-//  DEALINGS IN THE SOFTWARE.
-
-#ifndef IMUMATH_H
-#define IMUMATH_H
-
-#include "matrix.h"
-#include "quaternion.h"
-#include "vector.h"
-
-#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/matrix.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/matrix.h
deleted file mode 100644
index e71b2db9..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/matrix.h	
+++ /dev/null
@@ -1,185 +0,0 @@
-//  Inertial Measurement Unit Maths Library
-//
-//  Copyright 2013-2021 Sam Cowen <samuel.cowen@camelsoftware.com>
-//  Bug fixes and cleanups by Gé Vissers (gvissers@gmail.com)
-//
-//  Permission is hereby granted, free of charge, to any person obtaining a
-//  copy of this software and associated documentation files (the "Software"),
-//  to deal in the Software without restriction, including without limitation
-//  the rights to use, copy, modify, merge, publish, distribute, sublicense,
-//  and/or sell copies of the Software, and to permit persons to whom the
-//  Software is furnished to do so, subject to the following conditions:
-//
-//  The above copyright notice and this permission notice shall be included in
-//  all copies or substantial portions of the Software.
-//
-//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
-//  OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-//  FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-//  DEALINGS IN THE SOFTWARE.
-
-#ifndef IMUMATH_MATRIX_HPP
-#define IMUMATH_MATRIX_HPP
-
-#include <stdint.h>
-#include <string.h>
-
-#include "vector.h"
-
-namespace imu {
-
-template <uint8_t N> class Matrix {
-public:
-  Matrix() { memset(_cell_data, 0, N * N * sizeof(double)); }
-
-  Matrix(const Matrix &m) {
-    for (int ij = 0; ij < N * N; ++ij) {
-      _cell_data[ij] = m._cell_data[ij];
-    }
-  }
-
-  ~Matrix() {}
-
-  Matrix &operator=(const Matrix &m) {
-    for (int ij = 0; ij < N * N; ++ij) {
-      _cell_data[ij] = m._cell_data[ij];
-    }
-    return *this;
-  }
-
-  Vector<N> row_to_vector(int i) const {
-    Vector<N> ret;
-    for (int j = 0; j < N; j++) {
-      ret[j] = cell(i, j);
-    }
-    return ret;
-  }
-
-  Vector<N> col_to_vector(int j) const {
-    Vector<N> ret;
-    for (int i = 0; i < N; i++) {
-      ret[i] = cell(i, j);
-    }
-    return ret;
-  }
-
-  void vector_to_row(const Vector<N> &v, int i) {
-    for (int j = 0; j < N; j++) {
-      cell(i, j) = v[j];
-    }
-  }
-
-  void vector_to_col(const Vector<N> &v, int j) {
-    for (int i = 0; i < N; i++) {
-      cell(i, j) = v[i];
-    }
-  }
-
-  double operator()(int i, int j) const { return cell(i, j); }
-  double &operator()(int i, int j) { return cell(i, j); }
-
-  double cell(int i, int j) const { return _cell_data[i * N + j]; }
-  double &cell(int i, int j) { return _cell_data[i * N + j]; }
-
-  Matrix operator+(const Matrix &m) const {
-    Matrix ret;
-    for (int ij = 0; ij < N * N; ++ij) {
-      ret._cell_data[ij] = _cell_data[ij] + m._cell_data[ij];
-    }
-    return ret;
-  }
-
-  Matrix operator-(const Matrix &m) const {
-    Matrix ret;
-    for (int ij = 0; ij < N * N; ++ij) {
-      ret._cell_data[ij] = _cell_data[ij] - m._cell_data[ij];
-    }
-    return ret;
-  }
-
-  Matrix operator*(double scalar) const {
-    Matrix ret;
-    for (int ij = 0; ij < N * N; ++ij) {
-      ret._cell_data[ij] = _cell_data[ij] * scalar;
-    }
-    return ret;
-  }
-
-  Matrix operator*(const Matrix &m) const {
-    Matrix ret;
-    for (int i = 0; i < N; i++) {
-      Vector<N> row = row_to_vector(i);
-      for (int j = 0; j < N; j++) {
-        ret(i, j) = row.dot(m.col_to_vector(j));
-      }
-    }
-    return ret;
-  }
-
-  Matrix transpose() const {
-    Matrix ret;
-    for (int i = 0; i < N; i++) {
-      for (int j = 0; j < N; j++) {
-        ret(j, i) = cell(i, j);
-      }
-    }
-    return ret;
-  }
-
-  Matrix<N - 1> minor_matrix(int row, int col) const {
-    Matrix<N - 1> ret;
-    for (int i = 0, im = 0; i < N; i++) {
-      if (i == row)
-        continue;
-
-      for (int j = 0, jm = 0; j < N; j++) {
-        if (j != col) {
-          ret(im, jm++) = cell(i, j);
-        }
-      }
-      im++;
-    }
-    return ret;
-  }
-
-  double determinant() const {
-    // specialization for N == 1 given below this class
-    double det = 0.0, sign = 1.0;
-    for (int i = 0; i < N; ++i, sign = -sign)
-      det += sign * cell(0, i) * minor_matrix(0, i).determinant();
-    return det;
-  }
-
-  Matrix invert() const {
-    Matrix ret;
-    double det = determinant();
-
-    for (int i = 0; i < N; i++) {
-      for (int j = 0; j < N; j++) {
-        ret(i, j) = minor_matrix(j, i).determinant() / det;
-        if ((i + j) % 2 == 1)
-          ret(i, j) = -ret(i, j);
-      }
-    }
-    return ret;
-  }
-
-  double trace() const {
-    double tr = 0.0;
-    for (int i = 0; i < N; ++i)
-      tr += cell(i, i);
-    return tr;
-  }
-
-private:
-  double _cell_data[N * N];
-};
-
-template <> inline double Matrix<1>::determinant() const { return cell(0, 0); }
-
-}; // namespace imu
-
-#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/quaternion.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/quaternion.h
deleted file mode 100644
index c5b907a1..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/quaternion.h	
+++ /dev/null
@@ -1,214 +0,0 @@
-//  Inertial Measurement Unit Maths Library
-//
-//  Copyright 2013-2021 Sam Cowen <samuel.cowen@camelsoftware.com>
-//  Bug fixes and cleanups by Gé Vissers (gvissers@gmail.com)
-//
-//  Permission is hereby granted, free of charge, to any person obtaining a
-//  copy of this software and associated documentation files (the "Software"),
-//  to deal in the Software without restriction, including without limitation
-//  the rights to use, copy, modify, merge, publish, distribute, sublicense,
-//  and/or sell copies of the Software, and to permit persons to whom the
-//  Software is furnished to do so, subject to the following conditions:
-//
-//  The above copyright notice and this permission notice shall be included in
-//  all copies or substantial portions of the Software.
-//
-//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
-//  OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-//  FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-//  DEALINGS IN THE SOFTWARE.
-
-#ifndef IMUMATH_QUATERNION_HPP
-#define IMUMATH_QUATERNION_HPP
-
-#include <math.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "matrix.h"
-
-namespace imu {
-
-class Quaternion {
-public:
-  Quaternion() : _w(1.0), _x(0.0), _y(0.0), _z(0.0) {}
-
-  Quaternion(double w, double x, double y, double z)
-      : _w(w), _x(x), _y(y), _z(z) {}
-
-  Quaternion(double w, Vector<3> vec)
-      : _w(w), _x(vec.x()), _y(vec.y()), _z(vec.z()) {}
-
-  double &w() { return _w; }
-  double &x() { return _x; }
-  double &y() { return _y; }
-  double &z() { return _z; }
-
-  double w() const { return _w; }
-  double x() const { return _x; }
-  double y() const { return _y; }
-  double z() const { return _z; }
-
-  double magnitude() const {
-    return sqrt(_w * _w + _x * _x + _y * _y + _z * _z);
-  }
-
-  void normalize() {
-    double mag = magnitude();
-    *this = this->scale(1 / mag);
-  }
-
-  Quaternion conjugate() const { return Quaternion(_w, -_x, -_y, -_z); }
-
-  void fromAxisAngle(const Vector<3> &axis, double theta) {
-    _w = cos(theta / 2);
-    // only need to calculate sine of half theta once
-    double sht = sin(theta / 2);
-    _x = axis.x() * sht;
-    _y = axis.y() * sht;
-    _z = axis.z() * sht;
-  }
-
-  void fromMatrix(const Matrix<3> &m) {
-    double tr = m.trace();
-
-    double S;
-    if (tr > 0) {
-      S = sqrt(tr + 1.0) * 2;
-      _w = 0.25 * S;
-      _x = (m(2, 1) - m(1, 2)) / S;
-      _y = (m(0, 2) - m(2, 0)) / S;
-      _z = (m(1, 0) - m(0, 1)) / S;
-    } else if (m(0, 0) > m(1, 1) && m(0, 0) > m(2, 2)) {
-      S = sqrt(1.0 + m(0, 0) - m(1, 1) - m(2, 2)) * 2;
-      _w = (m(2, 1) - m(1, 2)) / S;
-      _x = 0.25 * S;
-      _y = (m(0, 1) + m(1, 0)) / S;
-      _z = (m(0, 2) + m(2, 0)) / S;
-    } else if (m(1, 1) > m(2, 2)) {
-      S = sqrt(1.0 + m(1, 1) - m(0, 0) - m(2, 2)) * 2;
-      _w = (m(0, 2) - m(2, 0)) / S;
-      _x = (m(0, 1) + m(1, 0)) / S;
-      _y = 0.25 * S;
-      _z = (m(1, 2) + m(2, 1)) / S;
-    } else {
-      S = sqrt(1.0 + m(2, 2) - m(0, 0) - m(1, 1)) * 2;
-      _w = (m(1, 0) - m(0, 1)) / S;
-      _x = (m(0, 2) + m(2, 0)) / S;
-      _y = (m(1, 2) + m(2, 1)) / S;
-      _z = 0.25 * S;
-    }
-  }
-
-  void toAxisAngle(Vector<3> &axis, double &angle) const {
-    double sqw = sqrt(1 - _w * _w);
-    if (sqw == 0) // it's a singularity and divide by zero, avoid
-      return;
-
-    angle = 2 * acos(_w);
-    axis.x() = _x / sqw;
-    axis.y() = _y / sqw;
-    axis.z() = _z / sqw;
-  }
-
-  Matrix<3> toMatrix() const {
-    Matrix<3> ret;
-    ret.cell(0, 0) = 1 - 2 * _y * _y - 2 * _z * _z;
-    ret.cell(0, 1) = 2 * _x * _y - 2 * _w * _z;
-    ret.cell(0, 2) = 2 * _x * _z + 2 * _w * _y;
-
-    ret.cell(1, 0) = 2 * _x * _y + 2 * _w * _z;
-    ret.cell(1, 1) = 1 - 2 * _x * _x - 2 * _z * _z;
-    ret.cell(1, 2) = 2 * _y * _z - 2 * _w * _x;
-
-    ret.cell(2, 0) = 2 * _x * _z - 2 * _w * _y;
-    ret.cell(2, 1) = 2 * _y * _z + 2 * _w * _x;
-    ret.cell(2, 2) = 1 - 2 * _x * _x - 2 * _y * _y;
-    return ret;
-  }
-
-  // Returns euler angles that represent the quaternion.  Angles are
-  // returned in rotation order and right-handed about the specified
-  // axes:
-  //
-  //   v[0] is applied 1st about z (ie, roll)
-  //   v[1] is applied 2nd about y (ie, pitch)
-  //   v[2] is applied 3rd about x (ie, yaw)
-  //
-  // Note that this means result.x() is not a rotation about x;
-  // similarly for result.z().
-  //
-  Vector<3> toEuler() const {
-    Vector<3> ret;
-    double sqw = _w * _w;
-    double sqx = _x * _x;
-    double sqy = _y * _y;
-    double sqz = _z * _z;
-
-    ret.x() = atan2(2.0 * (_x * _y + _z * _w), (sqx - sqy - sqz + sqw));
-    ret.y() = asin(-2.0 * (_x * _z - _y * _w) / (sqx + sqy + sqz + sqw));
-    ret.z() = atan2(2.0 * (_y * _z + _x * _w), (-sqx - sqy + sqz + sqw));
-
-    return ret;
-  }
-
-  Vector<3> toAngularVelocity(double dt) const {
-    Vector<3> ret;
-    Quaternion one(1.0, 0.0, 0.0, 0.0);
-    Quaternion delta = one - *this;
-    Quaternion r = (delta / dt);
-    r = r * 2;
-    r = r * one;
-
-    ret.x() = r.x();
-    ret.y() = r.y();
-    ret.z() = r.z();
-    return ret;
-  }
-
-  Vector<3> rotateVector(const Vector<2> &v) const {
-    return rotateVector(Vector<3>(v.x(), v.y()));
-  }
-
-  Vector<3> rotateVector(const Vector<3> &v) const {
-    Vector<3> qv(_x, _y, _z);
-    Vector<3> t = qv.cross(v) * 2.0;
-    return v + t * _w + qv.cross(t);
-  }
-
-  Quaternion operator*(const Quaternion &q) const {
-    return Quaternion(_w * q._w - _x * q._x - _y * q._y - _z * q._z,
-                      _w * q._x + _x * q._w + _y * q._z - _z * q._y,
-                      _w * q._y - _x * q._z + _y * q._w + _z * q._x,
-                      _w * q._z + _x * q._y - _y * q._x + _z * q._w);
-  }
-
-  Quaternion operator+(const Quaternion &q) const {
-    return Quaternion(_w + q._w, _x + q._x, _y + q._y, _z + q._z);
-  }
-
-  Quaternion operator-(const Quaternion &q) const {
-    return Quaternion(_w - q._w, _x - q._x, _y - q._y, _z - q._z);
-  }
-
-  Quaternion operator/(double scalar) const {
-    return Quaternion(_w / scalar, _x / scalar, _y / scalar, _z / scalar);
-  }
-
-  Quaternion operator*(double scalar) const { return scale(scalar); }
-
-  Quaternion scale(double scalar) const {
-    return Quaternion(_w * scalar, _x * scalar, _y * scalar, _z * scalar);
-  }
-
-private:
-  double _w, _x, _y, _z;
-};
-
-} // namespace imu
-
-#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/vector.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/vector.h
deleted file mode 100644
index 10345c34..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/imumaths/vector.h	
+++ /dev/null
@@ -1,184 +0,0 @@
-//  Inertial Measurement Unit Maths Library
-//
-//  Copyright 2013-2021 Sam Cowen <samuel.cowen@camelsoftware.com>
-//  Bug fixes and cleanups by Gé Vissers (gvissers@gmail.com)
-//
-//  Permission is hereby granted, free of charge, to any person obtaining a
-//  copy of this software and associated documentation files (the "Software"),
-//  to deal in the Software without restriction, including without limitation
-//  the rights to use, copy, modify, merge, publish, distribute, sublicense,
-//  and/or sell copies of the Software, and to permit persons to whom the
-//  Software is furnished to do so, subject to the following conditions:
-//
-//  The above copyright notice and this permission notice shall be included in
-//  all copies or substantial portions of the Software.
-//
-//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
-//  OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-//  FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-//  DEALINGS IN THE SOFTWARE.
-
-#ifndef IMUMATH_VECTOR_HPP
-#define IMUMATH_VECTOR_HPP
-
-#include <math.h>
-#include <stdint.h>
-#include <string.h>
-
-namespace imu {
-
-template <uint8_t N> class Vector {
-public:
-  Vector() { memset(p_vec, 0, sizeof(double) * N); }
-
-  Vector(double a) {
-    memset(p_vec, 0, sizeof(double) * N);
-    p_vec[0] = a;
-  }
-
-  Vector(double a, double b) {
-    memset(p_vec, 0, sizeof(double) * N);
-    p_vec[0] = a;
-    p_vec[1] = b;
-  }
-
-  Vector(double a, double b, double c) {
-    memset(p_vec, 0, sizeof(double) * N);
-    p_vec[0] = a;
-    p_vec[1] = b;
-    p_vec[2] = c;
-  }
-
-  Vector(double a, double b, double c, double d) {
-    memset(p_vec, 0, sizeof(double) * N);
-    p_vec[0] = a;
-    p_vec[1] = b;
-    p_vec[2] = c;
-    p_vec[3] = d;
-  }
-
-  Vector(const Vector<N> &v) {
-    for (int x = 0; x < N; x++)
-      p_vec[x] = v.p_vec[x];
-  }
-
-  ~Vector() {}
-
-  uint8_t n() { return N; }
-
-  double magnitude() const {
-    double res = 0;
-    for (int i = 0; i < N; i++)
-      res += p_vec[i] * p_vec[i];
-
-    return sqrt(res);
-  }
-
-  void normalize() {
-    double mag = magnitude();
-    if (isnan(mag) || mag == 0.0)
-      return;
-
-    for (int i = 0; i < N; i++)
-      p_vec[i] /= mag;
-  }
-
-  double dot(const Vector &v) const {
-    double ret = 0;
-    for (int i = 0; i < N; i++)
-      ret += p_vec[i] * v.p_vec[i];
-
-    return ret;
-  }
-
-  // The cross product is only valid for vectors with 3 dimensions,
-  // with the exception of higher dimensional stuff that is beyond
-  // the intended scope of this library.
-  // Only a definition for N==3 is given below this class, using
-  // cross() with another value for N will result in a link error.
-  Vector cross(const Vector &v) const;
-
-  Vector scale(double scalar) const {
-    Vector ret;
-    for (int i = 0; i < N; i++)
-      ret.p_vec[i] = p_vec[i] * scalar;
-    return ret;
-  }
-
-  Vector invert() const {
-    Vector ret;
-    for (int i = 0; i < N; i++)
-      ret.p_vec[i] = -p_vec[i];
-    return ret;
-  }
-
-  Vector &operator=(const Vector &v) {
-    for (int x = 0; x < N; x++)
-      p_vec[x] = v.p_vec[x];
-    return *this;
-  }
-
-  double &operator[](int n) { return p_vec[n]; }
-
-  double operator[](int n) const { return p_vec[n]; }
-
-  double &operator()(int n) { return p_vec[n]; }
-
-  double operator()(int n) const { return p_vec[n]; }
-
-  Vector operator+(const Vector &v) const {
-    Vector ret;
-    for (int i = 0; i < N; i++)
-      ret.p_vec[i] = p_vec[i] + v.p_vec[i];
-    return ret;
-  }
-
-  Vector operator-(const Vector &v) const {
-    Vector ret;
-    for (int i = 0; i < N; i++)
-      ret.p_vec[i] = p_vec[i] - v.p_vec[i];
-    return ret;
-  }
-
-  Vector operator*(double scalar) const { return scale(scalar); }
-
-  Vector operator/(double scalar) const {
-    Vector ret;
-    for (int i = 0; i < N; i++)
-      ret.p_vec[i] = p_vec[i] / scalar;
-    return ret;
-  }
-
-  void toDegrees() {
-    for (int i = 0; i < N; i++)
-      p_vec[i] *= 57.2957795131; // 180/pi
-  }
-
-  void toRadians() {
-    for (int i = 0; i < N; i++)
-      p_vec[i] *= 0.01745329251; // pi/180
-  }
-
-  double &x() { return p_vec[0]; }
-  double &y() { return p_vec[1]; }
-  double &z() { return p_vec[2]; }
-  double x() const { return p_vec[0]; }
-  double y() const { return p_vec[1]; }
-  double z() const { return p_vec[2]; }
-
-private:
-  double p_vec[N];
-};
-
-template <> inline Vector<3> Vector<3>::cross(const Vector &v) const {
-  return Vector(p_vec[1] * v.p_vec[2] - p_vec[2] * v.p_vec[1],
-                p_vec[2] * v.p_vec[0] - p_vec[0] * v.p_vec[2],
-                p_vec[0] * v.p_vec[1] - p_vec[1] * v.p_vec[0]);
-}
-
-} // namespace imu
-
-#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index 44a26d2e..527eab30 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -1,372 +1,178 @@
-/*
-MIT License
-
-Copyright (c) 2020 Peter Buchegger
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-*/
-
 #include "APRSMsg.h"
 
-char *s_min_nn(uint32_t min_nnnnn, int high_precision);
-int numDigits(unsigned int num);
-
-APRSMsg::APRSMsg() : _body()
-{
-}
-
-APRSMsg::APRSMsg(APRSMsg &otherMsg)
-    : _type(otherMsg.getType()), _body()
-{
-    strcpy(_source, otherMsg.getSource());
-    strcpy(_destination, otherMsg.getDestination());
-    strcpy(_path, otherMsg.getPath());
-    strcpy(_rawBody, otherMsg.getRawBody());
-    _body.setData(otherMsg.getBody()->getData());
-}
-
-APRSMsg &APRSMsg::operator=(APRSMsg &otherMsg)
-{
-    if (this != &otherMsg)
-    {
-        setSource(otherMsg.getSource());
-        setDestination(otherMsg.getDestination());
-        setPath(otherMsg.getPath());
-        _type = otherMsg.getType();
-        strcpy(_rawBody, otherMsg.getRawBody());
-        _body.setData(otherMsg.getBody()->getData());
-    }
-    return *this;
-}
 
-APRSMsg::~APRSMsg()
-{
-}
+#define MAX_ALLOWED_MSG_LEN 255 /* max length of 1 message supported by radio buffer */
 
-const char *APRSMsg::getSource()
-{
-    return _source;
-}
 
-void APRSMsg::setSource(const char source[8])
-{
-    strcpy(_source, source);
-}
 
-const char *APRSMsg::getDestination()
+APRSMsg::APRSMsg(APRSHeader &header)
 {
-    return _destination;
+    this->header = header;
 }
 
-void APRSMsg::setDestination(const char destination[8])
+const uint8_t *APRSMsg::encode()
 {
-    strcpy(_destination, destination);
+    char *msg = new char[MAX_ALLOWED_MSG_LEN];
+    int c = encodeHeader(msg);
+    encodeData(msg, c);
+    return (uint8_t *)msg;
 }
 
-const char *APRSMsg::getPath()
+bool APRSMsg::decode(const uint8_t *message, int len)
 {
-    return _path;
+    //message needs to be decoded and values reinstered into the header and data structs
+    int c = decodeHeader((char *)message, len);
+    decodeData((char *)message, len, c);
+    return false;
 }
 
-void APRSMsg::setPath(const char path[10])
-{
-    strcpy(_path, path);
-}
+#pragma region Encode Helpers
 
-APRSMessageType APRSMsg::getType()
+int APRSMsg::encodeHeader(char *message) const
 {
-    return _type;
-}
-
-const char *APRSMsg::getRawBody()
-{
-    return _rawBody;
-}
-
-APRSBody *APRSMsg::getBody()
-{
-    return &_body;
-}
-
-bool APRSMsg::decode(char *message)
-{
-    int len = strlen(message);
-    int posSrc = -1, posDest = -1, posPath = -1;
-    for (int i = 0; i < len; i++)
+    // format: CALLSIGN>TOCALL,PATH:
+    int cursor = 0;
+    for (int i = 0; header.CALLSIGN[i] && i < 8; i++, cursor++)
     {
-        if (message[i] == '>' && posSrc == -1)
-            posSrc = i;
-        if (message[i] == ',' && posDest == -1)
-            posDest = i;
-        if (message[i] == ':' && posPath == -1)
-            posPath = i;
+        message[cursor] = header.CALLSIGN[i];
     }
-    if (posSrc >= 8)
-        return false;
-    if (posDest - (posSrc + 1) >= 8)
-        return false;
-    if (posPath - (posDest + 1) >= 10)
-        return false;
-
-    if (posSrc >= 0)
+    message[cursor++] = '>';
+    for (int i = 0; header.TOCALL[i] && i < 8; i++, cursor++)
     {
-        strncpy(_source, message, posSrc);
-        _source[posSrc] = '\0';
+        message[cursor] = header.TOCALL[i];
     }
-    else
-    {
-        _source[0] = '\0';
-    }
-
-    if (posDest != -1 && posDest < posPath)
-    {
-        strncpy(_path, message + posDest + 1, posPath - (posDest + 1));
-        strncpy(_destination, message + posSrc + 1, posDest - (posSrc + 1));
-        _path[posPath - (posDest + 1)] = '\0';
-        _destination[posDest - (posSrc + 1)] = '\0';
-    }
-    else
-    {
-        _path[0] = '\0';
-        if (posSrc >= 0 && posPath >= 0)
-        {
-
-            strncpy(_destination, message + posSrc + 1, posPath - (posSrc + 1));
-            _destination[posPath - (posSrc + 1)] = '\0';
-        }
-        else
-        {
-            _destination[0] = '\0';
-        }
-    }
-    strcpy(_rawBody, message + posPath + 1);
-    _rawBody[strlen(message + posPath + 1)] = '\0';
-    _type = APRSMessageType(_rawBody[0]);
-    _body.decode(_rawBody);
-    return bool(_type);
-}
-
-void APRSMsg::encode(char *message)
-{
-    sprintf(message, "%s>%s", _source, _destination);
-    if (strlen(_path) > 0)
+    message[cursor++] = ',';
+    for (int i = 0; header.PATH[i] && i < 10; i++, cursor++)
     {
-        sprintf(message + strlen(message), ",%s", _path);
+        message[cursor] = header.PATH[i];
     }
-    sprintf(message + strlen(message), ":%s", _body.encode());
+    message[cursor++] = ':'; // end of header
+    return cursor;
 }
 
-void APRSMsg::toString(char *str)
+void APRSMsg::encodeData(char *message, int cursor)
 {
-    char body[87];
-    _body.toString(body);
-    sprintf(str, "Source:%s,Destination:%s,Path:%s,Type:%s,%s", _source, _destination, _path, _type.toString(), body);
-}
+    /* Small Aircraft symbol ( /' ) probably better than Jogger symbol ( /[ ) lol.
+     I'm going to use the Overlayed Aircraft symbol ( \^ ) for now, with the overlay of 'M' for UMD ( M^ ).
+     Uses base91 encoding to compress message as much as possible. APRS messages are apparently supposed to be only 256 bytes.
 
-APRSBody::APRSBody()
-{
-}
 
-APRSBody::~APRSBody()
-{
-}
+     takes the regular format of !DDMM.hhN/DDDMM.hhW^ALTSPD/HDG SSOrientation
 
-const char *APRSBody::getData()
-{
-    return _data;
-}
+     which expands to !(lat)/(lng)^altspd/hdg (stage #)(orientation)
 
-void APRSBody::setData(const char data[80])
-{
-    strcpy(_data, data);
-}
+     and compresses it to /YYYYXXXX^ ccssaasoooooo
 
-bool APRSBody::decode(char *message)
-{
-    strcpy(_data, message);
-    return true;
-}
+     which expands to /(lat)(lng)^ (course)(speed)(altitude)(stage)(orientation [as euler angles])
 
-const char *APRSBody::encode()
-{
-    return _data;
-}
+     specifically does not use the csT compressed format because we don't need T and want better accuracy on course angle.
+     for more information on APRS, see http://www.aprs.org/doc/APRS101.PDF
 
-void APRSBody::toString(char *str)
-{
-    sprintf(str, "Data:%s", _data);
-}
 
-// creates the latitude string for the APRS message based on whether the GPS coordinates are high precision
-void APRSMsg::formatLat(char *lat, bool hp)
-{
-    bool negative = lat[0] == '-';
+     lat and lng are in decimal degrees. no need to convert to DMS.
+     course is in degrees, speed is in knots, altitude is in feet, stage is an integer, orientation is in degrees.
+    */
 
-    int len = strlen(lat);
-    int decimalPos = 0;
-    // use for loop in case there is no decimal
-    for (int i = 0; i < len; i++)
-    {
-        if (lat[i] == '.')
-        {
-            decimalPos = i;
-            break;
-        }
-    }
-    int decLen = strlen(lat + decimalPos + 1);
-    int dec = atoi(lat + decimalPos + 1);
-
-    // make sure there are nine digits
-    int missingDigits = 9 - decLen;
-    if (missingDigits < 0)
-        for (int i = 0; i < missingDigits * -1; i++)
-            dec /= 10;
-    if (missingDigits > 0)
-        for (int i = 0; i < missingDigits; i++)
-            dec *= 10;
-
-    // we like sprintf's float up-rounding.
-    // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
-    // ;)
-    sprintf(lat, "%02d%s%c", atoi(lat) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'S' : 'N');
-}
+    // lat and lng
+    message[cursor++] = 'M';                                            // overlay
+    encodeBase91(message, cursor, (int)380926 * (90 - data.lat), 4);  // 380926 is the magic number from the APRS spec (page 38)
+    encodeBase91(message, cursor, (int)190463 * (180 + data.lng), 4); // 190463 is the magic number from the APRS spec (page 38)
+    message[cursor++] = '^';                                            // end of lat and lng
+    message[cursor++] = ' ';                                            // space to start 'Comment' section
 
-// creates the longitude string for the APRS message based on whether the GPS coordinates are high precision
-void APRSMsg::formatLong(char *lng, bool hp)
-{
-    bool negative = lng[0] == '-';
+    // course, speed, altitude
+    encodeBase91(message, cursor, (int)(data.hdg * HDG_SCALE), 2);   // (91^2/360) scale to fit in 2 base91 characters
+    encodeBase91(message, cursor, (int)(data.spd * SPD_SCALE), 2);  // (91^2/1000) scale to fit in 2 base91 characters. 1000 knots is the assumed max speed.
+    encodeBase91(message, cursor, (int)(data.alt * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
 
-    int len = strlen(lng);
-    int decimalPos = 0;
-    // use for loop in case there is no decimal
-    for (int i = 0; i < len; i++)
-    {
-        if (lng[i] == '.')
-        {
-            decimalPos = i;
-            break;
-        }
-    }
+    // stage and orientation
+    message[cursor++] = (char)(data.stage + (int)'0');                              // stage is just written in plaintext.
+    encodeBase91(message, cursor, (int)(data.orientation.x() * ORIENTATION_SCALE), 2); // same as course
+    encodeBase91(message, cursor, (int)(data.orientation.y() * ORIENTATION_SCALE), 2); // same as course
+    encodeBase91(message, cursor, (int)(data.orientation.z() * ORIENTATION_SCALE), 2); // same as course
 
-    int decLen = strlen(lng + decimalPos + 1);
-    int dec = atoi(lng + decimalPos + 1);
-
-    // make sure there are nine digits
-    int missingDigits = 9 - decLen;
-    if (missingDigits < 0)
-        for (int i = 0; i < missingDigits * -1; i++)
-            dec /= 10;
-    if (missingDigits > 0)
-        for (int i = 0; i < missingDigits; i++)
-            dec *= 10;
-
-    // we like sprintf's float up-rounding.
-    // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
-    // ;)
-    sprintf(lng, "%02d%s%c", atoi(lng) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'W' : 'E');
+    len = cursor;
 }
 
-// creates the dao at the end of aprs message based on latitude and longitude
-void APRSMsg::formatDao(char *lat, char *lng, char *dao)
-{
-    // !DAO! extension, use Base91 format for best precision
-    // /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest
-    // integer https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
-    // http://www.aprs.org/aprs12/datum.txt
-
-    int len = strlen(lat);
-    int decimalPos = 0;
-    // use for loop in case there is no decimal
-    for (int i = 0; i < len; i++)
-    {
-        if (lat[i] == '.')
-            decimalPos = i;
-    }
-    sprintf(dao, "!w%s", s_min_nn((int)(lat + decimalPos + 1), 2));
+#pragma endregion
 
-    len = strlen(lng);
-    decimalPos = 0;
-    for (int i = 0; i < len; i++)
-    {
-        if (lng[i] == '.')
-            decimalPos = i;
-    }
-    sprintf(dao + 3, "%s!", s_min_nn((int)(lng + decimalPos + 1), 2));
-}
+#pragma region Decode Helpers
 
-// adds a specified number of zeros to the begining of a number
-void APRSMsg::padding(unsigned int number, unsigned int width, char *output, int offset)
+int APRSMsg::decodeHeader(const char *message, int len)
 {
-    unsigned int numLen = numDigits(number);
-    if (numLen > width)
+    // format: CALLSIGN>TOCALL,PATH:
+    int cursor = 0;
+    for (int i = 0; message[cursor] != '>'; i++, cursor++)
+    {
+        header.CALLSIGN[i] = message[cursor];
+    }
+    header.CALLSIGN[cursor] = '\0';
+    cursor++; // skip '>'
+    for (int i = 0; message[cursor] != ','; i++, cursor++)
     {
-        width = numLen;
+        header.TOCALL[i] = message[cursor];
     }
-    for (unsigned int i = 0; i < width - numLen; i++)
+    header.TOCALL[cursor] = '\0';
+    cursor++; // skip ','
+    for (int i = 0; message[cursor] != ':'; i++, cursor++)
     {
-        output[offset + i] = '0';
+        header.PATH[i] = message[cursor];
     }
-    sprintf(output + offset + width - numLen, "%u", number);
+    header.PATH[cursor] = '\0';
+    cursor++; // skip ':'
+    return cursor;
 }
 
-// takes in decimal minutes and converts to MM.dddd
-char *s_min_nn(uint32_t min_nnnnn, int high_precision)
+void APRSMsg::decodeData(const char *message, int len, int cursor)
 {
-    /* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth
-     * degree (-> *= 6 -> nn.mmmmmm minutes) high_precision: 0: round at decimal
-     * position 2. 1: round at decimal position 4. 2: return decimal position 3-4
-     * as base91 encoded char
-     */
+    // lat and lng
+    cursor++; // skip overlay
+    decodeBase91(message, cursor, data.lat, 4);
+    data.lat = 90 - data.lat / 380926.0;
+    decodeBase91(message, cursor, data.lng, 4);
+    data.lng = data.lng / 190463.0 - 180;
+    cursor++; // skip '^'
+    cursor++; // skip ' '
 
-    static char buf[6];
+    // course, speed, altitude
+    decodeBase91(message, cursor, data.hdg, 2);
+    data.hdg /= HDG_SCALE;
+    decodeBase91(message, cursor, data.spd, 2);
+    data.spd /= SPD_SCALE;
+    decodeBase91(message, cursor, data.alt, 2);
+    data.alt /= ALT_SCALE;
 
-    min_nnnnn = min_nnnnn * 0.006;
+    // stage and orientation
+    data.stage = message[cursor++] - (int)'0';
+    decodeBase91(message, cursor, data.orientation.x(), 2);
+    data.orientation.x() /= ORIENTATION_SCALE;
+    decodeBase91(message, cursor, data.orientation.y(), 2);
+    data.orientation.y() /= ORIENTATION_SCALE;
+    decodeBase91(message, cursor, data.orientation.z(), 2);
+    data.orientation.z() /= ORIENTATION_SCALE;
+}
+
+#pragma endregion
+
+#pragma region Base91 Encoding
 
-    if (high_precision)
+void APRSMsg::encodeBase91(char *message, int &cursor, int value, int precision) const
+{
+    for (int i = precision - 1; i >= 0; i--)
     {
-        if ((min_nnnnn % 10) >= 5 && min_nnnnn < 6000000 - 5)
-        {
-            // round up. Avoid overflow (59.999999 should never become 60.0 or more)
-            min_nnnnn = min_nnnnn + 5;
-        }
+        int divisor = pow(91, i);
+        message[cursor++] = (char)((int)(value / divisor) + 33);
+        value %= divisor;
     }
-    else
+}
+
+void APRSMsg::decodeBase91(const char *message, int &cursor, double &value, int precision) const
+{
+    value = 0;
+    for (int i = 0; i < precision; i++)
     {
-        if ((min_nnnnn % 1000) >= 500 && min_nnnnn < (6000000 - 500))
-        {
-            // round up. Avoid overflow (59.9999 should never become 60.0 or more)
-            min_nnnnn = min_nnnnn + 500;
-        }
+        value += (message[cursor++] - 33) * pow(91, precision - i - 1);
     }
-
-    if (high_precision < 2)
-        sprintf(buf, "%02u.%02u", (unsigned int)((min_nnnnn / 100000) % 100), (unsigned int)((min_nnnnn / 1000) % 100));
-    else
-        sprintf(buf, "%c", (char)((min_nnnnn % 1000) / 11) + 33);
-    // Like to verify? type in python for i.e. RawDegrees billions 566688333: i =
-    // 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
-    return buf;
 }
 
-int numDigits(unsigned int num)
-{
-    if (num < 10)
-        return 1;
-    return 1 + numDigits(num / 10);
-}
\ No newline at end of file
+#pragma endregion
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
index 43f298d3..5eb8f32e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
@@ -1,27 +1,3 @@
-/*
-MIT License
-
-Copyright (c) 2020 Peter Buchegger
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-*/
-
 #ifndef APRSMSG_H
 #define APRSMSG_H
 
@@ -37,150 +13,10 @@ SOFTWARE.
 // TODO
 #endif
 
-class APRSMessageType
-{
-public:
-    enum Value : uint8_t
-    {
-        PositionWithoutTimestamp, // = and !
-        PositionWithTimestamp,    // @ and /
-        Status,                   // >
-        Query,                    // ?
-        Message,                  // :
-        Weather,                  // _
-        Telemetry,                // T
-        CurrentMicEData,          // `
-        // you can add more types ;)
-        Error,
-    };
-
-    APRSMessageType() = default;
-    // cppcheck-suppress noExplicitConstructor
-    APRSMessageType(char type)
-    {
-        switch (type)
-        {
-        case '=':
-        case '!':
-            value = PositionWithoutTimestamp;
-            break;
-        case '@':
-        case '/':
-            value = PositionWithTimestamp;
-            break;
-        case '>':
-            value = Status;
-            break;
-        case '?':
-            value = Query;
-            break;
-        case ':':
-            value = Message;
-            break;
-        case '_':
-            value = Weather;
-            break;
-        case 'T':
-            value = Telemetry;
-            break;
-        case '`':
-            value = CurrentMicEData;
-            break;
-        default:
-            value = Error;
-        }
-    }
-    // cppcheck-suppress noExplicitConstructor
-    constexpr APRSMessageType(Value aType) : value(aType) {}
-    constexpr bool operator==(APRSMessageType a) const { return value == a.value; }
-    constexpr bool operator!=(APRSMessageType a) const { return value != a.value; }
-    explicit operator bool() const { return value != Error; }
-
-    const char *toString() const
-    {
-        switch (value)
-        {
-        case PositionWithoutTimestamp:
-            return "Position Without Timestamp";
-        case PositionWithTimestamp:
-            return "Position With Timestamp";
-        case Status:
-            return "Status";
-        case Query:
-            return "Query";
-        case Message:
-            return "Message";
-        case Weather:
-            return "Weather";
-        case Telemetry:
-            return "Telemetry";
-        case CurrentMicEData:
-            return "Current Mic-E Data";
-        default:
-            return "Error";
-        }
-    }
-
-private:
-    Value value = Error;
-};
-
-class APRSBody
-{
-public:
-    APRSBody();
-    virtual ~APRSBody();
-
-    const char *getData();
-    void setData(const char data[80]);
-
-    virtual bool decode(char *message);
-    virtual const char *encode();
-    virtual void toString(char *str);
-
-private:
-    char _data[80]{0};
-};
-
-class APRSMsg
-{
-public:
-    APRSMsg();
-    APRSMsg(APRSMsg &otherMsg);
-    APRSMsg &operator=(APRSMsg &otherMsg);
-    virtual ~APRSMsg();
-
-    const char *getSource();
-    void setSource(const char source[8]);
-
-    const char *getDestination();
-    void setDestination(const char destination[8]);
+#include "Radio.h"
+#include <imumaths.h>
 
-    const char *getPath();
-    void setPath(const char path[10]);
 
-    APRSMessageType getType();
-
-    const char *getRawBody();
-    APRSBody *getBody();
-
-    virtual bool decode(char *message);
-    virtual void encode(char *message);
-    virtual void toString(char *str);
-
-    static void formatLat(char *lat, bool hp);
-    static void formatLong(char *lng, bool hp);
-    static void formatDao(char *lat, char *lng, char *dao);
-    static void padding(unsigned int number, unsigned int width, char *output, int offset = 0);
-
-private:
-    char _source[8]{0};
-    char _destination[8]{0};
-    char _path[10]{0};
-    APRSMessageType _type;
-    char _rawBody[80]{0};
-    APRSBody _body;
-};
 
 /*
 APRS Configuration
@@ -190,13 +26,11 @@ APRS Configuration
 - SYMBOL
 - OVERLAY
 */
-struct APRSConfig
+struct APRSHeader
 {
     char CALLSIGN[8];
     char TOCALL[8];
     char PATH[10];
-    char SYMBOL;
-    char OVERLAY;
 };
 
 /*
@@ -206,22 +40,51 @@ APRS Telemetry Data
 - alt
 - spd
 - hdg
-- precision
+- orientation
 - stage
-- t0
-- dao
 */
 struct APRSData
 {
-    char lat[16];
-    char lng[16];
-    char alt[10];
-    char spd[4];
-    char hdg[4];
-    char precision;
-    char stage[3];
-    char t0[9];
-    char dao[6];
+    double lat;
+    double lng;
+    double alt;
+    double spd;
+    double hdg;
+    int stage;
+    imu::Vector<3> orientation;
+};
+
+
+class APRSMsg : public RadioMessage
+{
+public:
+    APRSMsg(APRSHeader &header);
+    virtual ~APRSMsg(){};
+
+    bool decode(const uint8_t *message, int len) override;
+    const uint8_t *encode() override;
+    int length() const override { return this->len; }
+    APRSData data;
+    APRSHeader header;
+
+private:
+
+    int encodeHeader(char *message) const;
+    void encodeData(char *message, int cursor);
+
+    int decodeHeader(const char *message, int len);
+    void decodeData(const char *message, int len, int cursor);
+
+    void encodeBase91(char *message, int &cursor, int value, int precision) const;
+    void decodeBase91(const char *message, int &cursor, double &value, int precision) const;
+
+    //Scale factors for encoding/decoding ignoring lat/long
+    const double ALT_SCALE = (pow(91, 2) / 15000.0); // (91^2/15000) scale to fit in 2 base91 characters
+    const double SPD_SCALE = (pow(91, 2) / 1000.0);  // (91^2/1000) scale to fit in 2 base91 characters
+    const double HDG_SCALE = (pow(91, 2) / 360.0);   // (91^2/360) scale to fit in 2 base91 characters
+    const double ORIENTATION_SCALE = (pow(91, 2) / 360.0); // same as course
 };
 
+
+
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp
new file mode 100644
index 00000000..8adb533d
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp	
@@ -0,0 +1,372 @@
+// /*
+// MIT License
+
+// Copyright (c) 2020 Peter Buchegger
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+// */
+
+// #include "APRSMsg.h"
+
+// char *s_min_nn(uint32_t min_nnnnn, int high_precision);
+// int numDigits(unsigned int num);
+
+// APRSMsg::APRSMsg() : _body()
+// {
+// }
+
+// APRSMsg::APRSMsg(APRSMsg &otherMsg)
+//     : _type(otherMsg.getType()), _body()
+// {
+//     strcpy(_source, otherMsg.getSource());
+//     strcpy(_destination, otherMsg.getDestination());
+//     strcpy(_path, otherMsg.getPath());
+//     strcpy(_rawBody, otherMsg.getRawBody());
+//     _body.setData(otherMsg.getBody()->getData());
+// }
+
+// APRSMsg &APRSMsg::operator=(APRSMsg &otherMsg)
+// {
+//     if (this != &otherMsg)
+//     {
+//         setSource(otherMsg.getSource());
+//         setDestination(otherMsg.getDestination());
+//         setPath(otherMsg.getPath());
+//         _type = otherMsg.getType();
+//         strcpy(_rawBody, otherMsg.getRawBody());
+//         _body.setData(otherMsg.getBody()->getData());
+//     }
+//     return *this;
+// }
+
+// APRSMsg::~APRSMsg()
+// {
+// }
+
+// const char *APRSMsg::getSource()
+// {
+//     return _source;
+// }
+
+// void APRSMsg::setSource(const char source[8])
+// {
+//     strcpy(_source, source);
+// }
+
+// const char *APRSMsg::getDestination()
+// {
+//     return _destination;
+// }
+
+// void APRSMsg::setDestination(const char destination[8])
+// {
+//     strcpy(_destination, destination);
+// }
+
+// const char *APRSMsg::getPath()
+// {
+//     return _path;
+// }
+
+// void APRSMsg::setPath(const char path[10])
+// {
+//     strcpy(_path, path);
+// }
+
+// APRSMessageType APRSMsg::getType()
+// {
+//     return _type;
+// }
+
+// const char *APRSMsg::getRawBody()
+// {
+//     return _rawBody;
+// }
+
+// APRSBody *APRSMsg::getBody()
+// {
+//     return &_body;
+// }
+
+// bool APRSMsg::decode(char *message)
+// {
+//     int len = strlen(message);
+//     int posSrc = -1, posDest = -1, posPath = -1;
+//     for (int i = 0; i < len; i++)
+//     {
+//         if (message[i] == '>' && posSrc == -1)
+//             posSrc = i;
+//         if (message[i] == ',' && posDest == -1)
+//             posDest = i;
+//         if (message[i] == ':' && posPath == -1)
+//             posPath = i;
+//     }
+//     if (posSrc >= 8)
+//         return false;
+//     if (posDest - (posSrc + 1) >= 8)
+//         return false;
+//     if (posPath - (posDest + 1) >= 10)
+//         return false;
+
+//     if (posSrc >= 0)
+//     {
+//         strncpy(_source, message, posSrc);
+//         _source[posSrc] = '\0';
+//     }
+//     else
+//     {
+//         _source[0] = '\0';
+//     }
+
+//     if (posDest != -1 && posDest < posPath)
+//     {
+//         strncpy(_path, message + posDest + 1, posPath - (posDest + 1));
+//         strncpy(_destination, message + posSrc + 1, posDest - (posSrc + 1));
+//         _path[posPath - (posDest + 1)] = '\0';
+//         _destination[posDest - (posSrc + 1)] = '\0';
+//     }
+//     else
+//     {
+//         _path[0] = '\0';
+//         if (posSrc >= 0 && posPath >= 0)
+//         {
+
+//             strncpy(_destination, message + posSrc + 1, posPath - (posSrc + 1));
+//             _destination[posPath - (posSrc + 1)] = '\0';
+//         }
+//         else
+//         {
+//             _destination[0] = '\0';
+//         }
+//     }
+//     strcpy(_rawBody, message + posPath + 1);
+//     _rawBody[strlen(message + posPath + 1)] = '\0';
+//     _type = APRSMessageType(_rawBody[0]);
+//     _body.decode(_rawBody);
+//     return bool(_type);
+// }
+
+// void APRSMsg::encode(char *message)
+// {
+//     sprintf(message, "%s>%s", _source, _destination);
+//     if (strlen(_path) > 0)
+//     {
+//         sprintf(message + strlen(message), ",%s", _path);
+//     }
+//     sprintf(message + strlen(message), ":%s", _body.encode());
+// }
+
+// void APRSMsg::toString(char *str)
+// {
+//     char body[87];
+//     _body.toString(body);
+//     sprintf(str, "Source:%s,Destination:%s,Path:%s,Type:%s,%s", _source, _destination, _path, _type.toString(), body);
+// }
+
+// APRSBody::APRSBody()
+// {
+// }
+
+// APRSBody::~APRSBody()
+// {
+// }
+
+// const char *APRSBody::getData()
+// {
+//     return _data;
+// }
+
+// void APRSBody::setData(const char data[80])
+// {
+//     strcpy(_data, data);
+// }
+
+// bool APRSBody::decode(char *message)
+// {
+//     strcpy(_data, message);
+//     return true;
+// }
+
+// const char *APRSBody::encode()
+// {
+//     return _data;
+// }
+
+// void APRSBody::toString(char *str)
+// {
+//     sprintf(str, "Data:%s", _data);
+// }
+
+// // creates the latitude string for the APRS message based on whether the GPS coordinates are high precision
+// void APRSMsg::formatLat(char *lat, bool hp)
+// {
+//     bool negative = lat[0] == '-';
+
+//     int len = strlen(lat);
+//     int decimalPos = 0;
+//     // use for loop in case there is no decimal
+//     for (int i = 0; i < len; i++)
+//     {
+//         if (lat[i] == '.')
+//         {
+//             decimalPos = i;
+//             break;
+//         }
+//     }
+//     int decLen = strlen(lat + decimalPos + 1);
+//     int dec = atoi(lat + decimalPos + 1);
+
+//     // make sure there are nine digits
+//     int missingDigits = 9 - decLen;
+//     if (missingDigits < 0)
+//         for (int i = 0; i < missingDigits * -1; i++)
+//             dec /= 10;
+//     if (missingDigits > 0)
+//         for (int i = 0; i < missingDigits; i++)
+//             dec *= 10;
+
+//     // we like sprintf's float up-rounding.
+//     // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
+//     // ;)
+//     sprintf(lat, "%02d%s%c", atoi(lat) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'S' : 'N');
+// }
+
+// // creates the longitude string for the APRS message based on whether the GPS coordinates are high precision
+// void APRSMsg::formatLong(char *lng, bool hp)
+// {
+//     bool negative = lng[0] == '-';
+
+//     int len = strlen(lng);
+//     int decimalPos = 0;
+//     // use for loop in case there is no decimal
+//     for (int i = 0; i < len; i++)
+//     {
+//         if (lng[i] == '.')
+//         {
+//             decimalPos = i;
+//             break;
+//         }
+//     }
+
+//     int decLen = strlen(lng + decimalPos + 1);
+//     int dec = atoi(lng + decimalPos + 1);
+
+//     // make sure there are nine digits
+//     int missingDigits = 9 - decLen;
+//     if (missingDigits < 0)
+//         for (int i = 0; i < missingDigits * -1; i++)
+//             dec /= 10;
+//     if (missingDigits > 0)
+//         for (int i = 0; i < missingDigits; i++)
+//             dec *= 10;
+
+//     // we like sprintf's float up-rounding.
+//     // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
+//     // ;)
+//     sprintf(lng, "%02d%s%c", atoi(lng) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'W' : 'E');
+// }
+
+// // creates the dao at the end of aprs message based on latitude and longitude
+// void APRSMsg::formatDao(char *lat, char *lng, char *dao)
+// {
+//     // !DAO! extension, use Base91 format for best precision
+//     // /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest
+//     // integer https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
+//     // http://www.aprs.org/aprs12/datum.txt
+
+//     int len = strlen(lat);
+//     int decimalPos = 0;
+//     // use for loop in case there is no decimal
+//     for (int i = 0; i < len; i++)
+//     {
+//         if (lat[i] == '.')
+//             decimalPos = i;
+//     }
+//     sprintf(dao, "!w%s", s_min_nn((int)(lat + decimalPos + 1), 2));
+
+//     len = strlen(lng);
+//     decimalPos = 0;
+//     for (int i = 0; i < len; i++)
+//     {
+//         if (lng[i] == '.')
+//             decimalPos = i;
+//     }
+//     sprintf(dao + 3, "%s!", s_min_nn((int)(lng + decimalPos + 1), 2));
+// }
+
+// // adds a specified number of zeros to the begining of a number
+// void APRSMsg::padding(unsigned int number, unsigned int width, char *output, int offset)
+// {
+//     unsigned int numLen = numDigits(number);
+//     if (numLen > width)
+//     {
+//         width = numLen;
+//     }
+//     for (unsigned int i = 0; i < width - numLen; i++)
+//     {
+//         output[offset + i] = '0';
+//     }
+//     sprintf(output + offset + width - numLen, "%u", number);
+// }
+
+// // takes in decimal minutes and converts to MM.dddd
+// char *s_min_nn(uint32_t min_nnnnn, int high_precision)
+// {
+//     /* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth
+//      * degree (-> *= 6 -> nn.mmmmmm minutes) high_precision: 0: round at decimal
+//      * position 2. 1: round at decimal position 4. 2: return decimal position 3-4
+//      * as base91 encoded char
+//      */
+
+//     static char buf[6];
+
+//     min_nnnnn = min_nnnnn * 0.006;
+
+//     if (high_precision)
+//     {
+//         if ((min_nnnnn % 10) >= 5 && min_nnnnn < 6000000 - 5)
+//         {
+//             // round up. Avoid overflow (59.999999 should never become 60.0 or more)
+//             min_nnnnn = min_nnnnn + 5;
+//         }
+//     }
+//     else
+//     {
+//         if ((min_nnnnn % 1000) >= 500 && min_nnnnn < (6000000 - 500))
+//         {
+//             // round up. Avoid overflow (59.9999 should never become 60.0 or more)
+//             min_nnnnn = min_nnnnn + 500;
+//         }
+//     }
+
+//     if (high_precision < 2)
+//         sprintf(buf, "%02u.%02u", (unsigned int)((min_nnnnn / 100000) % 100), (unsigned int)((min_nnnnn / 1000) % 100));
+//     else
+//         sprintf(buf, "%c", (char)((min_nnnnn % 1000) / 11) + 33);
+//     // Like to verify? type in python for i.e. RawDegrees billions 566688333: i =
+//     // 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
+//     return buf;
+// }
+
+// int numDigits(unsigned int num)
+// {
+//     if (num < 10)
+//         return 1;
+//     return 1 + numDigits(num / 10);
+// }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h
new file mode 100644
index 00000000..f600f2e1
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h	
@@ -0,0 +1,227 @@
+// /*
+// MIT License
+
+// Copyright (c) 2020 Peter Buchegger
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+// */
+
+// #ifndef APRSMSG_H
+// #define APRSMSG_H
+
+// #if defined(ARDUINO)
+// #include <Arduino.h>
+// #elif defined(_WIN32) || defined(_WIN64) // Windows
+// #include <cstdint>
+// #include <string>
+// #include <cstring>
+// #elif defined(__unix__)  // Linux
+// // TODO
+// #elif defined(__APPLE__) // OSX
+// // TODO
+// #endif
+
+// class APRSMessageType
+// {
+// public:
+//     enum Value : uint8_t
+//     {
+//         PositionWithoutTimestamp, // = and !
+//         PositionWithTimestamp,    // @ and /
+//         Status,                   // >
+//         Query,                    // ?
+//         Message,                  // :
+//         Weather,                  // _
+//         Telemetry,                // T
+//         CurrentMicEData,          // `
+//         // you can add more types ;)
+//         Error,
+//     };
+
+//     APRSMessageType() = default;
+//     // cppcheck-suppress noExplicitConstructor
+//     APRSMessageType(char type)
+//     {
+//         switch (type)
+//         {
+//         case '=':
+//         case '!':
+//             value = PositionWithoutTimestamp;
+//             break;
+//         case '@':
+//         case '/':
+//             value = PositionWithTimestamp;
+//             break;
+//         case '>':
+//             value = Status;
+//             break;
+//         case '?':
+//             value = Query;
+//             break;
+//         case ':':
+//             value = Message;
+//             break;
+//         case '_':
+//             value = Weather;
+//             break;
+//         case 'T':
+//             value = Telemetry;
+//             break;
+//         case '`':
+//             value = CurrentMicEData;
+//             break;
+//         default:
+//             value = Error;
+//         }
+//     }
+//     // cppcheck-suppress noExplicitConstructor
+//     constexpr APRSMessageType(Value aType) : value(aType) {}
+//     constexpr bool operator==(APRSMessageType a) const { return value == a.value; }
+//     constexpr bool operator!=(APRSMessageType a) const { return value != a.value; }
+//     explicit operator bool() const { return value != Error; }
+
+//     const char *toString() const
+//     {
+//         switch (value)
+//         {
+//         case PositionWithoutTimestamp:
+//             return "Position Without Timestamp";
+//         case PositionWithTimestamp:
+//             return "Position With Timestamp";
+//         case Status:
+//             return "Status";
+//         case Query:
+//             return "Query";
+//         case Message:
+//             return "Message";
+//         case Weather:
+//             return "Weather";
+//         case Telemetry:
+//             return "Telemetry";
+//         case CurrentMicEData:
+//             return "Current Mic-E Data";
+//         default:
+//             return "Error";
+//         }
+//     }
+
+// private:
+//     Value value = Error;
+// };
+
+// class APRSBody
+// {
+// public:
+//     APRSBody();
+//     virtual ~APRSBody();
+
+//     const char *getData();
+//     void setData(const char data[80]);
+
+//     virtual bool decode(char *message);
+//     virtual const char *encode();
+//     virtual void toString(char *str);
+
+// private:
+//     char _data[80]{0};
+// };
+
+// class APRSMsg
+// {
+// public:
+//     APRSMsg();
+//     APRSMsg(APRSMsg &otherMsg);
+//     APRSMsg &operator=(APRSMsg &otherMsg);
+//     virtual ~APRSMsg();
+
+//     const char *getSource();
+//     void setSource(const char source[8]);
+
+//     const char *getDestination();
+//     void setDestination(const char destination[8]);
+
+//     const char *getPath();
+//     void setPath(const char path[10]);
+
+//     APRSMessageType getType();
+
+//     const char *getRawBody();
+//     APRSBody *getBody();
+
+//     virtual bool decode(char *message);
+//     virtual void encode(char *message);
+//     virtual void toString(char *str);
+
+//     static void formatLat(char *lat, bool hp);
+//     static void formatLong(char *lng, bool hp);
+//     static void formatDao(char *lat, char *lng, char *dao);
+//     static void padding(unsigned int number, unsigned int width, char *output, int offset = 0);
+
+// private:
+//     char _source[8]{0};
+//     char _destination[8]{0};
+//     char _path[10]{0};
+//     APRSMessageType _type;
+//     char _rawBody[80]{0};
+//     APRSBody _body;
+// };
+
+// /*
+// APRS Configuration
+// - CALLSIGN
+// - TOCALL
+// - PATH
+// - SYMBOL
+// - OVERLAY
+// */
+// struct APRSConfig
+// {
+//     char CALLSIGN[8];
+//     char TOCALL[8];
+//     char PATH[10];
+//     char SYMBOL;
+//     char OVERLAY;
+// };
+
+// /*
+// APRS Telemetry Data
+// - lat
+// - lng
+// - alt
+// - spd
+// - hdg
+// - precision
+// - stage
+// - t0
+// - dao
+// */
+// struct APRSData
+// {
+//     char lat[16];
+//     char lng[16];
+//     char alt[10];
+//     char spd[4];
+//     char hdg[4];
+//     char precision;
+//     char stage[3];
+//     char t0[9];
+//     char dao[6];
+// };
+
+// #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
deleted file mode 100644
index 97145a81..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ /dev/null
@@ -1,733 +0,0 @@
-#include "RFM69HCW.h"
-
-#ifndef max
-int max(int a, int b);
-#endif
-
-#ifndef min
-int min(int a, int b);
-#endif
-
-/*
-Constructor
-    - frequency in hertz
-    - transmitter true if the radio will be on the rocket
-    - highBitrate true for 300kbps, false for 4.8kbps
-    - config with APRS settings
-*/
-RFM69HCW::RFM69HCW(const RadioSettings *s, const APRSConfig *config) : radio(s->cs, s->irq, *s->spi)
-{
-
-    this->settings = *s;
-    this->cfg = *config;
-    this->avail = false;
-    this->msgLen = -1;
-
-    if (this->settings.transmitter)
-    {
-        // addresses for transmitters
-        this->addr = 0x02;
-        this->toAddr = 0x01;
-    }
-    else
-    {
-        // addresses for receivers
-        this->addr = 0x01;
-        this->toAddr = 0x02;
-    }
-    this->id = 0x00; // to fit the max number of bytes in a packet, this will change
-                     // based on message length, but it will be reset to this value
-                     // after each complete transmission/reception
-}
-
-/*
-Initializer to call in setup
-*/
-bool RFM69HCW::begin()
-{
-    // reset the radio
-    pinMode(this->settings.rst, OUTPUT);
-    digitalWrite(this->settings.rst, LOW);
-    delay(10);
-    digitalWrite(this->settings.rst, HIGH);
-    delay(10);
-    digitalWrite(this->settings.rst, LOW);
-
-    if (!this->radio.init())
-        return false;
-
-    // then use this to actually set the frequency
-    if (!this->radio.setFrequency(this->settings.frequency))
-        return false;
-
-    // set transmit power
-    this->radio.setTxPower(this->txPower, true);
-
-    // always set FSK mode
-    this->radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
-
-    // set headers
-    this->radio.setHeaderTo(this->toAddr);
-    this->radio.setHeaderFrom(this->addr);
-    this->radio.setThisAddress(this->addr);
-    this->radio.setHeaderId(this->id);
-
-    // configure unlimited packet length mode, don't do this for now
-    // this->radio.spiWrite(0x37, 0b00000000);                // Packet format (0x37) set to 00000000 (see manual for meaning of each bit)
-    // this->radio.spiWrite(RH_RF69_REG_38_PAYLOADLENGTH, 0); // Payload length (0x38) set to 0
-
-    if (this->settings.highBitrate) // Note: not working
-    {
-        // the default bitrate of 4.8kbps should be fine unless we want high bitrate for video
-        // set300KBPS();
-        this->radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
-        // remove as much overhead as possible
-        // this->radio.setPreambleLength(0);
-        // this->radio.setSyncWords();
-    }
-
-    return true;
-}
-
-/*
-Most basic transmission method, simply transmits the string without modification
-    \param message is the message to be transmitted, set to nullptr if this->msg already contains the message
-    \param len [optional] is the length of the message, if not used it is assumed this->msgLen is already set to the length
-*/
-bool RFM69HCW::tx(const char *message, int len)
-{
-    // figure out how long the message should be
-    if (len > 0)
-        this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-    else if (this->msgLen == -1)
-        return false;
-
-    // reset variables for tx
-    this->totalPackets = 0x00;
-
-    // get number of packets for this message, and set this radio's id to that value so the receiver knows how many packets to expect
-    this->totalPackets = len / this->bufSize + (len % this->bufSize > 0);
-    this->radio.setHeaderId(this->totalPackets);
-    sendBuffer();
-
-    if (message != nullptr)
-        memcpy(this->msg, message, len);
-
-    return true;
-}
-
-bool RFM69HCW::sendBuffer()
-{
-    memcpy(this->buf, this->msg + this->id * this->bufSize, min(this->bufSize, this->msgLen - this->id * this->bufSize));
-    this->radio.send(this->buf, min(this->bufSize, this->msgLen - this->id * this->bufSize));
-    this->id++;
-    return this->id == this->totalPackets;
-}
-
-void RFM69HCW::endtx()
-{
-    this->msgLen = -1;
-    this->id = 0x00;
-    this->radio.setHeaderId(this->id);
-}
-
-RHGenericDriver::RHMode RFM69HCW::mode() { return radio.mode(); }
-
-
-// partially adapted from RadioHead library
-bool RFM69HCW::txs(const char *message, int len)
-{
-    // figure out how long the message should be
-    if (len > 0)
-        this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-    else if (this->msgLen == -1)
-        return false;
-
-    if (message != nullptr)
-        memcpy(this->msg, message, len);
-
-    this->radio.waitPacketSent(); // Make sure we dont interrupt an outgoing message
-    this->radio.setModeIdle();    // Prevent RX while filling the fifo
-
-    if (!this->radio.waitCAD())
-        return false; // Check channel activity
-
-    ATOMIC_BLOCK_START;
-    this->settings.spi->beginTransaction();
-    digitalWrite(this->settings.cs, LOW);
-    this->settings.spi->transfer(RH_RF69_REG_00_FIFO | RH_RF69_SPI_WRITE_MASK); // Send the start address with the write mask on
-    this->settings.spi->transfer(this->msgLen + 1);                             // Include length of headers
-    // First the header
-    this->settings.spi->transfer(this->toAddr); // type of transmitter that should receive this message
-    // Now the payload
-    while (this->msgIndex++ != this->msgLen && !this->radio.spiRead(RH_RF69_IRQFLAGS2_FIFOFULL)) // these conditions need to be verified
-        this->settings.spi->transfer(this->msg[this->msgIndex]);
-    digitalWrite(this->settings.cs, HIGH);
-    this->settings.spi->endTransaction();
-    ATOMIC_BLOCK_END;
-
-    this->radio.setModeTx(); // Start the transmitter
-    return true;
-}
-
-bool RFM69HCW::txT()
-{
-    if (!this->radio.spiRead(RH_RF69_IRQFLAGS2_FIFONOTEMPTY) || !this->radio.spiRead(RH_RF69_FIFOTHRESH_FIFOTHRESHOLD))
-    {
-        // this is basically tx without preprocessing and no toAddr byte
-        ATOMIC_BLOCK_START;
-        this->settings.spi->beginTransaction();
-        digitalWrite(this->settings.cs, LOW);
-        this->settings.spi->transfer(RH_RF69_REG_00_FIFO | RH_RF69_SPI_WRITE_MASK);                  // Send the start address with the write mask on
-        while (this->msgIndex++ != this->msgLen && !this->radio.spiRead(RH_RF69_IRQFLAGS2_FIFOFULL)) // these conditions need to be verified
-            this->settings.spi->transfer(this->msg[this->msgIndex]);
-        digitalWrite(this->settings.cs, HIGH);
-        this->settings.spi->endTransaction();
-        ATOMIC_BLOCK_END;
-        return this->radio.spiRead(RH_RF69_IRQFLAGS2_PACKETSENT);
-    }
-    return false;
-}
-
-void RFM69HCW::txe() // try to get rid of this one
-{
-    this->msgLen = -1;
-    this->id = 0x00;
-    this->radio.setHeaderId(this->id);
-}
-
-/*
-Receive function
-Most basic receiving method, simply checks for a message and returns a pointer to it
-Note that the message may be incomplete, if the message is complete available() will return true
-The received message must be less than MSG_LEN
-*/
-const char *RFM69HCW::rx()
-{
-    if (this->radio.available())
-    {
-        // Should be a message for us now
-        uint8_t receivedLen = this->bufSize;
-        if (this->radio.recv(this->buf, &(receivedLen)))
-        {
-            // check if this is the first part of the message
-            if (this->totalPackets == 0)
-            {
-                this->totalPackets = this->radio.headerId();
-                if (this->totalPackets <= 0)
-                    return 0;
-                this->msgLen = 0;
-                this->rssi = 0;
-            }
-
-            // copy data from this->buf to this->msg, making sure not to overflow
-            memcpy(this->msg + this->msgLen, this->buf, min(MSG_LEN - (this->msgLen + receivedLen), receivedLen));
-
-            this->msgLen += receivedLen;
-            this->id++;
-            this->rssi += radio.lastRssi();
-
-            // check if the full message has been received
-            if (this->totalPackets == this->id)
-            {
-                this->id = 0x00;
-                this->rssi /= this->totalPackets;
-                this->totalPackets = 0;
-                this->avail = true;
-            }
-
-            return this->msg;
-        }
-        return 0;
-    }
-    return 0;
-}
-
-/*
-\return ```true``` if the radio is currently busy
-*/
-bool RFM69HCW::busy()
-{
-    RHGenericDriver::RHMode mode = this->radio.mode();
-    if (mode == RHGenericDriver::RHModeTx)
-        return true;
-    return false;
-}
-
-/*
-Multi-purpose encoder function
-Encodes the message into a format selected by type
-char *message is the message to be encoded
-sets this->msgLen to the encoded length of message
-- Telemetry:
-    message - input: latitude,longitude,altitude,speed,heading,precision,stage,t0 -> output: APRS message
-- Video:
-    message - input: char* filled with raw bytes -> output: char* filled with raw bytes + error checking
-- Ground Station: TODO
-    message - input: Source:Value,Destination:Value,Path:Value,Type:Value,Body:Value -> output: APRS message
-*/
-bool RFM69HCW::encode(char *message, EncodingType type, int len)
-{
-    if (type == ENCT_TELEMETRY)
-    {
-        if (len > 0)
-            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-        else if (this->msgLen == -1)
-            return false;
-
-        // holds the data to be assembled into the aprs body
-        APRSData data;
-
-        // find each value separated in order by a comma and put in the APRSData array
-        {
-            char *currentVal = new char[this->msgLen];
-            int currentValIndex = 0;
-            int currentValCount = 0;
-            for (int i = 0; i < msgLen; i++)
-            {
-                if (message[i] != ',')
-                {
-                    currentVal[currentValIndex] = message[i];
-                    currentValIndex++;
-                }
-                if (message[i] == ',' || (currentValCount == 7 && i == msgLen - 1))
-                {
-                    currentVal[currentValIndex] = '\0';
-
-                    if (currentValCount == 0 && strlen(currentVal) < 16)
-                        strcpy(data.lat, currentVal);
-                    if (currentValCount == 1 && strlen(currentVal) < 16)
-                        strcpy(data.lng, currentVal);
-                    if (currentValCount == 2 && strlen(currentVal) < 10)
-                        strcpy(data.alt, currentVal);
-                    if (currentValCount == 3 && strlen(currentVal) < 4)
-                        strcpy(data.spd, currentVal);
-                    if (currentValCount == 4 && strlen(currentVal) < 4)
-                        strcpy(data.hdg, currentVal);
-                    if (currentValCount == 5)
-                        data.precision = currentVal[0];
-                    if (currentValCount == 6 && strlen(currentVal) < 3)
-                        strcpy(data.stage, currentVal);
-                    if (currentValCount == 7 && strlen(currentVal) < 9)
-                        strcpy(data.t0, currentVal);
-
-                    currentValIndex = 0;
-                    currentValCount++;
-                }
-            }
-
-            delete[] currentVal;
-        }
-        // get lat and long string for low or high precision
-        if (data.precision == 'L')
-        {
-            strcpy(data.dao, "");
-            APRSMsg::formatLat(data.lat, 0);
-            APRSMsg::formatLong(data.lng, 0);
-        }
-        else if (data.precision == 'H')
-        {
-            APRSMsg::formatDao(data.lat, data.lng, data.dao);
-            APRSMsg::formatLat(data.lat, 1);
-            APRSMsg::formatLong(data.lng, 1);
-        }
-        // get alt string
-        int altInt = max(-99999, min(999999, atoi(data.alt)));
-        if (altInt < 0)
-        {
-            strcpy(data.alt, "/A=-");
-            APRSMsg::padding(altInt * -1, 5, data.alt, 4);
-        }
-        else
-        {
-            strcpy(data.alt, "/A=");
-            APRSMsg::padding(altInt, 6, data.alt, 3);
-        }
-
-        // get course/speed strings
-        // TODO add speed zero counter (makes decoding more complex)
-        int spd_int = max(0, min(999, atoi(data.spd)));
-        int hdg_int = max(0, min(360, atoi(data.hdg)));
-        if (hdg_int == 0)
-            hdg_int = 360;
-        APRSMsg::padding(spd_int, 3, data.spd);
-        APRSMsg::padding(hdg_int, 3, data.hdg);
-
-        // generate the aprs message
-        APRSMsg aprs;
-
-        aprs.setSource(this->cfg.CALLSIGN);
-        aprs.setPath(this->cfg.PATH);
-        aprs.setDestination(this->cfg.TOCALL);
-
-        char body[80];
-        sprintf(body, "%c%s%c%s%c%s%c%s%s%s%s%c%s%c%s", '!', data.lat, this->cfg.OVERLAY, data.lng, this->cfg.SYMBOL,
-                data.hdg, '/', data.spd, data.alt, "/S", data.stage, '/',
-                data.t0, ' ', data.dao);
-        aprs.getBody()->setData(body);
-        aprs.encode(message);
-        return true;
-    }
-    if (type == ENCT_VIDEO)
-    {
-        // lower bound for received message length, for basic error checking
-        if (len > 0)
-            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-        // if len wasn't set, make sure this->msgLen is
-        if (this->msgLen == -1)
-            return false;
-        message[this->msgLen] = this->msgLen / 255;
-    }
-    if (type == ENCT_NONE)
-        return true;
-    return false;
-}
-
-/*
-Multi-purpose decoder function
-Decodes the message into a format selected by type
-char *message is the message to be decoded
-sets this->msgLen to the length of the decoded message
-- Telemetry: TODO: fix
-    message - output: latitude,longitude,altitude,speed,heading,precision,stage,t0 <- input: APRS message
-- Video: TODO
-    message - output: char* filled with raw bytes <- input: Raw byte array
-- Ground Station:
-    message - output: Source:Value,Destination:Value,Path:Value,Type:Value,Body:Value <- input: APRS message
-*/
-bool RFM69HCW::decode(char *message, EncodingType type, int len)
-{
-    if (type == ENCT_TELEMETRY)
-    {
-        if (len > 0)
-            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-        else if (this->msgLen == -1)
-            return false;
-
-        // make sure message is null terminated
-        message[this->msgLen] = 0;
-
-        APRSMsg aprs;
-        aprs.decode(message);
-
-        char body[80];
-        char *bodyptr = body;
-        strcpy(body, aprs.getBody()->getData());
-        // decode body
-        APRSData data;
-        int i = 0;
-        int len = strlen(body);
-
-        // TODO this could probably be shortened
-        // body should start with '!'
-        if (body[0] != '!')
-            return false;
-        i++;
-        bodyptr = body + i;
-
-        // find latitude
-        while (body[i] != '/' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.lat, bodyptr, i - (bodyptr - body));
-        data.lat[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find longitude
-        while (body[i] != '[' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.lng, bodyptr, i - (bodyptr - body));
-        data.lng[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find heading
-        while (body[i] != '/' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.hdg, bodyptr, i - (bodyptr - body));
-        data.hdg[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find speed
-        while (body[i] != '/' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.spd, bodyptr, i - (bodyptr - body));
-        data.spd[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find altitude
-        if (body[i] != 'A' && body[i + 1] != '=')
-            return false;
-        i += 2;
-        bodyptr = body + i;
-        while (body[i] != '/' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.alt, bodyptr, i - (bodyptr - body));
-        data.alt[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find stage
-        if (body[i] != 'S')
-            return false;
-        i++;
-        bodyptr = body + i;
-        while (body[i] != '/' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.stage, bodyptr, i - (bodyptr - body));
-        data.stage[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find t0
-        while (body[i] != ' ' && i != len)
-            i++;
-        if (i == len)
-            return false;
-        strncpy(data.t0, bodyptr, i - (bodyptr - body));
-        data.t0[i - (bodyptr - body)] = 0;
-        i++;
-        bodyptr = body + i;
-
-        // find dao
-        strncpy(data.dao, bodyptr, len - (bodyptr - body));
-        data.dao[len - (bodyptr - body)] = '\0';
-
-        // convert lat and lng to degrees
-
-        int latMult = (data.lat[strlen(data.lat) - 1] == 'N') ? 1 : -1;
-        int lngMult = (data.lat[strlen(data.lat) - 1] == 'E') ? 1 : -1;
-
-        int lenLat = strlen(data.lat);
-        int decimalPosLat = 0;
-        // use for loop in case there is no decimal
-        for (int i = 0; i < lenLat; i++)
-        {
-            if (data.lat[i] == '.')
-            {
-                decimalPosLat = i;
-                break;
-            }
-        }
-
-        int lenLng = strlen(data.lng);
-        int decimalPosLng = 0;
-        // use for loop in case there is no decimal
-        for (int i = 0; i < lenLng; i++)
-        {
-            if (data.lng[i] == '.')
-            {
-                decimalPosLng = i;
-                break;
-            }
-        }
-
-        double lat = 0;
-        for (int i = decimalPosLat - 3; i >= 0; i--)
-        {
-            int t = data.lat[i];
-            for (int j = 0; j < i; j++)
-                t *= 10;
-            lat += t;
-        }
-
-        double latMins = 0;
-        for (int i = lenLat - 2; i > decimalPosLat - 3; i--)
-        {
-            if (data.lat[i] == '.')
-                continue;
-            double t = data.lat[i];
-            for (int j = (lenLat - 2 - decimalPosLat) * -1; j < i - 2; j++)
-                t *= j < 0 ? 1 / 10 : 10;
-            latMins += t;
-        }
-        latMins /= 60;
-
-        lat += latMins;
-
-        double lng = 0;
-        for (int i = decimalPosLng - 3; i >= 0; i--)
-        {
-            int t = data.lng[i];
-            for (int j = 0; j < i; j++)
-                t *= 10;
-            lat += t;
-        }
-
-        double lngMins = 0;
-        for (int i = lenLng - 2; i > decimalPosLng - 3; i--)
-        {
-            if (data.lng[i] == '.')
-                continue;
-            double t = data.lng[i];
-            for (int j = (lenLng - 2 - decimalPosLng) * -1; j < i - 2; j++)
-                t *= j < 0 ? 1 / 10 : 10;
-            lngMins += t;
-        }
-        lngMins /= 60;
-
-        lng += lngMins;
-
-        lat *= latMult;
-        lng *= lngMult;
-
-        sprintf(message, "%f,%f,%s,%s,%s,%c,%s,%s", lat, lng, data.alt, data.spd, data.hdg, strlen(data.dao) > 0 ? 'H' : 'L', data.stage, data.t0);
-
-        this->msgLen = strlen(message);
-        return true;
-    }
-    if (type == ENCT_GROUNDSTATION)
-    {
-        if (len > 0)
-            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-        else if (this->msgLen == -1)
-            return false;
-
-        // make sure message is null terminated
-        message[this->msgLen] = 0;
-
-        // put the message into a APRSMessage object to decode it
-        APRSMsg aprs;
-        aprs.decode(message);
-        aprs.toString(message);
-
-        // add RSSI to the end of message
-        sprintf(message + strlen(message), "%s%d", ",RSSI:", this->rssi);
-
-        this->msgLen = strlen(message);
-        return true;
-    }
-    if (type == ENCT_VIDEO)
-    {
-        if (len > 0)
-            this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-
-        // if len wasn't set, make sure this->msgLen is
-        if (this->msgLen == -1)
-            return false;
-
-        // otherwise, check if the length of the message is within the expected bounds
-        return this->msgLen >= message[this->msgLen] * 255 && this->msgLen < (message[this->msgLen] + 1) * 255;
-    }
-    if (type == ENCT_NONE)
-        return true;
-    return false;
-}
-
-/*
-Encodes the message into the selected type, then sends it. Transmitted and encoded message length must not exceed ```MSG_LEN```
-    \param message is the message to be sent
-    \param type is the encoding type
-    \param len optional length of message, required if message is not a null terminated string
-\return ```true``` if the message was sent successfully
-*/
-bool RFM69HCW::send(const char *message, EncodingType type, int len)
-{
-    if (type == ENCT_TELEMETRY || type == ENCT_GROUNDSTATION)
-    {
-        // assume message is a valid string, but maybe it's not null terminated
-        strncpy(this->msg, message, MSG_LEN);
-        this->msg[MSG_LEN] = 0; // so null terminate it just in case
-        // figure out what the length of the message should be
-        if (len > 0 && len <= MSG_LEN)
-            this->msgLen = len;
-        else
-            this->msgLen = strlen(this->msg);
-        return encode(this->msg, type, this->msgLen) && tx(nullptr, strlen(this->msg)); // length needs to be updated since encode() modifies the message
-    }
-    if (type == ENCT_VIDEO && len != -1)
-    {
-        // can't assume message is a valid string
-        this->msgLen = len > MSG_LEN ? MSG_LEN : len;
-        memcpy(this->msg, message, this->msgLen);
-        return encode(this->msg, type) && tx(nullptr); // length does not change with ENCT_VIDEO
-    }
-    if (type == ENCT_NONE && len != -1)
-    {
-        return tx(message, len);
-    }
-    return false;
-}
-
-/*
-Comprehensive receive function
-Should be called after verifying there is an available message by calling available()
-Decodes the last received message according to the type
-Received and decoded message length must not exceed MSG_LEN
-    \param type is the decoding type
-*/
-const char *RFM69HCW::receive(EncodingType type)
-{
-    if (this->avail)
-    {
-        this->avail = false;
-        if (!decode(this->msg, type, this->msgLen)) // Note: this->msgLen is never set to -1
-            return 0;
-        return this->msg;
-    }
-    return 0;
-}
-
-/*
-Returns true if a there is a new message
-*/
-bool RFM69HCW::available()
-{
-    rx();
-    return this->avail;
-}
-
-/*
-Returns the RSSI of the last message
-*/
-int RFM69HCW::RSSI()
-{
-    return this->rssi;
-}
-
-// probably broken
-void RFM69HCW::set300KBPS()
-{
-    this->radio.spiWrite(0x03, 0x00);       // REG_BITRATEMSB: 300kbps (0x006B, see DS p20)
-    this->radio.spiWrite(0x04, 0x6B);       // REG_BITRATELSB: 300kbps (0x006B, see DS p20)
-    this->radio.spiWrite(0x19, 0x40);       // REG_RXBW: 500kHz
-    this->radio.spiWrite(0x1A, 0x80);       // REG_AFCBW: 500kHz
-    this->radio.spiWrite(0x05, 0x13);       // REG_FDEVMSB: 300khz (0x1333)
-    this->radio.spiWrite(0x06, 0x33);       // REG_FDEVLSB: 300khz (0x1333)
-    this->radio.spiWrite(0x29, 240);        // set REG_RSSITHRESH to -120dBm
-    this->radio.spiWrite(0x37, 0b10010000); // DC=WHITENING, CRCAUTOOFF=0
-                                            //                ^^->DC: 00=none, 01=manchester, 10=whitening
-}
-
-// utility functions
-#ifndef max
-int max(int a, int b)
-{
-    if (a > b)
-        return a;
-    return b;
-}
-#endif
-
-#ifndef min
-int min(int a, int b)
-{
-    if (a < b)
-        return a;
-    return b;
-}
-#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
deleted file mode 100644
index 19abb2ff..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
+++ /dev/null
@@ -1,87 +0,0 @@
-#ifndef RFM69HCW_H
-#define RFM69HCW_H
-
-#if defined(ARDUINO)
-#define MSG_LEN 200
-#elif defined(TEENSYDUINO)
-#define MSG_LEN 10 * 1024
-#elif defined(RASPBERRY_PI)
-#define MSG_LEN 10 * 1024
-#endif
-
-#include "Radio.h"
-#include "APRSMsg.h"
-#include "RH_RF69.h"
-
-/*
-Settings:
-- double frequency in Mhz
-- bool transmitter
-- bool highBitrate
-- RHGenericSPI *spi pointer to radiohead SPI object
-- uint8_t cs CS pin
-- uint8_t irq IRQ pin
-- uint8_t rst RST pin
-*/
-struct RadioSettings
-{
-    double frequency;
-    bool transmitter;
-    bool highBitrate;
-    RHGenericSPI *spi;
-    uint8_t cs;
-    uint8_t irq;
-    uint8_t rst;
-};
-
-class RFM69HCW : public Radio
-{
-public:
-    RFM69HCW(const RadioSettings *s, const APRSConfig *config);
-    bool begin() override;
-    bool tx(const char *message, int len = -1) override;
-    bool sendBuffer();
-    void endtx();
-    bool txs(const char *message, int len = -1);
-    bool txT();
-    void txe();
-    const char *rx() override;
-    void rxL();
-    bool busy();
-    bool encode(char *message, EncodingType type, int len = -1) override;
-    bool decode(char *message, EncodingType type, int len = -1) override;
-    bool send(const char *message, EncodingType type, int len = -1) override;
-    const char *receive(EncodingType type) override;
-    int RSSI() override;
-    bool available();
-    void set300KBPS();
-    RHGenericDriver::RHMode mode();
-
-    // stores full messages, max length determined by platform
-    char msg[MSG_LEN + 1];
-    // length of msg for recieving binary messages
-    int msgLen = 0;
-
-private:
-    RH_RF69 radio;
-    // all radios should have the same networkID
-    const uint8_t networkID = 0x01;
-    // default to the highest transmit power
-    const int txPower = 20;
-    // set by constructor
-    uint8_t addr;
-    uint8_t toAddr;
-    uint8_t id;
-    RadioSettings settings;
-    // for sending/receiving data
-    // stores messages sent to radio, length determined by max radio message length
-    uint8_t buf[RH_RF69_MAX_MESSAGE_LEN + 1];
-    uint8_t bufSize = RH_RF69_MAX_MESSAGE_LEN;
-    APRSConfig cfg;
-    bool avail;
-    int rssi;
-    int totalPackets;
-    int msgIndex = 0;
-};
-
-#endif // RFM69HCW_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
new file mode 100644
index 00000000..50727b56
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
@@ -0,0 +1,324 @@
+#include "RFM69HCWNew.h"
+
+#ifndef max
+int max(int a, int b);
+#endif
+
+#ifndef min
+int min(int a, int b);
+#endif
+
+/*
+Constructor
+    - frequency in hertz
+    - transmitter true if the radio will be on the rocket
+    - highBitrate true for 300kbps, false for 4.8kbps
+    - config with APRS settings
+*/
+RFM69HCWNew::RFM69HCWNew(const RadioSettings *s) : radio(s->cs, s->irq, *s->spi)
+{
+
+    this->settings = *s;
+    this->avail = false;
+
+    if (this->settings.transmitter)
+    {
+        // addresses for transmitters
+        this->thisAddr = 0x02;
+        this->toAddr = 0x01;
+    }
+    else
+    {
+        // addresses for receivers
+        this->thisAddr = 0x01;
+        this->toAddr = 0x02;
+    }
+}
+
+/*
+Initializer to call in setup
+*/
+bool RFM69HCWNew::init()
+{
+    // reset the radio
+    pinMode(settings.rst, OUTPUT);
+    digitalWrite(settings.rst, LOW);
+    delay(10);
+    digitalWrite(settings.rst, HIGH);
+    delay(10);
+    digitalWrite(settings.rst, LOW);
+
+    if (!radio.init())
+        return false;
+
+    // then use this to actually set the frequency
+    if (!radio.setFrequency(settings.frequency))
+        return false;
+
+    // set transmit power
+    radio.setTxPower(txPower, true);
+
+    // always set FSK mode
+    radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
+
+    // set headers
+    radio.setHeaderTo(toAddr);
+    radio.setHeaderFrom(thisAddr);
+    radio.setThisAddress(thisAddr);
+    radio.setHeaderId(0);
+
+    // configure unlimited packet length mode, don't do this for now
+    // this->radio.spiWrite(0x37, 0b00000000);                // Packet format (0x37) set to 00000000 (see manual for meaning of each bit)
+    // this->radio.spiWrite(RH_RF69_REG_38_PAYLOADLENGTH, 0); // Payload length (0x38) set to 0
+
+    if (this->settings.highBitrate) // Note: not working
+    {
+        // the default bitrate of 4.8kbps should be fine unless we want high bitrate for video
+        // set300KBPS();
+        this->radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
+        // remove as much overhead as possible
+        // this->radio.setPreambleLength(0);
+        // this->radio.setSyncWords();
+    }
+
+    return initialized = true;
+}
+
+/*
+Most basic transmission method, simply transmits the string without modification
+    \param message is the message to be transmitted must be less than maxDataLen
+    \param len optional length of message, required if message is not a null terminated string
+*/
+bool RFM69HCWNew::tx(const uint8_t *message, int len, int packetNum, bool lastPacket)
+{
+    // figure out how long the message should be
+    if (len == -1)
+    {
+        len = strlen((char *)message);
+    }
+    radio.setHeaderId(packetNum);
+    radio.setHeaderFlags(lastPacket ? 0 : RADIO_FLAG_MORE_DATA);
+
+    return radio.send((uint8_t *)message, len);
+}
+
+/*
+Receive function
+Most basic receiving method, simply checks for a message and returns it
+Note that the message may be incomplete, if the message is complete available() will return true
+The received message will be truncated if it exceeds the maximum message length
+\return the received message with the length in the first byte or `nullptr` if no message is available
+*/
+const uint8_t *RFM69HCWNew::rx()
+{
+    if (!radio.available())
+        return nullptr;
+
+    // Should be a message for us now
+    // Stores the length of the message in the first byte of the returned array
+    uint8_t receivedLen;
+    uint8_t receivedMsg[1 + maxDataLen];
+    if (!radio.recv(1 + receivedMsg, &(receivedLen)))
+        return nullptr;
+
+    receivedMsg[0] = receivedLen;
+    rssi = radio.lastRssi();
+    return receivedMsg;
+}
+
+
+
+#pragma region External Send and Receive
+
+
+
+bool RFM69HCWNew::enqueueSend(const uint8_t *message, uint8_t len)
+{
+    // fill up the buffer with the message. buffer is a circular queue.
+    buffer[bufTail] = len;
+    bufTail = (bufTail + 1) % RADIO_BUFFER_SIZE;
+    for (int i = 0; i < len; i++)
+    {
+        if (bufTail == bufHead) // buffer is full
+            return false;
+
+        buffer[bufTail] = message[i];
+        bufTail = (bufTail + 1) % RADIO_BUFFER_SIZE;
+    }
+
+    return true;
+}
+
+bool RFM69HCWNew::enqueueSend(const char *message)
+{
+    return enqueueSend((uint8_t *)message, strlen(message));
+}
+
+bool RFM69HCWNew::enqueueSend(RadioMessage *message)
+{
+    return enqueueSend(message->encode(), message->length());
+}
+
+bool RFM69HCWNew::dequeueReceive(uint8_t *message)
+{
+    if (bufHead == bufTail) // buffer is empty
+        return false;
+
+    // get the length of the message
+    int len = buffer[bufHead];
+    inc(bufHead);
+    // Empty the buffer up to the length of the expected message
+    for (int i = 0; i < len && bufHead != bufTail; i++)
+    {
+        message[i] = buffer[bufHead];
+        inc(bufHead);
+    }
+    return true;
+}
+
+bool RFM69HCWNew::dequeueReceive(char *message)
+{
+    if (bufHead == bufTail)
+        return false;
+
+    // Empty the buffer up to the first null terminator
+    inc(bufHead); // skip the length byte
+    int i = 0;
+    for (; buffer[bufHead] != '\0' && bufHead != bufTail; i++)
+    {
+        message[i] = buffer[bufHead];
+        inc(bufHead);
+    }
+    message[i] = '\0';
+
+    return true;
+}
+
+bool RFM69HCWNew::dequeueReceive(RadioMessage *message)
+{
+    if (bufHead == bufTail)
+        return false;
+
+    uint8_t len = buffer[bufHead];
+    uint8_t *msg = new uint8_t[len];
+    if (!dequeueReceive(msg))
+        return false;
+
+    message->decode(msg, len);
+    delete[] msg;
+    return true;
+}
+
+#pragma endregion
+
+
+
+bool RFM69HCWNew::update()
+{
+    if (busy()) // radio is busy, cannot send or receive
+        return false;
+    if (settings.transmitter)
+    {
+        if (bufHead == bufTail)
+        { // buffer is empty, nothing to send
+            remainingLength = 0;
+            return false;
+        }
+        // send the message
+        if (remainingLength == 0) // start a new message
+        {
+            remainingLength = buffer[bufHead];
+            inc(bufHead);
+            tx(&buffer[bufHead], min(remainingLength, maxDataLen), 0, remainingLength <= maxDataLen);
+        }
+        else // continue the message
+        {
+            int len = min(remainingLength, maxDataLen);
+            remainingLength -= len;
+            tx(&buffer[bufHead], len, radio.headerId() + 1, remainingLength <= maxDataLen);
+        }
+    }
+    else // receiver
+    {
+        const uint8_t *msg = rx();
+        if (msg == nullptr)
+            return false;
+        // store the message in the buffer
+        if (radio.headerId() == 0)
+        { // start of a new message
+            orignalBufferTail = bufTail;
+            buffer[bufTail] = msg[0]; // store the length of the message
+            inc(bufTail);
+            for (int i = 1; i <= msg[0]; i++)
+            {
+                buffer[bufTail] = msg[i];
+                inc(bufTail);
+            }
+        }
+        else
+        {
+            buffer[orignalBufferTail] += msg[0]; // update the length of the message
+            for (int i = 1; i <= msg[0]; i++)
+            {
+                buffer[bufTail] = msg[i];
+                inc(bufTail);
+            }
+        }
+    }
+    return true;
+}
+
+#pragma region Helpers
+
+/*
+\return `true` if the radio is currently transmitting or receiving a message
+*/
+bool RFM69HCWNew::busy()
+{
+    RHGenericDriver::RHMode mode = this->radio.mode();
+    if (mode == RHGenericDriver::RHModeTx || mode == RHGenericDriver::RHModeRx)
+        return true;
+    return false;
+}
+/*
+Returns the RSSI of the last message
+*/
+int RFM69HCWNew::RSSI()
+{
+    return rssi;
+}
+
+// probably broken
+void RFM69HCWNew::set300KBPSMode()
+{
+    this->radio.spiWrite(0x03, 0x00);       // REG_BITRATEMSB: 300kbps (0x006B, see DS p20)
+    this->radio.spiWrite(0x04, 0x6B);       // REG_BITRATELSB: 300kbps (0x006B, see DS p20)
+    this->radio.spiWrite(0x19, 0x40);       // REG_RXBW: 500kHz
+    this->radio.spiWrite(0x1A, 0x80);       // REG_AFCBW: 500kHz
+    this->radio.spiWrite(0x05, 0x13);       // REG_FDEVMSB: 300khz (0x1333)
+    this->radio.spiWrite(0x06, 0x33);       // REG_FDEVLSB: 300khz (0x1333)
+    this->radio.spiWrite(0x29, 240);        // set REG_RSSITHRESH to -120dBm
+    this->radio.spiWrite(0x37, 0b10010000); // DC=WHITENING, CRCAUTOOFF=0
+                                            //                ^^->DC: 00=none, 01=manchester, 10=whitening
+}
+
+// utility functions
+#ifndef max
+int max(int a, int b)
+{
+    if (a > b)
+        return a;
+    return b;
+}
+#endif
+
+#ifndef min
+int min(int a, int b)
+{
+    if (a < b)
+        return a;
+    return b;
+}
+#endif
+
+#pragma endregion
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h
new file mode 100644
index 00000000..abfff3c1
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h	
@@ -0,0 +1,91 @@
+#ifndef RFM69HCW_H
+#define RFM69HCW_H
+
+#if defined(ARDUINO)
+#define MSG_LEN 200
+#elif defined(TEENSYDUINO)
+#define MSG_LEN 10 * 1024
+#elif defined(RASPBERRY_PI)
+#define MSG_LEN 10 * 1024
+#endif
+
+#include "Radio.h"
+#include "APRSMsg.h"
+#include "RH_RF69.h"
+
+#define RADIO_BUFFER_SIZE 1024
+#define RADIO_FLAG_MORE_DATA 0b00000001 // custom flag to indicate more packets are still to be sent
+
+/*
+Settings:
+- double frequency in Mhz
+- bool transmitter
+- bool highBitrate
+- RHGenericSPI *spi pointer to radiohead SPI object
+- uint8_t cs CS pin
+- uint8_t irq IRQ pin
+- uint8_t rst RST pin
+*/
+struct RadioSettings
+{
+    double frequency;
+    bool transmitter;
+    bool highBitrate;
+    RHGenericSPI *spi;
+    uint8_t cs;
+    uint8_t irq;
+    uint8_t rst;
+    int txPower = 20;
+};
+
+
+class RFM69HCWNew : public Radio
+{
+public:
+    RFM69HCWNew(const RadioSettings *s);
+    bool init() override;
+    bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) override; // designed to be used internally. cannot exceed 66 bytes including headers
+    const uint8_t *rx() override;
+    bool busy();
+    bool enqueueSend(RadioMessage *message) override;         // designed to be used externally. can exceed 66 bytes.
+    bool enqueueSend(const char *message) override;           // designed to be used externally. can exceed 66 bytes.
+    bool enqueueSend(const uint8_t *message, uint8_t len) override; // designed to be used externally. can exceed 66 bytes.
+
+    bool dequeueReceive(RadioMessage *message) override; // designed to be used externally. can exceed 66 bytes.
+    bool dequeueReceive(char *message) override;         // designed to be used externally. can exceed 66 bytes.
+    bool dequeueReceive(uint8_t *message) override;      // designed to be used externally. can exceed 66 bytes.
+    int RSSI() override;
+    void set300KBPSMode();
+    bool update();
+
+    explicit operator bool() const { return initialized; }
+
+    // increment the specified index, wrapping around if necessary
+    static void inc(int &i) { i = (i + 1) % RADIO_BUFFER_SIZE; }
+
+private:
+    RH_RF69 radio;
+    // all radios should have the same networkID
+    const uint8_t networkID = 1;
+    // default to the highest transmit power
+    const int txPower = 20;
+    // set by constructor
+    RadioSettings settings;
+    int thisAddr;
+    int toAddr;
+    bool avail;
+    int rssi;
+    bool initialized = false;
+
+    // stores queue of messages, with the length of the message as the first byte of each. no delimiter.
+    // [6xxxxxx3xxx1x2xx]
+    // Done to allow for messages that are not ascii encoded.
+    uint8_t buffer[RADIO_BUFFER_SIZE];
+    int bufHead = 0;
+    int bufTail = 0;
+    int remainingLength = 0; // how much message is left to send for transmitters
+    int orignalBufferTail = 0; // used to update the length of the message after recieving.
+    int maxDataLen = RH_RF69_MAX_MESSAGE_LEN;
+};
+
+#endif // RFM69HCW_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index 9902f6fa..1558d460 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -103,7 +103,7 @@ bool State::init()
     }
     if (radio)
     {
-        if (!radio->begin())
+        if (!radio->init())
             radio = nullptr;
     }
     setCsvHeader();
@@ -488,8 +488,16 @@ bool State::transmit()
 {
     char data[200];
     snprintf(data, 200, "%f,%f,%i,%i,%i,%c,%i,%s", sensorOK(gps) ? gps->getPos().x() : 0, sensorOK(gps) ? gps->getPos().y() : 0, sensorOK(baro) ? (int)baro->getRelAltFt() : 0, (int)(baroVelocity * 3.28), (int)headingAngle, 'H', stageNumber, launchTimeOfDay);
-    bool b = radio->send(data, ENCT_TELEMETRY);
-    return b;
+    aprs.data.lat = sensorOK(gps) ? gps->getPos().x() : 0;
+    aprs.data.lng = sensorOK(gps) ? gps->getPos().y() : 0;
+    aprs.data.alt = sensorOK(baro) ? baro->getRelAltFt() : 0;
+    aprs.data.hdg = (int)headingAngle;
+    aprs.data.spd = (int)(baroVelocity * 3.28);
+    aprs.data.stage = stageNumber;
+    aprs.data.orientation = imu->getOrientation().toEuler();
+    
+    radio->enqueueSend(&aprs);
+    return true;
 }
 extern unsigned long _heap_start;
 extern unsigned long _heap_end;
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h
index 2bb88a72..35bd6c78 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h	
@@ -12,6 +12,8 @@
 #include "Radio.h"
 #include "RTC.h"
 #include "RecordData.h"
+#include "APRSMsg.h"
+
 constexpr char STAGES[][15] = {"Pre-Flight", "Boosting", "Coasting", "Drogue Descent", "Main Descent", "Post-Flight"};
 class State
 {
@@ -114,6 +116,10 @@ class State
     double *inputs;
     uint32_t FreeMem();
 
+    // APRS
+    APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1"};
+
+    APRSMsg aprs = {header};
     
 };
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 160e5681..6cf37858 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -4,17 +4,15 @@
 #include "BNO055.h"
 #include "MAX_M10S.h"
 #include "DS3231.h"
-#include "RFM69HCW.h"
+#include "RFM69HCWNew.h"
 #include "RecordData.h"
 #include "BlinkBuzz.h"
 
 BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
-DS3231 rtc();               // I2C Address 0x68
-APRSConfig config = {"KC3UTM", "APRS", "WIDE1-1", '[', '/'};
 RadioSettings settings = {433.775, true, false, &hardware_spi, 10, 31, 32};
-RFM69HCW radio = {settings, config};
+RFM69HCWNew radio(&settings);
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
 
@@ -103,23 +101,19 @@ void setup()
     }
     sendSDCardHeader(computer.getCsvHeader());
 }
-static bool more = false;
 static bool first = false;
 static bool second = false;
 void loop()
 {
     bb.update();
+    radio.update();
     double time = millis();
 
     if (time - radioTimer >= 500)
     {
-        more = computer.transmit();
+        computer.transmit();
         radioTimer = time;
     }
-    if (radio.mode() != RHGenericDriver::RHModeTx && more)
-    {
-        more = !radio.sendBuffer();
-    }
     if (time - last < 100)
         return;
 

From 4d80987f4d3d89cf0c6135008578a721311d5d4b Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 15 May 2024 17:00:40 -0400
Subject: [PATCH 12/41] After VS22

---
 .../Teensy-Based Avionics/include/Radio.h     |   6 +-
 .../Teensy-Based Avionics/src/APRSMsg.cpp     |  19 +-
 .../Code/Teensy-Based Avionics/src/APRSMsg.h  |  16 +-
 .../Teensy-Based Avionics/src/APRSMsgOld.cpp  | 372 ------------------
 .../Teensy-Based Avionics/src/APRSMsgOld.h    | 227 -----------
 .../Teensy-Based Avionics/src/RFM69HCWNew.cpp |  56 +--
 .../Teensy-Based Avionics/src/RFM69HCWNew.h   |  28 +-
 7 files changed, 56 insertions(+), 668 deletions(-)
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h
index 2f46df68..64eba141 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
@@ -31,7 +31,7 @@ enum EncodingType
 class RadioMessage
 {
 public:
-    virtual const uint8_t *encode() = 0;                      // use stored variables to encode a message
+    virtual uint8_t *encode() = 0;                            // use stored variables to encode a message
     virtual bool decode(const uint8_t *message, int len) = 0; // use `message` to set stored variables
     virtual int length() const = 0;                           // return the length of the message
     virtual ~RadioMessage(){};
@@ -46,7 +46,7 @@ class Radio
     virtual ~Radio(){}; // Virtual descructor. Very important
     virtual bool init() = 0;
     virtual bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) = 0; // designed to be used internally. cannot exceed 66 bytes including headers
-    virtual const uint8_t *rx() = 0;
+    virtual bool rx(uint8_t *recvbuf, uint8_t *len) = 0;
     virtual int RSSI() = 0;
     virtual bool enqueueSend(const uint8_t *message, uint8_t len) = 0;
     virtual bool enqueueSend(const char *message) = 0;
@@ -56,6 +56,4 @@ class Radio
     virtual bool dequeueReceive(uint8_t *message) = 0;
 };
 
-
-
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index 527eab30..2953353b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -1,16 +1,13 @@
 #include "APRSMsg.h"
 
-
 #define MAX_ALLOWED_MSG_LEN 255 /* max length of 1 message supported by radio buffer */
 
-
-
 APRSMsg::APRSMsg(APRSHeader &header)
 {
     this->header = header;
 }
 
-const uint8_t *APRSMsg::encode()
+uint8_t *APRSMsg::encode()
 {
     char *msg = new char[MAX_ALLOWED_MSG_LEN];
     int c = encodeHeader(msg);
@@ -20,7 +17,7 @@ const uint8_t *APRSMsg::encode()
 
 bool APRSMsg::decode(const uint8_t *message, int len)
 {
-    //message needs to be decoded and values reinstered into the header and data structs
+    // message needs to be decoded and values reinserted into the header and data structs
     int c = decodeHeader((char *)message, len);
     decodeData((char *)message, len, c);
     return false;
@@ -74,19 +71,19 @@ void APRSMsg::encodeData(char *message, int cursor)
     */
 
     // lat and lng
-    message[cursor++] = 'M';                                            // overlay
+    message[cursor++] = 'M';                                          // overlay
     encodeBase91(message, cursor, (int)380926 * (90 - data.lat), 4);  // 380926 is the magic number from the APRS spec (page 38)
     encodeBase91(message, cursor, (int)190463 * (180 + data.lng), 4); // 190463 is the magic number from the APRS spec (page 38)
-    message[cursor++] = '^';                                            // end of lat and lng
-    message[cursor++] = ' ';                                            // space to start 'Comment' section
+    message[cursor++] = '^';                                          // end of lat and lng
+    message[cursor++] = ' ';                                          // space to start 'Comment' section
 
     // course, speed, altitude
-    encodeBase91(message, cursor, (int)(data.hdg * HDG_SCALE), 2);   // (91^2/360) scale to fit in 2 base91 characters
-    encodeBase91(message, cursor, (int)(data.spd * SPD_SCALE), 2);  // (91^2/1000) scale to fit in 2 base91 characters. 1000 knots is the assumed max speed.
+    encodeBase91(message, cursor, (int)(data.hdg * HDG_SCALE), 2); // (91^2/360) scale to fit in 2 base91 characters
+    encodeBase91(message, cursor, (int)(data.spd * SPD_SCALE), 2); // (91^2/1000) scale to fit in 2 base91 characters. 1000 knots is the assumed max speed.
     encodeBase91(message, cursor, (int)(data.alt * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
 
     // stage and orientation
-    message[cursor++] = (char)(data.stage + (int)'0');                              // stage is just written in plaintext.
+    message[cursor++] = (char)(data.stage + (int)'0');                                 // stage is just written in plaintext.
     encodeBase91(message, cursor, (int)(data.orientation.x() * ORIENTATION_SCALE), 2); // same as course
     encodeBase91(message, cursor, (int)(data.orientation.y() * ORIENTATION_SCALE), 2); // same as course
     encodeBase91(message, cursor, (int)(data.orientation.z() * ORIENTATION_SCALE), 2); // same as course
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
index 5eb8f32e..a8001939 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
@@ -16,8 +16,6 @@
 #include "Radio.h"
 #include <imumaths.h>
 
-
-
 /*
 APRS Configuration
 - CALLSIGN
@@ -54,7 +52,6 @@ struct APRSData
     imu::Vector<3> orientation;
 };
 
-
 class APRSMsg : public RadioMessage
 {
 public:
@@ -62,13 +59,12 @@ class APRSMsg : public RadioMessage
     virtual ~APRSMsg(){};
 
     bool decode(const uint8_t *message, int len) override;
-    const uint8_t *encode() override;
+    uint8_t *encode() override;
     int length() const override { return this->len; }
     APRSData data;
     APRSHeader header;
 
 private:
-
     int encodeHeader(char *message) const;
     void encodeData(char *message, int cursor);
 
@@ -78,13 +74,11 @@ class APRSMsg : public RadioMessage
     void encodeBase91(char *message, int &cursor, int value, int precision) const;
     void decodeBase91(const char *message, int &cursor, double &value, int precision) const;
 
-    //Scale factors for encoding/decoding ignoring lat/long
-    const double ALT_SCALE = (pow(91, 2) / 15000.0); // (91^2/15000) scale to fit in 2 base91 characters
-    const double SPD_SCALE = (pow(91, 2) / 1000.0);  // (91^2/1000) scale to fit in 2 base91 characters
-    const double HDG_SCALE = (pow(91, 2) / 360.0);   // (91^2/360) scale to fit in 2 base91 characters
+    // Scale factors for encoding/decoding ignoring lat/long
+    const double ALT_SCALE = (pow(91, 2) / 15000.0);       // (91^2/15000) scale to fit in 2 base91 characters
+    const double SPD_SCALE = (pow(91, 2) / 1000.0);        // (91^2/1000) scale to fit in 2 base91 characters
+    const double HDG_SCALE = (pow(91, 2) / 360.0);         // (91^2/360) scale to fit in 2 base91 characters
     const double ORIENTATION_SCALE = (pow(91, 2) / 360.0); // same as course
 };
 
-
-
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp
deleted file mode 100644
index 8adb533d..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.cpp	
+++ /dev/null
@@ -1,372 +0,0 @@
-// /*
-// MIT License
-
-// Copyright (c) 2020 Peter Buchegger
-
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-
-// The above copyright notice and this permission notice shall be included in all
-// copies or substantial portions of the Software.
-
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-// SOFTWARE.
-// */
-
-// #include "APRSMsg.h"
-
-// char *s_min_nn(uint32_t min_nnnnn, int high_precision);
-// int numDigits(unsigned int num);
-
-// APRSMsg::APRSMsg() : _body()
-// {
-// }
-
-// APRSMsg::APRSMsg(APRSMsg &otherMsg)
-//     : _type(otherMsg.getType()), _body()
-// {
-//     strcpy(_source, otherMsg.getSource());
-//     strcpy(_destination, otherMsg.getDestination());
-//     strcpy(_path, otherMsg.getPath());
-//     strcpy(_rawBody, otherMsg.getRawBody());
-//     _body.setData(otherMsg.getBody()->getData());
-// }
-
-// APRSMsg &APRSMsg::operator=(APRSMsg &otherMsg)
-// {
-//     if (this != &otherMsg)
-//     {
-//         setSource(otherMsg.getSource());
-//         setDestination(otherMsg.getDestination());
-//         setPath(otherMsg.getPath());
-//         _type = otherMsg.getType();
-//         strcpy(_rawBody, otherMsg.getRawBody());
-//         _body.setData(otherMsg.getBody()->getData());
-//     }
-//     return *this;
-// }
-
-// APRSMsg::~APRSMsg()
-// {
-// }
-
-// const char *APRSMsg::getSource()
-// {
-//     return _source;
-// }
-
-// void APRSMsg::setSource(const char source[8])
-// {
-//     strcpy(_source, source);
-// }
-
-// const char *APRSMsg::getDestination()
-// {
-//     return _destination;
-// }
-
-// void APRSMsg::setDestination(const char destination[8])
-// {
-//     strcpy(_destination, destination);
-// }
-
-// const char *APRSMsg::getPath()
-// {
-//     return _path;
-// }
-
-// void APRSMsg::setPath(const char path[10])
-// {
-//     strcpy(_path, path);
-// }
-
-// APRSMessageType APRSMsg::getType()
-// {
-//     return _type;
-// }
-
-// const char *APRSMsg::getRawBody()
-// {
-//     return _rawBody;
-// }
-
-// APRSBody *APRSMsg::getBody()
-// {
-//     return &_body;
-// }
-
-// bool APRSMsg::decode(char *message)
-// {
-//     int len = strlen(message);
-//     int posSrc = -1, posDest = -1, posPath = -1;
-//     for (int i = 0; i < len; i++)
-//     {
-//         if (message[i] == '>' && posSrc == -1)
-//             posSrc = i;
-//         if (message[i] == ',' && posDest == -1)
-//             posDest = i;
-//         if (message[i] == ':' && posPath == -1)
-//             posPath = i;
-//     }
-//     if (posSrc >= 8)
-//         return false;
-//     if (posDest - (posSrc + 1) >= 8)
-//         return false;
-//     if (posPath - (posDest + 1) >= 10)
-//         return false;
-
-//     if (posSrc >= 0)
-//     {
-//         strncpy(_source, message, posSrc);
-//         _source[posSrc] = '\0';
-//     }
-//     else
-//     {
-//         _source[0] = '\0';
-//     }
-
-//     if (posDest != -1 && posDest < posPath)
-//     {
-//         strncpy(_path, message + posDest + 1, posPath - (posDest + 1));
-//         strncpy(_destination, message + posSrc + 1, posDest - (posSrc + 1));
-//         _path[posPath - (posDest + 1)] = '\0';
-//         _destination[posDest - (posSrc + 1)] = '\0';
-//     }
-//     else
-//     {
-//         _path[0] = '\0';
-//         if (posSrc >= 0 && posPath >= 0)
-//         {
-
-//             strncpy(_destination, message + posSrc + 1, posPath - (posSrc + 1));
-//             _destination[posPath - (posSrc + 1)] = '\0';
-//         }
-//         else
-//         {
-//             _destination[0] = '\0';
-//         }
-//     }
-//     strcpy(_rawBody, message + posPath + 1);
-//     _rawBody[strlen(message + posPath + 1)] = '\0';
-//     _type = APRSMessageType(_rawBody[0]);
-//     _body.decode(_rawBody);
-//     return bool(_type);
-// }
-
-// void APRSMsg::encode(char *message)
-// {
-//     sprintf(message, "%s>%s", _source, _destination);
-//     if (strlen(_path) > 0)
-//     {
-//         sprintf(message + strlen(message), ",%s", _path);
-//     }
-//     sprintf(message + strlen(message), ":%s", _body.encode());
-// }
-
-// void APRSMsg::toString(char *str)
-// {
-//     char body[87];
-//     _body.toString(body);
-//     sprintf(str, "Source:%s,Destination:%s,Path:%s,Type:%s,%s", _source, _destination, _path, _type.toString(), body);
-// }
-
-// APRSBody::APRSBody()
-// {
-// }
-
-// APRSBody::~APRSBody()
-// {
-// }
-
-// const char *APRSBody::getData()
-// {
-//     return _data;
-// }
-
-// void APRSBody::setData(const char data[80])
-// {
-//     strcpy(_data, data);
-// }
-
-// bool APRSBody::decode(char *message)
-// {
-//     strcpy(_data, message);
-//     return true;
-// }
-
-// const char *APRSBody::encode()
-// {
-//     return _data;
-// }
-
-// void APRSBody::toString(char *str)
-// {
-//     sprintf(str, "Data:%s", _data);
-// }
-
-// // creates the latitude string for the APRS message based on whether the GPS coordinates are high precision
-// void APRSMsg::formatLat(char *lat, bool hp)
-// {
-//     bool negative = lat[0] == '-';
-
-//     int len = strlen(lat);
-//     int decimalPos = 0;
-//     // use for loop in case there is no decimal
-//     for (int i = 0; i < len; i++)
-//     {
-//         if (lat[i] == '.')
-//         {
-//             decimalPos = i;
-//             break;
-//         }
-//     }
-//     int decLen = strlen(lat + decimalPos + 1);
-//     int dec = atoi(lat + decimalPos + 1);
-
-//     // make sure there are nine digits
-//     int missingDigits = 9 - decLen;
-//     if (missingDigits < 0)
-//         for (int i = 0; i < missingDigits * -1; i++)
-//             dec /= 10;
-//     if (missingDigits > 0)
-//         for (int i = 0; i < missingDigits; i++)
-//             dec *= 10;
-
-//     // we like sprintf's float up-rounding.
-//     // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
-//     // ;)
-//     sprintf(lat, "%02d%s%c", atoi(lat) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'S' : 'N');
-// }
-
-// // creates the longitude string for the APRS message based on whether the GPS coordinates are high precision
-// void APRSMsg::formatLong(char *lng, bool hp)
-// {
-//     bool negative = lng[0] == '-';
-
-//     int len = strlen(lng);
-//     int decimalPos = 0;
-//     // use for loop in case there is no decimal
-//     for (int i = 0; i < len; i++)
-//     {
-//         if (lng[i] == '.')
-//         {
-//             decimalPos = i;
-//             break;
-//         }
-//     }
-
-//     int decLen = strlen(lng + decimalPos + 1);
-//     int dec = atoi(lng + decimalPos + 1);
-
-//     // make sure there are nine digits
-//     int missingDigits = 9 - decLen;
-//     if (missingDigits < 0)
-//         for (int i = 0; i < missingDigits * -1; i++)
-//             dec /= 10;
-//     if (missingDigits > 0)
-//         for (int i = 0; i < missingDigits; i++)
-//             dec *= 10;
-
-//     // we like sprintf's float up-rounding.
-//     // but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
-//     // ;)
-//     sprintf(lng, "%02d%s%c", atoi(lng) * (negative ? -1 : 1), s_min_nn(dec, hp), negative ? 'W' : 'E');
-// }
-
-// // creates the dao at the end of aprs message based on latitude and longitude
-// void APRSMsg::formatDao(char *lat, char *lng, char *dao)
-// {
-//     // !DAO! extension, use Base91 format for best precision
-//     // /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest
-//     // integer https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
-//     // http://www.aprs.org/aprs12/datum.txt
-
-//     int len = strlen(lat);
-//     int decimalPos = 0;
-//     // use for loop in case there is no decimal
-//     for (int i = 0; i < len; i++)
-//     {
-//         if (lat[i] == '.')
-//             decimalPos = i;
-//     }
-//     sprintf(dao, "!w%s", s_min_nn((int)(lat + decimalPos + 1), 2));
-
-//     len = strlen(lng);
-//     decimalPos = 0;
-//     for (int i = 0; i < len; i++)
-//     {
-//         if (lng[i] == '.')
-//             decimalPos = i;
-//     }
-//     sprintf(dao + 3, "%s!", s_min_nn((int)(lng + decimalPos + 1), 2));
-// }
-
-// // adds a specified number of zeros to the begining of a number
-// void APRSMsg::padding(unsigned int number, unsigned int width, char *output, int offset)
-// {
-//     unsigned int numLen = numDigits(number);
-//     if (numLen > width)
-//     {
-//         width = numLen;
-//     }
-//     for (unsigned int i = 0; i < width - numLen; i++)
-//     {
-//         output[offset + i] = '0';
-//     }
-//     sprintf(output + offset + width - numLen, "%u", number);
-// }
-
-// // takes in decimal minutes and converts to MM.dddd
-// char *s_min_nn(uint32_t min_nnnnn, int high_precision)
-// {
-//     /* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth
-//      * degree (-> *= 6 -> nn.mmmmmm minutes) high_precision: 0: round at decimal
-//      * position 2. 1: round at decimal position 4. 2: return decimal position 3-4
-//      * as base91 encoded char
-//      */
-
-//     static char buf[6];
-
-//     min_nnnnn = min_nnnnn * 0.006;
-
-//     if (high_precision)
-//     {
-//         if ((min_nnnnn % 10) >= 5 && min_nnnnn < 6000000 - 5)
-//         {
-//             // round up. Avoid overflow (59.999999 should never become 60.0 or more)
-//             min_nnnnn = min_nnnnn + 5;
-//         }
-//     }
-//     else
-//     {
-//         if ((min_nnnnn % 1000) >= 500 && min_nnnnn < (6000000 - 500))
-//         {
-//             // round up. Avoid overflow (59.9999 should never become 60.0 or more)
-//             min_nnnnn = min_nnnnn + 500;
-//         }
-//     }
-
-//     if (high_precision < 2)
-//         sprintf(buf, "%02u.%02u", (unsigned int)((min_nnnnn / 100000) % 100), (unsigned int)((min_nnnnn / 1000) % 100));
-//     else
-//         sprintf(buf, "%c", (char)((min_nnnnn % 1000) / 11) + 33);
-//     // Like to verify? type in python for i.e. RawDegrees billions 566688333: i =
-//     // 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
-//     return buf;
-// }
-
-// int numDigits(unsigned int num)
-// {
-//     if (num < 10)
-//         return 1;
-//     return 1 + numDigits(num / 10);
-// }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h
deleted file mode 100644
index f600f2e1..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsgOld.h	
+++ /dev/null
@@ -1,227 +0,0 @@
-// /*
-// MIT License
-
-// Copyright (c) 2020 Peter Buchegger
-
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-
-// The above copyright notice and this permission notice shall be included in all
-// copies or substantial portions of the Software.
-
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-// SOFTWARE.
-// */
-
-// #ifndef APRSMSG_H
-// #define APRSMSG_H
-
-// #if defined(ARDUINO)
-// #include <Arduino.h>
-// #elif defined(_WIN32) || defined(_WIN64) // Windows
-// #include <cstdint>
-// #include <string>
-// #include <cstring>
-// #elif defined(__unix__)  // Linux
-// // TODO
-// #elif defined(__APPLE__) // OSX
-// // TODO
-// #endif
-
-// class APRSMessageType
-// {
-// public:
-//     enum Value : uint8_t
-//     {
-//         PositionWithoutTimestamp, // = and !
-//         PositionWithTimestamp,    // @ and /
-//         Status,                   // >
-//         Query,                    // ?
-//         Message,                  // :
-//         Weather,                  // _
-//         Telemetry,                // T
-//         CurrentMicEData,          // `
-//         // you can add more types ;)
-//         Error,
-//     };
-
-//     APRSMessageType() = default;
-//     // cppcheck-suppress noExplicitConstructor
-//     APRSMessageType(char type)
-//     {
-//         switch (type)
-//         {
-//         case '=':
-//         case '!':
-//             value = PositionWithoutTimestamp;
-//             break;
-//         case '@':
-//         case '/':
-//             value = PositionWithTimestamp;
-//             break;
-//         case '>':
-//             value = Status;
-//             break;
-//         case '?':
-//             value = Query;
-//             break;
-//         case ':':
-//             value = Message;
-//             break;
-//         case '_':
-//             value = Weather;
-//             break;
-//         case 'T':
-//             value = Telemetry;
-//             break;
-//         case '`':
-//             value = CurrentMicEData;
-//             break;
-//         default:
-//             value = Error;
-//         }
-//     }
-//     // cppcheck-suppress noExplicitConstructor
-//     constexpr APRSMessageType(Value aType) : value(aType) {}
-//     constexpr bool operator==(APRSMessageType a) const { return value == a.value; }
-//     constexpr bool operator!=(APRSMessageType a) const { return value != a.value; }
-//     explicit operator bool() const { return value != Error; }
-
-//     const char *toString() const
-//     {
-//         switch (value)
-//         {
-//         case PositionWithoutTimestamp:
-//             return "Position Without Timestamp";
-//         case PositionWithTimestamp:
-//             return "Position With Timestamp";
-//         case Status:
-//             return "Status";
-//         case Query:
-//             return "Query";
-//         case Message:
-//             return "Message";
-//         case Weather:
-//             return "Weather";
-//         case Telemetry:
-//             return "Telemetry";
-//         case CurrentMicEData:
-//             return "Current Mic-E Data";
-//         default:
-//             return "Error";
-//         }
-//     }
-
-// private:
-//     Value value = Error;
-// };
-
-// class APRSBody
-// {
-// public:
-//     APRSBody();
-//     virtual ~APRSBody();
-
-//     const char *getData();
-//     void setData(const char data[80]);
-
-//     virtual bool decode(char *message);
-//     virtual const char *encode();
-//     virtual void toString(char *str);
-
-// private:
-//     char _data[80]{0};
-// };
-
-// class APRSMsg
-// {
-// public:
-//     APRSMsg();
-//     APRSMsg(APRSMsg &otherMsg);
-//     APRSMsg &operator=(APRSMsg &otherMsg);
-//     virtual ~APRSMsg();
-
-//     const char *getSource();
-//     void setSource(const char source[8]);
-
-//     const char *getDestination();
-//     void setDestination(const char destination[8]);
-
-//     const char *getPath();
-//     void setPath(const char path[10]);
-
-//     APRSMessageType getType();
-
-//     const char *getRawBody();
-//     APRSBody *getBody();
-
-//     virtual bool decode(char *message);
-//     virtual void encode(char *message);
-//     virtual void toString(char *str);
-
-//     static void formatLat(char *lat, bool hp);
-//     static void formatLong(char *lng, bool hp);
-//     static void formatDao(char *lat, char *lng, char *dao);
-//     static void padding(unsigned int number, unsigned int width, char *output, int offset = 0);
-
-// private:
-//     char _source[8]{0};
-//     char _destination[8]{0};
-//     char _path[10]{0};
-//     APRSMessageType _type;
-//     char _rawBody[80]{0};
-//     APRSBody _body;
-// };
-
-// /*
-// APRS Configuration
-// - CALLSIGN
-// - TOCALL
-// - PATH
-// - SYMBOL
-// - OVERLAY
-// */
-// struct APRSConfig
-// {
-//     char CALLSIGN[8];
-//     char TOCALL[8];
-//     char PATH[10];
-//     char SYMBOL;
-//     char OVERLAY;
-// };
-
-// /*
-// APRS Telemetry Data
-// - lat
-// - lng
-// - alt
-// - spd
-// - hdg
-// - precision
-// - stage
-// - t0
-// - dao
-// */
-// struct APRSData
-// {
-//     char lat[16];
-//     char lng[16];
-//     char alt[10];
-//     char spd[4];
-//     char hdg[4];
-//     char precision;
-//     char stage[3];
-//     char t0[9];
-//     char dao[6];
-// };
-
-// #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
index 50727b56..7528b94b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
@@ -99,6 +99,11 @@ bool RFM69HCWNew::tx(const uint8_t *message, int len, int packetNum, bool lastPa
     radio.setHeaderId(packetNum);
     radio.setHeaderFlags(lastPacket ? 0 : RADIO_FLAG_MORE_DATA);
 
+    uint8_t temp[555];
+    memcpy(temp, message, len);
+    temp[len] = '\0';
+    printf("Len: %d - Message: %s\n", len, temp);
+
     return radio.send((uint8_t *)message, len);
 }
 
@@ -109,29 +114,20 @@ Note that the message may be incomplete, if the message is complete available()
 The received message will be truncated if it exceeds the maximum message length
 \return the received message with the length in the first byte or `nullptr` if no message is available
 */
-const uint8_t *RFM69HCWNew::rx()
+bool RFM69HCWNew::rx(uint8_t *recvbuf, uint8_t *len)
 {
     if (!radio.available())
-        return nullptr;
+        return false;
 
-    // Should be a message for us now
-    // Stores the length of the message in the first byte of the returned array
-    uint8_t receivedLen;
-    uint8_t receivedMsg[1 + maxDataLen];
-    if (!radio.recv(1 + receivedMsg, &(receivedLen)))
-        return nullptr;
+    if (!radio.recv(recvbuf, len))
+        return false;
 
-    receivedMsg[0] = receivedLen;
     rssi = radio.lastRssi();
-    return receivedMsg;
+    return true;
 }
 
-
-
 #pragma region External Send and Receive
 
-
-
 bool RFM69HCWNew::enqueueSend(const uint8_t *message, uint8_t len)
 {
     // fill up the buffer with the message. buffer is a circular queue.
@@ -145,7 +141,7 @@ bool RFM69HCWNew::enqueueSend(const uint8_t *message, uint8_t len)
         buffer[bufTail] = message[i];
         bufTail = (bufTail + 1) % RADIO_BUFFER_SIZE;
     }
-
+    printf("Length: %d\n", len);
     return true;
 }
 
@@ -156,7 +152,9 @@ bool RFM69HCWNew::enqueueSend(const char *message)
 
 bool RFM69HCWNew::enqueueSend(RadioMessage *message)
 {
-    return enqueueSend(message->encode(), message->length());
+    const uint8_t *encodedMessage = message->encode();
+    int messageLength = message->length();
+    return enqueueSend(encodedMessage, messageLength);
 }
 
 bool RFM69HCWNew::dequeueReceive(uint8_t *message)
@@ -211,8 +209,6 @@ bool RFM69HCWNew::dequeueReceive(RadioMessage *message)
 
 #pragma endregion
 
-
-
 bool RFM69HCWNew::update()
 {
     if (busy()) // radio is busy, cannot send or receive
@@ -228,39 +224,45 @@ bool RFM69HCWNew::update()
         if (remainingLength == 0) // start a new message
         {
             remainingLength = buffer[bufHead];
+            int len = min(remainingLength, maxDataLen);
             inc(bufHead);
-            tx(&buffer[bufHead], min(remainingLength, maxDataLen), 0, remainingLength <= maxDataLen);
+            tx(&buffer[bufHead], len, 0, remainingLength <= maxDataLen);
+            bufHead += len % RADIO_BUFFER_SIZE;
+            remainingLength -= len;
         }
         else // continue the message
         {
             int len = min(remainingLength, maxDataLen);
             remainingLength -= len;
             tx(&buffer[bufHead], len, radio.headerId() + 1, remainingLength <= maxDataLen);
+            bufHead += len % RADIO_BUFFER_SIZE;
         }
     }
     else // receiver
     {
-        const uint8_t *msg = rx();
-        if (msg == nullptr)
+        uint8_t msg[RH_RF69_MAX_MESSAGE_LEN];
+        uint8_t len = RH_RF69_MAX_MESSAGE_LEN;
+        if (!rx(msg, &len))
             return false;
         // store the message in the buffer
         if (radio.headerId() == 0)
         { // start of a new message
+            printf("new message\n");
             orignalBufferTail = bufTail;
-            buffer[bufTail] = msg[0]; // store the length of the message
+            buffer[bufTail] = len; // store the length of the message
             inc(bufTail);
-            for (int i = 1; i <= msg[0]; i++)
+            for (int i = 1; i <= len; i++)
             {
-                buffer[bufTail] = msg[i];
+                buffer[bufTail] = msg[i - 1];
                 inc(bufTail);
             }
         }
         else
         {
-            buffer[orignalBufferTail] += msg[0]; // update the length of the message
-            for (int i = 1; i <= msg[0]; i++)
+            buffer[orignalBufferTail] += len; // update the length of the message
+            for (int i = 1; i <= len; i++)
             {
-                buffer[bufTail] = msg[i];
+                buffer[bufTail] = msg[i - 1];
                 inc(bufTail);
             }
         }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h
index abfff3c1..6d2151bb 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h	
@@ -1,17 +1,9 @@
 #ifndef RFM69HCW_H
 #define RFM69HCW_H
 
-#if defined(ARDUINO)
-#define MSG_LEN 200
-#elif defined(TEENSYDUINO)
-#define MSG_LEN 10 * 1024
-#elif defined(RASPBERRY_PI)
-#define MSG_LEN 10 * 1024
-#endif
-
+#include "RH_RF69.h"
 #include "Radio.h"
 #include "APRSMsg.h"
-#include "RH_RF69.h"
 
 #define RADIO_BUFFER_SIZE 1024
 #define RADIO_FLAG_MORE_DATA 0b00000001 // custom flag to indicate more packets are still to be sent
@@ -38,6 +30,9 @@ struct RadioSettings
     int txPower = 20;
 };
 
+#ifndef RH_RF69_MAX_MESSAGE_LEN
+#define RH_RF69_MAX_MESSAGE_LEN 66
+#endif // !RH_RF69_MAX_MESSAGE_LEN
 
 class RFM69HCWNew : public Radio
 {
@@ -45,10 +40,10 @@ class RFM69HCWNew : public Radio
     RFM69HCWNew(const RadioSettings *s);
     bool init() override;
     bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) override; // designed to be used internally. cannot exceed 66 bytes including headers
-    const uint8_t *rx() override;
+    bool rx(uint8_t *recvbuf, uint8_t *len) override;
     bool busy();
-    bool enqueueSend(RadioMessage *message) override;         // designed to be used externally. can exceed 66 bytes.
-    bool enqueueSend(const char *message) override;           // designed to be used externally. can exceed 66 bytes.
+    bool enqueueSend(RadioMessage *message) override;               // designed to be used externally. can exceed 66 bytes.
+    bool enqueueSend(const char *message) override;                 // designed to be used externally. can exceed 66 bytes.
     bool enqueueSend(const uint8_t *message, uint8_t len) override; // designed to be used externally. can exceed 66 bytes.
 
     bool dequeueReceive(RadioMessage *message) override; // designed to be used externally. can exceed 66 bytes.
@@ -63,8 +58,10 @@ class RFM69HCWNew : public Radio
     // increment the specified index, wrapping around if necessary
     static void inc(int &i) { i = (i + 1) % RADIO_BUFFER_SIZE; }
 
-private:
+    uint8_t buffer[RADIO_BUFFER_SIZE];
     RH_RF69 radio;
+
+private:
     // all radios should have the same networkID
     const uint8_t networkID = 1;
     // default to the highest transmit power
@@ -80,12 +77,11 @@ class RFM69HCWNew : public Radio
     // stores queue of messages, with the length of the message as the first byte of each. no delimiter.
     // [6xxxxxx3xxx1x2xx]
     // Done to allow for messages that are not ascii encoded.
-    uint8_t buffer[RADIO_BUFFER_SIZE];
     int bufHead = 0;
     int bufTail = 0;
-    int remainingLength = 0; // how much message is left to send for transmitters
+    int remainingLength = 0;   // how much message is left to send for transmitters
     int orignalBufferTail = 0; // used to update the length of the message after recieving.
-    int maxDataLen = RH_RF69_MAX_MESSAGE_LEN;
+    const int maxDataLen = RH_RF69_MAX_MESSAGE_LEN;
 };
 
 #endif // RFM69HCW_H
\ No newline at end of file

From 4b1e095d84b5148be3cc94b72258fe7c8ab94cb1 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 15 May 2024 17:13:01 -0400
Subject: [PATCH 13/41] Ready to test

---
 .../Code/Teensy-Based Avionics/platformio.ini | 24 ++++++++++++---
 .../src/GroundStationReceiver/main.cpp        | 30 +++++++++++++++++++
 .../Teensy-Based Avionics/src/RFM69HCWNew.cpp |  2 ++
 .../Code/Teensy-Based Avionics/src/main.cpp   |  6 ++--
 4 files changed, 55 insertions(+), 7 deletions(-)
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index 43e5628c..a184a3ba 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -15,7 +15,7 @@ platform = teensy
 board = teensy41
 framework = arduino
 lib_extra_dirs = /lib/imumaths
-build_src_filter = +<*> -<StateTest/*> +<StateTest/TestUtils.h>
+build_src_filter = +<*> -<StateTest/*> +<StateTest/TestUtils.h> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
 lib_deps = 
@@ -33,7 +33,7 @@ platform = atmelavr
 board = uno
 framework = arduino
 lib_extra_dirs = /lib/imumaths
-build_src_filter = +<*> -<StateTest/*>
+build_src_filter = +<*> -<StateTest/*> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
 lib_deps = 
@@ -50,7 +50,7 @@ platform = teensy
 board = teensy41
 framework = arduino
 lib_extra_dirs = /lib/imumaths
-build_src_filter = +<*> -<main.cpp>
+build_src_filter = +<*> -<main.cpp> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
 lib_deps = 
@@ -63,4 +63,20 @@ check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
 
-
+[env:teensy41_GROUND_STATION_RECEIVER]
+platform = teensy
+board = teensy41
+framework = arduino
+lib_extra_dirs = /lib/imumaths
+build_src_filter = +<*> -<main.cpp> -<StateTest/*>
+build_flags = -Wno-unknown-pragmas
+lib_compat_mode = strict
+lib_deps = 
+	adafruit/Adafruit BMP3XX Library@^2.1.2
+	adafruit/RTClib @ ^2.1.1
+	adafruit/Adafruit BNO055@^1.6.3
+	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
+	https://github.com/DrewBrandt/BlinkBuzz.git
+check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
+check_flags =
+	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
new file mode 100644
index 00000000..dfcfa132
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -0,0 +1,30 @@
+#include "RFM69HCWNew.h"
+#include <Arduino.h>
+
+APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1"};
+APRSMsg msg(header);
+RadioSettings settings = {915.0, false, false, &hardware_spi, 10, 31, 32};
+RFM69HCWNew radio(&settings);
+void setup()
+{
+    if(!radio.init())
+        Serial.println("Radio failed to initialize");
+    else
+        Serial.println("Radio initialized");
+
+    
+}
+
+void loop()
+{
+    if(radio.update())
+    {
+        APRSMsg *m;
+        if(radio.dequeueReceive(m))
+        {
+            Serial.println("Received message:");
+            printf("Header: %s>%s,%s\n", m->header.CALLSIGN, m->header.TOCALL, m->header.PATH);
+            printf("Data: lat: %f, lng: %f, alt: %f, spd: %f, hdg: %f, stage: %d, orientation: %f %f %f\n", m->data.lat, m->data.lng, m->data.alt, m->data.spd, m->data.hdg, m->data.stage, m->data.orientation[0], m->data.orientation[1], m->data.orientation[2]);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
index 7528b94b..ea6498fc 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
@@ -266,6 +266,8 @@ bool RFM69HCWNew::update()
                 inc(bufTail);
             }
         }
+        if(radio.headerFlags() & RADIO_FLAG_MORE_DATA) // more data is coming
+            return false;
     }
     return true;
 }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 6cf37858..5ca6ac83 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -11,7 +11,7 @@
 BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
-RadioSettings settings = {433.775, true, false, &hardware_spi, 10, 31, 32};
+RadioSettings settings = {915.0, true, false, &hardware_spi, 10, 31, 32};
 RFM69HCWNew radio(&settings);
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
@@ -47,7 +47,7 @@ void setup()
     pinMode(BUZZER, OUTPUT); // its very loud during testing
     bb.onoff(BUZZER, 100, 4, 100);
     recordLogData(INFO, "Initializing Avionics System. 5 second delay to prevent unnecessary file generation.", TO_USB);
-    delay(5000);
+    // delay(5000);
 
     pinMode(BMP_ADDR_PIN, OUTPUT);
     digitalWrite(BMP_ADDR_PIN, HIGH);
@@ -109,7 +109,7 @@ void loop()
     radio.update();
     double time = millis();
 
-    if (time - radioTimer >= 500)
+    if (time - radioTimer >= 5000)
     {
         computer.transmit();
         radioTimer = time;

From d6e12b5fa79578bc16da963a71ad3f57bd7021e2 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 15 May 2024 18:42:36 -0400
Subject: [PATCH 14/41] test

---
 .../Teensy-Based Avionics/src/RFM69HCWNew.cpp | 26 ++++++++++++++-----
 .../Code/Teensy-Based Avionics/src/main.cpp   |  9 +++----
 2 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
index ea6498fc..b941d7ba 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
@@ -142,6 +142,7 @@ bool RFM69HCWNew::enqueueSend(const uint8_t *message, uint8_t len)
         bufTail = (bufTail + 1) % RADIO_BUFFER_SIZE;
     }
     printf("Length: %d\n", len);
+    printf("BufHead: %d, BufTail: %d\n", bufHead, bufTail);
     return true;
 }
 
@@ -224,19 +225,32 @@ bool RFM69HCWNew::update()
         if (remainingLength == 0) // start a new message
         {
             remainingLength = buffer[bufHead];
-            int len = min(remainingLength, maxDataLen);
+            int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN);
             inc(bufHead);
-            tx(&buffer[bufHead], len, 0, remainingLength <= maxDataLen);
-            bufHead += len % RADIO_BUFFER_SIZE;
+            uint8_t temp[RH_RF69_MAX_MESSAGE_LEN];
+            //load buffer
+            for(int i = 0; i < len; i++)
+            {
+                temp[i] = buffer[bufHead];
+                inc(bufHead);
+            }
+            tx(temp, len, 0, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
             remainingLength -= len;
         }
         else // continue the message
         {
-            int len = min(remainingLength, maxDataLen);
+            int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN);
             remainingLength -= len;
-            tx(&buffer[bufHead], len, radio.headerId() + 1, remainingLength <= maxDataLen);
-            bufHead += len % RADIO_BUFFER_SIZE;
+            uint8_t temp[RH_RF69_MAX_MESSAGE_LEN];
+            // load buffer
+            for (int i = 0; i < len; i++)
+            {
+                temp[i] = buffer[bufHead];
+                inc(bufHead);
+            }
+            tx(temp, len, radio.headerId() + 1, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
         }
+        '�'
     }
     else // receiver
     {
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 5ca6ac83..5f177cd4 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -26,8 +26,8 @@ PSRAM *ram;
 static double last = 0; // for better timing than "delay(100)"
 
 // BlinkBuzz setup
-int allowedPins[] = {LED_BUILTIN, BUZZER};
-BlinkBuzz bb(allowedPins, 2, true);
+int allowedPins[] = {LED_BUILTIN};
+BlinkBuzz bb(allowedPins, 1, true);
 extern unsigned long _heap_start;
 extern unsigned long _heap_end;
 extern char *__brkval;
@@ -44,7 +44,6 @@ void setup()
 {
 
     pinMode(LED_BUILTIN, OUTPUT);
-    pinMode(BUZZER, OUTPUT); // its very loud during testing
     bb.onoff(BUZZER, 100, 4, 100);
     recordLogData(INFO, "Initializing Avionics System. 5 second delay to prevent unnecessary file generation.", TO_USB);
     // delay(5000);
@@ -109,7 +108,7 @@ void loop()
     radio.update();
     double time = millis();
 
-    if (time - radioTimer >= 5000)
+    if (time - radioTimer >= 1000)
     {
         computer.transmit();
         radioTimer = time;
@@ -119,7 +118,7 @@ void loop()
 
     last = time;
     computer.updateState();
-    recordLogData(INFO, computer.getStateString(), TO_USB);
+    //recordLogData(INFO, computer.getStateString(), TO_USB);
     // RASPBERRY PI TURN ON
     if (time / 1000.0 > 810)
     {

From 08f10b3f3591e61a9cd77680536fb2c53bc38b61 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 15 May 2024 18:42:52 -0400
Subject: [PATCH 15/41] test

---
 .../src/GroundStationReceiver/main.cpp          | 12 ++++++------
 .../Teensy-Based Avionics/src/RFM69HCWNew.cpp   | 17 ++++++++++-------
 2 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index dfcfa132..f1886aee 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -1,12 +1,13 @@
 #include "RFM69HCWNew.h"
 #include <Arduino.h>
 
-APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1"};
+APRSHeader header;
 APRSMsg msg(header);
 RadioSettings settings = {915.0, false, false, &hardware_spi, 10, 31, 32};
 RFM69HCWNew radio(&settings);
 void setup()
 {
+    delay(2000);
     if(!radio.init())
         Serial.println("Radio failed to initialize");
     else
@@ -19,12 +20,11 @@ void loop()
 {
     if(radio.update())
     {
-        APRSMsg *m;
-        if(radio.dequeueReceive(m))
+        if(radio.dequeueReceive(&msg))
         {
-            Serial.println("Received message:");
-            printf("Header: %s>%s,%s\n", m->header.CALLSIGN, m->header.TOCALL, m->header.PATH);
-            printf("Data: lat: %f, lng: %f, alt: %f, spd: %f, hdg: %f, stage: %d, orientation: %f %f %f\n", m->data.lat, m->data.lng, m->data.alt, m->data.spd, m->data.hdg, m->data.stage, m->data.orientation[0], m->data.orientation[1], m->data.orientation[2]);
+            printf("Received message (%d):", radio.RSSI());
+            printf("\nHeader: %s>%s,%s:\n", msg.header.CALLSIGN, msg.header.TOCALL, msg.header.PATH);
+            printf("Data: %f, %f, %f, %f, %f, %d, %f, %f, %f\n", msg.data.lat, msg.data.lng, msg.data.alt, msg.data.spd, msg.data.hdg, msg.data.stage, msg.data.orientation.x(), msg.data.orientation.y(), msg.data.orientation.z());
         }
     }
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
index ea6498fc..83e25cc0 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
@@ -116,9 +116,6 @@ The received message will be truncated if it exceeds the maximum message length
 */
 bool RFM69HCWNew::rx(uint8_t *recvbuf, uint8_t *len)
 {
-    if (!radio.available())
-        return false;
-
     if (!radio.recv(recvbuf, len))
         return false;
 
@@ -169,6 +166,7 @@ bool RFM69HCWNew::dequeueReceive(uint8_t *message)
     for (int i = 0; i < len && bufHead != bufTail; i++)
     {
         message[i] = buffer[bufHead];
+        printf("%c", message[i]);
         inc(bufHead);
     }
     return true;
@@ -201,7 +199,6 @@ bool RFM69HCWNew::dequeueReceive(RadioMessage *message)
     uint8_t *msg = new uint8_t[len];
     if (!dequeueReceive(msg))
         return false;
-
     message->decode(msg, len);
     delete[] msg;
     return true;
@@ -242,8 +239,9 @@ bool RFM69HCWNew::update()
     {
         uint8_t msg[RH_RF69_MAX_MESSAGE_LEN];
         uint8_t len = RH_RF69_MAX_MESSAGE_LEN;
-        if (!rx(msg, &len))
+        if (!rx(msg, &len)){
             return false;
+        }
         // store the message in the buffer
         if (radio.headerId() == 0)
         { // start of a new message
@@ -256,9 +254,11 @@ bool RFM69HCWNew::update()
                 buffer[bufTail] = msg[i - 1];
                 inc(bufTail);
             }
+            printf("Length: %d\n", len);
         }
         else
         {
+            printf("continued message\n");
             buffer[orignalBufferTail] += len; // update the length of the message
             for (int i = 1; i <= len; i++)
             {
@@ -266,9 +266,12 @@ bool RFM69HCWNew::update()
                 inc(bufTail);
             }
         }
-        if(radio.headerFlags() & RADIO_FLAG_MORE_DATA) // more data is coming
+        if(radio.headerFlags() & RADIO_FLAG_MORE_DATA) {// more data is coming
+            printf("more data\n");
             return false;
+        }
     }
+    printf("done\n");
     return true;
 }
 
@@ -280,7 +283,7 @@ bool RFM69HCWNew::update()
 bool RFM69HCWNew::busy()
 {
     RHGenericDriver::RHMode mode = this->radio.mode();
-    if (mode == RHGenericDriver::RHModeTx || mode == RHGenericDriver::RHModeRx)
+    if (mode == RHGenericDriver::RHModeTx)
         return true;
     return false;
 }

From 9ee3b4f7a382e0d0630b3ccd1351c87d38301465 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 00:17:23 -0400
Subject: [PATCH 16/41] Clean up and documentation

---
 .../Teensy-Based Avionics/include/Radio.h     |   4 +-
 .../Teensy-Based Avionics/src/APRSMsg.cpp     |  29 +-
 .../Code/Teensy-Based Avionics/src/APRSMsg.h  |  14 +-
 .../src/GroundStationReceiver/main.cpp        |   4 +-
 .../src/{RFM69HCWNew.cpp => RFM69HCW.cpp}     | 247 ++++++++++--------
 .../src/{RFM69HCWNew.h => RFM69HCW.h}         |  13 +-
 .../Code/Teensy-Based Avionics/src/State.cpp  |   4 +-
 .../Code/Teensy-Based Avionics/src/main.cpp   |   4 +-
 8 files changed, 177 insertions(+), 142 deletions(-)
 rename Spaceport/23-24/Code/Teensy-Based Avionics/src/{RFM69HCWNew.cpp => RFM69HCW.cpp} (51%)
 rename Spaceport/23-24/Code/Teensy-Based Avionics/src/{RFM69HCWNew.h => RFM69HCW.h} (92%)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h
index 64eba141..5e7c80d1 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
@@ -31,11 +31,11 @@ enum EncodingType
 class RadioMessage
 {
 public:
-    virtual uint8_t *encode() = 0;                            // use stored variables to encode a message
+    virtual bool encode(uint8_t *message) = 0;                            // use stored variables to encode a message
     virtual bool decode(const uint8_t *message, int len) = 0; // use `message` to set stored variables
     virtual int length() const = 0;                           // return the length of the message
     virtual ~RadioMessage(){};
-
+    static constexpr int MAX_MESSAGE_LEN = 255;
 protected:
     uint8_t len;
 };
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index 2953353b..f6f34e0d 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -7,25 +7,24 @@ APRSMsg::APRSMsg(APRSHeader &header)
     this->header = header;
 }
 
-uint8_t *APRSMsg::encode()
+bool APRSMsg::encode(uint8_t *message)
 {
-    char *msg = new char[MAX_ALLOWED_MSG_LEN];
-    int c = encodeHeader(msg);
-    encodeData(msg, c);
-    return (uint8_t *)msg;
+    int c = encodeHeader(message);
+    encodeData(message, c);
+    return true;
 }
 
 bool APRSMsg::decode(const uint8_t *message, int len)
 {
     // message needs to be decoded and values reinserted into the header and data structs
-    int c = decodeHeader((char *)message, len);
-    decodeData((char *)message, len, c);
+    int c = decodeHeader((uint8_t *)message, len);
+    decodeData((uint8_t *)message, len, c);
     return false;
 }
 
 #pragma region Encode Helpers
 
-int APRSMsg::encodeHeader(char *message) const
+int APRSMsg::encodeHeader(uint8_t *message) const
 {
     // format: CALLSIGN>TOCALL,PATH:
     int cursor = 0;
@@ -47,7 +46,7 @@ int APRSMsg::encodeHeader(char *message) const
     return cursor;
 }
 
-void APRSMsg::encodeData(char *message, int cursor)
+void APRSMsg::encodeData(uint8_t *message, int cursor)
 {
     /* Small Aircraft symbol ( /' ) probably better than Jogger symbol ( /[ ) lol.
      I'm going to use the Overlayed Aircraft symbol ( \^ ) for now, with the overlay of 'M' for UMD ( M^ ).
@@ -83,7 +82,7 @@ void APRSMsg::encodeData(char *message, int cursor)
     encodeBase91(message, cursor, (int)(data.alt * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
 
     // stage and orientation
-    message[cursor++] = (char)(data.stage + (int)'0');                                 // stage is just written in plaintext.
+    message[cursor++] = (uint8_t)(data.stage + (int)'0');                                 // stage is just written in plaintext.
     encodeBase91(message, cursor, (int)(data.orientation.x() * ORIENTATION_SCALE), 2); // same as course
     encodeBase91(message, cursor, (int)(data.orientation.y() * ORIENTATION_SCALE), 2); // same as course
     encodeBase91(message, cursor, (int)(data.orientation.z() * ORIENTATION_SCALE), 2); // same as course
@@ -95,7 +94,7 @@ void APRSMsg::encodeData(char *message, int cursor)
 
 #pragma region Decode Helpers
 
-int APRSMsg::decodeHeader(const char *message, int len)
+int APRSMsg::decodeHeader(const uint8_t *message, int len)
 {
     // format: CALLSIGN>TOCALL,PATH:
     int cursor = 0;
@@ -120,7 +119,7 @@ int APRSMsg::decodeHeader(const char *message, int len)
     return cursor;
 }
 
-void APRSMsg::decodeData(const char *message, int len, int cursor)
+void APRSMsg::decodeData(const uint8_t *message, int len, int cursor)
 {
     // lat and lng
     cursor++; // skip overlay
@@ -153,17 +152,17 @@ void APRSMsg::decodeData(const char *message, int len, int cursor)
 
 #pragma region Base91 Encoding
 
-void APRSMsg::encodeBase91(char *message, int &cursor, int value, int precision) const
+void APRSMsg::encodeBase91(uint8_t *message, int &cursor, int value, int precision) const
 {
     for (int i = precision - 1; i >= 0; i--)
     {
         int divisor = pow(91, i);
-        message[cursor++] = (char)((int)(value / divisor) + 33);
+        message[cursor++] = (uint8_t)((int)(value / divisor) + 33);
         value %= divisor;
     }
 }
 
-void APRSMsg::decodeBase91(const char *message, int &cursor, double &value, int precision) const
+void APRSMsg::decodeBase91(const uint8_t *message, int &cursor, double &value, int precision) const
 {
     value = 0;
     for (int i = 0; i < precision; i++)
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
index a8001939..50f3fc30 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
@@ -59,20 +59,20 @@ class APRSMsg : public RadioMessage
     virtual ~APRSMsg(){};
 
     bool decode(const uint8_t *message, int len) override;
-    uint8_t *encode() override;
+    bool encode(uint8_t *message) override;
     int length() const override { return this->len; }
     APRSData data;
     APRSHeader header;
 
 private:
-    int encodeHeader(char *message) const;
-    void encodeData(char *message, int cursor);
+    int encodeHeader(uint8_t *message) const;
+    void encodeData(uint8_t *message, int cursor);
 
-    int decodeHeader(const char *message, int len);
-    void decodeData(const char *message, int len, int cursor);
+    int decodeHeader(const uint8_t *message, int len);
+    void decodeData(const uint8_t *message, int len, int cursor);
 
-    void encodeBase91(char *message, int &cursor, int value, int precision) const;
-    void decodeBase91(const char *message, int &cursor, double &value, int precision) const;
+    void encodeBase91(uint8_t *message, int &cursor, int value, int precision) const;
+    void decodeBase91(const uint8_t *message, int &cursor, double &value, int precision) const;
 
     // Scale factors for encoding/decoding ignoring lat/long
     const double ALT_SCALE = (pow(91, 2) / 15000.0);       // (91^2/15000) scale to fit in 2 base91 characters
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index f1886aee..53658a4b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -1,10 +1,10 @@
-#include "RFM69HCWNew.h"
+#include "RFM69HCW.h"
 #include <Arduino.h>
 
 APRSHeader header;
 APRSMsg msg(header);
 RadioSettings settings = {915.0, false, false, &hardware_spi, 10, 31, 32};
-RFM69HCWNew radio(&settings);
+RFM69HCW radio(&settings);
 void setup()
 {
     delay(2000);
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
similarity index 51%
rename from Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp
rename to Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
index b2e7b54d..7ff5280d 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
@@ -1,4 +1,4 @@
-#include "RFM69HCWNew.h"
+#include "RFM69HCW.h"
 
 #ifndef max
 int max(int a, int b);
@@ -15,11 +15,10 @@ Constructor
     - highBitrate true for 300kbps, false for 4.8kbps
     - config with APRS settings
 */
-RFM69HCWNew::RFM69HCWNew(const RadioSettings *s) : radio(s->cs, s->irq, *s->spi)
+RFM69HCW::RFM69HCW(const RadioSettings *s) : radio(s->cs, s->irq, *s->spi)
 {
 
     this->settings = *s;
-    this->avail = false;
 
     if (this->settings.transmitter)
     {
@@ -38,7 +37,7 @@ RFM69HCWNew::RFM69HCWNew(const RadioSettings *s) : radio(s->cs, s->irq, *s->spi)
 /*
 Initializer to call in setup
 */
-bool RFM69HCWNew::init()
+bool RFM69HCW::init()
 {
     // reset the radio
     pinMode(settings.rst, OUTPUT);
@@ -86,35 +85,34 @@ bool RFM69HCWNew::init()
 
 /*
 Most basic transmission method, simply transmits the string without modification
-    \param message is the message to be transmitted must be less than maxDataLen
+    \param message is the message to be transmitted, must be shorter than RH_RF69_MAX_MESSAGE_LEN
     \param len optional length of message, required if message is not a null terminated string
+    \param packetNum optional packet number of the message
+    \param lastPacket optional is this the last packet of a larger message or the only packet?
+    \return `true` if the message was sent, `false` otherwise
 */
-bool RFM69HCWNew::tx(const uint8_t *message, int len, int packetNum, bool lastPacket)
+bool RFM69HCW::tx(const uint8_t *message, int len, int packetNum, bool lastPacket)
 {
     // figure out how long the message should be
     if (len == -1)
-    {
         len = strlen((char *)message);
-    }
+    
     radio.setHeaderId(packetNum);
     radio.setHeaderFlags(lastPacket ? 0 : RADIO_FLAG_MORE_DATA);
 
-    uint8_t temp[555];
-    memcpy(temp, message, len);
-    temp[len] = '\0';
-    printf("Len: %d - Message: %s\n", len, temp);
-
     return radio.send((uint8_t *)message, len);
 }
 
 /*
-Receive function
+Receive function -
 Most basic receiving method, simply checks for a message and returns it
-Note that the message may be incomplete, if the message is complete available() will return true
-The received message will be truncated if it exceeds the maximum message length
-\return the received message with the length in the first byte or `nullptr` if no message is available
+Note that the message may be incomplete, if the message is complete update() will return true
+The received message will be truncated if it exceeds the maximum message length of the radio. Also updates the RSSI.
+    \param recvbuf the buffer to store the received message
+    \param len the length of the received message (updated by the function)
+    \return `true` if a message was received, `false` otherwise
 */
-bool RFM69HCWNew::rx(uint8_t *recvbuf, uint8_t *len)
+bool RFM69HCW::rx(uint8_t *recvbuf, uint8_t *len)
 {
     if (!radio.recv(recvbuf, len))
         return false;
@@ -125,37 +123,63 @@ bool RFM69HCWNew::rx(uint8_t *recvbuf, uint8_t *len)
 
 #pragma region External Send and Receive
 
-bool RFM69HCWNew::enqueueSend(const uint8_t *message, uint8_t len)
+/*
+Enqueue a message into the buffer
+    \param message the uint8_t[] to enqueue
+    \param len the length of the message
+    \return `true` if the message was enqueued, `false` otherwise
+*/
+bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
 {
     // fill up the buffer with the message. buffer is a circular queue.
+    int originalTail = bufTail;
     buffer[bufTail] = len;
-    bufTail = (bufTail + 1) % RADIO_BUFFER_SIZE;
-    for (int i = 0; i < len; i++)
+    inc(bufTail);
+
+    for (int i = 0; i < len; i++) // same algorithm as copyToBuffer but with a length check
     {
-        if (bufTail == bufHead) // buffer is full
+        if (bufTail == bufHead)
+        {                           // buffer is full
+            bufTail = originalTail; // reset the tail (no message was added)
             return false;
+        }
 
         buffer[bufTail] = message[i];
-        bufTail = (bufTail + 1) % RADIO_BUFFER_SIZE;
+        inc(bufTail);
     }
-    printf("Length: %d\n", len);
-    printf("BufHead: %d, BufTail: %d\n", bufHead, bufTail);
     return true;
 }
 
-bool RFM69HCWNew::enqueueSend(const char *message)
+/*
+Enqueue a message into the buffer
+    \param message the null terminated string to enqueue
+    \return `true` if the message was enqueued, `false` otherwise
+*/
+bool RFM69HCW::enqueueSend(const char *message)
 {
     return enqueueSend((uint8_t *)message, strlen(message));
 }
-
-bool RFM69HCWNew::enqueueSend(RadioMessage *message)
+/*
+Encode the message and enqueue it in the buffer
+    \param message the RadioMessage to encode and enqueue
+    \return `true` if the message was encoded and enqueued, `false` otherwise
+*/
+bool RFM69HCW::enqueueSend(RadioMessage *message)
 {
-    const uint8_t *encodedMessage = message->encode();
-    int messageLength = message->length();
-    return enqueueSend(encodedMessage, messageLength);
+    uint8_t encodedMessage[RadioMessage::MAX_MESSAGE_LEN];
+    if (message->encode(encodedMessage))
+    {
+        int messageLength = message->length();
+        return enqueueSend(encodedMessage, messageLength);
+    }
+    return false;
 }
-
-bool RFM69HCWNew::dequeueReceive(uint8_t *message)
+/*
+Dequeue a message from the buffer and decode it into a uint8_t[].
+    \param message the uint8_t[] to copy the recieved message into
+    \return `true` if a message was copied, `false` otherwise
+*/
+bool RFM69HCW::dequeueReceive(uint8_t *message)
 {
     if (bufHead == bufTail) // buffer is empty
         return false;
@@ -164,22 +188,22 @@ bool RFM69HCWNew::dequeueReceive(uint8_t *message)
     int len = buffer[bufHead];
     inc(bufHead);
     // Empty the buffer up to the length of the expected message
-    for (int i = 0; i < len && bufHead != bufTail; i++)
-    {
-        message[i] = buffer[bufHead];
-        printf("%c", message[i]);
-        inc(bufHead);
-    }
+    copyFromBuffer(message, len);
     return true;
 }
 
-bool RFM69HCWNew::dequeueReceive(char *message)
+/*
+Dequeue a message from the buffer and decode it into a char[]. WIll break if the recieved message is not a null terminated string.
+    \param message the char[] to copy the recieved message into
+    \return `true` if a message was copied, `false` otherwise
+*/
+bool RFM69HCW::dequeueReceive(char *message)
 {
-    if (bufHead == bufTail)
+    if (bufHead == bufTail) // buffer is empty
         return false;
 
     // Empty the buffer up to the first null terminator
-    inc(bufHead); // skip the length byte
+    inc(bufHead); // skip the length byte, should be null terminated
     int i = 0;
     for (; buffer[bufHead] != '\0' && bufHead != bufTail; i++)
     {
@@ -191,102 +215,93 @@ bool RFM69HCWNew::dequeueReceive(char *message)
     return true;
 }
 
-bool RFM69HCWNew::dequeueReceive(RadioMessage *message)
+/*
+Dequeue a message from the buffer and decode it into a RadioMessage
+    \param message the RadioMessage to give the encoded text to for decoding
+    \return `true` if a message was decoded, `false` if no message was decoded
+*/
+bool RFM69HCW::dequeueReceive(RadioMessage *message)
 {
-    if (bufHead == bufTail)
+    if (bufHead == bufTail) // buffer is empty
         return false;
 
     uint8_t len = buffer[bufHead];
     uint8_t *msg = new uint8_t[len];
-    if (!dequeueReceive(msg))
-        return false;
-    message->decode(msg, len);
+    bool worked = false;
+    if (dequeueReceive(msg))           // get the message from the buffer
+        if (message->decode(msg, len)) // decode the message
+            worked = true;
+
     delete[] msg;
-    return true;
+    return worked;
 }
 
 #pragma endregion
 
-bool RFM69HCWNew::update()
+/*
+Update function
+    - checks if the radio is busy
+    - if the radio is a transmitter, sends (partially sends, if it's too long) the next queued message in the buffer
+    - if the radio is a receiver, receives the next message and stores it in the buffer
+    \return TRANSMITTER: `true` if the message was sent, `false` if the message was not sent.
+    \return RECIEVER: `true` if the message was received in full, `false` if nothing received or message is incomplete.
+*/
+bool RFM69HCW::update()
 {
     if (busy()) // radio is busy, cannot send or receive
         return false;
+
+    // transmitter------------------------------------------------------
     if (settings.transmitter)
     {
-        if (bufHead == bufTail)
-        { // buffer is empty, nothing to send
+        if (bufHead == bufTail) // buffer is empty, nothing to send
+        {
             remainingLength = 0;
             return false;
         }
+
         // send the message
+        int packetNum;
         if (remainingLength == 0) // start a new message
         {
-            remainingLength = buffer[bufHead];
-            int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN);
+            remainingLength = buffer[bufHead]; // get the length of the message from the first byte of the message
             inc(bufHead);
-            uint8_t temp[RH_RF69_MAX_MESSAGE_LEN];
-            //load buffer
-            for(int i = 0; i < len; i++)
-            {
-                temp[i] = buffer[bufHead];
-                inc(bufHead);
-            }
-            tx(temp, len, 0, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
-            remainingLength -= len;
+            packetNum = 0;
         }
-        else // continue the message
-        {
-            int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN);
-            remainingLength -= len;
-            uint8_t temp[RH_RF69_MAX_MESSAGE_LEN];
-            // load buffer
-            for (int i = 0; i < len; i++)
-            {
-                temp[i] = buffer[bufHead];
-                inc(bufHead);
-            }
-            tx(temp, len, radio.headerId() + 1, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
-        }
-        '�'
+        else
+            packetNum = radio.headerId() + 1;
+
+        // load message to tx
+        int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN); // how much of the message to send
+        uint8_t msgToTransmit[RH_RF69_MAX_MESSAGE_LEN];
+        copyFromBuffer(msgToTransmit, len);
+        bool b = tx(msgToTransmit, len, packetNum, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
+        remainingLength -= len;
+        return b;
     }
-    else // receiver
+    // receiver------------------------------------------------------
+    else
     {
         uint8_t msg[RH_RF69_MAX_MESSAGE_LEN];
         uint8_t len = RH_RF69_MAX_MESSAGE_LEN;
-        if (!rx(msg, &len)){
-            return false;
-        }
+        if (!rx(msg, &len))
+            return false; // no new message available
+
         // store the message in the buffer
-        if (radio.headerId() == 0)
-        { // start of a new message
-            printf("new message\n");
+        if (radio.headerId() == 0) // start of a new message
+        {
             orignalBufferTail = bufTail;
             buffer[bufTail] = len; // store the length of the message
             inc(bufTail);
-            for (int i = 1; i <= len; i++)
-            {
-                buffer[bufTail] = msg[i - 1];
-                inc(bufTail);
-            }
-            printf("Length: %d\n", len);
-        }
-        else
-        {
-            printf("continued message\n");
-            buffer[orignalBufferTail] += len; // update the length of the message
-            for (int i = 1; i <= len; i++)
-            {
-                buffer[bufTail] = msg[i - 1];
-                inc(bufTail);
-            }
         }
-        if(radio.headerFlags() & RADIO_FLAG_MORE_DATA) {// more data is coming
-            printf("more data\n");
+        else                                  // continuing message
+            buffer[orignalBufferTail] += len; // update the total length of the message
+
+        copyToBuffer(msg, len);
+        if (radio.headerFlags() & RADIO_FLAG_MORE_DATA) // more data is coming, should not process yet
             return false;
-        }
     }
-    printf("done\n");
-    return true;
+    return true; // message was sent or received (in full)
 }
 
 #pragma region Helpers
@@ -294,7 +309,7 @@ bool RFM69HCWNew::update()
 /*
 \return `true` if the radio is currently transmitting or receiving a message
 */
-bool RFM69HCWNew::busy()
+bool RFM69HCW::busy()
 {
     RHGenericDriver::RHMode mode = this->radio.mode();
     if (mode == RHGenericDriver::RHModeTx)
@@ -304,13 +319,13 @@ bool RFM69HCWNew::busy()
 /*
 Returns the RSSI of the last message
 */
-int RFM69HCWNew::RSSI()
+int RFM69HCW::RSSI()
 {
     return rssi;
 }
 
 // probably broken
-void RFM69HCWNew::set300KBPSMode()
+void RFM69HCW::set300KBPSMode()
 {
     this->radio.spiWrite(0x03, 0x00);       // REG_BITRATEMSB: 300kbps (0x006B, see DS p20)
     this->radio.spiWrite(0x04, 0x6B);       // REG_BITRATELSB: 300kbps (0x006B, see DS p20)
@@ -342,4 +357,22 @@ int min(int a, int b)
 }
 #endif
 
+void RFM69HCW::copyToBuffer(const uint8_t *message, int len)
+{
+    for (int i = 0; i < len; i++)
+    {
+        buffer[bufTail] = message[i];
+        inc(bufTail);
+    }
+}
+
+void RFM69HCW::copyFromBuffer(uint8_t *message, int len)
+{
+    for (int i = 0; i < len; i++)
+    {
+        message[i] = buffer[bufHead];
+        inc(bufHead);
+    }
+}
+
 #pragma endregion
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
similarity index 92%
rename from Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h
rename to Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
index 6d2151bb..12c78202 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCWNew.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
@@ -34,14 +34,15 @@ struct RadioSettings
 #define RH_RF69_MAX_MESSAGE_LEN 66
 #endif // !RH_RF69_MAX_MESSAGE_LEN
 
-class RFM69HCWNew : public Radio
+class RFM69HCW : public Radio
 {
 public:
-    RFM69HCWNew(const RadioSettings *s);
+    RFM69HCW(const RadioSettings *s);
     bool init() override;
     bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) override; // designed to be used internally. cannot exceed 66 bytes including headers
     bool rx(uint8_t *recvbuf, uint8_t *len) override;
     bool busy();
+
     bool enqueueSend(RadioMessage *message) override;               // designed to be used externally. can exceed 66 bytes.
     bool enqueueSend(const char *message) override;                 // designed to be used externally. can exceed 66 bytes.
     bool enqueueSend(const uint8_t *message, uint8_t len) override; // designed to be used externally. can exceed 66 bytes.
@@ -49,6 +50,7 @@ class RFM69HCWNew : public Radio
     bool dequeueReceive(RadioMessage *message) override; // designed to be used externally. can exceed 66 bytes.
     bool dequeueReceive(char *message) override;         // designed to be used externally. can exceed 66 bytes.
     bool dequeueReceive(uint8_t *message) override;      // designed to be used externally. can exceed 66 bytes.
+    
     int RSSI() override;
     void set300KBPSMode();
     bool update();
@@ -58,6 +60,7 @@ class RFM69HCWNew : public Radio
     // increment the specified index, wrapping around if necessary
     static void inc(int &i) { i = (i + 1) % RADIO_BUFFER_SIZE; }
 
+    //public during debugging
     uint8_t buffer[RADIO_BUFFER_SIZE];
     RH_RF69 radio;
 
@@ -70,7 +73,6 @@ class RFM69HCWNew : public Radio
     RadioSettings settings;
     int thisAddr;
     int toAddr;
-    bool avail;
     int rssi;
     bool initialized = false;
 
@@ -81,7 +83,10 @@ class RFM69HCWNew : public Radio
     int bufTail = 0;
     int remainingLength = 0;   // how much message is left to send for transmitters
     int orignalBufferTail = 0; // used to update the length of the message after recieving.
-    const int maxDataLen = RH_RF69_MAX_MESSAGE_LEN;
+
+    void copyToBuffer(const uint8_t *message, int len);
+    void copyFromBuffer(uint8_t *message, int len);
+
 };
 
 #endif // RFM69HCW_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index 1558d460..e90bc274 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -486,8 +486,6 @@ bool State::sensorOK(const Sensor *sensor)
 
 bool State::transmit()
 {
-    char data[200];
-    snprintf(data, 200, "%f,%f,%i,%i,%i,%c,%i,%s", sensorOK(gps) ? gps->getPos().x() : 0, sensorOK(gps) ? gps->getPos().y() : 0, sensorOK(baro) ? (int)baro->getRelAltFt() : 0, (int)(baroVelocity * 3.28), (int)headingAngle, 'H', stageNumber, launchTimeOfDay);
     aprs.data.lat = sensorOK(gps) ? gps->getPos().x() : 0;
     aprs.data.lng = sensorOK(gps) ? gps->getPos().y() : 0;
     aprs.data.alt = sensorOK(baro) ? baro->getRelAltFt() : 0;
@@ -495,7 +493,7 @@ bool State::transmit()
     aprs.data.spd = (int)(baroVelocity * 3.28);
     aprs.data.stage = stageNumber;
     aprs.data.orientation = imu->getOrientation().toEuler();
-    
+    aprs.data.orientation.toDegrees();
     radio->enqueueSend(&aprs);
     return true;
 }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 5f177cd4..10ddaef3 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -4,7 +4,7 @@
 #include "BNO055.h"
 #include "MAX_M10S.h"
 #include "DS3231.h"
-#include "RFM69HCWNew.h"
+#include "RFM69HCW.h"
 #include "RecordData.h"
 #include "BlinkBuzz.h"
 
@@ -12,7 +12,7 @@ BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 RadioSettings settings = {915.0, true, false, &hardware_spi, 10, 31, 32};
-RFM69HCWNew radio(&settings);
+RFM69HCW radio(&settings);
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
 

From e64af2d485e0ffa03fbcc120d1772b0bf8a7e5fd Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 01:07:53 -0400
Subject: [PATCH 17/41] adjusted lib deps and added encoded serial ouput

---
 .../Code/Teensy-Based Avionics/platformio.ini |  8 +--
 .../Teensy-Based Avionics/src/APRSMsg.cpp     |  1 +
 .../EncodeAPRSForSerial.h                     | 59 +++++++++++++++++++
 .../src/GroundStationReceiver/main.cpp        | 16 ++---
 4 files changed, 70 insertions(+), 14 deletions(-)
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index a184a3ba..891b1c93 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -68,15 +68,11 @@ platform = teensy
 board = teensy41
 framework = arduino
 lib_extra_dirs = /lib/imumaths
-build_src_filter = +<*> -<main.cpp> -<StateTest/*>
+build_src_filter = -<*> +<GroundStationReceiver/*> +<include/Radio.h> +<APRSMsg.h> +<APRSMsg.cpp> +<RFM69HCW.h> +<RFM69HCW.cpp> +<lib/RadioHead/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
 lib_deps = 
-	adafruit/Adafruit BMP3XX Library@^2.1.2
-	adafruit/RTClib @ ^2.1.1
-	adafruit/Adafruit BNO055@^1.6.3
-	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
-	https://github.com/DrewBrandt/BlinkBuzz.git
+	adafruit/Adafruit BNO055@^1.6.3 ; For the imumaths library
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index f6f34e0d..e970a814 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -70,6 +70,7 @@ void APRSMsg::encodeData(uint8_t *message, int cursor)
     */
 
     // lat and lng
+    message[cursor++] = '!';                                          // Message type (position without timestamp)
     message[cursor++] = 'M';                                          // overlay
     encodeBase91(message, cursor, (int)380926 * (90 - data.lat), 4);  // 380926 is the magic number from the APRS spec (page 38)
     encodeBase91(message, cursor, (int)190463 * (180 + data.lng), 4); // 190463 is the magic number from the APRS spec (page 38)
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
new file mode 100644
index 00000000..08ac9a96
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -0,0 +1,59 @@
+#ifndef ENCODE_APRS_FOR_SERIAL_H
+#define ENCODE_APRS_FOR_SERIAL_H
+
+#include "APRSMsg.h"
+
+namespace aprsToSerial
+{
+    const char OVERLAY = '/';
+    const char SYMBOL = '['; // Jogger symbol. I disagree with this usage.
+
+    /*
+     * Encodes an APRS message into a string for serial transmission
+     *   \param msg The APRS message to encode
+     *   \param buffer The buffer to write the encoded message to
+     *   \param buffer_size The size of the buffer
+     *   \return void
+     */
+    void encodeAPRSForSerial(const APRSMsg &msg, char *buffer, size_t buffer_size, int RSSI)
+    {
+        char prefix[8] = "s\r\n";
+        char header[100];
+        snprintf(header, 100, "Source:%s,Destination:%s,Path:%s,Type:%s,", msg.header.CALLSIGN, msg.header.TOCALL, msg.header.PATH, "Position Without Timestamp");
+        char latLong[20];
+        encodeLatLong(msg, latLong, 20);
+        char altitude[10];
+        encodeAltitude(msg, altitude, 10);
+
+        char suffix[10] = "e\r\n";
+        // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx,RSSI:RSSI\r\ne\r\n
+        snprintf(buffer, buffer_size, "%s%sData:!%s[%03d/%03d/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
+    }
+
+    void encodeLatLong(const APRSMsg &msg, char *buffer, size_t buffer_size)
+    {
+        int lat_deg = (int)abs(msg.data.lat);
+        double lat_min = ((msg.data.lat - lat_deg) * 60);
+        char lat_dir = (msg.data.lat < 0) ? 'S' : 'N';
+
+        int long_deg = (int)abs(msg.data.lng);
+        double long_min = ((msg.data.lng - long_deg) * 60);
+        char long_dir = (msg.data.lng < 0) ? 'W' : 'E';
+
+        // format: DDMM.MM[NS][OVERLAY]DDDMM.MM[WE]
+        snprintf(buffer, buffer_size, "%02d%05.02f%c%c%03d%05.02f%c", lat_deg, lat_min, lat_dir, OVERLAY, long_deg, long_min, long_dir);
+
+    }
+
+    void encodeAltitude(const APRSMsg &msg, char *buffer, size_t buffer_size)
+    {
+        // format: A=DDDDDD
+        int alt = (int)msg.data.alt;
+        if(alt < 0)
+            snprintf(buffer, buffer_size, "A=%07d", alt);
+        else
+            snprintf(buffer, buffer_size, "A=%06d", alt);
+    }
+}
+
+#endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index 53658a4b..5c4c42e6 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -1,4 +1,6 @@
 #include "RFM69HCW.h"
+#include "EncodeAPRSForSerial.h"
+#include "Adafruit_BNO055.h"
 #include <Arduino.h>
 
 APRSHeader header;
@@ -8,23 +10,21 @@ RFM69HCW radio(&settings);
 void setup()
 {
     delay(2000);
-    if(!radio.init())
+    if (!radio.init())
         Serial.println("Radio failed to initialize");
     else
         Serial.println("Radio initialized");
-
-    
 }
 
 void loop()
 {
-    if(radio.update())
+    if (radio.update())
     {
-        if(radio.dequeueReceive(&msg))
+        if (radio.dequeueReceive(&msg))
         {
-            printf("Received message (%d):", radio.RSSI());
-            printf("\nHeader: %s>%s,%s:\n", msg.header.CALLSIGN, msg.header.TOCALL, msg.header.PATH);
-            printf("Data: %f, %f, %f, %f, %f, %d, %f, %f, %f\n", msg.data.lat, msg.data.lng, msg.data.alt, msg.data.spd, msg.data.hdg, msg.data.stage, msg.data.orientation.x(), msg.data.orientation.y(), msg.data.orientation.z());
+            char buffer[255];
+            aprsToSerial::encodeAPRSForSerial(msg, buffer, 255, radio.RSSI());
+            Serial.println(buffer);
         }
     }
 }
\ No newline at end of file

From ead404e6114090a5483cb6ca6e82bad4e52174da Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 01:08:53 -0400
Subject: [PATCH 18/41] Refactor EncodeAPRSForSerial.h to include symbol in
 data format

---
 .../src/GroundStationReceiver/EncodeAPRSForSerial.h             | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index 08ac9a96..0d816f15 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -27,7 +27,7 @@ namespace aprsToSerial
 
         char suffix[10] = "e\r\n";
         // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx,RSSI:RSSI\r\ne\r\n
-        snprintf(buffer, buffer_size, "%s%sData:!%s[%03d/%03d/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
+        snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
     }
 
     void encodeLatLong(const APRSMsg &msg, char *buffer, size_t buffer_size)

From 23171897272bdbff371133384695d8d38386004f Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 02:08:36 -0400
Subject: [PATCH 19/41] chore: Update altitude scaling in APRSMsg.cpp and
 APRSMsg.h

---
 .../23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp |  4 ++--
 .../23-24/Code/Teensy-Based Avionics/src/APRSMsg.h   |  4 +++-
 .../23-24/Code/Teensy-Based Avionics/src/State.cpp   | 12 +++++++++++-
 3 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index e970a814..93823233 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -80,7 +80,7 @@ void APRSMsg::encodeData(uint8_t *message, int cursor)
     // course, speed, altitude
     encodeBase91(message, cursor, (int)(data.hdg * HDG_SCALE), 2); // (91^2/360) scale to fit in 2 base91 characters
     encodeBase91(message, cursor, (int)(data.spd * SPD_SCALE), 2); // (91^2/1000) scale to fit in 2 base91 characters. 1000 knots is the assumed max speed.
-    encodeBase91(message, cursor, (int)(data.alt * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
+    encodeBase91(message, cursor, (int)((data.alt + ALT_OFFSET) * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
 
     // stage and orientation
     message[cursor++] = (uint8_t)(data.stage + (int)'0');                                 // stage is just written in plaintext.
@@ -137,7 +137,7 @@ void APRSMsg::decodeData(const uint8_t *message, int len, int cursor)
     decodeBase91(message, cursor, data.spd, 2);
     data.spd /= SPD_SCALE;
     decodeBase91(message, cursor, data.alt, 2);
-    data.alt /= ALT_SCALE;
+    data.alt = data.alt / ALT_SCALE - ALT_OFFSET;
 
     // stage and orientation
     data.stage = message[cursor++] - (int)'0';
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
index 50f3fc30..b6172cc8 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
@@ -75,10 +75,12 @@ class APRSMsg : public RadioMessage
     void decodeBase91(const uint8_t *message, int &cursor, double &value, int precision) const;
 
     // Scale factors for encoding/decoding ignoring lat/long
-    const double ALT_SCALE = (pow(91, 2) / 15000.0);       // (91^2/15000) scale to fit in 2 base91 characters
+    const double ALT_SCALE = (pow(91, 2) / 16000.0);       // (91^2/16000) scale to fit in 2 base91 characters
     const double SPD_SCALE = (pow(91, 2) / 1000.0);        // (91^2/1000) scale to fit in 2 base91 characters
     const double HDG_SCALE = (pow(91, 2) / 360.0);         // (91^2/360) scale to fit in 2 base91 characters
     const double ORIENTATION_SCALE = (pow(91, 2) / 360.0); // same as course
+
+    const int ALT_OFFSET = +1000; // range of -1000 to 15000 ft.
 };
 
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index e90bc274..a314f64a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -490,11 +490,21 @@ bool State::transmit()
     aprs.data.lng = sensorOK(gps) ? gps->getPos().y() : 0;
     aprs.data.alt = sensorOK(baro) ? baro->getRelAltFt() : 0;
     aprs.data.hdg = (int)headingAngle;
-    aprs.data.spd = (int)(baroVelocity * 3.28);
+    aprs.data.spd = abs((int)(baroVelocity * 3.28));
     aprs.data.stage = stageNumber;
     aprs.data.orientation = imu->getOrientation().toEuler();
     aprs.data.orientation.toDegrees();
+    for(int i = 0; i < 3; i++)
+    {
+        if(aprs.data.orientation[i] < 0)
+            aprs.data.orientation[i] += 360;
+    }
     radio->enqueueSend(&aprs);
+    uint8_t data[150];
+    data[149] = '\0';
+    aprs.encode(data);
+    printf("%s\n", data);
+    printf("Values: %f, %f, %.02f, %.02f, %.02f, %d, %d, %d, %d\n", aprs.data.lat, aprs.data.lng, aprs.data.hdg, aprs.data.spd, aprs.data.alt, aprs.data.stage, (int)aprs.data.orientation.z(), (int)aprs.data.orientation.y(), (int)aprs.data.orientation.x());
     return true;
 }
 extern unsigned long _heap_start;

From 3cf2e6666776c0169a413ff4b779ad1795fab943 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 02:09:28 -0400
Subject: [PATCH 20/41] Refactor APRSMsg.cpp to return true instead of false in
 the decode function

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp   | 2 +-
 .../src/GroundStationReceiver/EncodeAPRSForSerial.h          | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index e970a814..054d53b4 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -19,7 +19,7 @@ bool APRSMsg::decode(const uint8_t *message, int len)
     // message needs to be decoded and values reinserted into the header and data structs
     int c = decodeHeader((uint8_t *)message, len);
     decodeData((uint8_t *)message, len, c);
-    return false;
+    return true;
 }
 
 #pragma region Encode Helpers
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index 0d816f15..fe4bcdbb 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -8,6 +8,9 @@ namespace aprsToSerial
     const char OVERLAY = '/';
     const char SYMBOL = '['; // Jogger symbol. I disagree with this usage.
 
+    void encodeLatLong(const APRSMsg &msg, char *buffer, size_t buffer_size);
+    void encodeAltitude(const APRSMsg &msg, char *buffer, size_t buffer_size);
+
     /*
      * Encodes an APRS message into a string for serial transmission
      *   \param msg The APRS message to encode
@@ -27,7 +30,7 @@ namespace aprsToSerial
 
         char suffix[10] = "e\r\n";
         // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx,RSSI:RSSI\r\ne\r\n
-        snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
+        snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
     }
 
     void encodeLatLong(const APRSMsg &msg, char *buffer, size_t buffer_size)

From 0b5d540b3cad7a358402a77f624e67d45674c725 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 02:31:43 -0400
Subject: [PATCH 21/41] Refactor APRSMsg.cpp to skip overlay character during
 data decoding

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp  | 1 +
 Spaceport/23-24/Code/Teensy-Based Avionics/src/MAX_M10S.cpp | 2 +-
 Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp    | 4 ++--
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
index 6d3d777a..5b9b1700 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
@@ -123,6 +123,7 @@ int APRSMsg::decodeHeader(const uint8_t *message, int len)
 void APRSMsg::decodeData(const uint8_t *message, int len, int cursor)
 {
     // lat and lng
+    cursor++; // skip '!'
     cursor++; // skip overlay
     decodeBase91(message, cursor, data.lat, 4);
     data.lat = 90 - data.lat / 380926.0;
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/MAX_M10S.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/MAX_M10S.cpp
index e1883a67..63084f85 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/MAX_M10S.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/MAX_M10S.cpp	
@@ -70,7 +70,7 @@ void MAX_M10S::update()
     pos.x() = m10s.getLatitude() / 10000000.0;
     pos.y() = m10s.getLongitude() / 10000000.0;
 
-    heading = m10s.getHeading();
+    heading = m10s.getHeading() / 100000.0;
     altitude = m10s.getAltitude() / 1000.0;
     fixQual = m10s.getSIV();
     if (!hasFirstFix && fixQual >= 4)
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index a314f64a..525e6b9b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -503,8 +503,8 @@ bool State::transmit()
     uint8_t data[150];
     data[149] = '\0';
     aprs.encode(data);
-    printf("%s\n", data);
-    printf("Values: %f, %f, %.02f, %.02f, %.02f, %d, %d, %d, %d\n", aprs.data.lat, aprs.data.lng, aprs.data.hdg, aprs.data.spd, aprs.data.alt, aprs.data.stage, (int)aprs.data.orientation.z(), (int)aprs.data.orientation.y(), (int)aprs.data.orientation.x());
+    //printf("%s\n", data);
+    //printf("Values: %f, %f, %.02f, %.02f, %.02f, %d, %d, %d, %d\n", aprs.data.lat, aprs.data.lng, aprs.data.hdg, aprs.data.spd, aprs.data.alt, aprs.data.stage, (int)aprs.data.orientation.z(), (int)aprs.data.orientation.y(), (int)aprs.data.orientation.x());
     return true;
 }
 extern unsigned long _heap_start;

From f3d017f3b360d9a1f2af4c71efa2498dda47c08e Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 20:19:32 -0400
Subject: [PATCH 22/41] Absolutely massive rework of the radio system for two
 way radios

---
 .../Live Video/radio-interface/APRSMsg.h      |   2 +-
 .../Live Video/radio-interface/RFM69HCW.cpp   |   6 +-
 .../Code/Teensy-Based Avionics/platformio.ini |   2 +-
 .../Teensy-Based Avionics/src/APRSMsg.cpp     | 176 ---------
 .../Code/Teensy-Based Avionics/src/APRSMsg.h  |  86 -----
 .../EncodeAPRSForSerial.h                     |  12 +-
 .../src/GroundStationReceiver/main.cpp        |  29 +-
 .../Code/Teensy-Based Avionics/src/Pi.cpp     |  37 ++
 .../23-24/Code/Teensy-Based Avionics/src/Pi.h |  23 ++
 .../src/Radio/APRS/APRSCmdMsg.cpp             |  19 +
 .../src/Radio/APRS/APRSCmdMsg.h               |  25 ++
 .../src/Radio/APRS/APRSMsgBase.cpp            |  97 +++++
 .../src/Radio/APRS/APRSMsgBase.h              |  72 ++++
 .../src/Radio/APRS/APRSTelemMsg.cpp           |  97 +++++
 .../src/Radio/APRS/APRSTelemMsg.h             |  40 +++
 .../src/{ => Radio}/RFM69HCW.cpp              | 213 +++++------
 .../src/{ => Radio}/RFM69HCW.h                |  68 ++--
 .../src/{ => Radio}/RFM69Helper.h             | 340 +++++++++---------
 .../{include => src/Radio}/Radio.h            |  44 +--
 .../src/Radio/RadioMessage.cpp                |  43 +++
 .../src/Radio/RadioMessage.h                  |  24 ++
 .../Code/Teensy-Based Avionics/src/State.cpp  |  92 ++---
 .../Code/Teensy-Based Avionics/src/State.h    |  22 +-
 .../Code/Teensy-Based Avionics/src/main.cpp   | 158 +++++---
 24 files changed, 998 insertions(+), 729 deletions(-)
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
 delete mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.h
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h
 rename Spaceport/23-24/Code/Teensy-Based Avionics/src/{ => Radio}/RFM69HCW.cpp (60%)
 rename Spaceport/23-24/Code/Teensy-Based Avionics/src/{ => Radio}/RFM69HCW.h (66%)
 rename Spaceport/23-24/Code/Teensy-Based Avionics/src/{ => Radio}/RFM69Helper.h (94%)
 rename Spaceport/23-24/Code/Teensy-Based Avionics/{include => src/Radio}/Radio.h (54%)
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h

diff --git a/Side_Projects/Live Video/radio-interface/APRSMsg.h b/Side_Projects/Live Video/radio-interface/APRSMsg.h
index beb98909..0973dfd1 100644
--- a/Side_Projects/Live Video/radio-interface/APRSMsg.h	
+++ b/Side_Projects/Live Video/radio-interface/APRSMsg.h	
@@ -213,7 +213,7 @@ APRS Telemetry Data
 - t0
 - dao
 */
-struct APRSData
+struct APRSTelemData
 {
     char lat[16];
     char lng[16];
diff --git a/Side_Projects/Live Video/radio-interface/RFM69HCW.cpp b/Side_Projects/Live Video/radio-interface/RFM69HCW.cpp
index f0aa8433..ec243c4f 100644
--- a/Side_Projects/Live Video/radio-interface/RFM69HCW.cpp	
+++ b/Side_Projects/Live Video/radio-interface/RFM69HCW.cpp	
@@ -286,9 +286,9 @@ bool RFM69HCW::encode(char *message, EncodingType type, int len)
             return false;
 
         // holds the data to be assembled into the aprs body
-        APRSData data;
+        APRSTelemData data;
 
-        // find each value separated in order by a comma and put in the APRSData array
+        // find each value separated in order by a comma and put in the APRSTelemData array
         {
             char *currentVal = new char[this->msgLen];
             int currentValIndex = 0;
@@ -426,7 +426,7 @@ bool RFM69HCW::decode(char *message, EncodingType type, int len)
         char *bodyptr = body;
         strcpy(body, aprs.getBody()->getData());
         // decode body
-        APRSData data;
+        APRSTelemData data;
         int i = 0;
         int len = strlen(body);
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index 891b1c93..4cfd9683 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -68,7 +68,7 @@ platform = teensy
 board = teensy41
 framework = arduino
 lib_extra_dirs = /lib/imumaths
-build_src_filter = -<*> +<GroundStationReceiver/*> +<include/Radio.h> +<APRSMsg.h> +<APRSMsg.cpp> +<RFM69HCW.h> +<RFM69HCW.cpp> +<lib/RadioHead/*>
+build_src_filter = -<*> +<GroundStationReceiver/*> +<Radio/*> +<lib/RadioHead/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
 lib_deps = 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp
deleted file mode 100644
index 5b9b1700..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.cpp	
+++ /dev/null
@@ -1,176 +0,0 @@
-#include "APRSMsg.h"
-
-#define MAX_ALLOWED_MSG_LEN 255 /* max length of 1 message supported by radio buffer */
-
-APRSMsg::APRSMsg(APRSHeader &header)
-{
-    this->header = header;
-}
-
-bool APRSMsg::encode(uint8_t *message)
-{
-    int c = encodeHeader(message);
-    encodeData(message, c);
-    return true;
-}
-
-bool APRSMsg::decode(const uint8_t *message, int len)
-{
-    // message needs to be decoded and values reinserted into the header and data structs
-    int c = decodeHeader((uint8_t *)message, len);
-    decodeData((uint8_t *)message, len, c);
-    return true;
-}
-
-#pragma region Encode Helpers
-
-int APRSMsg::encodeHeader(uint8_t *message) const
-{
-    // format: CALLSIGN>TOCALL,PATH:
-    int cursor = 0;
-    for (int i = 0; header.CALLSIGN[i] && i < 8; i++, cursor++)
-    {
-        message[cursor] = header.CALLSIGN[i];
-    }
-    message[cursor++] = '>';
-    for (int i = 0; header.TOCALL[i] && i < 8; i++, cursor++)
-    {
-        message[cursor] = header.TOCALL[i];
-    }
-    message[cursor++] = ',';
-    for (int i = 0; header.PATH[i] && i < 10; i++, cursor++)
-    {
-        message[cursor] = header.PATH[i];
-    }
-    message[cursor++] = ':'; // end of header
-    return cursor;
-}
-
-void APRSMsg::encodeData(uint8_t *message, int cursor)
-{
-    /* Small Aircraft symbol ( /' ) probably better than Jogger symbol ( /[ ) lol.
-     I'm going to use the Overlayed Aircraft symbol ( \^ ) for now, with the overlay of 'M' for UMD ( M^ ).
-     Uses base91 encoding to compress message as much as possible. APRS messages are apparently supposed to be only 256 bytes.
-
-
-     takes the regular format of !DDMM.hhN/DDDMM.hhW^ALTSPD/HDG SSOrientation
-
-     which expands to !(lat)/(lng)^altspd/hdg (stage #)(orientation)
-
-     and compresses it to /YYYYXXXX^ ccssaasoooooo
-
-     which expands to /(lat)(lng)^ (course)(speed)(altitude)(stage)(orientation [as euler angles])
-
-     specifically does not use the csT compressed format because we don't need T and want better accuracy on course angle.
-     for more information on APRS, see http://www.aprs.org/doc/APRS101.PDF
-
-
-     lat and lng are in decimal degrees. no need to convert to DMS.
-     course is in degrees, speed is in knots, altitude is in feet, stage is an integer, orientation is in degrees.
-    */
-
-    // lat and lng
-    message[cursor++] = '!';                                          // Message type (position without timestamp)
-    message[cursor++] = 'M';                                          // overlay
-    encodeBase91(message, cursor, (int)380926 * (90 - data.lat), 4);  // 380926 is the magic number from the APRS spec (page 38)
-    encodeBase91(message, cursor, (int)190463 * (180 + data.lng), 4); // 190463 is the magic number from the APRS spec (page 38)
-    message[cursor++] = '^';                                          // end of lat and lng
-    message[cursor++] = ' ';                                          // space to start 'Comment' section
-
-    // course, speed, altitude
-    encodeBase91(message, cursor, (int)(data.hdg * HDG_SCALE), 2); // (91^2/360) scale to fit in 2 base91 characters
-    encodeBase91(message, cursor, (int)(data.spd * SPD_SCALE), 2); // (91^2/1000) scale to fit in 2 base91 characters. 1000 knots is the assumed max speed.
-    encodeBase91(message, cursor, (int)((data.alt + ALT_OFFSET) * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
-
-    // stage and orientation
-    message[cursor++] = (uint8_t)(data.stage + (int)'0');                                 // stage is just written in plaintext.
-    encodeBase91(message, cursor, (int)(data.orientation.x() * ORIENTATION_SCALE), 2); // same as course
-    encodeBase91(message, cursor, (int)(data.orientation.y() * ORIENTATION_SCALE), 2); // same as course
-    encodeBase91(message, cursor, (int)(data.orientation.z() * ORIENTATION_SCALE), 2); // same as course
-
-    len = cursor;
-}
-
-#pragma endregion
-
-#pragma region Decode Helpers
-
-int APRSMsg::decodeHeader(const uint8_t *message, int len)
-{
-    // format: CALLSIGN>TOCALL,PATH:
-    int cursor = 0;
-    for (int i = 0; message[cursor] != '>'; i++, cursor++)
-    {
-        header.CALLSIGN[i] = message[cursor];
-    }
-    header.CALLSIGN[cursor] = '\0';
-    cursor++; // skip '>'
-    for (int i = 0; message[cursor] != ','; i++, cursor++)
-    {
-        header.TOCALL[i] = message[cursor];
-    }
-    header.TOCALL[cursor] = '\0';
-    cursor++; // skip ','
-    for (int i = 0; message[cursor] != ':'; i++, cursor++)
-    {
-        header.PATH[i] = message[cursor];
-    }
-    header.PATH[cursor] = '\0';
-    cursor++; // skip ':'
-    return cursor;
-}
-
-void APRSMsg::decodeData(const uint8_t *message, int len, int cursor)
-{
-    // lat and lng
-    cursor++; // skip '!'
-    cursor++; // skip overlay
-    decodeBase91(message, cursor, data.lat, 4);
-    data.lat = 90 - data.lat / 380926.0;
-    decodeBase91(message, cursor, data.lng, 4);
-    data.lng = data.lng / 190463.0 - 180;
-    cursor++; // skip '^'
-    cursor++; // skip ' '
-
-    // course, speed, altitude
-    decodeBase91(message, cursor, data.hdg, 2);
-    data.hdg /= HDG_SCALE;
-    decodeBase91(message, cursor, data.spd, 2);
-    data.spd /= SPD_SCALE;
-    decodeBase91(message, cursor, data.alt, 2);
-    data.alt = data.alt / ALT_SCALE - ALT_OFFSET;
-
-    // stage and orientation
-    data.stage = message[cursor++] - (int)'0';
-    decodeBase91(message, cursor, data.orientation.x(), 2);
-    data.orientation.x() /= ORIENTATION_SCALE;
-    decodeBase91(message, cursor, data.orientation.y(), 2);
-    data.orientation.y() /= ORIENTATION_SCALE;
-    decodeBase91(message, cursor, data.orientation.z(), 2);
-    data.orientation.z() /= ORIENTATION_SCALE;
-}
-
-#pragma endregion
-
-#pragma region Base91 Encoding
-
-void APRSMsg::encodeBase91(uint8_t *message, int &cursor, int value, int precision) const
-{
-    for (int i = precision - 1; i >= 0; i--)
-    {
-        int divisor = pow(91, i);
-        message[cursor++] = (uint8_t)((int)(value / divisor) + 33);
-        value %= divisor;
-    }
-}
-
-void APRSMsg::decodeBase91(const uint8_t *message, int &cursor, double &value, int precision) const
-{
-    value = 0;
-    for (int i = 0; i < precision; i++)
-    {
-        value += (message[cursor++] - 33) * pow(91, precision - i - 1);
-    }
-}
-
-#pragma endregion
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h
deleted file mode 100644
index b6172cc8..00000000
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/APRSMsg.h	
+++ /dev/null
@@ -1,86 +0,0 @@
-#ifndef APRSMSG_H
-#define APRSMSG_H
-
-#if defined(ARDUINO)
-#include <Arduino.h>
-#elif defined(_WIN32) || defined(_WIN64) // Windows
-#include <cstdint>
-#include <string>
-#include <cstring>
-#elif defined(__unix__)  // Linux
-// TODO
-#elif defined(__APPLE__) // OSX
-// TODO
-#endif
-
-#include "Radio.h"
-#include <imumaths.h>
-
-/*
-APRS Configuration
-- CALLSIGN
-- TOCALL
-- PATH
-- SYMBOL
-- OVERLAY
-*/
-struct APRSHeader
-{
-    char CALLSIGN[8];
-    char TOCALL[8];
-    char PATH[10];
-};
-
-/*
-APRS Telemetry Data
-- lat
-- lng
-- alt
-- spd
-- hdg
-- orientation
-- stage
-*/
-struct APRSData
-{
-    double lat;
-    double lng;
-    double alt;
-    double spd;
-    double hdg;
-    int stage;
-    imu::Vector<3> orientation;
-};
-
-class APRSMsg : public RadioMessage
-{
-public:
-    APRSMsg(APRSHeader &header);
-    virtual ~APRSMsg(){};
-
-    bool decode(const uint8_t *message, int len) override;
-    bool encode(uint8_t *message) override;
-    int length() const override { return this->len; }
-    APRSData data;
-    APRSHeader header;
-
-private:
-    int encodeHeader(uint8_t *message) const;
-    void encodeData(uint8_t *message, int cursor);
-
-    int decodeHeader(const uint8_t *message, int len);
-    void decodeData(const uint8_t *message, int len, int cursor);
-
-    void encodeBase91(uint8_t *message, int &cursor, int value, int precision) const;
-    void decodeBase91(const uint8_t *message, int &cursor, double &value, int precision) const;
-
-    // Scale factors for encoding/decoding ignoring lat/long
-    const double ALT_SCALE = (pow(91, 2) / 16000.0);       // (91^2/16000) scale to fit in 2 base91 characters
-    const double SPD_SCALE = (pow(91, 2) / 1000.0);        // (91^2/1000) scale to fit in 2 base91 characters
-    const double HDG_SCALE = (pow(91, 2) / 360.0);         // (91^2/360) scale to fit in 2 base91 characters
-    const double ORIENTATION_SCALE = (pow(91, 2) / 360.0); // same as course
-
-    const int ALT_OFFSET = +1000; // range of -1000 to 15000 ft.
-};
-
-#endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index fe4bcdbb..45fd3de7 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -1,15 +1,15 @@
 #ifndef ENCODE_APRS_FOR_SERIAL_H
 #define ENCODE_APRS_FOR_SERIAL_H
 
-#include "APRSMsg.h"
+#include "../Radio/APRS/APRSTelemMsg.h"
 
 namespace aprsToSerial
 {
     const char OVERLAY = '/';
     const char SYMBOL = '['; // Jogger symbol. I disagree with this usage.
 
-    void encodeLatLong(const APRSMsg &msg, char *buffer, size_t buffer_size);
-    void encodeAltitude(const APRSMsg &msg, char *buffer, size_t buffer_size);
+    void encodeLatLong(const APRSTelemMsg &msg, char *buffer, size_t buffer_size);
+    void encodeAltitude(const APRSTelemMsg &msg, char *buffer, size_t buffer_size);
 
     /*
      * Encodes an APRS message into a string for serial transmission
@@ -18,7 +18,7 @@ namespace aprsToSerial
      *   \param buffer_size The size of the buffer
      *   \return void
      */
-    void encodeAPRSForSerial(const APRSMsg &msg, char *buffer, size_t buffer_size, int RSSI)
+    void encodeAPRSForSerial(const APRSTelemMsg &msg, char *buffer, size_t buffer_size, int RSSI)
     {
         char prefix[8] = "s\r\n";
         char header[100];
@@ -33,7 +33,7 @@ namespace aprsToSerial
         snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
     }
 
-    void encodeLatLong(const APRSMsg &msg, char *buffer, size_t buffer_size)
+    void encodeLatLong(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
     {
         int lat_deg = (int)abs(msg.data.lat);
         double lat_min = ((msg.data.lat - lat_deg) * 60);
@@ -48,7 +48,7 @@ namespace aprsToSerial
 
     }
 
-    void encodeAltitude(const APRSMsg &msg, char *buffer, size_t buffer_size)
+    void encodeAltitude(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
     {
         // format: A=DDDDDD
         int alt = (int)msg.data.alt;
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index 5c4c42e6..7006ded4 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -1,12 +1,16 @@
-#include "RFM69HCW.h"
 #include "EncodeAPRSForSerial.h"
 #include "Adafruit_BNO055.h"
 #include <Arduino.h>
+#include "../Radio/RFM69HCW.h"
+#include "../Radio/APRS/APRSCmdMsg.h"
 
 APRSHeader header;
-APRSMsg msg(header);
-RadioSettings settings = {915.0, false, false, &hardware_spi, 10, 31, 32};
+APRSTelemMsg msg(header);
+APRSCmdMsg cmd(header);
+RadioSettings settings = {915.0, 0x02, 0x01, &hardware_spi, 10, 31, 32};
 RFM69HCW radio(&settings);
+
+
 void setup()
 {
     delay(2000);
@@ -14,8 +18,14 @@ void setup()
         Serial.println("Radio failed to initialize");
     else
         Serial.println("Radio initialized");
+    cmd.data.MinutesUntilPowerOn = 0;
+    cmd.data.MinutesUntilDataRecording = 1;
+    cmd.data.MinutesUntilVideoStart = 2;
+    cmd.data.Launch = false;
 }
 
+
+int counter = 1;
 void loop()
 {
     if (radio.update())
@@ -26,5 +36,18 @@ void loop()
             aprsToSerial::encodeAPRSForSerial(msg, buffer, 255, radio.RSSI());
             Serial.println(buffer);
         }
+        if(counter % 100 == 0)
+        {
+            radio.enqueueSend(&msg);
+        }
+        if(counter % 500 == 0)
+        {
+            cmd.data.Launch = !cmd.data.Launch;
+            radio.enqueueSend(&cmd);
+        }
+        counter++;
+        char *b = (char *)cmd.getArr();
+        b[cmd.length()] = '\0';
+        printf("Cmd: %s\n", b);
     }
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp
new file mode 100644
index 00000000..da1e19e7
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp	
@@ -0,0 +1,37 @@
+#include "Pi.h"
+
+Pi::Pi(int pinControl, int pinVideo)
+{
+    this->pinControl = pinControl;
+    this->pinVideo = pinVideo;
+    pinMode(this->pinControl, OUTPUT);
+    pinMode(this->pinVideo, OUTPUT);
+    digitalWrite(this->pinVideo, HIGH); // Set video pin to high (off) by default
+    this->on = false;
+    this->recording = false;
+}
+
+void Pi::setOn(bool on)
+{
+    digitalWrite(this->pinControl, on ? HIGH : LOW);
+    this->on = on;
+}
+
+void Pi::setRecording(bool recording)
+{
+    if(this->recording == recording) return; // If the recording state is the same, do nothing
+
+    bb.aonoff(BUZZER, 100, 3); // Buzz 3 times (100ms on, 100ms off)
+    digitalWrite(this->pinVideo, recording ? LOW : HIGH);
+    this->recording = recording;
+}
+
+bool Pi::isOn()
+{
+    return this->on;
+}
+
+bool Pi::isRecording()
+{
+    return this->recording;
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.h
new file mode 100644
index 00000000..1f7bbfe6
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.h	
@@ -0,0 +1,23 @@
+#ifndef PI_H
+#define PI_H
+
+#include <Arduino.h>
+#include <BlinkBuzz.h>
+
+class Pi
+{
+public:
+    Pi(int pinControl, int pinVideo);
+    void setOn(bool on);
+    void setRecording(bool recording);
+    bool isOn();
+    bool isRecording();
+
+private:
+    int pinControl;
+    int pinVideo;
+    bool on;
+    bool recording;
+};
+
+#endif // PI_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp
new file mode 100644
index 00000000..44bc21c4
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
@@ -0,0 +1,19 @@
+#include "APRSCmdMsg.h"
+
+void APRSCmdMsg::encodeData(int cursor)
+{
+    snprintf((char *)string[cursor], RADIO_MESSAGE_BUFFER_SIZE - cursor,
+             ":%-09s:PWR:%d VID:%d DAT:%d L:%d", header.CALLSIGN, data.MinutesUntilPowerOn, data.MinutesUntilVideoStart, data.MinutesUntilDataRecording, data.Launch);
+}
+void APRSCmdMsg::decodeData(int cursor)
+{
+    sscanf((char *)string[cursor], ":%*9s:PWR:%d VID:%d DAT:%d L:%d", &data.MinutesUntilPowerOn, &data.MinutesUntilVideoStart, &data.MinutesUntilDataRecording, &data.Launch);
+}
+
+APRSCmdMsg::APRSCmdMsg(APRSHeader &header) : APRSMsgBase(header)
+{
+    data.MinutesUntilPowerOn = 0;
+    data.MinutesUntilVideoStart = 0;
+    data.MinutesUntilDataRecording = 0;
+    data.Launch = false;
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h
new file mode 100644
index 00000000..3c62529d
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h	
@@ -0,0 +1,25 @@
+#ifndef APRS_CMD_MSG_H
+#define APRS_CMD_MSG_H
+
+#include "APRSMsgBase.h"
+
+struct APRSCmdData
+{
+    uint8_t MinutesUntilPowerOn;       // Minutes until the Pi turns on - 0 means turn on now
+    uint8_t MinutesUntilVideoStart;    // Minutes until the Pi starts recording video - 0 means start now
+    uint8_t MinutesUntilDataRecording; // Minutes until the FC starts recording data - 0 means start now
+    bool Launch;                       // Send the launch command to the FC - 0 means don't send
+};
+
+class APRSCmdMsg : public APRSMsgBase
+{
+public:
+    APRSCmdData data;
+    APRSCmdMsg(APRSHeader &header);
+
+protected:
+    virtual void decodeData(int cursor) override;
+    virtual void encodeData(int cursor) override;
+};
+
+#endif // APRS_CMD_MSG_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp
new file mode 100644
index 00000000..cc68926d
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp	
@@ -0,0 +1,97 @@
+#include "APRSMsgBase.h"
+
+#define MAX_ALLOWED_MSG_LEN 255 /* max length of 1 message supported by radio buffer */
+
+APRSMsgBase::APRSMsgBase(APRSHeader &header)
+{
+    this->header = header;
+}
+
+bool APRSMsgBase::encode()
+{
+    int c = encodeHeader();
+    encodeData(c);
+    return true;
+}
+
+bool APRSMsgBase::decode()
+{
+    // message needs to be decoded and values reinserted into the header and data structs
+    int c = decodeHeader();
+    decodeData(c);
+    return true;
+}
+
+#pragma region APRSMsgBase Header Encoding/Decoding
+
+int APRSMsgBase::encodeHeader()
+{
+    // format: CALLSIGN>TOCALL,PATH:
+    int cursor = 0;
+    for (int i = 0; header.CALLSIGN[i] && i < 8; i++, cursor++)
+    {
+        string[cursor] = header.CALLSIGN[i];
+    }
+    string[cursor++] = '>';
+    for (int i = 0; header.TOCALL[i] && i < 8; i++, cursor++)
+    {
+        string[cursor] = header.TOCALL[i];
+    }
+    string[cursor++] = ',';
+    for (int i = 0; header.PATH[i] && i < 10; i++, cursor++)
+    {
+        string[cursor] = header.PATH[i];
+    }
+    string[cursor++] = ':'; // end of header
+    return cursor;
+}
+
+int APRSMsgBase::decodeHeader()
+{
+    // format: CALLSIGN>TOCALL,PATH:
+    int cursor = 0;
+    for (int i = 0; string[cursor] != '>'; i++, cursor++)
+    {
+        header.CALLSIGN[i] = string[cursor];
+    }
+    header.CALLSIGN[cursor] = '\0';
+    cursor++; // skip '>'
+    for (int i = 0; string[cursor] != ','; i++, cursor++)
+    {
+        header.TOCALL[i] = string[cursor];
+    }
+    header.TOCALL[cursor] = '\0';
+    cursor++; // skip ','
+    for (int i = 0; string[cursor] != ':'; i++, cursor++)
+    {
+        header.PATH[i] = string[cursor];
+    }
+    header.PATH[cursor] = '\0';
+    cursor++; // skip ':'
+    return cursor;
+}
+
+#pragma endregion
+
+#pragma region Base91 Encoding
+
+void APRSMsgBase::encodeBase91(uint8_t *message, int &cursor, int value, int precision)
+{
+    for (int i = precision - 1; i >= 0; i--)
+    {
+        int divisor = pow(91, i);
+        message[cursor++] = (uint8_t)((int)(value / divisor) + 33);
+        value %= divisor;
+    }
+}
+
+void APRSMsgBase::decodeBase91(const uint8_t *message, int &cursor, double &value, int precision)
+{
+    value = 0;
+    for (int i = 0; i < precision; i++)
+    {
+        value += (message[cursor++] - 33) * pow(91, precision - i - 1);
+    }
+}
+
+#pragma endregion
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h
new file mode 100644
index 00000000..f54d63c4
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h	
@@ -0,0 +1,72 @@
+#ifndef APRSMSG_H
+#define APRSMSG_H
+
+#if defined(ARDUINO)
+#include <Arduino.h>
+#elif defined(_WIN32) || defined(_WIN64) // Windows
+#include <cstdint>
+#include <string>
+#include <cstring>
+#elif defined(__unix__)  // Linux
+// TODO
+#elif defined(__APPLE__) // OSX
+// TODO
+#endif
+
+#include "../Radio.h"
+#include <imumaths.h>
+
+const uint8_t PI_ON = 0b00000001;          // Pi is on
+const uint8_t PI_VIDEO = 0b00000010;       // Pi is recording video
+const uint8_t RECORDING_DATA = 0b00000100; // FC is recording data
+
+/*
+APRS Configuration
+- CALLSIGN
+- TOCALL
+- PATH
+- SYMBOL
+- OVERLAY
+*/
+struct APRSHeader
+{
+    char CALLSIGN[8];
+    char TOCALL[8];
+    char PATH[10];
+    char SYMBOL;
+    char OVERLAY;
+};
+
+/*
+APRS Telemetry Data
+- lat
+- lng
+- alt
+- spd
+- hdg
+- stage
+- orientation
+*/
+
+
+class APRSMsgBase : public RadioMessage
+{
+public:
+    APRSMsgBase(APRSHeader &header);
+    virtual ~APRSMsgBase(){};
+
+    virtual bool decode() override;
+    virtual bool encode() override;
+    APRSHeader header;
+protected:
+    virtual int encodeHeader();
+    virtual int decodeHeader();
+    virtual void encodeData(int cursor) = 0;
+    virtual void decodeData(int cursor) = 0;
+    void encodeBase91(uint8_t *message, int &cursor, int value, int precision);
+    void decodeBase91(const uint8_t *message, int &cursor, double &value, int precision);
+
+private:
+};
+
+#endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp
new file mode 100644
index 00000000..5e864c2e
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp	
@@ -0,0 +1,97 @@
+#include "APRSTelemMsg.h"
+
+APRSTelemMsg::APRSTelemMsg(APRSHeader &header) : APRSMsgBase(header)
+{
+    data.lat = 0;
+    data.lng = 0;
+    data.alt = 0;
+    data.spd = 0;
+    data.hdg = 0;
+    data.stage = 0;
+    data.orientation = imu::Vector<3>(0, 0, 0);
+    data.statusFlags = 0;
+}
+
+#pragma region Encode Helpers
+
+void APRSTelemMsg::encodeData(int cursor)
+{
+    /* Small Aircraft symbol ( /' ) probably better than Jogger symbol ( /[ ) lol.
+     I'm going to use the Overlayed Aircraft symbol ( \^ ) for now, with the overlay of 'M' for UMD ( M^ ).
+     Uses base91 encoding to compress message as much as possible. APRS messages are apparently supposed to be only 256 bytes.
+
+
+     takes the regular format of !DDMM.hhN/DDDMM.hhW^ALTSPD/HDG SSOrientationF
+
+     which expands to !(lat)/(lng)^altspd/hdg (stage #)(orientation)(status flags)
+
+     and compresses it to /YYYYXXXX^ ccssaasoooooof
+
+     which expands to /(lat)(lng)^ (course)(speed)(altitude)(stage)(orientation [as euler angles])(status flags)
+
+     specifically does not use the csT compressed format because we don't need T and want better accuracy on course angle.
+     for more information on APRS, see http://www.aprs.org/doc/APRS101.PDF
+
+
+     lat and lng are in decimal degrees. no need to convert to DMS.
+     course is in degrees, speed is in knots, altitude is in feet, stage is an integer, orientation is in degrees, Pi status is a byte of flags.
+    */
+
+    // lat and lng
+    string[cursor++] = '!';                                          // Message type (position without timestamp)
+    string[cursor++] = 'M';                                          // overlay
+    encodeBase91(string, cursor, (int)380926 * (90 - data.lat), 4);  // 380926 is the magic number from the APRS spec (page 38)
+    encodeBase91(string, cursor, (int)190463 * (180 + data.lng), 4); // 190463 is the magic number from the APRS spec (page 38)
+    string[cursor++] = '^';                                          // end of lat and lng
+    string[cursor++] = ' ';                                          // space to start 'Comment' section
+
+    // course, speed, altitude
+    encodeBase91(string, cursor, (int)(data.hdg * HDG_SCALE), 2);                // (91^2/360) scale to fit in 2 base91 characters
+    encodeBase91(string, cursor, (int)(data.spd * SPD_SCALE), 2);                // (91^2/1000) scale to fit in 2 base91 characters. 1000 knots is the assumed max speed.
+    encodeBase91(string, cursor, (int)((data.alt + ALT_OFFSET) * ALT_SCALE), 2); // (91^2/15000) scale to fit in 2 base91 characters. 15000 feet is the assumed max altitude.
+
+    // stage and orientation
+    string[cursor++] = (uint8_t)(data.stage + (int)'0');                              // stage is just written in plaintext.
+    encodeBase91(string, cursor, (int)(data.orientation.x() * ORIENTATION_SCALE), 2); // same as course
+    encodeBase91(string, cursor, (int)(data.orientation.y() * ORIENTATION_SCALE), 2); // same as course
+    encodeBase91(string, cursor, (int)(data.orientation.z() * ORIENTATION_SCALE), 2); // same as course
+    string[cursor++] = (uint8_t)(data.statusFlags + 33);                              // all content is supposed to be printable ASCII characters, so we add 33 to the status flags to make sure it is.
+    len = cursor;
+}
+
+#pragma endregion
+
+#pragma region Decode Helpers
+
+void APRSTelemMsg::decodeData(int cursor)
+{
+    // lat and lng
+    cursor++; // skip '!'
+    cursor++; // skip overlay
+    decodeBase91(string, cursor, data.lat, 4);
+    data.lat = 90 - data.lat / 380926.0;
+    decodeBase91(string, cursor, data.lng, 4);
+    data.lng = data.lng / 190463.0 - 180;
+    cursor++; // skip '^'
+    cursor++; // skip ' '
+
+    // course, speed, altitude
+    decodeBase91(string, cursor, data.hdg, 2);
+    data.hdg /= HDG_SCALE;
+    decodeBase91(string, cursor, data.spd, 2);
+    data.spd /= SPD_SCALE;
+    decodeBase91(string, cursor, data.alt, 2);
+    data.alt = data.alt / ALT_SCALE - ALT_OFFSET;
+
+    // stage and orientation
+    data.stage = string[cursor++] - (int)'0';
+    decodeBase91(string, cursor, data.orientation.x(), 2);
+    data.orientation.x() /= ORIENTATION_SCALE;
+    decodeBase91(string, cursor, data.orientation.y(), 2);
+    data.orientation.y() /= ORIENTATION_SCALE;
+    decodeBase91(string, cursor, data.orientation.z(), 2);
+    data.orientation.z() /= ORIENTATION_SCALE;
+    data.statusFlags = string[cursor++] - 33;
+}
+
+#pragma endregion
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h
new file mode 100644
index 00000000..96461000
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h	
@@ -0,0 +1,40 @@
+#ifndef APRS_TELEM_MSG_H
+#define APRS_TELEM_MSG_H
+
+#include "APRSMsgBase.h"
+
+
+
+struct APRSTelemData
+{
+    double lat;
+    double lng;
+    double alt;
+    double spd;
+    double hdg;
+    int stage;
+    imu::Vector<3> orientation;
+    uint8_t statusFlags;
+};
+
+class APRSTelemMsg : public APRSMsgBase
+{
+public:
+    APRSTelemData data;
+    APRSTelemMsg(APRSHeader &header);
+
+protected:
+    virtual void decodeData(int cursor) override;
+    virtual void encodeData(int cursor) override;
+private:
+    void encodeStatus(uint8_t *string, int &cursor);
+    // Scale factors for encoding/decoding ignoring lat/long
+    const double ALT_SCALE = (pow(91, 2) / 16000.0);       // (91^2/16000) scale to fit in 2 base91 characters
+    const double SPD_SCALE = (pow(91, 2) / 1000.0);        // (91^2/1000) scale to fit in 2 base91 characters
+    const double HDG_SCALE = (pow(91, 2) / 360.0);         // (91^2/360) scale to fit in 2 base91 characters
+    const double ORIENTATION_SCALE = (pow(91, 2) / 360.0); // same as course
+
+    const int ALT_OFFSET = +1000; // range of -1000 to 15000 ft.
+};
+
+#endif // APRS_TELEM_MSG_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
similarity index 60%
rename from Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp
rename to Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index 7ff5280d..ab0d4ace 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -19,19 +19,6 @@ RFM69HCW::RFM69HCW(const RadioSettings *s) : radio(s->cs, s->irq, *s->spi)
 {
 
     this->settings = *s;
-
-    if (this->settings.transmitter)
-    {
-        // addresses for transmitters
-        this->thisAddr = 0x02;
-        this->toAddr = 0x01;
-    }
-    else
-    {
-        // addresses for receivers
-        this->thisAddr = 0x01;
-        this->toAddr = 0x02;
-    }
 }
 
 /*
@@ -55,30 +42,30 @@ bool RFM69HCW::init()
         return false;
 
     // set transmit power
-    radio.setTxPower(txPower, true);
+    radio.setTxPower(settings.txPower, true);
 
     // always set FSK mode
     radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
 
     // set headers
-    radio.setHeaderTo(toAddr);
-    radio.setHeaderFrom(thisAddr);
-    radio.setThisAddress(thisAddr);
+    radio.setHeaderTo(settings.toAddr);
+    radio.setHeaderFrom(settings.thisAddr);
+    radio.setThisAddress(settings.thisAddr);
     radio.setHeaderId(0);
 
     // configure unlimited packet length mode, don't do this for now
     // this->radio.spiWrite(0x37, 0b00000000);                // Packet format (0x37) set to 00000000 (see manual for meaning of each bit)
     // this->radio.spiWrite(RH_RF69_REG_38_PAYLOADLENGTH, 0); // Payload length (0x38) set to 0
 
-    if (this->settings.highBitrate) // Note: not working
-    {
-        // the default bitrate of 4.8kbps should be fine unless we want high bitrate for video
-        // set300KBPS();
-        this->radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
-        // remove as much overhead as possible
-        // this->radio.setPreambleLength(0);
-        // this->radio.setSyncWords();
-    }
+    // if (this->settings.highBitrate) // Note: not working
+    // {
+    //     // the default bitrate of 4.8kbps should be fine unless we want high bitrate for video
+    //     // set300KBPS();
+    //     this->radio.setModemConfig(RH_RF69::FSK_Rb4_8Fd9_6);
+    //     // remove as much overhead as possible
+    //     // this->radio.setPreambleLength(0);
+    //     // this->radio.setSyncWords();
+    // }
 
     return initialized = true;
 }
@@ -96,7 +83,7 @@ bool RFM69HCW::tx(const uint8_t *message, int len, int packetNum, bool lastPacke
     // figure out how long the message should be
     if (len == -1)
         len = strlen((char *)message);
-    
+
     radio.setHeaderId(packetNum);
     radio.setHeaderFlags(lastPacket ? 0 : RADIO_FLAG_MORE_DATA);
 
@@ -132,20 +119,20 @@ Enqueue a message into the buffer
 bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
 {
     // fill up the buffer with the message. buffer is a circular queue.
-    int originalTail = bufTail;
-    buffer[bufTail] = len;
-    inc(bufTail);
+    int originalTail = sendBuffer.tail;
+    sendBuffer.data[sendBuffer.tail] = len; // store the length of the message
+    inc(sendBuffer.tail);
 
     for (int i = 0; i < len; i++) // same algorithm as copyToBuffer but with a length check
     {
-        if (bufTail == bufHead)
-        {                           // buffer is full
-            bufTail = originalTail; // reset the tail (no message was added)
+        if (sendBuffer.tail == sendBuffer.head) // buffer is full
+        {
+            sendBuffer.tail = originalTail; // reset the tail (no message was added)
             return false;
         }
 
-        buffer[bufTail] = message[i];
-        inc(bufTail);
+        sendBuffer.data[sendBuffer.tail] = message[i];
+        inc(sendBuffer.tail);
     }
     return true;
 }
@@ -166,12 +153,8 @@ Encode the message and enqueue it in the buffer
 */
 bool RFM69HCW::enqueueSend(RadioMessage *message)
 {
-    uint8_t encodedMessage[RadioMessage::MAX_MESSAGE_LEN];
-    if (message->encode(encodedMessage))
-    {
-        int messageLength = message->length();
-        return enqueueSend(encodedMessage, messageLength);
-    }
+    if (message->encode())
+        return enqueueSend(message->getArr(), message->length());
     return false;
 }
 /*
@@ -181,14 +164,14 @@ Dequeue a message from the buffer and decode it into a uint8_t[].
 */
 bool RFM69HCW::dequeueReceive(uint8_t *message)
 {
-    if (bufHead == bufTail) // buffer is empty
+    if (recvBuffer.head == recvBuffer.tail) // buffer is empty
         return false;
 
     // get the length of the message
-    int len = buffer[bufHead];
-    inc(bufHead);
+    int len = recvBuffer.data[recvBuffer.head];
+    inc(recvBuffer.head);
     // Empty the buffer up to the length of the expected message
-    copyFromBuffer(message, len);
+    copyFromBuffer(recvBuffer, message, len);
     return true;
 }
 
@@ -199,16 +182,16 @@ Dequeue a message from the buffer and decode it into a char[]. WIll break if the
 */
 bool RFM69HCW::dequeueReceive(char *message)
 {
-    if (bufHead == bufTail) // buffer is empty
+    if (recvBuffer.head == recvBuffer.tail) // buffer is empty
         return false;
 
     // Empty the buffer up to the first null terminator
-    inc(bufHead); // skip the length byte, should be null terminated
+    inc(recvBuffer.head); // skip the length byte, should be null terminated
     int i = 0;
-    for (; buffer[bufHead] != '\0' && bufHead != bufTail; i++)
+    for (; recvBuffer.data[recvBuffer.head] != '\0' && recvBuffer.head != recvBuffer.tail; i++)
     {
-        message[i] = buffer[bufHead];
-        inc(bufHead);
+        message[i] = recvBuffer.data[recvBuffer.head];
+        inc(recvBuffer.head);
     }
     message[i] = '\0';
 
@@ -222,15 +205,16 @@ Dequeue a message from the buffer and decode it into a RadioMessage
 */
 bool RFM69HCW::dequeueReceive(RadioMessage *message)
 {
-    if (bufHead == bufTail) // buffer is empty
+    if (recvBuffer.head == recvBuffer.tail) // buffer is empty
         return false;
 
-    uint8_t len = buffer[bufHead];
+    uint8_t len = recvBuffer.data[recvBuffer.head];
     uint8_t *msg = new uint8_t[len];
     bool worked = false;
     if (dequeueReceive(msg))           // get the message from the buffer
-        if (message->decode(msg, len)) // decode the message
-            worked = true;
+        if (message->setArr(msg, len)) // send the message to the RadioMessage
+            if (message->decode())     // decode the message
+                worked = true;
 
     delete[] msg;
     return worked;
@@ -248,60 +232,56 @@ Update function
 */
 bool RFM69HCW::update()
 {
-    if (busy()) // radio is busy, cannot send or receive
+    if (!initialized)
+        return false;
+    if (busy())
         return false;
 
-    // transmitter------------------------------------------------------
-    if (settings.transmitter)
-    {
-        if (bufHead == bufTail) // buffer is empty, nothing to send
-        {
-            remainingLength = 0;
-            return false;
-        }
+    uint8_t rcvLen = RH_RF69_MAX_MESSAGE_LEN;
+    uint8_t rcvBuf[RH_RF69_MAX_MESSAGE_LEN];
 
-        // send the message
-        int packetNum;
-        if (remainingLength == 0) // start a new message
-        {
-            remainingLength = buffer[bufHead]; // get the length of the message from the first byte of the message
-            inc(bufHead);
-            packetNum = 0;
-        }
-        else
-            packetNum = radio.headerId() + 1;
-
-        // load message to tx
-        int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN); // how much of the message to send
-        uint8_t msgToTransmit[RH_RF69_MAX_MESSAGE_LEN];
-        copyFromBuffer(msgToTransmit, len);
-        bool b = tx(msgToTransmit, len, packetNum, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
-        remainingLength -= len;
-        return b;
-    }
-    // receiver------------------------------------------------------
-    else
+    if (rx(rcvBuf, &rcvLen))
     {
-        uint8_t msg[RH_RF69_MAX_MESSAGE_LEN];
-        uint8_t len = RH_RF69_MAX_MESSAGE_LEN;
-        if (!rx(msg, &len))
-            return false; // no new message available
-
         // store the message in the buffer
         if (radio.headerId() == 0) // start of a new message
         {
-            orignalBufferTail = bufTail;
-            buffer[bufTail] = len; // store the length of the message
-            inc(bufTail);
+            orignalBufferTail = recvBuffer.tail;
+            recvBuffer.data[recvBuffer.tail] = rcvLen; // store the length of the message
+            inc(recvBuffer.tail);
         }
-        else                                  // continuing message
-            buffer[orignalBufferTail] += len; // update the total length of the message
+        else                                              // continuing message
+            recvBuffer.data[orignalBufferTail] += rcvLen; // update the total length of the message
 
-        copyToBuffer(msg, len);
+        copyToBuffer(recvBuffer, rcvBuf, rcvLen);
         if (radio.headerFlags() & RADIO_FLAG_MORE_DATA) // more data is coming, should not process yet
             return false;
+        return true;
     }
-    return true; // message was sent or received (in full)
+
+    // transmit
+    if (sendBuffer.head == sendBuffer.tail) // buffer is empty, nothing to send
+    {
+        remainingLength = 0;
+        return false;
+    }
+
+    int packetNum;
+    if (remainingLength == 0) // start a new message
+    {
+        remainingLength = sendBuffer.data[sendBuffer.head]; // get the length of the message from the first byte of the message
+        inc(sendBuffer.head);
+        packetNum = 0;
+    }
+    else
+        packetNum = radio.headerId() + 1;
+
+    // load message to tx
+    int len = min(remainingLength, RH_RF69_MAX_MESSAGE_LEN); // how much of the message to send
+    uint8_t msgToTransmit[RH_RF69_MAX_MESSAGE_LEN];
+    copyFromBuffer(sendBuffer, msgToTransmit, len);
+    tx(msgToTransmit, len, packetNum, remainingLength <= RH_RF69_MAX_MESSAGE_LEN);
+    remainingLength -= len;
+    return false; // always false for transmitter
 }
 
 #pragma region Helpers
@@ -325,18 +305,18 @@ int RFM69HCW::RSSI()
 }
 
 // probably broken
-void RFM69HCW::set300KBPSMode()
-{
-    this->radio.spiWrite(0x03, 0x00);       // REG_BITRATEMSB: 300kbps (0x006B, see DS p20)
-    this->radio.spiWrite(0x04, 0x6B);       // REG_BITRATELSB: 300kbps (0x006B, see DS p20)
-    this->radio.spiWrite(0x19, 0x40);       // REG_RXBW: 500kHz
-    this->radio.spiWrite(0x1A, 0x80);       // REG_AFCBW: 500kHz
-    this->radio.spiWrite(0x05, 0x13);       // REG_FDEVMSB: 300khz (0x1333)
-    this->radio.spiWrite(0x06, 0x33);       // REG_FDEVLSB: 300khz (0x1333)
-    this->radio.spiWrite(0x29, 240);        // set REG_RSSITHRESH to -120dBm
-    this->radio.spiWrite(0x37, 0b10010000); // DC=WHITENING, CRCAUTOOFF=0
-                                            //                ^^->DC: 00=none, 01=manchester, 10=whitening
-}
+// void RFM69HCW::set300KBPSMode()
+// {
+//     this->radio.spiWrite(0x03, 0x00);       // REG_BITRATEMSB: 300kbps (0x006B, see DS p20)
+//     this->radio.spiWrite(0x04, 0x6B);       // REG_BITRATELSB: 300kbps (0x006B, see DS p20)
+//     this->radio.spiWrite(0x19, 0x40);       // REG_RXBW: 500kHz
+//     this->radio.spiWrite(0x1A, 0x80);       // REG_AFCBW: 500kHz
+//     this->radio.spiWrite(0x05, 0x13);       // REG_FDEVMSB: 300khz (0x1333)
+//     this->radio.spiWrite(0x06, 0x33);       // REG_FDEVLSB: 300khz (0x1333)
+//     this->radio.spiWrite(0x29, 240);        // set REG_RSSITHRESH to -120dBm
+//     this->radio.spiWrite(0x37, 0b10010000); // DC=WHITENING, CRCAUTOOFF=0
+//                                             //                ^^->DC: 00=none, 01=manchester, 10=whitening
+// }
 
 // utility functions
 #ifndef max
@@ -357,22 +337,25 @@ int min(int a, int b)
 }
 #endif
 
-void RFM69HCW::copyToBuffer(const uint8_t *message, int len)
+void RFM69HCW::copyToBuffer(buffer &buffer, const uint8_t *src, int len)
 {
     for (int i = 0; i < len; i++)
     {
-        buffer[bufTail] = message[i];
-        inc(bufTail);
+        buffer.data[buffer.tail] = src[i];
+        inc(buffer.tail);
     }
 }
-
-void RFM69HCW::copyFromBuffer(uint8_t *message, int len)
+// pop is true by default. If pop is false, the buffer head will not be moved.
+void RFM69HCW::copyFromBuffer(buffer &buffer, uint8_t *dest, int len, bool pop)
 {
+    int originalHead = buffer.head;
     for (int i = 0; i < len; i++)
     {
-        message[i] = buffer[bufHead];
-        inc(bufHead);
+        dest[i] = buffer.data[buffer.head];
+        inc(buffer.head);
     }
+    if (!pop)
+        buffer.head = originalHead;
 }
 
 #pragma endregion
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h
similarity index 66%
rename from Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h
rename to Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h
index 12c78202..6c18b84c 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69HCW.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h	
@@ -3,37 +3,22 @@
 
 #include "RH_RF69.h"
 #include "Radio.h"
-#include "APRSMsg.h"
-
-#define RADIO_BUFFER_SIZE 1024
-#define RADIO_FLAG_MORE_DATA 0b00000001 // custom flag to indicate more packets are still to be sent
-
-/*
-Settings:
-- double frequency in Mhz
-- bool transmitter
-- bool highBitrate
-- RHGenericSPI *spi pointer to radiohead SPI object
-- uint8_t cs CS pin
-- uint8_t irq IRQ pin
-- uint8_t rst RST pin
-*/
-struct RadioSettings
-{
-    double frequency;
-    bool transmitter;
-    bool highBitrate;
-    RHGenericSPI *spi;
-    uint8_t cs;
-    uint8_t irq;
-    uint8_t rst;
-    int txPower = 20;
-};
+#include "APRS/APRSMsgBase.h"
+
+const int TRANSCEIVER_MESSAGE_BUFFER_SIZE = 512; // length of the buffer underpinning the queue of messages to send or receive. Radio makes 2 buffers this size for sending and receiving.
+#define RADIO_FLAG_MORE_DATA 0b00000001          // custom flag to indicate more packets are still to be sent
 
 #ifndef RH_RF69_MAX_MESSAGE_LEN
 #define RH_RF69_MAX_MESSAGE_LEN 66
 #endif // !RH_RF69_MAX_MESSAGE_LEN
 
+struct buffer
+{
+    uint8_t data[TRANSCEIVER_MESSAGE_BUFFER_SIZE];
+    int head;
+    int tail;
+};
+
 class RFM69HCW : public Radio
 {
 public:
@@ -50,43 +35,38 @@ class RFM69HCW : public Radio
     bool dequeueReceive(RadioMessage *message) override; // designed to be used externally. can exceed 66 bytes.
     bool dequeueReceive(char *message) override;         // designed to be used externally. can exceed 66 bytes.
     bool dequeueReceive(uint8_t *message) override;      // designed to be used externally. can exceed 66 bytes.
-    
+
     int RSSI() override;
-    void set300KBPSMode();
-    bool update();
+    bool update() override;
 
     explicit operator bool() const { return initialized; }
 
     // increment the specified index, wrapping around if necessary
-    static void inc(int &i) { i = (i + 1) % RADIO_BUFFER_SIZE; }
+    static void inc(int &i) { i = (i + 1) % TRANSCEIVER_MESSAGE_BUFFER_SIZE; }
+
+    // public during debugging
 
-    //public during debugging
-    uint8_t buffer[RADIO_BUFFER_SIZE];
+    // stores queue of messages, with the length of the message as the first byte of each. no delimiter.
+    // [6xxxxxx3xxx1x2xx]
+    // Done to allow for messages that are not ascii encoded.
+    buffer sendBuffer;
+    buffer recvBuffer;
     RH_RF69 radio;
 
 private:
     // all radios should have the same networkID
     const uint8_t networkID = 1;
-    // default to the highest transmit power
-    const int txPower = 20;
-    // set by constructor
-    RadioSettings settings;
+
     int thisAddr;
     int toAddr;
     int rssi;
     bool initialized = false;
 
-    // stores queue of messages, with the length of the message as the first byte of each. no delimiter.
-    // [6xxxxxx3xxx1x2xx]
-    // Done to allow for messages that are not ascii encoded.
-    int bufHead = 0;
-    int bufTail = 0;
     int remainingLength = 0;   // how much message is left to send for transmitters
     int orignalBufferTail = 0; // used to update the length of the message after recieving.
 
-    void copyToBuffer(const uint8_t *message, int len);
-    void copyFromBuffer(uint8_t *message, int len);
-
+    void copyToBuffer(buffer &buffer, const uint8_t *src, int len);
+    void copyFromBuffer(buffer &buffer, uint8_t *dest, int len, bool pop = true);
 };
 
 #endif // RFM69HCW_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69Helper.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69Helper.h
similarity index 94%
rename from Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69Helper.h
rename to Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69Helper.h
index 486d1066..3e1a8463 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/RFM69Helper.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69Helper.h	
@@ -1,171 +1,171 @@
-#ifndef RFM69HELPER_H
-#define RFM69HELPER_H
-
-#if defined(ARDUINO)
-#include <Arduino.h>
-#elif defined(_WIN32) || defined(_WIN64) // Windows
-
-#elif defined(__unix__)  // Linux
-// TODO
-#elif defined(__APPLE__) // OSX
-// TODO
-#endif
-
-#ifndef ARDUINO
-#include <iostream>
-#include <bitset>
-#include <chrono>
-#include <cstdint>
-#include <string>
-#include <cstring>
-
-#define SS 0
-
-static uint64_t startTime = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-
-static uint32_t millis()
-{
-    return std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count() - startTime;
-};
-
-enum SPIDataMode
-{
-    SPI_MODE0
-};
-
-enum SPIBitOrder
-{
-    MSBFIRST,
-    LSBFIRST
-};
-
-enum SPIClockDivider
-{
-    SPI_CLOCK_DIV2,
-    SPI_CLOCK_DIV8,
-    SPI_CLOCK_DIV16
-};
-
-class SPISettings
-{
-public:
-    SPISettings(){};
-    SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode)
-    {
-        this->clock = clock;
-        this->bitOrder = bitOrder;
-        this->dataMode = dataMode;
-    }
-    uint32_t clock = 4000000U;
-    uint8_t bitOrder = MSBFIRST;
-    uint8_t dataMode = SPI_MODE0;
-};
-
-// class SPIClass
-// {
-// public:
-//     SPIClass();
-//     void begin();
-
-//     // with transaction
-//     void beginTransaction(SPISettings settings);
-//     void endTransaction();
-
-//     // non transaction
-//     void setDataMode(SPIDataMode dm);
-//     void setBitOrder(SPIBitOrder bo);
-//     void setClockDivider(SPIClockDivider cd);
-//     uint8_t transfer(uint8_t data);
-// };
-
-// SPIClass SPI;
-
-enum PinState : bool
-{
-    LOW,
-    HIGH
-};
-
-enum PinMode : bool
-{
-    INPUT,
-    OUTPUT
-};
-
-enum InterruptTrigger : bool
-{
-    FALLING,
-    RISING
-};
-
-// void digitalWrite(int pin, PinState state);
-// void pinMode(int pin, PinMode mode);
-// void attachInterrupt(uint8_t pin, void (*function)(), InterruptTrigger mode);
-// void detachInterrupt(uint8_t pin);
-
-enum SerialPrintMode
-{
-    HEX,
-    BIN
-};
-
-class HardwareSerial
-{
-public:
-    HardwareSerial(){};
-    void print(const char *s) { std::cout << s; };
-    void print(uint8_t num, SerialPrintMode m)
-    {
-        std::ios_base::fmtflags f(std::cout.flags());
-        if (m == HEX)
-        {
-            std::cout << std::hex << num;
-            std::cout.flags(f);
-        }
-        if (m == BIN)
-            std::cout << std::bitset<sizeof(num)>(num);
-    };
-    void println() { std::cout << std::endl; };
-    void println(const char *s) { std::cout << s << std::endl; };
-    void println(uint8_t num, SerialPrintMode m)
-    {
-        print(num, m);
-        std::cout << std::endl;
-    };
-};
-
-static HardwareSerial Serial = HardwareSerial();
-
-#endif
-
-// add to RFM69.h
-/*
-#elif defined(_WIN32) || defined(_WIN64) // Windows
-#define RF69_PLATFORM RF69_PLATFORM_WINDOWS
-#else
-*/
-
-// TODO define the following
-/*
-digitalWrite
-pinMode
-SPIClass and necessary functions
-SPI
-HIGH
-LOW
-OUTPUT
-millis
-attachInterrupt
-RISING
-
-SPI_MODE0
-MSBFIRST    or SPI transaction
-
-SPI_CLOCK_DIV2
-detachInterrupt
-Serial print and println
-    HEX
-    BIN
-byte
-*/
+#ifndef RFM69HELPER_H
+#define RFM69HELPER_H
+
+#if defined(ARDUINO)
+#include <Arduino.h>
+#elif defined(_WIN32) || defined(_WIN64) // Windows
+
+#elif defined(__unix__)  // Linux
+// TODO
+#elif defined(__APPLE__) // OSX
+// TODO
+#endif
+
+#ifndef ARDUINO
+#include <iostream>
+#include <bitset>
+#include <chrono>
+#include <cstdint>
+#include <string>
+#include <cstring>
+
+#define SS 0
+
+static uint64_t startTime = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+
+static uint32_t millis()
+{
+    return std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count() - startTime;
+};
+
+enum SPIDataMode
+{
+    SPI_MODE0
+};
+
+enum SPIBitOrder
+{
+    MSBFIRST,
+    LSBFIRST
+};
+
+enum SPIClockDivider
+{
+    SPI_CLOCK_DIV2,
+    SPI_CLOCK_DIV8,
+    SPI_CLOCK_DIV16
+};
+
+class SPISettings
+{
+public:
+    SPISettings(){};
+    SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode)
+    {
+        this->clock = clock;
+        this->bitOrder = bitOrder;
+        this->dataMode = dataMode;
+    }
+    uint32_t clock = 4000000U;
+    uint8_t bitOrder = MSBFIRST;
+    uint8_t dataMode = SPI_MODE0;
+};
+
+// class SPIClass
+// {
+// public:
+//     SPIClass();
+//     void begin();
+
+//     // with transaction
+//     void beginTransaction(SPISettings settings);
+//     void endTransaction();
+
+//     // non transaction
+//     void setDataMode(SPIDataMode dm);
+//     void setBitOrder(SPIBitOrder bo);
+//     void setClockDivider(SPIClockDivider cd);
+//     uint8_t transfer(uint8_t data);
+// };
+
+// SPIClass SPI;
+
+enum PinState : bool
+{
+    LOW,
+    HIGH
+};
+
+enum PinMode : bool
+{
+    INPUT,
+    OUTPUT
+};
+
+enum InterruptTrigger : bool
+{
+    FALLING,
+    RISING
+};
+
+// void digitalWrite(int pin, PinState state);
+// void pinMode(int pin, PinMode mode);
+// void attachInterrupt(uint8_t pin, void (*function)(), InterruptTrigger mode);
+// void detachInterrupt(uint8_t pin);
+
+enum SerialPrintMode
+{
+    HEX,
+    BIN
+};
+
+class HardwareSerial
+{
+public:
+    HardwareSerial(){};
+    void print(const char *s) { std::cout << s; };
+    void print(uint8_t num, SerialPrintMode m)
+    {
+        std::ios_base::fmtflags f(std::cout.flags());
+        if (m == HEX)
+        {
+            std::cout << std::hex << num;
+            std::cout.flags(f);
+        }
+        if (m == BIN)
+            std::cout << std::bitset<sizeof(num)>(num);
+    };
+    void println() { std::cout << std::endl; };
+    void println(const char *s) { std::cout << s << std::endl; };
+    void println(uint8_t num, SerialPrintMode m)
+    {
+        print(num, m);
+        std::cout << std::endl;
+    };
+};
+
+static HardwareSerial Serial = HardwareSerial();
+
+#endif
+
+// add to RFM69.h
+/*
+#elif defined(_WIN32) || defined(_WIN64) // Windows
+#define RF69_PLATFORM RF69_PLATFORM_WINDOWS
+#else
+*/
+
+// TODO define the following
+/*
+digitalWrite
+pinMode
+SPIClass and necessary functions
+SPI
+HIGH
+LOW
+OUTPUT
+millis
+attachInterrupt
+RISING
+
+SPI_MODE0
+MSBFIRST    or SPI transaction
+
+SPI_CLOCK_DIV2
+detachInterrupt
+Serial print and println
+    HEX
+    BIN
+byte
+*/
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h
similarity index 54%
rename from Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h
rename to Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h
index 5e7c80d1..58d214ae 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/include/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h	
@@ -13,31 +13,27 @@
 // TODO
 #endif
 
+#include "RadioMessage.h"
+#include "RadioHead.h"
+#include "RHGenericSPI.h"
 /*
-Types:
-- ENCT_TELEMETRY: latitude,longitude,altitude,speed,heading,precision,stage,t0 <-> APRS message
-- ENCT_VIDEO: char* filled with raw bytes <-> Raw byte array
-- ENCT_GROUNDSTATION: Source:Value,Destination:Value,Path:Value,Type:Value,Body:Value <-> APRS message
-- ENCT_NONE: no encoding is applied, same as using tx()
+Settings:
+- double frequency in Mhz
+- RHGenericSPI *spi pointer to radiohead SPI object
+- uint8_t cs CS pin
+- uint8_t irq IRQ pin
+- uint8_t rst RST pin
 */
-enum EncodingType
+struct RadioSettings
 {
-    ENCT_TELEMETRY,
-    ENCT_VIDEO,
-    ENCT_GROUNDSTATION,
-    ENCT_NONE
-};
-
-class RadioMessage
-{
-public:
-    virtual bool encode(uint8_t *message) = 0;                            // use stored variables to encode a message
-    virtual bool decode(const uint8_t *message, int len) = 0; // use `message` to set stored variables
-    virtual int length() const = 0;                           // return the length of the message
-    virtual ~RadioMessage(){};
-    static constexpr int MAX_MESSAGE_LEN = 255;
-protected:
-    uint8_t len;
+    double frequency;
+    uint8_t thisAddr;
+    uint8_t toAddr;
+    RHGenericSPI *spi;
+    uint8_t cs;
+    uint8_t irq;
+    uint8_t rst;
+    int txPower = 20;
 };
 
 class Radio
@@ -54,6 +50,10 @@ class Radio
     virtual bool dequeueReceive(RadioMessage *message) = 0;
     virtual bool dequeueReceive(char *message) = 0;
     virtual bool dequeueReceive(uint8_t *message) = 0;
+    virtual bool update() = 0;
+
+protected:
+    RadioSettings settings;
 };
 
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp
new file mode 100644
index 00000000..882f1a5b
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp	
@@ -0,0 +1,43 @@
+#include "RadioMessage.h"
+
+#include <cstring>
+
+RadioMessage::RadioMessage()
+{
+    this->len = 0;
+}
+
+/*
+Copies a source array to the encoded message buffer
+    \param srcArr: the array to copy
+    \param len: the length of the source array
+    \return `false` if the length of the source array is greater than the buffer size, `true` otherwise
+*/
+bool RadioMessage::setArr(const uint8_t *srcArr, int len)
+{
+    if (len > RADIO_MESSAGE_BUFFER_SIZE)
+    {
+        return false;
+    }
+    memcpy(this->string, srcArr, len);
+    this->len = len;
+    return true;
+}
+
+/*
+Copies the encoded message buffer to a destination array
+    \param destArr: the array to copy into
+    \param len: the length of the dest array
+    \return `false` if the length of the dest array is smaller than the buffer size, `true` otherwise
+*/
+uint8_t *RadioMessage::getArr()
+{
+    return string;
+}
+/*
+Returns the length of the encoded message
+*/
+int RadioMessage::length() const
+{
+    return this->len;
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h
new file mode 100644
index 00000000..39eac2dc
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h	
@@ -0,0 +1,24 @@
+#ifndef RADIO_MESSAGE_H
+#define RADIO_MESSAGE_H
+
+#include <cstdint>
+
+const int RADIO_MESSAGE_BUFFER_SIZE = 255; // maximum length of an encoded `RadioMessage` in bytes.
+
+class RadioMessage
+{
+public:
+    RadioMessage();
+    virtual bool encode() = 0;                           // use stored variables to encode a message
+    virtual bool decode() = 0;                           // use `message` to set stored variables
+    virtual int length() const;                          // return the length of the message
+    virtual bool setArr(const uint8_t *srcArr, int len); // set the message to the given array
+    virtual uint8_t *getArr();                           // get the message as an array
+    virtual ~RadioMessage(){};
+
+protected:
+    uint8_t string[RADIO_MESSAGE_BUFFER_SIZE]; // buffer for the encoded message
+    uint8_t len;                               // length of the encoded message
+};
+
+#endif // RADIO_MESSAGE_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index 525e6b9b..2d28c304 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -32,6 +32,13 @@ State::State(bool useKalmanFilter, bool stateRecordsOwnFlightData)
 
     numSensors = 0;
     recordOwnFlightData = stateRecordsOwnFlightData;
+
+
+    ///
+
+    recordOwnFlightData = false; // For radio testing. Will not record own data unless told to do so.
+
+    ///
     for (int i = 0; i < NUM_MAX_SENSORS; i++)
         sensors[i] = nullptr;
 
@@ -282,6 +289,9 @@ int State::getStageNum() { return stageNumber; }
 
 #pragma region Getters and Setters for Sensors
 
+void State::setRecordOwnFlightData(bool value) { recordOwnFlightData = value; }
+bool State::getRecordOwnFlightData() { return recordOwnFlightData; }
+
 void State::setRadio(Radio *r) { radio = r; }
 Radio *State::getRadio() { return radio; }
 bool State::addSensor(Sensor *sensor, int sensorNum)
@@ -374,36 +384,19 @@ void State::determineStage()
 
     // essentially, if we have either sensor and they meet launch threshold, launch. Otherwise, it will never detect a launch.
     {
-        bb.aonoff(33, 200);
-        setRecordMode(FLIGHT);
-        stageNumber = 1;
-        timeOfLaunch = timeAbsolute;
-        timePreviousStage = timeAbsolute;
-        timeSinceLaunch = 0;
-        strcpy(launchTimeOfDay, gps->getTimeOfDay());
         recordLogData(INFO, "Launch detected.");
-        recordLogData(INFO, "Printing static data.");
-        for (int i = 0; i < NUM_MAX_SENSORS; i++)
-        {
-            if (sensorOK(sensors[i]))
-            {
-                char logData[200];
-                snprintf(logData, 200, "%s: %s", sensors[i]->getName(), sensors[i]->getStaticDataString());
-                recordLogData(INFO, logData);
-                sensors[i]->setBiasCorrectionMode(false);
-            }
-        }
+        launch();
     } // TODO: Add checks for each sensor being ok and decide what to do if they aren't.
     else if (stageNumber == 1 && abs(acceleration.z()) < 10)
     {
-        bb.aonoff(33, 200, 2);
+        bb.aonoff(BUZZER, 200, 2);
         timePreviousStage = timeAbsolute;
         stageNumber = 2;
         recordLogData(INFO, "Coasting detected.");
     }
     else if (stageNumber == 2 && baroVelocity <= 0 && timeSinceLaunch > 5)
     {
-        bb.aonoff(33, 200, 3);
+        bb.aonoff(BUZZER, 200, 3);
         char logData[100];
         snprintf(logData, 100, "Apogee detected at %.2f m.", position.z());
         recordLogData(INFO, logData);
@@ -413,14 +406,14 @@ void State::determineStage()
     }
     else if (stageNumber == 3 && baro->getRelAltFt() < 1000 && timeSinceLaunch > 10)
     {
-        bb.aonoff(33, 200, 4);
+        bb.aonoff(BUZZER, 200, 4);
         stageNumber = 4;
         timePreviousStage = timeAbsolute;
         recordLogData(INFO, "Main parachute conditions detected.");
     }
     else if (stageNumber == 4 && baroVelocity > -1 && baro->getRelAltFt() < 66 && timeSinceLaunch > 15)
     {
-        bb.aonoff(33, 200, 5);
+        bb.aonoff(BUZZER, 200, 5);
         timePreviousStage = timeAbsolute;
         stageNumber = 5;
         recordLogData(INFO, "Landing detected. Waiting for 5 seconds to dump data.");
@@ -434,7 +427,28 @@ void State::determineStage()
         }
     }
 }
-
+void State::launch()
+{
+    recordOwnFlightData = true; // just in case this wasnt already set
+    bb.aonoff(BUZZER, 200);
+    setRecordMode(FLIGHT);
+    stageNumber = 1;
+    timeOfLaunch = timeAbsolute;
+    timePreviousStage = timeAbsolute;
+    timeSinceLaunch = 0;
+    strcpy(launchTimeOfDay, gps->getTimeOfDay());
+    recordLogData(INFO, "Printing static data.");
+    for (int i = 0; i < NUM_MAX_SENSORS; i++)
+    {
+        if (sensorOK(sensors[i]))
+        {
+            char logData[200];
+            snprintf(logData, 200, "%s: %s", sensors[i]->getName(), sensors[i]->getStaticDataString());
+            recordLogData(INFO, logData);
+            sensors[i]->setBiasCorrectionMode(false);
+        }
+    }
+}
 void State::setCsvString(char *dest, const char *start, int startSize, bool header)
 {
     int numCategories = numSensors + 1;
@@ -484,29 +498,23 @@ bool State::sensorOK(const Sensor *sensor)
 
 #pragma endregion
 
-bool State::transmit()
+void State::fillAPRSData(APRSTelemData &data)
 {
-    aprs.data.lat = sensorOK(gps) ? gps->getPos().x() : 0;
-    aprs.data.lng = sensorOK(gps) ? gps->getPos().y() : 0;
-    aprs.data.alt = sensorOK(baro) ? baro->getRelAltFt() : 0;
-    aprs.data.hdg = (int)headingAngle;
-    aprs.data.spd = abs((int)(baroVelocity * 3.28));
-    aprs.data.stage = stageNumber;
-    aprs.data.orientation = imu->getOrientation().toEuler();
-    aprs.data.orientation.toDegrees();
-    for(int i = 0; i < 3; i++)
+    data.lat = sensorOK(gps) ? gps->getPos().x() : 0;
+    data.lng = sensorOK(gps) ? gps->getPos().y() : 0;
+    data.alt = sensorOK(baro) ? baro->getRelAltFt() : 0;
+    data.hdg = (int)headingAngle;
+    data.spd = abs((int)(baroVelocity * 3.28));
+    data.stage = stageNumber;
+    data.orientation = imu->getOrientation().toEuler();
+    data.orientation.toDegrees();
+    for (int i = 0; i < 3; i++)
     {
-        if(aprs.data.orientation[i] < 0)
-            aprs.data.orientation[i] += 360;
+        if (data.orientation[i] < 0)
+            data.orientation[i] += 360;
     }
-    radio->enqueueSend(&aprs);
-    uint8_t data[150];
-    data[149] = '\0';
-    aprs.encode(data);
-    //printf("%s\n", data);
-    //printf("Values: %f, %f, %.02f, %.02f, %.02f, %d, %d, %d, %d\n", aprs.data.lat, aprs.data.lng, aprs.data.hdg, aprs.data.spd, aprs.data.alt, aprs.data.stage, (int)aprs.data.orientation.z(), (int)aprs.data.orientation.y(), (int)aprs.data.orientation.x());
-    return true;
 }
+
 extern unsigned long _heap_start;
 extern unsigned long _heap_end;
 extern char *__brkval;
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h
index 35bd6c78..0e56e276 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h	
@@ -9,12 +9,14 @@
 #include "GPS.h"
 #include "IMU.h"
 #include "LightSensor.h"
-#include "Radio.h"
+#include "Radio/Radio.h"
 #include "RTC.h"
 #include "RecordData.h"
-#include "APRSMsg.h"
+#include "Radio/APRS/APRSTelemMsg.h"
 
 constexpr char STAGES[][15] = {"Pre-Flight", "Boosting", "Coasting", "Drogue Descent", "Main Descent", "Post-Flight"};
+
+extern APRSHeader header;
 class State
 {
 public:
@@ -45,12 +47,15 @@ class State
     char *getCsvHeader();
     char *getStateString(); // This contains only the portions that define what the state thinks the rocket looks like.
 
-    bool transmit();
+    void fillAPRSData(APRSTelemData &data);
+    void setRecordOwnFlightData(bool val);
+    bool getRecordOwnFlightData();
+    void launch();
     double timeAbsolute; // in s since uC turned on
 
 private:
     int lastTimeAbsolute;
-    static constexpr int NUM_MAX_SENSORS = 3;                              // update with the max number of expected sensors.
+    static constexpr int NUM_MAX_SENSORS = 3;                            // update with the max number of expected sensors.
     SensorType SENSOR_ORDER[NUM_MAX_SENSORS] = {BAROMETER_, GPS_, IMU_}; // make this array the same length as NUM_MAX_SENSORS and fill it.
     // example if you have more than one of the same sensor type:
     // constexpr SensorType SENSOR_ORDER[] = {BAROMETER_, BAROMETER_, GPS_, IMU_}; or
@@ -101,11 +106,11 @@ class State
     imu::Quaternion orientation;   // in quaternion
     double baroVelocity;           // in m/s
     double baroOldAltitude;        // in m
-    double headingAngle;          // in degrees
+    double headingAngle;           // in degrees
 
     char launchTimeOfDay[9];
 
-    //Kalman Filter settings
+    // Kalman Filter settings
     bool useKF;
     LinearKalmanFilter *kfilter;
     // time pos x y z vel x y z acc x y z
@@ -117,10 +122,7 @@ class State
     uint32_t FreeMem();
 
     // APRS
-    APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1"};
-
-    APRSMsg aprs = {header};
-    
+    APRSTelemData data;
 };
 
 #endif
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 10ddaef3..22471c23 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -4,30 +4,45 @@
 #include "BNO055.h"
 #include "MAX_M10S.h"
 #include "DS3231.h"
-#include "RFM69HCW.h"
+#include "Radio/RFM69HCW.h"
+#include "Radio/APRS/APRSCmdMsg.h"
+#include "Radio/APRS/APRSTelemMsg.h"
 #include "RecordData.h"
 #include "BlinkBuzz.h"
+#include "Pi.h"
+
+#define BMP_ADDR_PIN 36
+#define RPI_PWR 0
+#define RPI_VIDEO 1
 
 BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
-RadioSettings settings = {915.0, true, false, &hardware_spi, 10, 31, 32};
+
+RadioSettings settings = {915.0, 0x01, 0x02, &hardware_spi, 10, 31, 32};
 RFM69HCW radio(&settings);
+APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '^', 'M'};
+APRSCmdData currentCmdData;
+APRSCmdMsg cmd(header);
+APRSTelemMsg telem(header);
+int timeSinceLastCmd = 0;
+const int CMD_TIMEOUT_SEC = 10; // 10 seconds
+void processCurrentCmdData(double time);
+
+
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
-
+Pi rpi(RPI_PWR, RPI_VIDEO);
 PSRAM *ram;
 
-#define BUZZER 33
-#define BMP_ADDR_PIN 36
-#define RPI_PWR 0
-#define RPI_VIDEO 1
-
 static double last = 0; // for better timing than "delay(100)"
 
 // BlinkBuzz setup
+int BUZZER = 33;
 int allowedPins[] = {LED_BUILTIN};
 BlinkBuzz bb(allowedPins, 1, true);
+
+// Free memory debug function
 extern unsigned long _heap_start;
 extern unsigned long _heap_end;
 extern char *__brkval;
@@ -39,25 +54,17 @@ void FreeMem()
     Serial.print(" ");
     free(heapTop);
 }
+// Free memory debug function
 
 void setup()
 {
 
-    pinMode(LED_BUILTIN, OUTPUT);
     bb.onoff(BUZZER, 100, 4, 100);
     recordLogData(INFO, "Initializing Avionics System. 5 second delay to prevent unnecessary file generation.", TO_USB);
     // delay(5000);
 
     pinMode(BMP_ADDR_PIN, OUTPUT);
     digitalWrite(BMP_ADDR_PIN, HIGH);
-
-    pinMode(RPI_PWR, OUTPUT);   // RASPBERRY PI TURN ON
-    pinMode(RPI_VIDEO, OUTPUT); // RASPBERRY PI TURN ON
-
-    digitalWrite(RPI_PWR, LOW);
-    digitalWrite(RPI_VIDEO, HIGH);
-
-    bb.onoff(LED_BUILTIN, 100);
     ram = new PSRAM(); // init after the SD card for better data logging.
 
     // The SD card MUST be initialized first to allow proper data logging.
@@ -100,51 +107,102 @@ void setup()
     }
     sendSDCardHeader(computer.getCsvHeader());
 }
-static bool first = false;
-static bool second = false;
+
 void loop()
 {
-    bb.update();
-    radio.update();
     double time = millis();
-
-    if (time - radioTimer >= 1000)
+    bb.update();
+    if (radio.update()) // if there is a message to be read
     {
-        computer.transmit();
-        radioTimer = time;
+        APRSCmdData old = cmd.data;
+        if (radio.dequeueReceive(&cmd))
+        {
+            char log[100];
+            if (cmd.data.Launch != old.Launch)
+            {
+                snprintf(log, 100, "Launch Command Changed to %d.", cmd.data.Launch);
+                recordLogData(INFO, log);
+                currentCmdData.Launch = cmd.data.Launch;
+            }
+            if (cmd.data.MinutesUntilPowerOn != old.MinutesUntilPowerOn)
+            {
+                snprintf(log, 100, "Power On Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilPowerOn, (int)(currentCmdData.MinutesUntilPowerOn - time) / 60000);
+                recordLogData(INFO, log);
+                currentCmdData.MinutesUntilPowerOn = cmd.data.MinutesUntilPowerOn * 60 * 1000 + time;
+            }
+            if (cmd.data.MinutesUntilVideoStart != old.MinutesUntilVideoStart)
+            {
+                snprintf(log, 100, "Video Start Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilVideoStart, (int)(currentCmdData.MinutesUntilVideoStart - time) / 60000);
+                recordLogData(INFO, log);
+                currentCmdData.MinutesUntilVideoStart = cmd.data.MinutesUntilVideoStart * 60 * 1000 + time;
+            }
+            if (cmd.data.MinutesUntilDataRecording != old.MinutesUntilDataRecording)
+            {
+                snprintf(log, 100, "Data Recording Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilDataRecording, (int)(currentCmdData.MinutesUntilDataRecording - time) / 60000);
+                recordLogData(INFO, log);
+                currentCmdData.MinutesUntilDataRecording = cmd.data.MinutesUntilDataRecording * 60 * 1000 + time;
+            }
+        }
     }
+    processCurrentCmdData(time);
+
     if (time - last < 100)
         return;
 
     last = time;
     computer.updateState();
-    //recordLogData(INFO, computer.getStateString(), TO_USB);
-    // RASPBERRY PI TURN ON
-    if (time / 1000.0 > 810)
+    // recordLogData(INFO, computer.getStateString(), TO_USB);
+
+    if (time - radioTimer >= 1000)
     {
-        digitalWrite(RPI_PWR, HIGH);
-        if (!first)
-        {
-            bb.aonoff(BUZZER, 100, 2);
-            first = true;
-        }
+        computer.fillAPRSData(telem.data);
+
+        if (rpi.isOn())
+            telem.data.statusFlags |= RPI_PWR;
+        else
+            telem.data.statusFlags &= ~RPI_PWR;
+
+        if (rpi.isRecording())
+            telem.data.statusFlags |= RPI_VIDEO;
+        else
+            telem.data.statusFlags &= ~RPI_VIDEO;
+
+        if (computer.getRecordOwnFlightData())
+            telem.data.statusFlags |= RECORDING_DATA;
+        else
+            telem.data.statusFlags &= ~RECORDING_DATA;
+
+        radio.enqueueSend(&telem);
+    }
+
+    // RASPBERRY PI TURN ON/VIDEO
+    if ((time / 1000.0 > 810 && time - timeSinceLastCmd > CMD_TIMEOUT_SEC * 1000) || computer.getStageNum() >= 1)
+        rpi.setOn(true);
+    if ((computer.getStageNum() >= 1 || time - timeSinceLastCmd > CMD_TIMEOUT_SEC * 1000) && rpi.isOn())
+        rpi.setRecording(true);
+}
+
+void processCurrentCmdData(double time)
+{
+    if (currentCmdData.Launch)
+    {
+        recordLogData(INFO, "Launch Command Received. Launching Rocket.");
+        computer.launch();
     }
-    if (computer.getStageNum() >= 1)
+
+    if (time > currentCmdData.MinutesUntilPowerOn)
     {
-        digitalWrite(RPI_VIDEO, LOW);
-        if (!second)
-        {
-            bb.aonoff(BUZZER, 100, 3);
-            second = true;
-        }
+        recordLogData(INFO, "Power On Radio Time Reached. Turning on Raspberry Pi.");
+        rpi.setOn(true);
+    }
+    if (time > currentCmdData.MinutesUntilVideoStart)
+    {
+        recordLogData(INFO, "Video Start Time Reached. Starting Video Recording.");
+        rpi.setRecording(true);
+    }
+    if (time > currentCmdData.MinutesUntilDataRecording)
+    {
+        recordLogData(INFO, "Data Recording Time Reached. Starting Data Recording.");
+        computer.setRecordOwnFlightData(true);
     }
-    // if (time / 1000.0 > 180)
-    // {
-    //     digitalWrite(RPI_VIDEO, LOW);
-    //     if (!second)
-    //     {
-    //         bb.aonoff(BUZZER, 100, 3);
-    //         second = true;
-    //     }
-    // }
 }

From 89e6bfd914b960735c39a1a9d13a7e5a1e205266 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 23:11:29 -0400
Subject: [PATCH 23/41] Working Version from Desktop

---
 .../src/Radio/APRS/APRSCmdMsg.cpp             | 10 ++++----
 .../src/Radio/APRS/APRSCmdMsg.h               |  6 ++---
 .../src/Radio/RFM69HCW.cpp                    |  1 -
 .../Code/Teensy-Based Avionics/src/State.cpp  |  6 ++---
 .../Code/Teensy-Based Avionics/src/main.cpp   | 23 ++++++++++---------
 5 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp
index 44bc21c4..85a5f3e1 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
@@ -2,18 +2,18 @@
 
 void APRSCmdMsg::encodeData(int cursor)
 {
-    snprintf((char *)string[cursor], RADIO_MESSAGE_BUFFER_SIZE - cursor,
+    snprintf((char *)&string[cursor], RADIO_MESSAGE_BUFFER_SIZE - cursor,
              ":%-09s:PWR:%d VID:%d DAT:%d L:%d", header.CALLSIGN, data.MinutesUntilPowerOn, data.MinutesUntilVideoStart, data.MinutesUntilDataRecording, data.Launch);
 }
 void APRSCmdMsg::decodeData(int cursor)
 {
-    sscanf((char *)string[cursor], ":%*9s:PWR:%d VID:%d DAT:%d L:%d", &data.MinutesUntilPowerOn, &data.MinutesUntilVideoStart, &data.MinutesUntilDataRecording, &data.Launch);
+    sscanf((char *)&string[cursor + 11], "PWR:%d VID:%d DAT:%d L:%d", &data.MinutesUntilPowerOn, &data.MinutesUntilVideoStart, &data.MinutesUntilDataRecording, &data.Launch);
 }
 
 APRSCmdMsg::APRSCmdMsg(APRSHeader &header) : APRSMsgBase(header)
 {
-    data.MinutesUntilPowerOn = 0;
-    data.MinutesUntilVideoStart = 0;
-    data.MinutesUntilDataRecording = 0;
+    data.MinutesUntilPowerOn = -1;
+    data.MinutesUntilVideoStart = -1;
+    data.MinutesUntilDataRecording = -1;
     data.Launch = false;
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h
index 3c62529d..169e05b0 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h	
@@ -5,9 +5,9 @@
 
 struct APRSCmdData
 {
-    uint8_t MinutesUntilPowerOn;       // Minutes until the Pi turns on - 0 means turn on now
-    uint8_t MinutesUntilVideoStart;    // Minutes until the Pi starts recording video - 0 means start now
-    uint8_t MinutesUntilDataRecording; // Minutes until the FC starts recording data - 0 means start now
+    int MinutesUntilPowerOn;       // Minutes until the Pi turns on - 0 means turn on now
+    int MinutesUntilVideoStart;    // Minutes until the Pi starts recording video - 0 means start now
+    int MinutesUntilDataRecording; // Minutes until the FC starts recording data - 0 means start now
     bool Launch;                       // Send the launch command to the FC - 0 means don't send
 };
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index ab0d4ace..e7d0388a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -264,7 +264,6 @@ bool RFM69HCW::update()
         remainingLength = 0;
         return false;
     }
-
     int packetNum;
     if (remainingLength == 0) // start a new message
     {
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index 2d28c304..afe97ac0 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -416,12 +416,12 @@ void State::determineStage()
         bb.aonoff(BUZZER, 200, 5);
         timePreviousStage = timeAbsolute;
         stageNumber = 5;
-        recordLogData(INFO, "Landing detected. Waiting for 5 seconds to dump data.");
+        recordLogData(INFO, "Landing detected. Waiting for 30 seconds to dump data.");
     }
-    else if (stageNumber == 5 && timeSinceLaunch > 20)
+    else if (stageNumber == 5 && timeSinceLaunch > 15)
     {
         if (landingCounter++ >= 300)
-        { // roughly 5 seconds of data after landing
+        { // roughly 30 seconds of data after landing
             setRecordMode(GROUND);
             recordLogData(INFO, "Dumped data after landing.");
         }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 22471c23..cdccef5a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -22,14 +22,13 @@ MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 RadioSettings settings = {915.0, 0x01, 0x02, &hardware_spi, 10, 31, 32};
 RFM69HCW radio(&settings);
 APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '^', 'M'};
-APRSCmdData currentCmdData;
+APRSCmdData currentCmdData = {800000, 800000, 800000, false};
 APRSCmdMsg cmd(header);
 APRSTelemMsg telem(header);
-int timeSinceLastCmd = 0;
-const int CMD_TIMEOUT_SEC = 10; // 10 seconds
+int timeOfLastCmd = 0;
+const int CMD_TIMEOUT_SEC = 100; // 10 seconds
 void processCurrentCmdData(double time);
 
-
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
 Pi rpi(RPI_PWR, RPI_VIDEO);
@@ -114,6 +113,7 @@ void loop()
     bb.update();
     if (radio.update()) // if there is a message to be read
     {
+        timeOfLastCmd = time;
         APRSCmdData old = cmd.data;
         if (radio.dequeueReceive(&cmd))
         {
@@ -173,34 +173,35 @@ void loop()
             telem.data.statusFlags &= ~RECORDING_DATA;
 
         radio.enqueueSend(&telem);
+        radioTimer = time;
     }
 
     // RASPBERRY PI TURN ON/VIDEO
-    if ((time / 1000.0 > 810 && time - timeSinceLastCmd > CMD_TIMEOUT_SEC * 1000) || computer.getStageNum() >= 1)
+    if ((time / 1000.0 > 810 && time - timeOfLastCmd > CMD_TIMEOUT_SEC * 1000) || computer.getStageNum() >= 1)
         rpi.setOn(true);
-    if ((computer.getStageNum() >= 1 || time - timeSinceLastCmd > CMD_TIMEOUT_SEC * 1000) && rpi.isOn())
+    if ((computer.getStageNum() >= 1 || time - timeOfLastCmd > CMD_TIMEOUT_SEC * 1000) && rpi.isOn())
         rpi.setRecording(true);
 }
 
 void processCurrentCmdData(double time)
 {
-    if (currentCmdData.Launch)
+    if (currentCmdData.Launch && computer.getStageNum() == 0)
     {
         recordLogData(INFO, "Launch Command Received. Launching Rocket.");
         computer.launch();
     }
 
-    if (time > currentCmdData.MinutesUntilPowerOn)
+    if (time > currentCmdData.MinutesUntilPowerOn && !rpi.isOn())
     {
-        recordLogData(INFO, "Power On Radio Time Reached. Turning on Raspberry Pi.");
+        recordLogData(INFO, "Power On RPI Time Reached. Turning on Raspberry Pi.");
         rpi.setOn(true);
     }
-    if (time > currentCmdData.MinutesUntilVideoStart)
+    if (time > currentCmdData.MinutesUntilVideoStart && !rpi.isRecording())
     {
         recordLogData(INFO, "Video Start Time Reached. Starting Video Recording.");
         rpi.setRecording(true);
     }
-    if (time > currentCmdData.MinutesUntilDataRecording)
+    if (time > currentCmdData.MinutesUntilDataRecording && !computer.getRecordOwnFlightData())
     {
         recordLogData(INFO, "Data Recording Time Reached. Starting Data Recording.");
         computer.setRecordOwnFlightData(true);

From 2bba3bbdf6d2a0769672d5f3461868f790fb55d9 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 23:11:56 -0400
Subject: [PATCH 24/41] Working Version From Laptop

---
 .../src/GroundStationReceiver/main.cpp              | 11 ++++-------
 .../src/Radio/APRS/APRSCmdMsg.cpp                   |  7 ++++---
 .../Teensy-Based Avionics/src/Radio/RFM69HCW.cpp    | 13 ++++++++++---
 3 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index 7006ded4..cb8d8fa2 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -4,7 +4,7 @@
 #include "../Radio/RFM69HCW.h"
 #include "../Radio/APRS/APRSCmdMsg.h"
 
-APRSHeader header;
+APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '/', 'o'};
 APRSTelemMsg msg(header);
 APRSCmdMsg cmd(header);
 RadioSettings settings = {915.0, 0x02, 0x01, &hardware_spi, 10, 31, 32};
@@ -36,18 +36,15 @@ void loop()
             aprsToSerial::encodeAPRSForSerial(msg, buffer, 255, radio.RSSI());
             Serial.println(buffer);
         }
-        if(counter % 100 == 0)
+        if(counter % 50 == 0)
         {
-            radio.enqueueSend(&msg);
+            radio.enqueueSend(&cmd);
         }
-        if(counter % 500 == 0)
+        if(counter % 190 == 0)
         {
             cmd.data.Launch = !cmd.data.Launch;
             radio.enqueueSend(&cmd);
         }
-        counter++;
         char *b = (char *)cmd.getArr();
-        b[cmd.length()] = '\0';
-        printf("Cmd: %s\n", b);
     }
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp
index 44bc21c4..cfa35999 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
@@ -2,12 +2,13 @@
 
 void APRSCmdMsg::encodeData(int cursor)
 {
-    snprintf((char *)string[cursor], RADIO_MESSAGE_BUFFER_SIZE - cursor,
-             ":%-09s:PWR:%d VID:%d DAT:%d L:%d", header.CALLSIGN, data.MinutesUntilPowerOn, data.MinutesUntilVideoStart, data.MinutesUntilDataRecording, data.Launch);
+    snprintf((char *)&string[cursor], RADIO_MESSAGE_BUFFER_SIZE - cursor,
+             ":%-9s:PWR:%d VID:%d DAT:%d L:%d", header.CALLSIGN, data.MinutesUntilPowerOn, data.MinutesUntilVideoStart, data.MinutesUntilDataRecording, data.Launch);
+    len = strlen((char *)string);
 }
 void APRSCmdMsg::decodeData(int cursor)
 {
-    sscanf((char *)string[cursor], ":%*9s:PWR:%d VID:%d DAT:%d L:%d", &data.MinutesUntilPowerOn, &data.MinutesUntilVideoStart, &data.MinutesUntilDataRecording, &data.Launch);
+    sscanf((char *)&string[cursor], ":%*9s:PWR:%d VID:%d DAT:%d L:%d", &data.MinutesUntilPowerOn, &data.MinutesUntilVideoStart, &data.MinutesUntilDataRecording, &data.Launch);
 }
 
 APRSCmdMsg::APRSCmdMsg(APRSHeader &header) : APRSMsgBase(header)
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index ab0d4ace..f6d7612f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -86,7 +86,11 @@ bool RFM69HCW::tx(const uint8_t *message, int len, int packetNum, bool lastPacke
 
     radio.setHeaderId(packetNum);
     radio.setHeaderFlags(lastPacket ? 0 : RADIO_FLAG_MORE_DATA);
-
+    char msg[len + 1];
+    for (int i = 0; i < len; i++)
+        msg[i] = message[i];
+    msg[len] = '\0';
+    printf("tx: %s\n", msg);
     return radio.send((uint8_t *)message, len);
 }
 
@@ -118,6 +122,7 @@ Enqueue a message into the buffer
 */
 bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
 {
+    printf("enqueueSend2\n");
     // fill up the buffer with the message. buffer is a circular queue.
     int originalTail = sendBuffer.tail;
     sendBuffer.data[sendBuffer.tail] = len; // store the length of the message
@@ -134,6 +139,7 @@ bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
         sendBuffer.data[sendBuffer.tail] = message[i];
         inc(sendBuffer.tail);
     }
+    printf("len: %d\n", len);
     return true;
 }
 
@@ -153,8 +159,10 @@ Encode the message and enqueue it in the buffer
 */
 bool RFM69HCW::enqueueSend(RadioMessage *message)
 {
+    printf("enqueueSend\n");
     if (message->encode())
         return enqueueSend(message->getArr(), message->length());
+    printf("enqueueSend failed\n");
     return false;
 }
 /*
@@ -257,14 +265,13 @@ bool RFM69HCW::update()
             return false;
         return true;
     }
-
     // transmit
     if (sendBuffer.head == sendBuffer.tail) // buffer is empty, nothing to send
     {
         remainingLength = 0;
         return false;
     }
-
+    printf("update\n");
     int packetNum;
     if (remainingLength == 0) // start a new message
     {

From 518de14a7bf3fc8dd3978a3b9493bffe90c0e718 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 23:19:16 -0400
Subject: [PATCH 25/41] Fix CSV header

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index afe97ac0..1df96151 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -113,11 +113,10 @@ bool State::init()
         if (!radio->init())
             radio = nullptr;
     }
-    setCsvHeader();
     if (useKF)
         kfilter = initializeFilter();
     numSensors = good;
-
+    setCsvHeader();
     return good == tryNumSensors;
 }
 

From c39d213440813b91651e5bafdf8155c4b36ec0d3 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 23:45:14 -0400
Subject: [PATCH 26/41] Cleanup of State code

---
 .../lib/RecordData/RecordData.cpp             |   3 -
 .../Code/Teensy-Based Avionics/src/State.cpp  | 169 +++++++++---------
 2 files changed, 80 insertions(+), 92 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp
index 4fd1761e..fb24046f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
@@ -32,9 +32,6 @@ void recordLogData(double timeStamp, LogType type, const char *data, Dest dest)
 
     if (dest == BOTH || dest == TO_USB)
     {
-        // if (!Serial){
-        //     Serial.begin(9600);
-        // }
         Serial.print(logPrefix);
         Serial.println(data);
     }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index 1df96151..9a4eb924 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -7,15 +7,12 @@ State::State(bool useKalmanFilter, bool stateRecordsOwnFlightData)
     lastTimeAbsolute = 0;
     timeAbsolute = millis();
     timePreviousStage = 0;
-    position.x() = 0;
-    position.y() = 0;
-    position.z() = 0;
-    velocity.x() = 0;
-    velocity.y() = 0;
-    velocity.z() = 0;
-    acceleration.x() = 0;
-    acceleration.y() = 0;
-    acceleration.z() = 0;
+    
+    position = imu::Vector<3>(0, 0, 0);
+    velocity = imu::Vector<3>(0, 0, 0);
+    acceleration = imu::Vector<3>(0, 0, 0);
+    orientation = imu::Quaternion(0, 0, 0, 1);
+
     apogee = 0;
     stageNumber = 0;
     baroOldAltitude = 0;
@@ -33,12 +30,12 @@ State::State(bool useKalmanFilter, bool stateRecordsOwnFlightData)
     numSensors = 0;
     recordOwnFlightData = stateRecordsOwnFlightData;
 
-
     ///
 
-    recordOwnFlightData = false; // For radio testing. Will not record own data unless told to do so.
+    recordOwnFlightData = false; // For radio testing. Will not record own data unless told to do so or if it detects a launch.
 
     ///
+
     for (int i = 0; i < NUM_MAX_SENSORS; i++)
         sensors[i] = nullptr;
 
@@ -75,36 +72,28 @@ State::~State()
 
 bool State::init()
 {
-    char *logData = new char[100];
+    char logData[100];
     int good = 0, tryNumSensors = 0;
     for (int i = 0; i < NUM_MAX_SENSORS; i++)
     {
-        if (sensors[i])
+        if (sensors[i]) // not nullptr
         {
             tryNumSensors++;
             if (sensors[i]->initialize())
             {
                 good++;
-                strcpy(logData, sensors[i]->getTypeString()); // This is a lot for just some logging...
-                strcat(logData, " [");
-                strcat(logData, sensors[i]->getName());
-                strcat(logData, "] initialized.");
+                snprintf(logData, 100, "%s [%s] initialized.", sensors[i]->getTypeString(), sensors[i]->getName());
                 recordLogData(INFO, logData);
             }
             else
             {
-                strcpy(logData, sensors[i]->getTypeString());
-                strcat(logData, " [");
-                strcat(logData, sensors[i]->getName());
-                strcat(logData, "] failed to initialize.");
+                snprintf(logData, 100, "%s [%s] failed to initialize.", sensors[i]->getTypeString(), sensors[i]->getName());
                 recordLogData(ERROR, logData);
             }
         }
         else
         {
-            strcpy(logData, "Sensor [");
-            strcat(logData, SENSOR_NAMES[i]);
-            strcat(logData, "] was not added via addSensor().");
+            snprintf(logData, 100, "Sensor [%s] was not added via addSensor().", SENSOR_NAMES[i]);
             recordLogData(ERROR, logData);
         }
     }
@@ -148,10 +137,10 @@ void State::updateState(double newTimeAbsolute)
         return;
 
     lastTimeAbsolute = timeAbsolute;
-    if (newTimeAbsolute != -1)
-        timeAbsolute = newTimeAbsolute;
-    else
+    if (newTimeAbsolute == -1)
         timeAbsolute = millis() / 1000.0;
+    else
+        timeAbsolute = newTimeAbsolute;
 
     updateSensors();
     if (kfilter && sensorOK(gps) && gps->getHasFirstFix() && stageNumber > 0)
@@ -192,7 +181,7 @@ void State::updateState(double newTimeAbsolute)
 
         if (sensorOK(baro))
         {
-            baroVelocity = (baro->getRelAltM() - baroOldAltitude) / (millis() / 1000.0 - timeAbsolute);
+            baroVelocity = (baro->getRelAltM() - baroOldAltitude) / (timeAbsolute - lastTimeAbsolute);
             baroOldAltitude = baro->getRelAltM();
         }
     }
@@ -206,9 +195,9 @@ void State::updateState(double newTimeAbsolute)
         }
         if (sensorOK(baro))
         {
-            velocity.z() = (baro->getRelAltM() - baroOldAltitude) / (millis() / 1000.0 - lastTimeAbsolute);
+            velocity.z() = (baro->getRelAltM() - baroOldAltitude) / (timeAbsolute - lastTimeAbsolute);
             position.z() = baro->getRelAltM();
-            baroVelocity = (baro->getRelAltM() - baroOldAltitude) / (millis() / 1000.0 - lastTimeAbsolute);
+            baroVelocity = (baro->getRelAltM() - baroOldAltitude) / (timeAbsolute - lastTimeAbsolute);
             baroOldAltitude = baro->getRelAltM();
         }
         if (sensorOK(imu))
@@ -218,26 +207,24 @@ void State::updateState(double newTimeAbsolute)
         }
     }
 
-    if (stageNumber == 0)
-        timeSinceLaunch = 0;
-    else
-        timeSinceLaunch = timeAbsolute - timeOfLaunch;
-
     determineAccelerationMagnitude();
     determineStage();
+
     if (stageNumber > 0)
+    {
         timeSincePreviousStage = timeAbsolute - timePreviousStage;
+        timeSinceLaunch = timeAbsolute - timeOfLaunch;
+    }
+
     if (stageNumber < 3)
         apogee = position.z();
 
     // backup case to dump data (25 minutes)
-    if (stageNumber > 0 && timeSinceLaunch > 1500 && stageNumber < 5)
+    if (stageNumber > 0 && timeSinceLaunch > 25 * 60 && stageNumber < 5)
     {
         stageNumber = 5;
         setRecordMode(GROUND);
-        digitalWrite(LED_BUILTIN, HIGH);
-        delay(500);
-        digitalWrite(LED_BUILTIN, LOW);
+        bb.aonoff(LED, 5000);
         recordLogData(WARNING, "Dumping data after 25 minutes.");
     }
     setDataString();
@@ -245,6 +232,8 @@ void State::updateState(double newTimeAbsolute)
         recordFlightData(dataString);
 }
 
+#pragma region CSV Operations
+
 void State::setCsvHeader()
 {
     char csvHeaderStart[] = "Time,Stage,PX,PY,PZ,VX,VY,VZ,AX,AY,AZ,";
@@ -284,12 +273,54 @@ char *State::getStateString()
 
 char *State::getDataString() { return dataString; }
 char *State::getCsvHeader() { return csvHeader; }
-int State::getStageNum() { return stageNumber; }
 
-#pragma region Getters and Setters for Sensors
+void State::setCsvString(char *dest, const char *start, int startSize, bool header)
+{
+    int numCategories = numSensors + 1;
+    const char **str = new const char *[numCategories];
+    str[0] = start;
+    int cursor = 1;
+    delete[] dest;
+    //---Determine required size for string
+    int size = startSize + 1; // includes '\0' at end of string for the end of dataString to use
+    for (int i = 0; i < NUM_MAX_SENSORS; i++)
+    {
+        if (sensorOK(sensors[i]))
+        {
+            str[cursor] = header ? sensors[i]->getCsvHeader() : sensors[i]->getDataString();
+            size += strlen(str[cursor++]);
+        }
+    }
+    dest = new char[size];
+    if (header)
+        csvHeader = dest;
+    else
+        dataString = dest;
+    //---Fill data String
+    int j = 0;
+    for (int i = 0; i < numCategories; i++)
+    {
+        for (int k = 0; str[i][k] != '\0'; j++, k++)
+        { // append all the data strings onto the main string
+
+            dest[j] = str[i][k];
+        }
+        if (i >= 1 && !header)
+        {
+            delete[] str[i]; // delete all the heap arrays.
+        }
+    }
+    delete[] str;
+    dest[j - 1] = '\0'; // all strings have ',' at end so this gets rid of that and terminates it a character early.
+}
+
+#pragma endregion // CSV Operations
+
+#pragma region Getters and Setters
 
 void State::setRecordOwnFlightData(bool value) { recordOwnFlightData = value; }
 bool State::getRecordOwnFlightData() { return recordOwnFlightData; }
+int State::getStageNum() { return stageNumber; }
 
 void State::setRadio(Radio *r) { radio = r; }
 Radio *State::getRadio() { return radio; }
@@ -323,7 +354,8 @@ Sensor *State::getSensor(SensorType type, int sensorNum)
 Barometer *State::getBaro() { return baro; }
 GPS *State::getGPS() { return gps; }
 IMU *State::getIMU() { return imu; }
-#pragma endregion
+
+#pragma endregion // Getters and Setters
 
 #pragma region Helper Functions
 
@@ -367,18 +399,18 @@ bool State::applySensorType(int i, int sensorNum)
 
 void State::determineAccelerationMagnitude()
 {
-    accelerationMagnitude = sqrt((acceleration.x() * acceleration.x()) + (acceleration.y() * acceleration.y()) + (acceleration.z() * acceleration.z()));
+    accelerationMagnitude = acceleration.magnitude();
 }
 
 void State::determineStage()
 {
     if (stageNumber == 0 &&
         (sensorOK(imu) || sensorOK(baro)) &&
-        (sensorOK(imu) ? abs(imu->getAcceleration().z()) > 25 : true) &&
+        (sensorOK(imu) ? accelerationMagnitude > 25 : true) &&
         (sensorOK(baro) ? baro->getRelAltFt() > 60 : true))
     // if we are in preflight AND
     // we have either the IMU OR the barometer AND
-    // imu is ok AND the z acceleration is greater than 29 ft/s^2 OR imu is not ok AND
+    // imu is ok AND the accel Magnitude is greater than 25 ft/s^2 OR imu is not ok AND
     // barometer is ok AND the relative altitude is greater than 30 ft OR baro is not ok
 
     // essentially, if we have either sensor and they meet launch threshold, launch. Otherwise, it will never detect a launch.
@@ -386,7 +418,7 @@ void State::determineStage()
         recordLogData(INFO, "Launch detected.");
         launch();
     } // TODO: Add checks for each sensor being ok and decide what to do if they aren't.
-    else if (stageNumber == 1 && abs(acceleration.z()) < 10)
+    else if (stageNumber == 1 && accelerationMagnitude < 10)
     {
         bb.aonoff(BUZZER, 200, 2);
         timePreviousStage = timeAbsolute;
@@ -432,8 +464,7 @@ void State::launch()
     bb.aonoff(BUZZER, 200);
     setRecordMode(FLIGHT);
     stageNumber = 1;
-    timeOfLaunch = timeAbsolute;
-    timePreviousStage = timeAbsolute;
+    timeOfLaunch = timePreviousStage = timeAbsolute;
     timeSinceLaunch = 0;
     strcpy(launchTimeOfDay, gps->getTimeOfDay());
     recordLogData(INFO, "Printing static data.");
@@ -448,45 +479,6 @@ void State::launch()
         }
     }
 }
-void State::setCsvString(char *dest, const char *start, int startSize, bool header)
-{
-    int numCategories = numSensors + 1;
-    const char **str = new const char *[numCategories];
-    str[0] = start;
-    int cursor = 1;
-    delete[] dest;
-    //---Determine required size for string
-    int size = startSize + 1; // includes '\0' at end of string for the end of dataString to use
-    for (int i = 0; i < NUM_MAX_SENSORS; i++)
-    {
-        if (sensorOK(sensors[i]))
-        {
-            str[cursor] = header ? sensors[i]->getCsvHeader() : sensors[i]->getDataString();
-            size += strlen(str[cursor++]);
-        }
-    }
-    dest = new char[size];
-    if (header)
-        csvHeader = dest;
-    else
-        dataString = dest;
-    //---Fill data String
-    int j = 0;
-    for (int i = 0; i < numCategories; i++)
-    {
-        for (int k = 0; str[i][k] != '\0'; j++, k++)
-        { // append all the data strings onto the main string
-
-            dest[j] = str[i][k];
-        }
-        if (i >= 1 && !header)
-        {
-            delete[] str[i]; // delete all the heap arrays.
-        }
-    }
-    delete[] str;
-    dest[j - 1] = '\0'; // all strings have ',' at end so this gets rid of that and terminates it a character early.
-}
 
 bool State::sensorOK(const Sensor *sensor)
 {
@@ -495,8 +487,6 @@ bool State::sensorOK(const Sensor *sensor)
     return false;
 }
 
-#pragma endregion
-
 void State::fillAPRSData(APRSTelemData &data)
 {
     data.lat = sensorOK(gps) ? gps->getPos().x() : 0;
@@ -513,6 +503,7 @@ void State::fillAPRSData(APRSTelemData &data)
             data.orientation[i] += 360;
     }
 }
+#pragma endregion // Helper Functions
 
 extern unsigned long _heap_start;
 extern unsigned long _heap_end;

From f87ea92a40bfee8f170db0d524d67824b2a44492 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Thu, 16 May 2024 23:54:49 -0400
Subject: [PATCH 27/41] GroundStation code cleaned up

---
 .../GroundStationReceiver/EncodeAPRSForSerial.h | 17 +++++++++++++----
 .../src/GroundStationReceiver/main.cpp          | 13 +++++++------
 .../src/Radio/APRS/APRSMsgBase.h                |  4 +---
 .../src/Radio/APRS/APRSTelemMsg.h               |  4 +++-
 4 files changed, 24 insertions(+), 14 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index 45fd3de7..5b1ed2fd 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -10,7 +10,7 @@ namespace aprsToSerial
 
     void encodeLatLong(const APRSTelemMsg &msg, char *buffer, size_t buffer_size);
     void encodeAltitude(const APRSTelemMsg &msg, char *buffer, size_t buffer_size);
-
+    void encodeFlags(const APRSTelemMsg &msg, char *buffer, size_t buffer_size);
     /*
      * Encodes an APRS message into a string for serial transmission
      *   \param msg The APRS message to encode
@@ -27,10 +27,11 @@ namespace aprsToSerial
         encodeLatLong(msg, latLong, 20);
         char altitude[10];
         encodeAltitude(msg, altitude, 10);
-
+        char flags[5];
+        encodeFlags(msg, flags, 5);
         char suffix[10] = "e\r\n";
-        // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx,RSSI:RSSI\r\ne\r\n
-        snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), RSSI, suffix);
+        // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx/fff,RSSI:RSSI\r\ne\r\n
+        snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d/%s,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), flags, RSSI, suffix);
     }
 
     void encodeLatLong(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
@@ -57,6 +58,14 @@ namespace aprsToSerial
         else
             snprintf(buffer, buffer_size, "A=%06d", alt);
     }
+
+    void encodeFlags(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
+    {
+        char f1 = (msg.data.statusFlags & PI_ON) ? '1' : '0';
+        char f2 = (msg.data.statusFlags & PI_VIDEO) ? '1' : '0';
+        char f3 = (msg.data.statusFlags & RECORDING_DATA) ? '1' : '0';
+        snprintf(buffer, buffer_size, "%c%c%c", f1, f2, f3);
+    }
 }
 
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index cb8d8fa2..e6357473 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -13,11 +13,13 @@ RFM69HCW radio(&settings);
 
 void setup()
 {
-    delay(2000);
+    delay(2000); // Delay to allow the serial monitor to connect
     if (!radio.init())
         Serial.println("Radio failed to initialize");
     else
         Serial.println("Radio initialized");
+
+        // Test Case for Demo Purposes
     cmd.data.MinutesUntilPowerOn = 0;
     cmd.data.MinutesUntilDataRecording = 1;
     cmd.data.MinutesUntilVideoStart = 2;
@@ -36,15 +38,14 @@ void loop()
             aprsToSerial::encodeAPRSForSerial(msg, buffer, 255, radio.RSSI());
             Serial.println(buffer);
         }
-        if(counter % 50 == 0)
-        {
+        if(counter % 50 == 0) // Send a command every 50x a message is received (or every 25 seconds)
             radio.enqueueSend(&cmd);
-        }
-        if(counter % 190 == 0)
+
+        if(counter == 190) // Send a command after 190x a message is received (or after 95 seconds) to launch the rocket
         {
             cmd.data.Launch = !cmd.data.Launch;
             radio.enqueueSend(&cmd);
         }
-        char *b = (char *)cmd.getArr();
+        counter++;
     }
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h
index f54d63c4..556d82d0 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h	
@@ -16,9 +16,7 @@
 #include "../Radio.h"
 #include <imumaths.h>
 
-const uint8_t PI_ON = 0b00000001;          // Pi is on
-const uint8_t PI_VIDEO = 0b00000010;       // Pi is recording video
-const uint8_t RECORDING_DATA = 0b00000100; // FC is recording data
+
 
 /*
 APRS Configuration
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h
index 96461000..49e88103 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h	
@@ -3,7 +3,9 @@
 
 #include "APRSMsgBase.h"
 
-
+const uint8_t PI_ON = 0b00000001;          // Pi is on
+const uint8_t PI_VIDEO = 0b00000010;       // Pi is recording video
+const uint8_t RECORDING_DATA = 0b00000100; // FC is recording data
 
 struct APRSTelemData
 {

From 95aa16b299fe2a49d0359b8efc38f46eebee6ac1 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Fri, 17 May 2024 00:56:50 -0400
Subject: [PATCH 28/41] Code cleanup and documentation

---
 .../EncodeAPRSForSerial.h                     |  42 ++++++-
 .../Code/Teensy-Based Avionics/src/Pi.cpp     |  19 +--
 .../src/Radio/APRS/APRSCmdMsg.cpp             |  31 +++--
 .../src/Radio/APRS/APRSCmdMsg.h               |  14 +--
 .../src/Radio/APRS/APRSMsgBase.cpp            |  27 ++--
 .../src/Radio/APRS/APRSMsgBase.h              |  39 ++----
 .../src/Radio/APRS/APRSTelemMsg.cpp           |  17 +--
 .../src/Radio/APRS/APRSTelemMsg.h             |  14 +--
 .../src/Radio/RFM69HCW.cpp                    | 119 +++++++++---------
 .../src/Radio/RFM69HCW.h                      |  14 +--
 .../Teensy-Based Avionics/src/Radio/Radio.h   |  41 +++---
 .../src/Radio/RadioMessage.cpp                |   6 +-
 .../src/Radio/RadioMessage.h                  |   9 +-
 13 files changed, 203 insertions(+), 189 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index 5b1ed2fd..debcd07d 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -21,17 +21,41 @@ namespace aprsToSerial
     void encodeAPRSForSerial(const APRSTelemMsg &msg, char *buffer, size_t buffer_size, int RSSI)
     {
         char prefix[8] = "s\r\n";
+
         char header[100];
-        snprintf(header, 100, "Source:%s,Destination:%s,Path:%s,Type:%s,", msg.header.CALLSIGN, msg.header.TOCALL, msg.header.PATH, "Position Without Timestamp");
+        snprintf(header, 100,
+                 "Source:%s,Destination:%s,Path:%s,Type:%s,",
+                 msg.header.CALLSIGN,
+                 msg.header.TOCALL,
+                 msg.header.PATH,
+                 "Position Without Timestamp");
+
         char latLong[20];
         encodeLatLong(msg, latLong, 20);
+
         char altitude[10];
         encodeAltitude(msg, altitude, 10);
+
         char flags[5];
         encodeFlags(msg, flags, 5);
+
         char suffix[10] = "e\r\n";
         // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx/fff,RSSI:RSSI\r\ne\r\n
-        snprintf(buffer, buffer_size, "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d/%s,RSSI:%03d\r\n%s", prefix, header, latLong, SYMBOL, (int)msg.data.hdg, (int)msg.data.spd, altitude, msg.data.stage, (int)msg.data.orientation.z(), (int)msg.data.orientation.y(), (int)msg.data.orientation.x(), flags, RSSI, suffix);
+        snprintf(buffer, buffer_size,
+                 "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d/%s,RSSI:%03d\r\n%s",
+                 prefix,
+                 header,
+                 latLong,
+                 SYMBOL,
+                 (int)msg.data.hdg,
+                 (int)msg.data.spd,
+                 altitude, msg.data.stage,
+                 (int)msg.data.orientation.z(),
+                 (int)msg.data.orientation.y(),
+                 (int)msg.data.orientation.x(),
+                 flags,
+                 RSSI,
+                 suffix);
     }
 
     void encodeLatLong(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
@@ -45,20 +69,28 @@ namespace aprsToSerial
         char long_dir = (msg.data.lng < 0) ? 'W' : 'E';
 
         // format: DDMM.MM[NS][OVERLAY]DDDMM.MM[WE]
-        snprintf(buffer, buffer_size, "%02d%05.02f%c%c%03d%05.02f%c", lat_deg, lat_min, lat_dir, OVERLAY, long_deg, long_min, long_dir);
-
+        snprintf(buffer, buffer_size,
+                 "%02d%05.02f%c%c%03d%05.02f%c",
+                 lat_deg,
+                 lat_min,
+                 lat_dir,
+                 OVERLAY,
+                 long_deg,
+                 long_min,
+                 long_dir);
     }
 
     void encodeAltitude(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
     {
         // format: A=DDDDDD
         int alt = (int)msg.data.alt;
-        if(alt < 0)
+        if (alt < 0)
             snprintf(buffer, buffer_size, "A=%07d", alt);
         else
             snprintf(buffer, buffer_size, "A=%06d", alt);
     }
 
+    // print status flags as plain text
     void encodeFlags(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
     {
         char f1 = (msg.data.statusFlags & PI_ON) ? '1' : '0';
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp
index da1e19e7..19b8258b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Pi.cpp	
@@ -4,11 +4,14 @@ Pi::Pi(int pinControl, int pinVideo)
 {
     this->pinControl = pinControl;
     this->pinVideo = pinVideo;
-    pinMode(this->pinControl, OUTPUT);
-    pinMode(this->pinVideo, OUTPUT);
-    digitalWrite(this->pinVideo, HIGH); // Set video pin to high (off) by default
-    this->on = false;
-    this->recording = false;
+
+    pinMode(pinControl, OUTPUT);
+    pinMode(pinVideo, OUTPUT);
+
+    digitalWrite(pinVideo, HIGH); // Set video pin to high (off) by default
+
+    on = false;
+    recording = false;
 }
 
 void Pi::setOn(bool on)
@@ -22,16 +25,16 @@ void Pi::setRecording(bool recording)
     if(this->recording == recording) return; // If the recording state is the same, do nothing
 
     bb.aonoff(BUZZER, 100, 3); // Buzz 3 times (100ms on, 100ms off)
-    digitalWrite(this->pinVideo, recording ? LOW : HIGH);
+    digitalWrite(pinVideo, recording ? LOW : HIGH);
     this->recording = recording;
 }
 
 bool Pi::isOn()
 {
-    return this->on;
+    return on;
 }
 
 bool Pi::isRecording()
 {
-    return this->recording;
+    return recording;
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp
index 15c55118..b8f87642 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.cpp	
@@ -1,20 +1,31 @@
 #include "APRSCmdMsg.h"
 
+APRSCmdMsg::APRSCmdMsg(APRSHeader header) : APRSMsgBase(header)
+{
+    data.MinutesUntilPowerOn = -1;
+    data.MinutesUntilVideoStart = -1;
+    data.MinutesUntilDataRecording = -1; // -1 so that we know if the value was set or not
+    data.Launch = false;
+}
+
 void APRSCmdMsg::encodeData(int cursor)
 {
     snprintf((char *)&string[cursor], RADIO_MESSAGE_BUFFER_SIZE - cursor,
-             ":%-9s:PWR:%d VID:%d DAT:%d L:%d", header.CALLSIGN, data.MinutesUntilPowerOn, data.MinutesUntilVideoStart, data.MinutesUntilDataRecording, data.Launch);
+             ":%-9s:PWR:%d VID:%d DAT:%d L:%d",
+             header.CALLSIGN,
+             data.MinutesUntilPowerOn,
+             data.MinutesUntilVideoStart,
+             data.MinutesUntilDataRecording,
+             data.Launch);
     len = strlen((char *)string);
 }
-void APRSCmdMsg::decodeData(int cursor)
-{
-    sscanf((char *)&string[cursor + 11], "PWR:%d VID:%d DAT:%d L:%d", &data.MinutesUntilPowerOn, &data.MinutesUntilVideoStart, &data.MinutesUntilDataRecording, &data.Launch);
-}
 
-APRSCmdMsg::APRSCmdMsg(APRSHeader &header) : APRSMsgBase(header)
+void APRSCmdMsg::decodeData(int cursor)
 {
-    data.MinutesUntilPowerOn = -1;
-    data.MinutesUntilVideoStart = -1;
-    data.MinutesUntilDataRecording = -1;
-    data.Launch = false;
+    sscanf((char *)&string[cursor + 11], // ignore the :TO_FIELD: part
+           "PWR:%d VID:%d DAT:%d L:%d",
+           &data.MinutesUntilPowerOn,
+           &data.MinutesUntilVideoStart,
+           &data.MinutesUntilDataRecording,
+           &data.Launch);
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h
index 169e05b0..0aacf074 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSCmdMsg.h	
@@ -3,23 +3,23 @@
 
 #include "APRSMsgBase.h"
 
-struct APRSCmdData
+struct APRSCmdData final
 {
     int MinutesUntilPowerOn;       // Minutes until the Pi turns on - 0 means turn on now
     int MinutesUntilVideoStart;    // Minutes until the Pi starts recording video - 0 means start now
     int MinutesUntilDataRecording; // Minutes until the FC starts recording data - 0 means start now
-    bool Launch;                       // Send the launch command to the FC - 0 means don't send
+    bool Launch;                   // Send the launch command to the FC - 0 means don't send
 };
 
-class APRSCmdMsg : public APRSMsgBase
+class APRSCmdMsg final : public APRSMsgBase 
 {
 public:
+    APRSCmdMsg(APRSHeader header);
     APRSCmdData data;
-    APRSCmdMsg(APRSHeader &header);
 
 protected:
-    virtual void decodeData(int cursor) override;
-    virtual void encodeData(int cursor) override;
-};
+    void decodeData(int cursor) override;
+    void encodeData(int cursor) override;
+} ;
 
 #endif // APRS_CMD_MSG_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp
index cc68926d..e5cfa9a2 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.cpp	
@@ -1,8 +1,7 @@
 #include "APRSMsgBase.h"
 
-#define MAX_ALLOWED_MSG_LEN 255 /* max length of 1 message supported by radio buffer */
 
-APRSMsgBase::APRSMsgBase(APRSHeader &header)
+APRSMsgBase::APRSMsgBase(APRSHeader header)
 {
     this->header = header;
 }
@@ -28,20 +27,20 @@ int APRSMsgBase::encodeHeader()
 {
     // format: CALLSIGN>TOCALL,PATH:
     int cursor = 0;
+
     for (int i = 0; header.CALLSIGN[i] && i < 8; i++, cursor++)
-    {
         string[cursor] = header.CALLSIGN[i];
-    }
+
     string[cursor++] = '>';
+
     for (int i = 0; header.TOCALL[i] && i < 8; i++, cursor++)
-    {
         string[cursor] = header.TOCALL[i];
-    }
+
     string[cursor++] = ',';
+
     for (int i = 0; header.PATH[i] && i < 10; i++, cursor++)
-    {
         string[cursor] = header.PATH[i];
-    }
+
     string[cursor++] = ':'; // end of header
     return cursor;
 }
@@ -50,23 +49,23 @@ int APRSMsgBase::decodeHeader()
 {
     // format: CALLSIGN>TOCALL,PATH:
     int cursor = 0;
+
     for (int i = 0; string[cursor] != '>'; i++, cursor++)
-    {
         header.CALLSIGN[i] = string[cursor];
-    }
     header.CALLSIGN[cursor] = '\0';
+
     cursor++; // skip '>'
+
     for (int i = 0; string[cursor] != ','; i++, cursor++)
-    {
         header.TOCALL[i] = string[cursor];
-    }
     header.TOCALL[cursor] = '\0';
+
     cursor++; // skip ','
+
     for (int i = 0; string[cursor] != ':'; i++, cursor++)
-    {
         header.PATH[i] = string[cursor];
-    }
     header.PATH[cursor] = '\0';
+
     cursor++; // skip ':'
     return cursor;
 }
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h
index 556d82d0..a5e7d0f0 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSMsgBase.h	
@@ -1,5 +1,5 @@
-#ifndef APRSMSG_H
-#define APRSMSG_H
+#ifndef APRS_MSG_BASE_H
+#define APRS_MSG_BASE_H
 
 #if defined(ARDUINO)
 #include <Arduino.h>
@@ -13,20 +13,9 @@
 // TODO
 #endif
 
-#include "../Radio.h"
-#include <imumaths.h>
+#include "../RadioMessage.h"
 
-
-
-/*
-APRS Configuration
-- CALLSIGN
-- TOCALL
-- PATH
-- SYMBOL
-- OVERLAY
-*/
-struct APRSHeader
+struct APRSHeader final
 {
     char CALLSIGN[8];
     char TOCALL[8];
@@ -35,36 +24,24 @@ struct APRSHeader
     char OVERLAY;
 };
 
-/*
-APRS Telemetry Data
-- lat
-- lng
-- alt
-- spd
-- hdg
-- stage
-- orientation
-*/
-
-
 class APRSMsgBase : public RadioMessage
 {
 public:
-    APRSMsgBase(APRSHeader &header);
+    APRSMsgBase(APRSHeader header);
     virtual ~APRSMsgBase(){};
 
     virtual bool decode() override;
     virtual bool encode() override;
     APRSHeader header;
+
 protected:
-    virtual int encodeHeader();
-    virtual int decodeHeader();
+    int encodeHeader();
+    int decodeHeader();
     virtual void encodeData(int cursor) = 0;
     virtual void decodeData(int cursor) = 0;
     void encodeBase91(uint8_t *message, int &cursor, int value, int precision);
     void decodeBase91(const uint8_t *message, int &cursor, double &value, int precision);
 
-private:
 };
 
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp
index 5e864c2e..6721a11e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.cpp	
@@ -1,6 +1,6 @@
 #include "APRSTelemMsg.h"
 
-APRSTelemMsg::APRSTelemMsg(APRSHeader &header) : APRSMsgBase(header)
+APRSTelemMsg::APRSTelemMsg(APRSHeader header) : APRSMsgBase(header)
 {
     data.lat = 0;
     data.lng = 0;
@@ -12,16 +12,13 @@ APRSTelemMsg::APRSTelemMsg(APRSHeader &header) : APRSMsgBase(header)
     data.statusFlags = 0;
 }
 
-#pragma region Encode Helpers
-
 void APRSTelemMsg::encodeData(int cursor)
 {
     /* Small Aircraft symbol ( /' ) probably better than Jogger symbol ( /[ ) lol.
      I'm going to use the Overlayed Aircraft symbol ( \^ ) for now, with the overlay of 'M' for UMD ( M^ ).
      Uses base91 encoding to compress message as much as possible. APRS messages are apparently supposed to be only 256 bytes.
 
-
-     takes the regular format of !DDMM.hhN/DDDMM.hhW^ALTSPD/HDG SSOrientationF
+     Takes the regular format of !DDMM.hhN/DDDMM.hhW^ALTSPD/HDG SSOrientationF
 
      which expands to !(lat)/(lng)^altspd/hdg (stage #)(orientation)(status flags)
 
@@ -29,7 +26,7 @@ void APRSTelemMsg::encodeData(int cursor)
 
      which expands to /(lat)(lng)^ (course)(speed)(altitude)(stage)(orientation [as euler angles])(status flags)
 
-     specifically does not use the csT compressed format because we don't need T and want better accuracy on course angle.
+     Specifically does not use the csT compressed format because we don't need T and want better accuracy on course angle.
      for more information on APRS, see http://www.aprs.org/doc/APRS101.PDF
 
 
@@ -59,12 +56,10 @@ void APRSTelemMsg::encodeData(int cursor)
     len = cursor;
 }
 
-#pragma endregion
-
-#pragma region Decode Helpers
-
 void APRSTelemMsg::decodeData(int cursor)
 {
+    // format is /YYYYXXXX^ ccssaasoooooof
+
     // lat and lng
     cursor++; // skip '!'
     cursor++; // skip overlay
@@ -93,5 +88,3 @@ void APRSTelemMsg::decodeData(int cursor)
     data.orientation.z() /= ORIENTATION_SCALE;
     data.statusFlags = string[cursor++] - 33;
 }
-
-#pragma endregion
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h
index 49e88103..2558ee0e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/APRS/APRSTelemMsg.h	
@@ -2,12 +2,13 @@
 #define APRS_TELEM_MSG_H
 
 #include "APRSMsgBase.h"
+#include <imumaths.h>
 
 const uint8_t PI_ON = 0b00000001;          // Pi is on
 const uint8_t PI_VIDEO = 0b00000010;       // Pi is recording video
 const uint8_t RECORDING_DATA = 0b00000100; // FC is recording data
 
-struct APRSTelemData
+struct APRSTelemData final
 {
     double lat;
     double lng;
@@ -19,17 +20,16 @@ struct APRSTelemData
     uint8_t statusFlags;
 };
 
-class APRSTelemMsg : public APRSMsgBase
+class APRSTelemMsg final : public APRSMsgBase
 {
 public:
+    APRSTelemMsg(APRSHeader header);
     APRSTelemData data;
-    APRSTelemMsg(APRSHeader &header);
 
-protected:
-    virtual void decodeData(int cursor) override;
-    virtual void encodeData(int cursor) override;
 private:
-    void encodeStatus(uint8_t *string, int &cursor);
+    void decodeData(int cursor) override;
+    void encodeData(int cursor) override;
+
     // Scale factors for encoding/decoding ignoring lat/long
     const double ALT_SCALE = (pow(91, 2) / 16000.0);       // (91^2/16000) scale to fit in 2 base91 characters
     const double SPD_SCALE = (pow(91, 2) / 1000.0);        // (91^2/1000) scale to fit in 2 base91 characters
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index 4704bf7a..3110bd96 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -17,8 +17,7 @@ Constructor
 */
 RFM69HCW::RFM69HCW(const RadioSettings *s) : radio(s->cs, s->irq, *s->spi)
 {
-
-    this->settings = *s;
+    settings = *s;
 }
 
 /*
@@ -74,7 +73,7 @@ bool RFM69HCW::init()
 Most basic transmission method, simply transmits the string without modification
     \param message is the message to be transmitted, must be shorter than RH_RF69_MAX_MESSAGE_LEN
     \param len optional length of message, required if message is not a null terminated string
-    \param packetNum optional packet number of the message
+    \param packetNum optional packet number of the message, given to the receiver to reassemble the message
     \param lastPacket optional is this the last packet of a larger message or the only packet?
     \return `true` if the message was sent, `false` otherwise
 */
@@ -86,12 +85,8 @@ bool RFM69HCW::tx(const uint8_t *message, int len, int packetNum, bool lastPacke
 
     radio.setHeaderId(packetNum);
     radio.setHeaderFlags(lastPacket ? 0 : RADIO_FLAG_MORE_DATA);
-    char msg[len + 1];
-    for (int i = 0; i < len; i++)
-        msg[i] = message[i];
-    msg[len] = '\0';
-    printf("tx: %s\n", msg);
-    return radio.send((uint8_t *)message, len);
+
+    return radio.send(message, len);
 }
 
 /*
@@ -122,24 +117,22 @@ Enqueue a message into the buffer
 */
 bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
 {
-    printf("enqueueSend2\n");
+    // determine if the message is too long to fit without the tail running into the head
+    if (sendBuffer.tail >= sendBuffer.head)
+    {
+        if (TRANSCEIVER_MESSAGE_BUFFER_SIZE - sendBuffer.tail + sendBuffer.head < len + 1) // +1 for the length byte
+            return false;
+    }
+    else if (sendBuffer.head - sendBuffer.tail < len + 1) // +1 for the length byte
+        return false;
+
     // fill up the buffer with the message. buffer is a circular queue.
     int originalTail = sendBuffer.tail;
-    sendBuffer.data[sendBuffer.tail] = len; // store the length of the message
+    sendBuffer.data[sendBuffer.tail] = len; // store the length of the message in the first byte
     inc(sendBuffer.tail);
 
-    for (int i = 0; i < len; i++) // same algorithm as copyToBuffer but with a length check
-    {
-        if (sendBuffer.tail == sendBuffer.head) // buffer is full
-        {
-            sendBuffer.tail = originalTail; // reset the tail (no message was added)
-            return false;
-        }
+    copyToBuffer(sendBuffer, message, len);
 
-        sendBuffer.data[sendBuffer.tail] = message[i];
-        inc(sendBuffer.tail);
-    }
-    printf("len: %d\n", len);
     return true;
 }
 
@@ -152,6 +145,7 @@ bool RFM69HCW::enqueueSend(const char *message)
 {
     return enqueueSend((uint8_t *)message, strlen(message));
 }
+
 /*
 Encode the message and enqueue it in the buffer
     \param message the RadioMessage to encode and enqueue
@@ -159,12 +153,12 @@ Encode the message and enqueue it in the buffer
 */
 bool RFM69HCW::enqueueSend(RadioMessage *message)
 {
-    printf("enqueueSend\n");
     if (message->encode())
         return enqueueSend(message->getArr(), message->length());
-    printf("enqueueSend failed\n");
+
     return false;
 }
+
 /*
 Dequeue a message from the buffer and decode it into a uint8_t[].
     \param message the uint8_t[] to copy the recieved message into
@@ -196,7 +190,7 @@ bool RFM69HCW::dequeueReceive(char *message)
     // Empty the buffer up to the first null terminator
     inc(recvBuffer.head); // skip the length byte, should be null terminated
     int i = 0;
-    for (; recvBuffer.data[recvBuffer.head] != '\0' && recvBuffer.head != recvBuffer.tail; i++)
+    for (; recvBuffer.data[recvBuffer.head] != '\0' && recvBuffer.head != recvBuffer.tail - 1; i++) // same algo as copyFromBuffer but uses a null terminator
     {
         message[i] = recvBuffer.data[recvBuffer.head];
         inc(recvBuffer.head);
@@ -218,6 +212,7 @@ bool RFM69HCW::dequeueReceive(RadioMessage *message)
 
     uint8_t len = recvBuffer.data[recvBuffer.head];
     uint8_t *msg = new uint8_t[len];
+
     bool worked = false;
     if (dequeueReceive(msg))           // get the message from the buffer
         if (message->setArr(msg, len)) // send the message to the RadioMessage
@@ -233,10 +228,9 @@ bool RFM69HCW::dequeueReceive(RadioMessage *message)
 /*
 Update function
     - checks if the radio is busy
-    - if the radio is a transmitter, sends (partially sends, if it's too long) the next queued message in the buffer
-    - if the radio is a receiver, receives the next message and stores it in the buffer
-    \return TRANSMITTER: `true` if the message was sent, `false` if the message was not sent.
-    \return RECIEVER: `true` if the message was received in full, `false` if nothing received or message is incomplete.
+    - if the radio has received a message, it will store the message in the buffer, Will not transmit while a full message has been only partially received.
+    - if not receiving and the radio has a message to send, it will send a part of the message up to the max length the radio can handle.
+    \return `true` if the radio has received a full message, `false` otherwise (always false for transmiting)
 */
 bool RFM69HCW::update()
 {
@@ -246,23 +240,28 @@ bool RFM69HCW::update()
         return false;
 
     uint8_t rcvLen = RH_RF69_MAX_MESSAGE_LEN;
-    uint8_t rcvBuf[RH_RF69_MAX_MESSAGE_LEN];
+    uint8_t rcvBuf[rcvLen];
 
     if (rx(rcvBuf, &rcvLen))
     {
-        // store the message in the buffer
-        if (radio.headerId() == 0) // start of a new message
+        // start of a new message
+        if (radio.headerId() == 0)
         {
             orignalBufferTail = recvBuffer.tail;
             recvBuffer.data[recvBuffer.tail] = rcvLen; // store the length of the message
             inc(recvBuffer.tail);
         }
-        else                                              // continuing message
+        // continuing message
+        else
             recvBuffer.data[orignalBufferTail] += rcvLen; // update the total length of the message
 
+        // store the message in the buffer
         copyToBuffer(recvBuffer, rcvBuf, rcvLen);
-        if (radio.headerFlags() & RADIO_FLAG_MORE_DATA) // more data is coming, should not process yet
+
+        // more data is coming, should not process yet. TODO: Add a timeout to prevent infinite loop
+        if (radio.headerFlags() & RADIO_FLAG_MORE_DATA)
             return false;
+
         return true;
     }
     // transmit
@@ -271,13 +270,17 @@ bool RFM69HCW::update()
         remainingLength = 0;
         return false;
     }
+
     int packetNum;
-    if (remainingLength == 0) // start a new message
+
+    // start a new message
+    if (remainingLength == 0)
     {
         remainingLength = sendBuffer.data[sendBuffer.head]; // get the length of the message from the first byte of the message
         inc(sendBuffer.head);
         packetNum = 0;
     }
+    // continue the message
     else
         packetNum = radio.headerId() + 1;
 
@@ -293,7 +296,7 @@ bool RFM69HCW::update()
 #pragma region Helpers
 
 /*
-\return `true` if the radio is currently transmitting or receiving a message
+\return `true` if the radio is currently transmitting a message
 */
 bool RFM69HCW::busy()
 {
@@ -310,6 +313,29 @@ int RFM69HCW::RSSI()
     return rssi;
 }
 
+void RFM69HCW::copyToBuffer(buffer &buffer, const uint8_t *src, int len)
+{
+    for (int i = 0; i < len; i++)
+    {
+        buffer.data[buffer.tail] = src[i];
+        inc(buffer.tail);
+    }
+}
+
+// pop is true by default. If pop is false, the buffer head will not be moved.
+void RFM69HCW::copyFromBuffer(buffer &buffer, uint8_t *dest, int len, bool pop)
+{
+    int originalHead = buffer.head;
+    for (int i = 0; i < len; i++)
+    {
+        dest[i] = buffer.data[buffer.head];
+        inc(buffer.head);
+    }
+    
+    if (!pop)
+        buffer.head = originalHead;
+}
+
 // probably broken
 // void RFM69HCW::set300KBPSMode()
 // {
@@ -343,25 +369,4 @@ int min(int a, int b)
 }
 #endif
 
-void RFM69HCW::copyToBuffer(buffer &buffer, const uint8_t *src, int len)
-{
-    for (int i = 0; i < len; i++)
-    {
-        buffer.data[buffer.tail] = src[i];
-        inc(buffer.tail);
-    }
-}
-// pop is true by default. If pop is false, the buffer head will not be moved.
-void RFM69HCW::copyFromBuffer(buffer &buffer, uint8_t *dest, int len, bool pop)
-{
-    int originalHead = buffer.head;
-    for (int i = 0; i < len; i++)
-    {
-        dest[i] = buffer.data[buffer.head];
-        inc(buffer.head);
-    }
-    if (!pop)
-        buffer.head = originalHead;
-}
-
 #pragma endregion
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h
index 6c18b84c..d55a2125 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.h	
@@ -3,7 +3,6 @@
 
 #include "RH_RF69.h"
 #include "Radio.h"
-#include "APRS/APRSMsgBase.h"
 
 const int TRANSCEIVER_MESSAGE_BUFFER_SIZE = 512; // length of the buffer underpinning the queue of messages to send or receive. Radio makes 2 buffers this size for sending and receiving.
 #define RADIO_FLAG_MORE_DATA 0b00000001          // custom flag to indicate more packets are still to be sent
@@ -12,21 +11,22 @@ const int TRANSCEIVER_MESSAGE_BUFFER_SIZE = 512; // length of the buffer underpi
 #define RH_RF69_MAX_MESSAGE_LEN 66
 #endif // !RH_RF69_MAX_MESSAGE_LEN
 
-struct buffer
+struct buffer final
 {
     uint8_t data[TRANSCEIVER_MESSAGE_BUFFER_SIZE];
     int head;
     int tail;
 };
 
-class RFM69HCW : public Radio
+class RFM69HCW final : public Radio
 {
 public:
     RFM69HCW(const RadioSettings *s);
+
     bool init() override;
+
     bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) override; // designed to be used internally. cannot exceed 66 bytes including headers
     bool rx(uint8_t *recvbuf, uint8_t *len) override;
-    bool busy();
 
     bool enqueueSend(RadioMessage *message) override;               // designed to be used externally. can exceed 66 bytes.
     bool enqueueSend(const char *message) override;                 // designed to be used externally. can exceed 66 bytes.
@@ -38,14 +38,13 @@ class RFM69HCW : public Radio
 
     int RSSI() override;
     bool update() override;
+    bool busy();
 
-    explicit operator bool() const { return initialized; }
 
     // increment the specified index, wrapping around if necessary
     static void inc(int &i) { i = (i + 1) % TRANSCEIVER_MESSAGE_BUFFER_SIZE; }
 
     // public during debugging
-
     // stores queue of messages, with the length of the message as the first byte of each. no delimiter.
     // [6xxxxxx3xxx1x2xx]
     // Done to allow for messages that are not ascii encoded.
@@ -57,10 +56,7 @@ class RFM69HCW : public Radio
     // all radios should have the same networkID
     const uint8_t networkID = 1;
 
-    int thisAddr;
-    int toAddr;
     int rssi;
-    bool initialized = false;
 
     int remainingLength = 0;   // how much message is left to send for transmitters
     int orignalBufferTail = 0; // used to update the length of the message after recieving.
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h
index 58d214ae..891da86a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h	
@@ -14,46 +14,45 @@
 #endif
 
 #include "RadioMessage.h"
-#include "RadioHead.h"
-#include "RHGenericSPI.h"
-/*
-Settings:
-- double frequency in Mhz
-- RHGenericSPI *spi pointer to radiohead SPI object
-- uint8_t cs CS pin
-- uint8_t irq IRQ pin
-- uint8_t rst RST pin
-*/
-struct RadioSettings
+#include "RHGenericSPI.h" //PIO doesn't like RadioHead without this
+
+struct RadioSettings final
 {
-    double frequency;
-    uint8_t thisAddr;
-    uint8_t toAddr;
-    RHGenericSPI *spi;
-    uint8_t cs;
-    uint8_t irq;
-    uint8_t rst;
-    int txPower = 20;
+    double frequency; // in Mhz
+    uint8_t thisAddr; // RadioHead address of this device
+    uint8_t toAddr;  // RadioHead address of the device to send to
+    RHGenericSPI *spi; // RadioHead SPI object
+    uint8_t cs; // Chip Select pin
+    uint8_t irq; // Interrupt Request pin
+    uint8_t rst; // Reset pin
+    int txPower = 20; // in dBm
 };
 
 class Radio
 {
 public:
-    virtual ~Radio(){}; // Virtual descructor. Very important
+    virtual ~Radio(){};
     virtual bool init() = 0;
+
     virtual bool tx(const uint8_t *message, int len = -1, int packetNum = 0, bool lastPacket = true) = 0; // designed to be used internally. cannot exceed 66 bytes including headers
     virtual bool rx(uint8_t *recvbuf, uint8_t *len) = 0;
+
     virtual int RSSI() = 0;
+
     virtual bool enqueueSend(const uint8_t *message, uint8_t len) = 0;
     virtual bool enqueueSend(const char *message) = 0;
     virtual bool enqueueSend(RadioMessage *message) = 0;
+
     virtual bool dequeueReceive(RadioMessage *message) = 0;
     virtual bool dequeueReceive(char *message) = 0;
     virtual bool dequeueReceive(uint8_t *message) = 0;
-    virtual bool update() = 0;
+
+    virtual explicit operator bool() const { return initialized; }
+    virtual bool update() = 0; // should be called in the main loop
 
 protected:
     RadioSettings settings;
+    bool initialized = false;
 };
 
 #endif // RADIO_H
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp
index 882f1a5b..b4669621 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.cpp	
@@ -1,6 +1,5 @@
 #include "RadioMessage.h"
 
-#include <cstring>
 
 RadioMessage::RadioMessage()
 {
@@ -16,9 +15,8 @@ Copies a source array to the encoded message buffer
 bool RadioMessage::setArr(const uint8_t *srcArr, int len)
 {
     if (len > RADIO_MESSAGE_BUFFER_SIZE)
-    {
         return false;
-    }
+
     memcpy(this->string, srcArr, len);
     this->len = len;
     return true;
@@ -39,5 +37,5 @@ Returns the length of the encoded message
 */
 int RadioMessage::length() const
 {
-    return this->len;
+    return len;
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h
index 39eac2dc..f918c9db 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioMessage.h	
@@ -1,6 +1,7 @@
 #ifndef RADIO_MESSAGE_H
 #define RADIO_MESSAGE_H
 
+#include <cstring>
 #include <cstdint>
 
 const int RADIO_MESSAGE_BUFFER_SIZE = 255; // maximum length of an encoded `RadioMessage` in bytes.
@@ -10,15 +11,15 @@ class RadioMessage
 public:
     RadioMessage();
     virtual bool encode() = 0;                           // use stored variables to encode a message
-    virtual bool decode() = 0;                           // use `message` to set stored variables
+    virtual bool decode() = 0;                           // use `string` to set stored variables
     virtual int length() const;                          // return the length of the message
-    virtual bool setArr(const uint8_t *srcArr, int len); // set the message to the given array
-    virtual uint8_t *getArr();                           // get the message as an array
+    virtual bool setArr(const uint8_t *srcArr, int len); // set the string to the given array
+    virtual uint8_t *getArr();                           // get the string as an array
     virtual ~RadioMessage(){};
 
 protected:
     uint8_t string[RADIO_MESSAGE_BUFFER_SIZE]; // buffer for the encoded message
-    uint8_t len;                               // length of the encoded message
+    uint8_t len;                               // length of the encoded message. modified by encode()
 };
 
 #endif // RADIO_MESSAGE_H
\ No newline at end of file

From 18563b259b3e84b8b3f037168ac116e0c05c7c9e Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Fri, 17 May 2024 01:04:42 -0400
Subject: [PATCH 29/41] Compile Fixes

---
 .../23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp    | 1 -
 Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp        | 3 ++-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index 3110bd96..810f254f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -127,7 +127,6 @@ bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
         return false;
 
     // fill up the buffer with the message. buffer is a circular queue.
-    int originalTail = sendBuffer.tail;
     sendBuffer.data[sendBuffer.tail] = len; // store the length of the message in the first byte
     inc(sendBuffer.tail);
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index cdccef5a..a69c0bd2 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -38,7 +38,8 @@ static double last = 0; // for better timing than "delay(100)"
 
 // BlinkBuzz setup
 int BUZZER = 33;
-int allowedPins[] = {LED_BUILTIN};
+int LED = LED_BUILTIN;
+int allowedPins[] = {LED};
 BlinkBuzz bb(allowedPins, 1, true);
 
 // Free memory debug function

From 5b265a67b4664dc9d4ad47d1dcc4fa6cd83e28a6 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Fri, 17 May 2024 01:40:18 -0400
Subject: [PATCH 30/41] Added a RadioHandler to clean up the main file a bit

---
 .../Teensy-Based Avionics/src/Radio/Radio.h   |  2 +-
 .../src/Radio/RadioHandler.h                  | 66 ++++++++++++++
 .../Code/Teensy-Based Avionics/src/main.cpp   | 86 ++++---------------
 3 files changed, 82 insertions(+), 72 deletions(-)
 create mode 100644 Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h
index 891da86a..b7423f8f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/Radio.h	
@@ -25,7 +25,7 @@ struct RadioSettings final
     uint8_t cs; // Chip Select pin
     uint8_t irq; // Interrupt Request pin
     uint8_t rst; // Reset pin
-    int txPower = 20; // in dBm
+    int txPower = 12; // in dBm
 };
 
 class Radio
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h
new file mode 100644
index 00000000..a1b98992
--- /dev/null
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
@@ -0,0 +1,66 @@
+#include "RFM69HCW.h"
+#include "APRS/APRSCmdMsg.h"
+#include "APRS/APRSTelemMsg.h"
+
+#include <BlinkBuzz.h>
+#include <RecordData.h>
+
+#include "../Pi.h"
+#include "../State.h"
+
+namespace radioHandler
+{
+    void processCmdData(APRSCmdMsg &cmd, APRSCmdData &old, APRSCmdData &currentCmdData, int time)
+    {
+        char log[100];
+        if (cmd.data.Launch != old.Launch)
+        {
+            snprintf(log, 100, "Launch Command Changed to %d.", cmd.data.Launch);
+            recordLogData(INFO, log);
+            currentCmdData.Launch = cmd.data.Launch;
+        }
+        if (cmd.data.MinutesUntilPowerOn != old.MinutesUntilPowerOn)
+        {
+            snprintf(log, 100, "Power On Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilPowerOn, (int)(currentCmdData.MinutesUntilPowerOn - time) / 60000);
+            recordLogData(INFO, log);
+            currentCmdData.MinutesUntilPowerOn = cmd.data.MinutesUntilPowerOn * 60 * 1000 + time;
+        }
+        if (cmd.data.MinutesUntilVideoStart != old.MinutesUntilVideoStart)
+        {
+            snprintf(log, 100, "Video Start Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilVideoStart, (int)(currentCmdData.MinutesUntilVideoStart - time) / 60000);
+            recordLogData(INFO, log);
+            currentCmdData.MinutesUntilVideoStart = cmd.data.MinutesUntilVideoStart * 60 * 1000 + time;
+        }
+        if (cmd.data.MinutesUntilDataRecording != old.MinutesUntilDataRecording)
+        {
+            snprintf(log, 100, "Data Recording Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilDataRecording, (int)(currentCmdData.MinutesUntilDataRecording - time) / 60000);
+            recordLogData(INFO, log);
+            currentCmdData.MinutesUntilDataRecording = cmd.data.MinutesUntilDataRecording * 60 * 1000 + time;
+        }
+    }
+
+    void processCurrentCmdData(APRSCmdData &currentCmdData, State &computer, Pi &rpi, int time)
+    {
+        if (currentCmdData.Launch && computer.getStageNum() == 0)
+        {
+            recordLogData(INFO, "Launch Command Received. Launching Rocket.");
+            computer.launch();
+        }
+
+        if (time > currentCmdData.MinutesUntilPowerOn && !rpi.isOn())
+        {
+            recordLogData(INFO, "Power On RPI Time Reached. Turning on Raspberry Pi.");
+            rpi.setOn(true);
+        }
+        if (time > currentCmdData.MinutesUntilVideoStart && !rpi.isRecording())
+        {
+            recordLogData(INFO, "Video Start Time Reached. Starting Video Recording.");
+            rpi.setRecording(true);
+        }
+        if (time > currentCmdData.MinutesUntilDataRecording && !computer.getRecordOwnFlightData())
+        {
+            recordLogData(INFO, "Data Recording Time Reached. Starting Data Recording.");
+            computer.setRecordOwnFlightData(true);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index a69c0bd2..02636335 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -1,15 +1,14 @@
 #include <Arduino.h>
 #include "State.h"
+
 #include "BMP390.h"
 #include "BNO055.h"
 #include "MAX_M10S.h"
-#include "DS3231.h"
-#include "Radio/RFM69HCW.h"
-#include "Radio/APRS/APRSCmdMsg.h"
-#include "Radio/APRS/APRSTelemMsg.h"
+
 #include "RecordData.h"
-#include "BlinkBuzz.h"
+#include <BlinkBuzz.h>
 #include "Pi.h"
+#include "Radio/RadioHandler.h"
 
 #define BMP_ADDR_PIN 36
 #define RPI_PWR 0
@@ -112,41 +111,18 @@ void loop()
 {
     double time = millis();
     bb.update();
+
+    // Update the Radio
     if (radio.update()) // if there is a message to be read
     {
         timeOfLastCmd = time;
         APRSCmdData old = cmd.data;
         if (radio.dequeueReceive(&cmd))
-        {
-            char log[100];
-            if (cmd.data.Launch != old.Launch)
-            {
-                snprintf(log, 100, "Launch Command Changed to %d.", cmd.data.Launch);
-                recordLogData(INFO, log);
-                currentCmdData.Launch = cmd.data.Launch;
-            }
-            if (cmd.data.MinutesUntilPowerOn != old.MinutesUntilPowerOn)
-            {
-                snprintf(log, 100, "Power On Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilPowerOn, (int)(currentCmdData.MinutesUntilPowerOn - time) / 60000);
-                recordLogData(INFO, log);
-                currentCmdData.MinutesUntilPowerOn = cmd.data.MinutesUntilPowerOn * 60 * 1000 + time;
-            }
-            if (cmd.data.MinutesUntilVideoStart != old.MinutesUntilVideoStart)
-            {
-                snprintf(log, 100, "Video Start Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilVideoStart, (int)(currentCmdData.MinutesUntilVideoStart - time) / 60000);
-                recordLogData(INFO, log);
-                currentCmdData.MinutesUntilVideoStart = cmd.data.MinutesUntilVideoStart * 60 * 1000 + time;
-            }
-            if (cmd.data.MinutesUntilDataRecording != old.MinutesUntilDataRecording)
-            {
-                snprintf(log, 100, "Data Recording Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilDataRecording, (int)(currentCmdData.MinutesUntilDataRecording - time) / 60000);
-                recordLogData(INFO, log);
-                currentCmdData.MinutesUntilDataRecording = cmd.data.MinutesUntilDataRecording * 60 * 1000 + time;
-            }
-        }
+            radioHandler::processCmdData(cmd, old, currentCmdData, time);
     }
-    processCurrentCmdData(time);
+    radioHandler::processCurrentCmdData(currentCmdData, computer, rpi, time);
 
+    // Update the state of the rocket
     if (time - last < 100)
         return;
 
@@ -154,57 +130,25 @@ void loop()
     computer.updateState();
     // recordLogData(INFO, computer.getStateString(), TO_USB);
 
+    // Send Telemetry Data
     if (time - radioTimer >= 1000)
     {
         computer.fillAPRSData(telem.data);
 
-        if (rpi.isOn())
-            telem.data.statusFlags |= RPI_PWR;
-        else
-            telem.data.statusFlags &= ~RPI_PWR;
-
-        if (rpi.isRecording())
-            telem.data.statusFlags |= RPI_VIDEO;
-        else
-            telem.data.statusFlags &= ~RPI_VIDEO;
-
-        if (computer.getRecordOwnFlightData())
-            telem.data.statusFlags |= RECORDING_DATA;
-        else
-            telem.data.statusFlags &= ~RECORDING_DATA;
+        int status = PI_ON * rpi.isOn() +
+                     PI_VIDEO * rpi.isRecording() +
+                     RECORDING_DATA * computer.getRecordOwnFlightData();
+        telem.data.statusFlags = status;
 
         radio.enqueueSend(&telem);
         radioTimer = time;
     }
 
-    // RASPBERRY PI TURN ON/VIDEO
+    // RASPBERRY PI TURN ON/VIDEO BACKUP
     if ((time / 1000.0 > 810 && time - timeOfLastCmd > CMD_TIMEOUT_SEC * 1000) || computer.getStageNum() >= 1)
         rpi.setOn(true);
     if ((computer.getStageNum() >= 1 || time - timeOfLastCmd > CMD_TIMEOUT_SEC * 1000) && rpi.isOn())
         rpi.setRecording(true);
 }
 
-void processCurrentCmdData(double time)
-{
-    if (currentCmdData.Launch && computer.getStageNum() == 0)
-    {
-        recordLogData(INFO, "Launch Command Received. Launching Rocket.");
-        computer.launch();
-    }
 
-    if (time > currentCmdData.MinutesUntilPowerOn && !rpi.isOn())
-    {
-        recordLogData(INFO, "Power On RPI Time Reached. Turning on Raspberry Pi.");
-        rpi.setOn(true);
-    }
-    if (time > currentCmdData.MinutesUntilVideoStart && !rpi.isRecording())
-    {
-        recordLogData(INFO, "Video Start Time Reached. Starting Video Recording.");
-        rpi.setRecording(true);
-    }
-    if (time > currentCmdData.MinutesUntilDataRecording && !computer.getRecordOwnFlightData())
-    {
-        recordLogData(INFO, "Data Recording Time Reached. Starting Data Recording.");
-        computer.setRecordOwnFlightData(true);
-    }
-}

From 10189e974884521271fb0e9cd5341f7d59046797 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Fri, 17 May 2024 01:57:40 -0400
Subject: [PATCH 31/41] Fix \0 char in Log file

---
 .../Teensy-Based Avionics/lib/RecordData/psram.cpp     | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/psram.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/psram.cpp
index 33ab8c50..db600569 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/psram.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/psram.cpp	
@@ -15,7 +15,7 @@ bool PSRAM::init()
 {
     uint8_t size = external_psram_size;
     memBegin = cursorStart = reinterpret_cast<char *>(0x70000000);
-    memEnd = cursorEnd = memBegin + (size * 1048576);
+    memEnd = cursorEnd = memBegin + (size * 1048576) - 1;
 
     if (size > 0)
     {
@@ -73,7 +73,7 @@ bool PSRAM::dumpFlightData()
 bool PSRAM::dumpLogData()
 { // more complicated because data is stored in reverse order
     if (!isSDReady() || !ready){
-        bb.aonoff(33, 200);
+        bb.aonoff(BUZZER, 200);
         return false;
     }
 
@@ -83,11 +83,11 @@ bool PSRAM::dumpLogData()
     logFile = sd.open(logFileName, FILE_WRITE);
 
     if (!logFile){
-        bb.aonoff(33, 200, 3);
+        bb.aonoff(BUZZER, 200, 3);
         return false;
     }
     
-    while (writeCursor >= cursorEnd)
+    while (writeCursor > cursorEnd)
     {
 
         for (i = 0; i < 2048; i++)
@@ -106,7 +106,7 @@ bool PSRAM::dumpLogData()
     logFile.close();
     cursorEnd = memEnd;
     dumped = true;
-    bb.aonoff(33, 200, 5);
+    bb.aonoff(BUZZER, 200, 5);
     return true;
 }
 

From 6cbec44d0e00802d863d2e201f6404c90e7fe8ff Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Fri, 17 May 2024 14:51:53 -0400
Subject: [PATCH 32/41] update BlinkBuzz dep ver

---
 Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index 4cfd9683..1792013a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -23,7 +23,7 @@ lib_deps =
 	adafruit/RTClib @ ^2.1.1
 	adafruit/Adafruit BNO055@^1.6.3
 	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
-	https://github.com/DrewBrandt/BlinkBuzz.git
+	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
@@ -58,7 +58,7 @@ lib_deps =
 	adafruit/RTClib @ ^2.1.1
 	adafruit/Adafruit BNO055@^1.6.3
 	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
-	https://github.com/DrewBrandt/BlinkBuzz.git
+	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12

From d5ee48ce016b93a603fbf4bd8013ace73675d4ce Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Sat, 8 Jun 2024 16:41:31 -0400
Subject: [PATCH 33/41] nothing is working

---
 .../lib/RecordData/RecordData.cpp             |  33 +++++
 .../lib/RecordData/RecordData.h               |  13 ++
 .../lib/RecordData/sdCard.cpp                 |  23 ++-
 .../lib/RecordData/sdCard.h                   |   8 +-
 .../Code/Teensy-Based Avionics/platformio.ini |  41 +++---
 .../Code/Teensy-Based Avionics/src/BNO055.cpp | 133 +++++++++++++-----
 .../Code/Teensy-Based Avionics/src/BNO055.h   |  12 +-
 .../Code/Teensy-Based Avionics/src/main.cpp   |  47 +++++--
 8 files changed, 232 insertions(+), 78 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp
index fb24046f..956d75e6 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
@@ -65,3 +65,36 @@ void setRecordMode(Mode m)
     }
     mode = m;
 }
+
+bool readCalibrationData(char *data, int len)
+{
+    if (isSDReady())
+    {
+        calibFile = sd.open(calibFileName, FILE_READ);
+        if (calibFile)
+        {
+            int i = calibFile.read(data, len);
+            if(i > 0)
+                data[i] = '\0';
+            calibFile.close();
+            return i > 0; // most basic check to see if the file was read.
+        }
+    }
+    return false;
+}
+
+bool writeCalibrationData(char *data)
+{
+    if (isSDReady())
+    {
+        sd.remove(calibFileName);
+        calibFile = sd.open(calibFileName, FILE_WRITE);
+        if (calibFile)
+        {
+            calibFile.print(data);
+            calibFile.close();
+            return true;
+        }
+    }
+    return false;
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h
index efdb80e5..f3af1bb4 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h	
@@ -13,19 +13,32 @@ enum LogType
     WARNING,
     INFO
 };
+
 enum Dest
 {
     BOTH,
     TO_USB,
     TO_FILE
 };
+
 enum Mode
 {
     FLIGHT,
     GROUND
 };
+
+struct BnoCalibData{
+    float accelOffset[3];
+    float accelRadius;
+    float gyroOffset[3];
+    float magOffset[3];
+    float magRadius;
+};
+
 void recordFlightData(char *data); //0 is preflight, 5 is postflight.
 void recordLogData(LogType type, const char *data, Dest dest = BOTH);
 void recordLogData(double timeStamp, LogType type, const char *data, Dest dest = BOTH);
 void setRecordMode(Mode mode);//Will enable or disable the PSRAM based on the mode. If mode is GROUND, PSRAM will be disabled and all data in PSRAM will be written to the SD card. If mode is FLIGHT, PSRAM will be enabled.
+bool readCalibrationData(char *data, int len); //Reads the calibration data from the SD card and stores it in 'data'.
+bool writeCalibrationData(char *data); //Writes the calibration data to the SD card.
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp
index 7814a4bd..86521eb8 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp	
@@ -3,9 +3,10 @@
 static constexpr int NAME_SIZE = 24;
 // SdFs sd;
 // FsFile logFile;  // File object to use for logging
-char logFileName[NAME_SIZE];        // Name of the log file
-char flightDataFileName[NAME_SIZE]; // Name of the flight data file
-bool sdReady = false;               // Whether the SD card has been initialized
+char logFileName[NAME_SIZE];            // Name of the log file
+char flightDataFileName[NAME_SIZE];     // Name of the flight data file
+char calibFileName[] = "bno_calib.txt"; // Name of the calibration file
+bool sdReady = false;                   // Whether the SD card has been initialized
 
 // SD_FAT_TYPE = 0 for SdFat/File as defined in SdFatConfig.h,
 // 1 for FAT16/FAT32, 2 for exFAT, 3 for FAT16/FAT32 and exFAT.
@@ -55,6 +56,7 @@ ExFile flightDataFile;
 SdFs sd;
 FsFile logFile;
 FsFile flightDataFile;
+FsFile calibFile;
 #else // SD_FAT_TYPE
 #error Invalid SD_FAT_TYPE
 #endif // SD_FAT_TYPE
@@ -80,21 +82,29 @@ bool setupSDCard()
         snprintf(flightDataFileName, NAME_SIZE, "%d_FlightData.csv", fileNo); // will overwrite the previous file if it exists
 #pragma GCC diagnostic pop
 
-        // Setup files
+        // Set up files
         logFile = sd.open(logFileName, FILE_WRITE);
         if (logFile)
         {
             logFile.close();
             rdy++;
         }
+
         flightDataFile = sd.open(flightDataFileName, FILE_WRITE);
         if (flightDataFile)
         {
             flightDataFile.close();
             rdy++;
         }
+
+        calibFile = sd.open(calibFileName, FILE_WRITE);
+        if (calibFile)
+        {
+            calibFile.close();
+            rdy++;
+        }
     }
-    sdReady = rdy == 2;
+    sdReady = rdy == 3;
 
     return sdReady;
 }
@@ -114,4 +124,5 @@ void sendSDCardHeader(const char *csvHeader)
 bool isSDReady()
 {
     return sdReady;
-}
\ No newline at end of file
+}
+
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h
index fd82ada0..9836b1fd 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h	
@@ -7,11 +7,13 @@
 extern SdFs sd;
 extern FsFile logFile;
 extern FsFile flightDataFile;
+extern FsFile calibFile;
 extern char logFileName[];
 extern char flightDataFileName[];
+extern char calibFileName[];
 
-bool setupSDCard(); // Initializes the sensor
-bool isSDReady();  // Returns whether the sensor is initialized
-void sendSDCardHeader(const char *csvHeader); // Sends the header to the SD card
+bool setupSDCard(); // Initializes the card
+bool isSDReady();  // Returns whether the card is initialized
+void sendSDCardHeader(const char *csvHeader); // Sends the header to the SD card for the csv file.
 
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index 1792013a..b242041d 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -10,6 +10,14 @@
 [platformio]
 default_envs = teensy41
 
+[common]
+lib_deps_external = 
+	adafruit/Adafruit BMP3XX Library@^2.1.2
+	adafruit/RTClib @ ^2.1.1
+	adafruit/Adafruit BNO055@^1.6.3
+	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
+	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
+
 [env:teensy41]
 platform = teensy
 board = teensy41
@@ -18,12 +26,7 @@ lib_extra_dirs = /lib/imumaths
 build_src_filter = +<*> -<StateTest/*> +<StateTest/TestUtils.h> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
-lib_deps = 
-	adafruit/Adafruit BMP3XX Library@^2.1.2
-	adafruit/RTClib @ ^2.1.1
-	adafruit/Adafruit BNO055@^1.6.3
-	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
-	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
+lib_deps = ${common.lib_deps_external}
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
@@ -36,16 +39,12 @@ lib_extra_dirs = /lib/imumaths
 build_src_filter = +<*> -<StateTest/*> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
-lib_deps = 
-	adafruit/Adafruit BMP3XX Library@^2.1.2
-	adafruit/RTClib @ ^2.1.1
-	adafruit/Adafruit BNO055@^1.6.3
-	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
+lib_deps = ${common.lib_deps_external}
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
 
-[env:teensy41_TEST_STATE]
+[env:teensy41_test_state]
 platform = teensy
 board = teensy41
 framework = arduino
@@ -53,17 +52,12 @@ lib_extra_dirs = /lib/imumaths
 build_src_filter = +<*> -<main.cpp> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
-lib_deps = 
-	adafruit/Adafruit BMP3XX Library@^2.1.2
-	adafruit/RTClib @ ^2.1.1
-	adafruit/Adafruit BNO055@^1.6.3
-	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
-	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
+lib_deps = ${common.lib_deps_external}
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
 
-[env:teensy41_GROUND_STATION_RECEIVER]
+[env:teensy41_ground_reciever]
 platform = teensy
 board = teensy41
 framework = arduino
@@ -75,4 +69,11 @@ lib_deps =
 	adafruit/Adafruit BNO055@^1.6.3 ; For the imumaths library
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
-	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
\ No newline at end of file
+	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
+
+[env:teensy41_calibrate]
+platform = teensy
+board = teensy41
+framework = arduino
+lib_extra_dirs = /lib/imumaths
+build_src_filter = -<*> +<Calibration/*> +<Radio/*> +<lib/RadioHead/*>
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp
index 6a2e078f..03a9bc0c 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
@@ -1,27 +1,56 @@
 #include "BNO055.h"
 
-BNO055::BNO055(uint8_t SCK, uint8_t SDA)
-{
-    SCKPin = SCK;
-    SDAPin = SDA;
-}
-
 bool BNO055::initialize()
 {
     if (!bno.begin())
     {
         return initialized = false;
     }
-    bno.setExtCrystalUse(true);
 
     // set to +-16g range
     adafruit_bno055_opmode_t mode = bno.getMode();
     bno.setMode(OPERATION_MODE_CONFIG);
     delay(25);
-    Wire.beginTransmission(0x29);//BNO055 address
-    Wire.write(0x08);//ACC_CONFIG register address on BNO055
-    Wire.write(0b11);//set to +-16g range
-    Wire.endTransmission(true); // send stop
+
+    Wire.beginTransmission(0x29); // BNO055 address
+    Wire.write(0x08);             // ACC_CONFIG register address on BNO055
+    Wire.write(0b11);             // set to +-16g range
+    Wire.endTransmission(true);   // send stop
+
+    recordLogData(INFO, "BNO055 Calibration Loading");
+    recordLogData(INFO, "Pre-Loading Values:");
+    adafruit_bno055_offsets_t sensorOffsets;
+    
+    if(!bno.getSensorOffsets(sensorOffsets))
+    {
+        recordLogData(INFO, "Failed to get sensor offsets", TO_USB);
+    }
+    char data[100];
+
+    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd", sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius);
+    recordLogData(INFO, data);
+    snprintf(data, 100, "GYR: %hd|%hd|%hd", sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z);
+    recordLogData(INFO, data);
+    snprintf(data, 100, "MAG: %hd|%hd|%hd|%hd", sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
+    recordLogData(INFO, data);
+
+    setCalibrationFromFile();
+
+    recordLogData(INFO, "Post-Loading Values:");
+    if (!bno.getSensorOffsets(sensorOffsets))
+    {
+        recordLogData(INFO, "Failed to get sensor offsets", TO_USB);
+    }
+
+    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd", sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius);
+    recordLogData(INFO, data);
+    snprintf(data, 100, "GYR: %hd|%hd|%hd", sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z);
+    recordLogData(INFO, data);
+    snprintf(data, 100, "MAG: %hd|%hd|%hd|%hd", sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
+    recordLogData(INFO, data);
+
+    bno.setExtCrystalUse(true);
+
     bno.setMode(mode);
     delay(25);
 
@@ -48,29 +77,18 @@ void BNO055::update()
         }
         prevReadings[19] = read;
         accelerationVec = read - (sum / 10.0);
+
     }
     else
     {
         accelerationVec = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
     }
+    printf("Acceleration: %.2f, %.2f, %.2f\n", accelerationVec.x(), accelerationVec.y(), accelerationVec.z());
     orientation = bno.getQuat();
     orientationEuler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
     magnetometer = bno.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
-}
 
-void BNO055::calibrateBno()
-{
-    uint8_t system, gyro, accel, mag, i = 0;
-    while ((system != 3) || (gyro != 3) || (accel != 3) || (mag != 3))
-    {
-        bno.getCalibration(&system, &gyro, &accel, &mag);
-        i = i + 1;
-        if (i == 10)
-        {
-            i = 0;
-        }
-        delay(10);
-    }
+
 }
 
 imu::Quaternion BNO055::getOrientation()
@@ -93,15 +111,6 @@ imu::Vector<3> BNO055::getMagnetometer()
     return magnetometer;
 }
 
-imu::Vector<3> convertToEuler(const imu::Quaternion &orientation)
-
-{
-    imu::Vector<3> euler = orientation.toEuler();
-    // reverse the vector, since it returns in z, y, x
-    euler = imu::Vector<3>(euler.x(), euler.y(), euler.z());
-    return euler;
-}
-
 const char *BNO055::getCsvHeader()
 {                                                                                                          // incl I- for IMU
     return "I-AX (m/s/s),I-AY (m/s/s),I-AZ (m/s/s),I-ULRX,I-ULRY,I-ULRZ,I-QUATX,I-QUATY,I-QUATZ,I-QUATW,"; // trailing comma
@@ -118,10 +127,13 @@ char *BNO055::getDataString()
 
 char *BNO055::getStaticDataString()
 {
-    // See State.cpp::setDataString() for comments on what these numbers mean
-    const int size = 30 + 12 * 3;
-    char *data = new char[size];
-    snprintf(data, size, "Initial Magnetic Field (uT): %.2f,%.2f,%.2f\n", initialMagField.x(), initialMagField.y(), initialMagField.z());
+    char *data = new char[100];
+    adafruit_bno055_offsets_t sensorOffsets;
+    bno.getSensorOffsets(sensorOffsets);
+    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd",
+             sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius,
+             sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z,
+             sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
     return data;
 }
 
@@ -133,4 +145,49 @@ const char *BNO055::getName()
 void BNO055::setBiasCorrectionMode(bool mode)
 {
     biasCorrectionMode = mode;
+}
+
+void BNO055::setCalibrationFromFile()
+{
+    /*
+        File format:
+
+        ACC: X|Y|Z|R
+        GYR: X|Y|Z
+        MAG: X|Y|Z|R
+    */
+    char data[100];
+    readCalibrationData(data, 100);
+    adafruit_bno055_offsets_t sensorOffsets;
+    sscanf(data, "ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd",
+           &sensorOffsets.accel_offset_x, &sensorOffsets.accel_offset_y, &sensorOffsets.accel_offset_z, &sensorOffsets.accel_radius,
+           &sensorOffsets.gyro_offset_x, &sensorOffsets.gyro_offset_y, &sensorOffsets.gyro_offset_z,
+           &sensorOffsets.mag_offset_x, &sensorOffsets.mag_offset_y, &sensorOffsets.mag_offset_z, &sensorOffsets.mag_radius);
+    printf("ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd\n",
+           sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius,
+           sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z,
+           sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
+    bno.setSensorOffsets(sensorOffsets);
+}
+
+void BNO055::recordCalibrationValues()
+{
+    adafruit_bno055_offsets_t sensorOffsets;
+    bno.getSensorOffsets(sensorOffsets);
+    char data[100];
+    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd",
+             sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius,
+             sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z,
+             sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
+    writeCalibrationData(data);
+}
+
+void BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets)
+{
+    bno.getSensorOffsets(offsets);
+}
+
+void BNO055::getCalibrationStatus(uint8_t &system, uint8_t &gyro, uint8_t &accel, uint8_t &mag)
+{
+    bno.getCalibration(&system, &gyro, &accel, &mag);
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h
index d28650fc..c97daf8e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h	
@@ -1,6 +1,7 @@
 #include <Adafruit_BNO055.h>
 #include <Arduino.h>
 #include "IMU.h"
+#include "RecordData.h"
 
 class BNO055 : public IMU
 {
@@ -15,8 +16,9 @@ class BNO055 : public IMU
     imu::Vector<3> initialMagField;
     imu::Vector<3> prevReadings[20];
 
+    void setCalibrationFromFile();
+
 public:
-    BNO055(uint8_t SCK, uint8_t SDA);
     void calibrateBno();
     imu::Quaternion getOrientation() override;
     // gives linearAcceleration in m/s/s, which excludes gravity
@@ -24,8 +26,6 @@ class BNO055 : public IMU
     imu::Vector<3> getOrientationEuler() override;
     // values in uT, micro Teslas
     imu::Vector<3> getMagnetometer() override;
-    // gives it in rotations about the x, y, z (yaw, pitch, roll) axes
-    imu::Vector<3> convertToEuler(const imu::Quaternion &orientation);
     bool initialize() override;
     const char *getCsvHeader() override;
     char *getDataString() override;
@@ -33,4 +33,10 @@ class BNO055 : public IMU
     char const *getName() override;
     void update() override;
     void setBiasCorrectionMode(bool mode) override;
+    void recordCalibrationValues();
+    void getSensorOffsets(adafruit_bno055_offsets_t &offsets);
+    void getCalibrationStatus(uint8_t &system, uint8_t &gyro, uint8_t &accel, uint8_t &mag);
 };
+
+// gives it in rotations about the x, y, z (yaw, pitch, roll) axes
+imu::Vector<3> convertToEuler(const imu::Quaternion &orientation);
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 02636335..f2654854 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -14,7 +14,7 @@
 #define RPI_PWR 0
 #define RPI_VIDEO 1
 
-BNO055 bno(13, 12);         // I2C Address 0x29
+BNO055 bno;                 // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 
@@ -26,7 +26,6 @@ APRSCmdMsg cmd(header);
 APRSTelemMsg telem(header);
 int timeOfLastCmd = 0;
 const int CMD_TIMEOUT_SEC = 100; // 10 seconds
-void processCurrentCmdData(double time);
 
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
@@ -34,7 +33,7 @@ Pi rpi(RPI_PWR, RPI_VIDEO);
 PSRAM *ram;
 
 static double last = 0; // for better timing than "delay(100)"
-
+bool calibrationMode = false;
 // BlinkBuzz setup
 int BUZZER = 33;
 int LED = LED_BUILTIN;
@@ -64,7 +63,6 @@ void setup()
 
     pinMode(BMP_ADDR_PIN, OUTPUT);
     digitalWrite(BMP_ADDR_PIN, HIGH);
-    ram = new PSRAM(); // init after the SD card for better data logging.
 
     // The SD card MUST be initialized first to allow proper data logging.
     if (setupSDCard())
@@ -81,7 +79,7 @@ void setup()
     }
 
     // The PSRAM must be initialized before the sensors to allow for proper data logging.
-
+    ram = new PSRAM(); // init after the SD card for better data logging.
     if (ram->init())
         recordLogData(INFO, "PSRAM Initialized");
     else
@@ -104,7 +102,12 @@ void setup()
         recordLogData(ERROR, "Some Sensors Failed to Initialize. Disabling those sensors.");
         bb.onoff(BUZZER, 200, 3);
     }
+
+    computer.setRecordOwnFlightData(true);
+
     sendSDCardHeader(computer.getCsvHeader());
+    if (calibrationMode)
+        recordLogData(INFO, "Calibration Mode");
 }
 
 void loop()
@@ -128,8 +131,38 @@ void loop()
 
     last = time;
     computer.updateState();
-    // recordLogData(INFO, computer.getStateString(), TO_USB);
 
+    if(!calibrationMode)
+    {
+        recordLogData(INFO, computer.getStateString(), TO_USB);
+    }
+
+
+    if (bno && computer.getStageNum() == 0 && (int)(time) % 5000 < 100)
+    {
+        if (calibrationMode)
+        {
+            recordLogData(INFO, "IMU Calibration Data", TO_USB);
+            adafruit_bno055_offsets_t calibData;
+            bno.getSensorOffsets(calibData);
+            char data[100];
+            uint8_t system, gyro, accel, mag;
+            bno.getCalibrationStatus(system, gyro, accel, mag);
+            snprintf(data, 100, "System: %hhu, Gyro: %hhu, Accel: %hhu, Mag: %hhu", system, gyro, accel, mag);
+            recordLogData(INFO, data, TO_USB);
+            snprintf(data, 100, "Accel Offset: %hd, %hd, %hd", calibData.accel_offset_x, calibData.accel_offset_y, calibData.accel_offset_z);
+            recordLogData(INFO, data, TO_USB);
+            snprintf(data, 100, "Accel Radius: %hd", calibData.accel_radius);
+            recordLogData(INFO, data, TO_USB);
+            snprintf(data, 100, "Gyro Offset: %hd, %hd, %hd", calibData.gyro_offset_x, calibData.gyro_offset_y, calibData.gyro_offset_z);
+            recordLogData(INFO, data, TO_USB);
+            snprintf(data, 100, "Mag Offset: %hd, %hd, %hd", calibData.mag_offset_x, calibData.mag_offset_y, calibData.mag_offset_z);
+            recordLogData(INFO, data, TO_USB);
+            snprintf(data, 100, "Mag Radius: %hd\n", calibData.mag_radius);
+            recordLogData(INFO, data, TO_USB);
+        }
+        bno.recordCalibrationValues();
+    }
     // Send Telemetry Data
     if (time - radioTimer >= 1000)
     {
@@ -150,5 +183,3 @@ void loop()
     if ((computer.getStageNum() >= 1 || time - timeOfLastCmd > CMD_TIMEOUT_SEC * 1000) && rpi.isOn())
         rpi.setRecording(true);
 }
-
-

From 29831c21f64fc9d38a94ded2ef67b80fc5efcdd6 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Sat, 8 Jun 2024 17:24:58 -0400
Subject: [PATCH 34/41] Revert "nothing is working"

This reverts commit d5ee48ce016b93a603fbf4bd8013ace73675d4ce.
---
 .../lib/RecordData/RecordData.cpp             |  33 -----
 .../lib/RecordData/RecordData.h               |  13 --
 .../lib/RecordData/sdCard.cpp                 |  23 +--
 .../lib/RecordData/sdCard.h                   |   8 +-
 .../Code/Teensy-Based Avionics/platformio.ini |  41 +++---
 .../Code/Teensy-Based Avionics/src/BNO055.cpp | 133 +++++-------------
 .../Code/Teensy-Based Avionics/src/BNO055.h   |  12 +-
 .../Code/Teensy-Based Avionics/src/main.cpp   |  47 ++-----
 8 files changed, 78 insertions(+), 232 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp
index 956d75e6..fb24046f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.cpp	
@@ -65,36 +65,3 @@ void setRecordMode(Mode m)
     }
     mode = m;
 }
-
-bool readCalibrationData(char *data, int len)
-{
-    if (isSDReady())
-    {
-        calibFile = sd.open(calibFileName, FILE_READ);
-        if (calibFile)
-        {
-            int i = calibFile.read(data, len);
-            if(i > 0)
-                data[i] = '\0';
-            calibFile.close();
-            return i > 0; // most basic check to see if the file was read.
-        }
-    }
-    return false;
-}
-
-bool writeCalibrationData(char *data)
-{
-    if (isSDReady())
-    {
-        sd.remove(calibFileName);
-        calibFile = sd.open(calibFileName, FILE_WRITE);
-        if (calibFile)
-        {
-            calibFile.print(data);
-            calibFile.close();
-            return true;
-        }
-    }
-    return false;
-}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h
index f3af1bb4..efdb80e5 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/RecordData.h	
@@ -13,32 +13,19 @@ enum LogType
     WARNING,
     INFO
 };
-
 enum Dest
 {
     BOTH,
     TO_USB,
     TO_FILE
 };
-
 enum Mode
 {
     FLIGHT,
     GROUND
 };
-
-struct BnoCalibData{
-    float accelOffset[3];
-    float accelRadius;
-    float gyroOffset[3];
-    float magOffset[3];
-    float magRadius;
-};
-
 void recordFlightData(char *data); //0 is preflight, 5 is postflight.
 void recordLogData(LogType type, const char *data, Dest dest = BOTH);
 void recordLogData(double timeStamp, LogType type, const char *data, Dest dest = BOTH);
 void setRecordMode(Mode mode);//Will enable or disable the PSRAM based on the mode. If mode is GROUND, PSRAM will be disabled and all data in PSRAM will be written to the SD card. If mode is FLIGHT, PSRAM will be enabled.
-bool readCalibrationData(char *data, int len); //Reads the calibration data from the SD card and stores it in 'data'.
-bool writeCalibrationData(char *data); //Writes the calibration data to the SD card.
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp
index 86521eb8..7814a4bd 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.cpp	
@@ -3,10 +3,9 @@
 static constexpr int NAME_SIZE = 24;
 // SdFs sd;
 // FsFile logFile;  // File object to use for logging
-char logFileName[NAME_SIZE];            // Name of the log file
-char flightDataFileName[NAME_SIZE];     // Name of the flight data file
-char calibFileName[] = "bno_calib.txt"; // Name of the calibration file
-bool sdReady = false;                   // Whether the SD card has been initialized
+char logFileName[NAME_SIZE];        // Name of the log file
+char flightDataFileName[NAME_SIZE]; // Name of the flight data file
+bool sdReady = false;               // Whether the SD card has been initialized
 
 // SD_FAT_TYPE = 0 for SdFat/File as defined in SdFatConfig.h,
 // 1 for FAT16/FAT32, 2 for exFAT, 3 for FAT16/FAT32 and exFAT.
@@ -56,7 +55,6 @@ ExFile flightDataFile;
 SdFs sd;
 FsFile logFile;
 FsFile flightDataFile;
-FsFile calibFile;
 #else // SD_FAT_TYPE
 #error Invalid SD_FAT_TYPE
 #endif // SD_FAT_TYPE
@@ -82,29 +80,21 @@ bool setupSDCard()
         snprintf(flightDataFileName, NAME_SIZE, "%d_FlightData.csv", fileNo); // will overwrite the previous file if it exists
 #pragma GCC diagnostic pop
 
-        // Set up files
+        // Setup files
         logFile = sd.open(logFileName, FILE_WRITE);
         if (logFile)
         {
             logFile.close();
             rdy++;
         }
-
         flightDataFile = sd.open(flightDataFileName, FILE_WRITE);
         if (flightDataFile)
         {
             flightDataFile.close();
             rdy++;
         }
-
-        calibFile = sd.open(calibFileName, FILE_WRITE);
-        if (calibFile)
-        {
-            calibFile.close();
-            rdy++;
-        }
     }
-    sdReady = rdy == 3;
+    sdReady = rdy == 2;
 
     return sdReady;
 }
@@ -124,5 +114,4 @@ void sendSDCardHeader(const char *csvHeader)
 bool isSDReady()
 {
     return sdReady;
-}
-
+}
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h
index 9836b1fd..fd82ada0 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/lib/RecordData/sdCard.h	
@@ -7,13 +7,11 @@
 extern SdFs sd;
 extern FsFile logFile;
 extern FsFile flightDataFile;
-extern FsFile calibFile;
 extern char logFileName[];
 extern char flightDataFileName[];
-extern char calibFileName[];
 
-bool setupSDCard(); // Initializes the card
-bool isSDReady();  // Returns whether the card is initialized
-void sendSDCardHeader(const char *csvHeader); // Sends the header to the SD card for the csv file.
+bool setupSDCard(); // Initializes the sensor
+bool isSDReady();  // Returns whether the sensor is initialized
+void sendSDCardHeader(const char *csvHeader); // Sends the header to the SD card
 
 #endif
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index b242041d..1792013a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -10,14 +10,6 @@
 [platformio]
 default_envs = teensy41
 
-[common]
-lib_deps_external = 
-	adafruit/Adafruit BMP3XX Library@^2.1.2
-	adafruit/RTClib @ ^2.1.1
-	adafruit/Adafruit BNO055@^1.6.3
-	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
-	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
-
 [env:teensy41]
 platform = teensy
 board = teensy41
@@ -26,7 +18,12 @@ lib_extra_dirs = /lib/imumaths
 build_src_filter = +<*> -<StateTest/*> +<StateTest/TestUtils.h> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
-lib_deps = ${common.lib_deps_external}
+lib_deps = 
+	adafruit/Adafruit BMP3XX Library@^2.1.2
+	adafruit/RTClib @ ^2.1.1
+	adafruit/Adafruit BNO055@^1.6.3
+	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
+	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
@@ -39,12 +36,16 @@ lib_extra_dirs = /lib/imumaths
 build_src_filter = +<*> -<StateTest/*> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
-lib_deps = ${common.lib_deps_external}
+lib_deps = 
+	adafruit/Adafruit BMP3XX Library@^2.1.2
+	adafruit/RTClib @ ^2.1.1
+	adafruit/Adafruit BNO055@^1.6.3
+	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
 
-[env:teensy41_test_state]
+[env:teensy41_TEST_STATE]
 platform = teensy
 board = teensy41
 framework = arduino
@@ -52,12 +53,17 @@ lib_extra_dirs = /lib/imumaths
 build_src_filter = +<*> -<main.cpp> -<GroundStationReceiver/*>
 build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
-lib_deps = ${common.lib_deps_external}
+lib_deps = 
+	adafruit/Adafruit BMP3XX Library@^2.1.2
+	adafruit/RTClib @ ^2.1.1
+	adafruit/Adafruit BNO055@^1.6.3
+	sparkfun/SparkFun u-blox GNSS v3@^3.0.16
+	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
 
-[env:teensy41_ground_reciever]
+[env:teensy41_GROUND_STATION_RECEIVER]
 platform = teensy
 board = teensy41
 framework = arduino
@@ -69,11 +75,4 @@ lib_deps =
 	adafruit/Adafruit BNO055@^1.6.3 ; For the imumaths library
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
-	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
-
-[env:teensy41_calibrate]
-platform = teensy
-board = teensy41
-framework = arduino
-lib_extra_dirs = /lib/imumaths
-build_src_filter = -<*> +<Calibration/*> +<Radio/*> +<lib/RadioHead/*>
\ No newline at end of file
+	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp
index 03a9bc0c..6a2e078f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
@@ -1,56 +1,27 @@
 #include "BNO055.h"
 
+BNO055::BNO055(uint8_t SCK, uint8_t SDA)
+{
+    SCKPin = SCK;
+    SDAPin = SDA;
+}
+
 bool BNO055::initialize()
 {
     if (!bno.begin())
     {
         return initialized = false;
     }
+    bno.setExtCrystalUse(true);
 
     // set to +-16g range
     adafruit_bno055_opmode_t mode = bno.getMode();
     bno.setMode(OPERATION_MODE_CONFIG);
     delay(25);
-
-    Wire.beginTransmission(0x29); // BNO055 address
-    Wire.write(0x08);             // ACC_CONFIG register address on BNO055
-    Wire.write(0b11);             // set to +-16g range
-    Wire.endTransmission(true);   // send stop
-
-    recordLogData(INFO, "BNO055 Calibration Loading");
-    recordLogData(INFO, "Pre-Loading Values:");
-    adafruit_bno055_offsets_t sensorOffsets;
-    
-    if(!bno.getSensorOffsets(sensorOffsets))
-    {
-        recordLogData(INFO, "Failed to get sensor offsets", TO_USB);
-    }
-    char data[100];
-
-    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd", sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius);
-    recordLogData(INFO, data);
-    snprintf(data, 100, "GYR: %hd|%hd|%hd", sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z);
-    recordLogData(INFO, data);
-    snprintf(data, 100, "MAG: %hd|%hd|%hd|%hd", sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
-    recordLogData(INFO, data);
-
-    setCalibrationFromFile();
-
-    recordLogData(INFO, "Post-Loading Values:");
-    if (!bno.getSensorOffsets(sensorOffsets))
-    {
-        recordLogData(INFO, "Failed to get sensor offsets", TO_USB);
-    }
-
-    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd", sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius);
-    recordLogData(INFO, data);
-    snprintf(data, 100, "GYR: %hd|%hd|%hd", sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z);
-    recordLogData(INFO, data);
-    snprintf(data, 100, "MAG: %hd|%hd|%hd|%hd", sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
-    recordLogData(INFO, data);
-
-    bno.setExtCrystalUse(true);
-
+    Wire.beginTransmission(0x29);//BNO055 address
+    Wire.write(0x08);//ACC_CONFIG register address on BNO055
+    Wire.write(0b11);//set to +-16g range
+    Wire.endTransmission(true); // send stop
     bno.setMode(mode);
     delay(25);
 
@@ -77,18 +48,29 @@ void BNO055::update()
         }
         prevReadings[19] = read;
         accelerationVec = read - (sum / 10.0);
-
     }
     else
     {
         accelerationVec = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
     }
-    printf("Acceleration: %.2f, %.2f, %.2f\n", accelerationVec.x(), accelerationVec.y(), accelerationVec.z());
     orientation = bno.getQuat();
     orientationEuler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
     magnetometer = bno.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
+}
 
-
+void BNO055::calibrateBno()
+{
+    uint8_t system, gyro, accel, mag, i = 0;
+    while ((system != 3) || (gyro != 3) || (accel != 3) || (mag != 3))
+    {
+        bno.getCalibration(&system, &gyro, &accel, &mag);
+        i = i + 1;
+        if (i == 10)
+        {
+            i = 0;
+        }
+        delay(10);
+    }
 }
 
 imu::Quaternion BNO055::getOrientation()
@@ -111,6 +93,15 @@ imu::Vector<3> BNO055::getMagnetometer()
     return magnetometer;
 }
 
+imu::Vector<3> convertToEuler(const imu::Quaternion &orientation)
+
+{
+    imu::Vector<3> euler = orientation.toEuler();
+    // reverse the vector, since it returns in z, y, x
+    euler = imu::Vector<3>(euler.x(), euler.y(), euler.z());
+    return euler;
+}
+
 const char *BNO055::getCsvHeader()
 {                                                                                                          // incl I- for IMU
     return "I-AX (m/s/s),I-AY (m/s/s),I-AZ (m/s/s),I-ULRX,I-ULRY,I-ULRZ,I-QUATX,I-QUATY,I-QUATZ,I-QUATW,"; // trailing comma
@@ -127,13 +118,10 @@ char *BNO055::getDataString()
 
 char *BNO055::getStaticDataString()
 {
-    char *data = new char[100];
-    adafruit_bno055_offsets_t sensorOffsets;
-    bno.getSensorOffsets(sensorOffsets);
-    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd",
-             sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius,
-             sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z,
-             sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
+    // See State.cpp::setDataString() for comments on what these numbers mean
+    const int size = 30 + 12 * 3;
+    char *data = new char[size];
+    snprintf(data, size, "Initial Magnetic Field (uT): %.2f,%.2f,%.2f\n", initialMagField.x(), initialMagField.y(), initialMagField.z());
     return data;
 }
 
@@ -145,49 +133,4 @@ const char *BNO055::getName()
 void BNO055::setBiasCorrectionMode(bool mode)
 {
     biasCorrectionMode = mode;
-}
-
-void BNO055::setCalibrationFromFile()
-{
-    /*
-        File format:
-
-        ACC: X|Y|Z|R
-        GYR: X|Y|Z
-        MAG: X|Y|Z|R
-    */
-    char data[100];
-    readCalibrationData(data, 100);
-    adafruit_bno055_offsets_t sensorOffsets;
-    sscanf(data, "ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd",
-           &sensorOffsets.accel_offset_x, &sensorOffsets.accel_offset_y, &sensorOffsets.accel_offset_z, &sensorOffsets.accel_radius,
-           &sensorOffsets.gyro_offset_x, &sensorOffsets.gyro_offset_y, &sensorOffsets.gyro_offset_z,
-           &sensorOffsets.mag_offset_x, &sensorOffsets.mag_offset_y, &sensorOffsets.mag_offset_z, &sensorOffsets.mag_radius);
-    printf("ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd\n",
-           sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius,
-           sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z,
-           sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
-    bno.setSensorOffsets(sensorOffsets);
-}
-
-void BNO055::recordCalibrationValues()
-{
-    adafruit_bno055_offsets_t sensorOffsets;
-    bno.getSensorOffsets(sensorOffsets);
-    char data[100];
-    snprintf(data, 100, "ACC: %hd|%hd|%hd|%hd\nGYR: %hd|%hd|%hd\nMAG: %hd|%hd|%hd|%hd",
-             sensorOffsets.accel_offset_x, sensorOffsets.accel_offset_y, sensorOffsets.accel_offset_z, sensorOffsets.accel_radius,
-             sensorOffsets.gyro_offset_x, sensorOffsets.gyro_offset_y, sensorOffsets.gyro_offset_z,
-             sensorOffsets.mag_offset_x, sensorOffsets.mag_offset_y, sensorOffsets.mag_offset_z, sensorOffsets.mag_radius);
-    writeCalibrationData(data);
-}
-
-void BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets)
-{
-    bno.getSensorOffsets(offsets);
-}
-
-void BNO055::getCalibrationStatus(uint8_t &system, uint8_t &gyro, uint8_t &accel, uint8_t &mag)
-{
-    bno.getCalibration(&system, &gyro, &accel, &mag);
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h
index c97daf8e..d28650fc 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.h	
@@ -1,7 +1,6 @@
 #include <Adafruit_BNO055.h>
 #include <Arduino.h>
 #include "IMU.h"
-#include "RecordData.h"
 
 class BNO055 : public IMU
 {
@@ -16,9 +15,8 @@ class BNO055 : public IMU
     imu::Vector<3> initialMagField;
     imu::Vector<3> prevReadings[20];
 
-    void setCalibrationFromFile();
-
 public:
+    BNO055(uint8_t SCK, uint8_t SDA);
     void calibrateBno();
     imu::Quaternion getOrientation() override;
     // gives linearAcceleration in m/s/s, which excludes gravity
@@ -26,6 +24,8 @@ class BNO055 : public IMU
     imu::Vector<3> getOrientationEuler() override;
     // values in uT, micro Teslas
     imu::Vector<3> getMagnetometer() override;
+    // gives it in rotations about the x, y, z (yaw, pitch, roll) axes
+    imu::Vector<3> convertToEuler(const imu::Quaternion &orientation);
     bool initialize() override;
     const char *getCsvHeader() override;
     char *getDataString() override;
@@ -33,10 +33,4 @@ class BNO055 : public IMU
     char const *getName() override;
     void update() override;
     void setBiasCorrectionMode(bool mode) override;
-    void recordCalibrationValues();
-    void getSensorOffsets(adafruit_bno055_offsets_t &offsets);
-    void getCalibrationStatus(uint8_t &system, uint8_t &gyro, uint8_t &accel, uint8_t &mag);
 };
-
-// gives it in rotations about the x, y, z (yaw, pitch, roll) axes
-imu::Vector<3> convertToEuler(const imu::Quaternion &orientation);
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index f2654854..02636335 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -14,7 +14,7 @@
 #define RPI_PWR 0
 #define RPI_VIDEO 1
 
-BNO055 bno;                 // I2C Address 0x29
+BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 
@@ -26,6 +26,7 @@ APRSCmdMsg cmd(header);
 APRSTelemMsg telem(header);
 int timeOfLastCmd = 0;
 const int CMD_TIMEOUT_SEC = 100; // 10 seconds
+void processCurrentCmdData(double time);
 
 State computer; // = useKalmanFilter = true, stateRecordsOwnData = true
 uint32_t radioTimer = millis();
@@ -33,7 +34,7 @@ Pi rpi(RPI_PWR, RPI_VIDEO);
 PSRAM *ram;
 
 static double last = 0; // for better timing than "delay(100)"
-bool calibrationMode = false;
+
 // BlinkBuzz setup
 int BUZZER = 33;
 int LED = LED_BUILTIN;
@@ -63,6 +64,7 @@ void setup()
 
     pinMode(BMP_ADDR_PIN, OUTPUT);
     digitalWrite(BMP_ADDR_PIN, HIGH);
+    ram = new PSRAM(); // init after the SD card for better data logging.
 
     // The SD card MUST be initialized first to allow proper data logging.
     if (setupSDCard())
@@ -79,7 +81,7 @@ void setup()
     }
 
     // The PSRAM must be initialized before the sensors to allow for proper data logging.
-    ram = new PSRAM(); // init after the SD card for better data logging.
+
     if (ram->init())
         recordLogData(INFO, "PSRAM Initialized");
     else
@@ -102,12 +104,7 @@ void setup()
         recordLogData(ERROR, "Some Sensors Failed to Initialize. Disabling those sensors.");
         bb.onoff(BUZZER, 200, 3);
     }
-
-    computer.setRecordOwnFlightData(true);
-
     sendSDCardHeader(computer.getCsvHeader());
-    if (calibrationMode)
-        recordLogData(INFO, "Calibration Mode");
 }
 
 void loop()
@@ -131,38 +128,8 @@ void loop()
 
     last = time;
     computer.updateState();
+    // recordLogData(INFO, computer.getStateString(), TO_USB);
 
-    if(!calibrationMode)
-    {
-        recordLogData(INFO, computer.getStateString(), TO_USB);
-    }
-
-
-    if (bno && computer.getStageNum() == 0 && (int)(time) % 5000 < 100)
-    {
-        if (calibrationMode)
-        {
-            recordLogData(INFO, "IMU Calibration Data", TO_USB);
-            adafruit_bno055_offsets_t calibData;
-            bno.getSensorOffsets(calibData);
-            char data[100];
-            uint8_t system, gyro, accel, mag;
-            bno.getCalibrationStatus(system, gyro, accel, mag);
-            snprintf(data, 100, "System: %hhu, Gyro: %hhu, Accel: %hhu, Mag: %hhu", system, gyro, accel, mag);
-            recordLogData(INFO, data, TO_USB);
-            snprintf(data, 100, "Accel Offset: %hd, %hd, %hd", calibData.accel_offset_x, calibData.accel_offset_y, calibData.accel_offset_z);
-            recordLogData(INFO, data, TO_USB);
-            snprintf(data, 100, "Accel Radius: %hd", calibData.accel_radius);
-            recordLogData(INFO, data, TO_USB);
-            snprintf(data, 100, "Gyro Offset: %hd, %hd, %hd", calibData.gyro_offset_x, calibData.gyro_offset_y, calibData.gyro_offset_z);
-            recordLogData(INFO, data, TO_USB);
-            snprintf(data, 100, "Mag Offset: %hd, %hd, %hd", calibData.mag_offset_x, calibData.mag_offset_y, calibData.mag_offset_z);
-            recordLogData(INFO, data, TO_USB);
-            snprintf(data, 100, "Mag Radius: %hd\n", calibData.mag_radius);
-            recordLogData(INFO, data, TO_USB);
-        }
-        bno.recordCalibrationValues();
-    }
     // Send Telemetry Data
     if (time - radioTimer >= 1000)
     {
@@ -183,3 +150,5 @@ void loop()
     if ((computer.getStageNum() >= 1 || time - timeOfLastCmd > CMD_TIMEOUT_SEC * 1000) && rpi.isOn())
         rpi.setRecording(true);
 }
+
+

From afd560485d26bc5b9d84e0776aa860e755a7c346 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Sat, 8 Jun 2024 17:47:30 -0400
Subject: [PATCH 35/41] Remapped BNO X and Z axes

---
 Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp | 7 ++++++-
 Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp   | 2 +-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp
index 6a2e078f..8a2405f8 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/BNO055.cpp	
@@ -12,7 +12,6 @@ bool BNO055::initialize()
     {
         return initialized = false;
     }
-    bno.setExtCrystalUse(true);
 
     // set to +-16g range
     adafruit_bno055_opmode_t mode = bno.getMode();
@@ -25,6 +24,8 @@ bool BNO055::initialize()
     bno.setMode(mode);
     delay(25);
 
+    bno.setExtCrystalUse(true);
+
     initialMagField = bno.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
     imu::Vector<3> read = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
     for (int i = 0; i < 20; i++)
@@ -53,6 +54,10 @@ void BNO055::update()
     {
         accelerationVec = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
     }
+    double x = accelerationVec.z();
+    accelerationVec.x() = accelerationVec.z();
+    accelerationVec.z() = x;
+
     orientation = bno.getQuat();
     orientationEuler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
     magnetometer = bno.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 02636335..b2f43beb 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -128,7 +128,7 @@ void loop()
 
     last = time;
     computer.updateState();
-    // recordLogData(INFO, computer.getStateString(), TO_USB);
+    recordLogData(INFO, computer.getStateString(), TO_USB);
 
     // Send Telemetry Data
     if (time - radioTimer >= 1000)

From 6005632aa84893a2bb5ecf68a87e7de3a8fa1a6d Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 12 Jun 2024 22:57:51 -0400
Subject: [PATCH 36/41] refactor: Improve logging in RadioHandler
 processCmdData

---
 .../Code/Teensy-Based Avionics/src/Radio/RadioHandler.h   | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h
index a1b98992..2f15c74c 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
@@ -13,25 +13,25 @@ namespace radioHandler
     void processCmdData(APRSCmdMsg &cmd, APRSCmdData &old, APRSCmdData &currentCmdData, int time)
     {
         char log[100];
-        if (cmd.data.Launch != old.Launch)
+        if (cmd.data.Launch != old.Launch && cmd.data.Launch >= 0)
         {
             snprintf(log, 100, "Launch Command Changed to %d.", cmd.data.Launch);
             recordLogData(INFO, log);
             currentCmdData.Launch = cmd.data.Launch;
         }
-        if (cmd.data.MinutesUntilPowerOn != old.MinutesUntilPowerOn)
+        if (cmd.data.MinutesUntilPowerOn != old.MinutesUntilPowerOn && cmd.data.MinutesUntilPowerOn >= 0)
         {
             snprintf(log, 100, "Power On Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilPowerOn, (int)(currentCmdData.MinutesUntilPowerOn - time) / 60000);
             recordLogData(INFO, log);
             currentCmdData.MinutesUntilPowerOn = cmd.data.MinutesUntilPowerOn * 60 * 1000 + time;
         }
-        if (cmd.data.MinutesUntilVideoStart != old.MinutesUntilVideoStart)
+        if (cmd.data.MinutesUntilVideoStart != old.MinutesUntilVideoStart && cmd.data.MinutesUntilVideoStart >= 0)
         {
             snprintf(log, 100, "Video Start Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilVideoStart, (int)(currentCmdData.MinutesUntilVideoStart - time) / 60000);
             recordLogData(INFO, log);
             currentCmdData.MinutesUntilVideoStart = cmd.data.MinutesUntilVideoStart * 60 * 1000 + time;
         }
-        if (cmd.data.MinutesUntilDataRecording != old.MinutesUntilDataRecording)
+        if (cmd.data.MinutesUntilDataRecording != old.MinutesUntilDataRecording && cmd.data.MinutesUntilDataRecording >= 0)
         {
             snprintf(log, 100, "Data Recording Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilDataRecording, (int)(currentCmdData.MinutesUntilDataRecording - time) / 60000);
             recordLogData(INFO, log);

From 1c1fcb360f49bf20e3fdf5ab9c1e41f7f22c9bda Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Fri, 14 Jun 2024 13:28:30 -0400
Subject: [PATCH 37/41] Radio Freq Changes

---
 .../src/GroundStationReceiver/main.cpp                      | 3 ++-
 .../Code/Teensy-Based Avionics/src/Radio/RadioHandler.h     | 1 +
 Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp     | 6 +++---
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index e6357473..0987bbf9 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -7,13 +7,14 @@
 APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '/', 'o'};
 APRSTelemMsg msg(header);
 APRSCmdMsg cmd(header);
-RadioSettings settings = {915.0, 0x02, 0x01, &hardware_spi, 10, 31, 32};
+RadioSettings settings = {433, 0x02, 0x01, &hardware_spi, 10, 31, 32};
 RFM69HCW radio(&settings);
 
 
 void setup()
 {
     delay(2000); // Delay to allow the serial monitor to connect
+    
     if (!radio.init())
         Serial.println("Radio failed to initialize");
     else
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h
index 2f15c74c..68e8cda9 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
@@ -12,6 +12,7 @@ namespace radioHandler
 {
     void processCmdData(APRSCmdMsg &cmd, APRSCmdData &old, APRSCmdData &currentCmdData, int time)
     {
+        bb.aonoff(BUZZER, 100, 2);
         char log[100];
         if (cmd.data.Launch != old.Launch && cmd.data.Launch >= 0)
         {
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index b2f43beb..32276d3e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -18,7 +18,7 @@ BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 
-RadioSettings settings = {915.0, 0x01, 0x02, &hardware_spi, 10, 31, 32};
+RadioSettings settings = {433, 0x01, 0x02, &hardware_spi, 10, 31, 32};
 RFM69HCW radio(&settings);
 APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '^', 'M'};
 APRSCmdData currentCmdData = {800000, 800000, 800000, false};
@@ -38,8 +38,8 @@ static double last = 0; // for better timing than "delay(100)"
 // BlinkBuzz setup
 int BUZZER = 33;
 int LED = LED_BUILTIN;
-int allowedPins[] = {LED};
-BlinkBuzz bb(allowedPins, 1, true);
+int allowedPins[] = {LED, BUZZER};
+BlinkBuzz bb(allowedPins, 2, true);
 
 // Free memory debug function
 extern unsigned long _heap_start;

From a515fca4a488a008bbeb27481b017e85009a6698 Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 19 Jun 2024 00:45:23 -0400
Subject: [PATCH 38/41] test

---
 .../src/GroundStationReceiver/main.cpp                      | 6 +++---
 .../23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp | 1 +
 Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp     | 4 ++--
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index 0987bbf9..e99eadb8 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -7,7 +7,7 @@
 APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '/', 'o'};
 APRSTelemMsg msg(header);
 APRSCmdMsg cmd(header);
-RadioSettings settings = {433, 0x02, 0x01, &hardware_spi, 10, 31, 32};
+RadioSettings settings = {433.78, 0x02, 0x01, &hardware_spi, 15, 16, 14};
 RFM69HCW radio(&settings);
 
 
@@ -22,8 +22,8 @@ void setup()
 
         // Test Case for Demo Purposes
     cmd.data.MinutesUntilPowerOn = 0;
-    cmd.data.MinutesUntilDataRecording = 1;
-    cmd.data.MinutesUntilVideoStart = 2;
+    cmd.data.MinutesUntilDataRecording = -1;
+    cmd.data.MinutesUntilVideoStart = -2;
     cmd.data.Launch = false;
 }
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index 810f254f..5b434431 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -173,6 +173,7 @@ bool RFM69HCW::dequeueReceive(uint8_t *message)
     inc(recvBuffer.head);
     // Empty the buffer up to the length of the expected message
     copyFromBuffer(recvBuffer, message, len);
+    Serial.write(message, len);
     return true;
 }
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 32276d3e..abbd0608 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -18,7 +18,7 @@ BNO055 bno(13, 12);         // I2C Address 0x29
 BMP390 bmp(13, 12);         // I2C Address 0x77
 MAX_M10S gps(13, 12, 0x42); // I2C Address 0x42
 
-RadioSettings settings = {433, 0x01, 0x02, &hardware_spi, 10, 31, 32};
+RadioSettings settings = {433.78, 0x01, 0x02, &hardware_spi, 10, 31, 32};
 RFM69HCW radio(&settings);
 APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '^', 'M'};
 APRSCmdData currentCmdData = {800000, 800000, 800000, false};
@@ -128,7 +128,7 @@ void loop()
 
     last = time;
     computer.updateState();
-    recordLogData(INFO, computer.getStateString(), TO_USB);
+    //recordLogData(INFO, computer.getStateString(), TO_USB);
 
     // Send Telemetry Data
     if (time - radioTimer >= 1000)

From ef8eeb8584bf39b5d7b2eb19ecd1050b96948e3c Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 19 Jun 2024 01:31:04 -0600
Subject: [PATCH 39/41] completely fixed 100 percent

except not haha gotcha
---
 .../Code/Teensy-Based Avionics/platformio.ini |  1 +
 .../src/GroundStationReceiver/main.cpp        | 37 +++++++++++++++----
 .../src/Radio/RadioHandler.h                  | 23 +++++++++---
 .../Code/Teensy-Based Avionics/src/State.cpp  |  2 +-
 .../Code/Teensy-Based Avionics/src/main.cpp   |  2 +-
 5 files changed, 51 insertions(+), 14 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini
index 1792013a..3d46ab6b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/platformio.ini	
@@ -73,6 +73,7 @@ build_flags = -Wno-unknown-pragmas
 lib_compat_mode = strict
 lib_deps = 
 	adafruit/Adafruit BNO055@^1.6.3 ; For the imumaths library
+	https://github.com/DrewBrandt/BlinkBuzz.git@^1.0.2
 check_src_filters = -<*> +<src/*> +<include/*> +<lib/*> -<lib/RadioHead>
 check_flags =
 	cppcheck: --suppressions-list=cppcheck-suppressions.txt -j 12
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index e99eadb8..40ecb037 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -3,6 +3,7 @@
 #include <Arduino.h>
 #include "../Radio/RFM69HCW.h"
 #include "../Radio/APRS/APRSCmdMsg.h"
+#include <BlinkBuzz.h>
 
 APRSHeader header = {"KC3UTM", "APRS", "WIDE1-1", '/', 'o'};
 APRSTelemMsg msg(header);
@@ -10,24 +11,25 @@ APRSCmdMsg cmd(header);
 RadioSettings settings = {433.78, 0x02, 0x01, &hardware_spi, 15, 16, 14};
 RFM69HCW radio(&settings);
 
-
+int arr[] = {LED_BUILTIN, 33};
+BlinkBuzz bb(arr, 1, true);
 void setup()
 {
+
     delay(2000); // Delay to allow the serial monitor to connect
-    
+
     if (!radio.init())
         Serial.println("Radio failed to initialize");
     else
         Serial.println("Radio initialized");
 
-        // Test Case for Demo Purposes
+    // Test Case for Demo Purposes
     cmd.data.MinutesUntilPowerOn = 0;
     cmd.data.MinutesUntilDataRecording = -1;
     cmd.data.MinutesUntilVideoStart = -2;
     cmd.data.Launch = false;
 }
 
-
 int counter = 1;
 void loop()
 {
@@ -39,14 +41,35 @@ void loop()
             aprsToSerial::encodeAPRSForSerial(msg, buffer, 255, radio.RSSI());
             Serial.println(buffer);
         }
-        if(counter % 50 == 0) // Send a command every 50x a message is received (or every 25 seconds)
+        if (counter % 50 == 0) // Send a command every 50x a message is received (or every 25 seconds)
             radio.enqueueSend(&cmd);
 
-        if(counter == 190) // Send a command after 190x a message is received (or after 95 seconds) to launch the rocket
+        if (counter == 190) // Send a command after 190x a message is received (or after 95 seconds) to launch the rocket
         {
             cmd.data.Launch = !cmd.data.Launch;
             radio.enqueueSend(&cmd);
         }
-        counter++;
+    }
+    if (Serial.available())
+    {
+        char buffer[255];
+        Serial.readBytesUntil('\n', buffer, 255);
+        char boolStr[6]; // "true" or "false" (max length 5 + 1 for null terminator)
+
+        // Parse the input string
+        sscanf(buffer, "%d,%d,%d,%5s", &cmd.data.MinutesUntilPowerOn, &cmd.data.MinutesUntilVideoStart, &cmd.data.MinutesUntilDataRecording, boolStr);
+
+        // Convert the string "true"/"false" to a boolean value
+        if (strcmp(boolStr, "true") == 0)
+        {
+            cmd.data.Launch = true;
+        }
+        else if (strcmp(boolStr, "false") == 0)
+        {
+            cmd.data.Launch = false;
+        }
+
+        // Send the command
+        radio.enqueueSend(&cmd);
     }
 }
\ No newline at end of file
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h
index 68e8cda9..2fbd0739 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RadioHandler.h	
@@ -14,40 +14,53 @@ namespace radioHandler
     {
         bb.aonoff(BUZZER, 100, 2);
         char log[100];
-        if (cmd.data.Launch != old.Launch && cmd.data.Launch >= 0)
+        if (cmd.data.Launch > 0)
         {
             snprintf(log, 100, "Launch Command Changed to %d.", cmd.data.Launch);
             recordLogData(INFO, log);
             currentCmdData.Launch = cmd.data.Launch;
         }
-        if (cmd.data.MinutesUntilPowerOn != old.MinutesUntilPowerOn && cmd.data.MinutesUntilPowerOn >= 0)
+        if ( cmd.data.MinutesUntilPowerOn >= 0)
         {
             snprintf(log, 100, "Power On Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilPowerOn, (int)(currentCmdData.MinutesUntilPowerOn - time) / 60000);
             recordLogData(INFO, log);
             currentCmdData.MinutesUntilPowerOn = cmd.data.MinutesUntilPowerOn * 60 * 1000 + time;
         }
-        if (cmd.data.MinutesUntilVideoStart != old.MinutesUntilVideoStart && cmd.data.MinutesUntilVideoStart >= 0)
+        if (cmd.data.MinutesUntilVideoStart >= 0)
         {
             snprintf(log, 100, "Video Start Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilVideoStart, (int)(currentCmdData.MinutesUntilVideoStart - time) / 60000);
             recordLogData(INFO, log);
             currentCmdData.MinutesUntilVideoStart = cmd.data.MinutesUntilVideoStart * 60 * 1000 + time;
         }
-        if (cmd.data.MinutesUntilDataRecording != old.MinutesUntilDataRecording && cmd.data.MinutesUntilDataRecording >= 0)
+        if (cmd.data.MinutesUntilDataRecording >= 0)
         {
             snprintf(log, 100, "Data Recording Time Changed: %d with %d minutes remaining.", cmd.data.MinutesUntilDataRecording, (int)(currentCmdData.MinutesUntilDataRecording - time) / 60000);
             recordLogData(INFO, log);
             currentCmdData.MinutesUntilDataRecording = cmd.data.MinutesUntilDataRecording * 60 * 1000 + time;
         }
+        // if(currentCmdData.Reset)
+        // {
+        //     recordLogData(INFO, "Reset Command Received. Restarting Flight Computer.");
+        //     currentCmdData.Reset = true;
+        // }
     }
 
     void processCurrentCmdData(APRSCmdData &currentCmdData, State &computer, Pi &rpi, int time)
     {
+        // if(currentCmdData.Reset)
+        // {
+        //     computer.init();
+        //     computer.launch();
+        //     rpi.setOn(true);
+        //     rpi.setRecording(true);
+        //     computer.setRecordOwnFlightData(true);
+        //     currentCmdData.Reset = false;
+        // }
         if (currentCmdData.Launch && computer.getStageNum() == 0)
         {
             recordLogData(INFO, "Launch Command Received. Launching Rocket.");
             computer.launch();
         }
-
         if (time > currentCmdData.MinutesUntilPowerOn && !rpi.isOn())
         {
             recordLogData(INFO, "Power On RPI Time Reached. Turning on Raspberry Pi.");
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index 9a4eb924..f198165b 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -32,7 +32,7 @@ State::State(bool useKalmanFilter, bool stateRecordsOwnFlightData)
 
     ///
 
-    recordOwnFlightData = false; // For radio testing. Will not record own data unless told to do so or if it detects a launch.
+    // recordOwnFlightData = false; // For radio testing. Will not record own data unless told to do so or if it detects a launch.
 
     ///
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index abbd0608..4cfa52fe 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -39,7 +39,7 @@ static double last = 0; // for better timing than "delay(100)"
 int BUZZER = 33;
 int LED = LED_BUILTIN;
 int allowedPins[] = {LED, BUZZER};
-BlinkBuzz bb(allowedPins, 2, true);
+BlinkBuzz bb(allowedPins, 1, true);
 
 // Free memory debug function
 extern unsigned long _heap_start;

From 7ad0ccd99f69641d347ef4ba09485e6147d89bf5 Mon Sep 17 00:00:00 2001
From: Varun Unnithan <varun.unnithan33@gmail.com>
Date: Wed, 19 Jun 2024 03:31:48 -0400
Subject: [PATCH 40/41] Changed sending format

---
 .../src/GroundStationReceiver/EncodeAPRSForSerial.h         | 6 +++---
 .../23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp | 1 -
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index debcd07d..c272af4f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -20,7 +20,7 @@ namespace aprsToSerial
      */
     void encodeAPRSForSerial(const APRSTelemMsg &msg, char *buffer, size_t buffer_size, int RSSI)
     {
-        char prefix[8] = "s\r\n";
+        char prefix[8] = "";
 
         char header[100];
         snprintf(header, 100,
@@ -39,10 +39,10 @@ namespace aprsToSerial
         char flags[5];
         encodeFlags(msg, flags, 5);
 
-        char suffix[10] = "e\r\n";
+        char suffix[10] = "!e";
         // format: s\r\nSource:CALLSIGN,Destination:TOCALL,Path:PATH,Type:Position Without Timestamp,Data:!DDMM.MM[NS][OVERLAY]DDDMM.MM[WE][hhh/sss/A=DDDDDD/S[s]/zzz/yyy/xxx/fff,RSSI:RSSI\r\ne\r\n
         snprintf(buffer, buffer_size,
-                 "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d/%s,RSSI:%03d\r\n%s",
+                 "%s%sData:!%s%c%03d/%03d/%s/S%d/%03d/%03d/%03d/%s,RSSI:%03d%s",
                  prefix,
                  header,
                  latLong,
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index 5b434431..810f254f 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -173,7 +173,6 @@ bool RFM69HCW::dequeueReceive(uint8_t *message)
     inc(recvBuffer.head);
     // Empty the buffer up to the length of the expected message
     copyFromBuffer(recvBuffer, message, len);
-    Serial.write(message, len);
     return true;
 }
 

From 0cc5cf778aef9d19121e135fa90e5401e5ea8c9d Mon Sep 17 00:00:00 2001
From: Drew Brandt <ahbrandt@umd.edu>
Date: Wed, 19 Jun 2024 05:44:22 -0600
Subject: [PATCH 41/41] launch ready

---
 .../GroundStationReceiver/EncodeAPRSForSerial.h  |  1 +
 .../src/GroundStationReceiver/main.cpp           | 16 ++++++++++------
 .../Teensy-Based Avionics/src/Radio/RFM69HCW.cpp |  1 -
 .../Code/Teensy-Based Avionics/src/State.cpp     |  6 +++---
 .../23-24/Code/Teensy-Based Avionics/src/State.h |  3 ++-
 .../Code/Teensy-Based Avionics/src/main.cpp      |  9 ++++-----
 6 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h
index c272af4f..dabc2c7a 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/EncodeAPRSForSerial.h	
@@ -56,6 +56,7 @@ namespace aprsToSerial
                  flags,
                  RSSI,
                  suffix);
+                 Serial.println(buffer);
     }
 
     void encodeLatLong(const APRSTelemMsg &msg, char *buffer, size_t buffer_size)
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp
index 40ecb037..8556a7a6 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/GroundStationReceiver/main.cpp	
@@ -33,6 +33,7 @@ void setup()
 int counter = 1;
 void loop()
 {
+    delay(5);
     if (radio.update())
     {
         if (radio.dequeueReceive(&msg))
@@ -40,16 +41,19 @@ void loop()
             char buffer[255];
             aprsToSerial::encodeAPRSForSerial(msg, buffer, 255, radio.RSSI());
             Serial.println(buffer);
+            counter = 0;
         }
-        if (counter % 50 == 0) // Send a command every 50x a message is received (or every 25 seconds)
-            radio.enqueueSend(&cmd);
-
-        if (counter == 190) // Send a command after 190x a message is received (or after 95 seconds) to launch the rocket
+    }
+    else// reset the radio if we havent heard anything in a while
+    {
+        if (counter == 15000)
         {
-            cmd.data.Launch = !cmd.data.Launch;
-            radio.enqueueSend(&cmd);
+            radio.init();
+            counter = 0;
         }
     }
+    counter ++;
+
     if (Serial.available())
     {
         char buffer[255];
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp
index 810f254f..885fb80e 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/Radio/RFM69HCW.cpp	
@@ -131,7 +131,6 @@ bool RFM69HCW::enqueueSend(const uint8_t *message, uint8_t len)
     inc(sendBuffer.tail);
 
     copyToBuffer(sendBuffer, message, len);
-
     return true;
 }
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp
index f198165b..8f20749c 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.cpp	
@@ -407,7 +407,7 @@ void State::determineStage()
     if (stageNumber == 0 &&
         (sensorOK(imu) || sensorOK(baro)) &&
         (sensorOK(imu) ? accelerationMagnitude > 25 : true) &&
-        (sensorOK(baro) ? baro->getRelAltFt() > 60 : true))
+        (sensorOK(baro) ? baro->getRelAltFt() > 30 : true))
     // if we are in preflight AND
     // we have either the IMU OR the barometer AND
     // imu is ok AND the accel Magnitude is greater than 25 ft/s^2 OR imu is not ok AND
@@ -418,7 +418,7 @@ void State::determineStage()
         recordLogData(INFO, "Launch detected.");
         launch();
     } // TODO: Add checks for each sensor being ok and decide what to do if they aren't.
-    else if (stageNumber == 1 && accelerationMagnitude < 10)
+    else if (stageNumber == 1 && accelerationMagnitude < 15)
     {
         bb.aonoff(BUZZER, 200, 2);
         timePreviousStage = timeAbsolute;
@@ -442,7 +442,7 @@ void State::determineStage()
         timePreviousStage = timeAbsolute;
         recordLogData(INFO, "Main parachute conditions detected.");
     }
-    else if (stageNumber == 4 && baroVelocity > -1 && baro->getRelAltFt() < 66 && timeSinceLaunch > 15)
+    else if (stageNumber == 4 && baroVelocity > -3 && baro->getRelAltFt() < 66 && timeSinceLaunch > 15)
     {
         bb.aonoff(BUZZER, 200, 5);
         timePreviousStage = timeAbsolute;
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h
index 0e56e276..a49903b2 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/State.h	
@@ -24,6 +24,8 @@ class State
     // stateRecordsOwnData: whether or not the state should call recordFlightData() itself. If false, other funcitons must call recordFlightData() to record the state's data.
     explicit State(bool useKalmanFilter = true, bool stateRecordsOwnData = true);
     ~State();
+    
+    double baroVelocity;           // in m/s
 
     // to be called after all applicable sensors have been added.
     // Returns false if any sensor failed to init. check data log for failed sensor. Disables sensor if failed.
@@ -104,7 +106,6 @@ class State
     imu::Vector<3> velocity;       // in m/s
     imu::Vector<3> acceleration;   // in m/s^2
     imu::Quaternion orientation;   // in quaternion
-    double baroVelocity;           // in m/s
     double baroOldAltitude;        // in m
     double headingAngle;           // in degrees
 
diff --git a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp
index 4cfa52fe..2f9af4d3 100644
--- a/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
+++ b/Spaceport/23-24/Code/Teensy-Based Avionics/src/main.cpp	
@@ -39,7 +39,7 @@ static double last = 0; // for better timing than "delay(100)"
 int BUZZER = 33;
 int LED = LED_BUILTIN;
 int allowedPins[] = {LED, BUZZER};
-BlinkBuzz bb(allowedPins, 1, true);
+BlinkBuzz bb(allowedPins, 2, true);
 
 // Free memory debug function
 extern unsigned long _heap_start;
@@ -58,7 +58,6 @@ void FreeMem()
 void setup()
 {
 
-    bb.onoff(BUZZER, 100, 4, 100);
     recordLogData(INFO, "Initializing Avionics System. 5 second delay to prevent unnecessary file generation.", TO_USB);
     // delay(5000);
 
@@ -128,10 +127,10 @@ void loop()
 
     last = time;
     computer.updateState();
-    //recordLogData(INFO, computer.getStateString(), TO_USB);
-
+    recordLogData(INFO, computer.getStateString(), TO_USB);
+    Serial.println(computer.baroVelocity);
     // Send Telemetry Data
-    if (time - radioTimer >= 1000)
+    if (time - radioTimer >= 500)
     {
         computer.fillAPRSData(telem.data);