From a3c7f2bb525ed0606834fcd90df5d679692130b9 Mon Sep 17 00:00:00 2001
From: Swooping-Evil <124680355+Swooping-Evil@users.noreply.github.com>
Date: Fri, 19 Jul 2024 11:05:55 +0300
Subject: [PATCH 1/2] adds statemachine logic

---
 n4-flight-software/include/functions.h |  26 ++++++
 n4-flight-software/include/states.h    |  27 ++++++
 n4-flight-software/src/states.cpp      | 124 +++++++++++++++++++++++++
 n4-flight-software/src/states.h        |   0
 4 files changed, 177 insertions(+)
 create mode 100644 n4-flight-software/include/functions.h
 create mode 100644 n4-flight-software/include/states.h
 delete mode 100644 n4-flight-software/src/states.h

diff --git a/n4-flight-software/include/functions.h b/n4-flight-software/include/functions.h
new file mode 100644
index 0000000..1a5606b
--- /dev/null
+++ b/n4-flight-software/include/functions.h
@@ -0,0 +1,26 @@
+#ifndef FUNCTIONS_H
+#define FUNCTIONS_H
+
+#include "sensors.h"
+
+void ejection(int pin) {
+  // Set the pin as output
+  pinMode(pin, OUTPUT);
+
+  // Activating the parachute 
+  digitalWrite(pin, HIGH);
+
+  //Deployment delay
+  delay(1000); // Delay for 1 second
+
+  // Deactivating the parachute 
+  digitalWrite(pin, LOW);
+};
+
+float getAltitude();
+float getAcceleration();
+float getVelocity();
+
+
+
+#endif
\ No newline at end of file
diff --git a/n4-flight-software/include/states.h b/n4-flight-software/include/states.h
new file mode 100644
index 0000000..55b91f9
--- /dev/null
+++ b/n4-flight-software/include/states.h
@@ -0,0 +1,27 @@
+#ifndef STATES_H
+#define STATE_H
+#include "stdint.h"
+
+//we initialize functions that will be included in checkstate.cpp
+
+
+enum State {
+  PRE_FLIGHT_GROUND,
+  POWERED_FLIGHT,
+  COASTING,
+  DROGUE_DEPLOY,
+  DROGUE_DESCENT,
+  MAIN_CHUTE_DEPLOY,
+  MAIN_DESCENT,
+  POST_FLIGHT_GROUND
+};
+
+State isInPoweredFlight(float altitude);
+State isInCoasting(bool isDecelerating);
+State isInApogee(float velocity, float altitude);
+State isInDrogueDeploy(float altitude);
+State isInMainChuteDeploy(float altitude);
+State isInPostFlight(float acceleration);
+
+
+#endif
\ No newline at end of file
diff --git a/n4-flight-software/src/states.cpp b/n4-flight-software/src/states.cpp
index e69de29..fa0e665 100644
--- a/n4-flight-software/src/states.cpp
+++ b/n4-flight-software/src/states.cpp
@@ -0,0 +1,124 @@
+#include "states.h"
+#include "functions.h"
+#include "defs.h"
+#include "sensors.h"
+#include "elapsedMillis.h"
+
+const int DROGUE_PIN = 3;
+const int MAIN_PIN = 5;
+
+elapsedMillis decelerationTimer; // Timer to track deceleration duration
+
+bool isDeceleratingContinuously(){
+  static float previousAltitude = 0.0f; // Store previous altitude
+  float currentAltitude = getAltitude(); // Read current altitude
+  float verticalAccel = getAcceleration(MPU_SENSOR_Z_AXIS) - 9.81f; // Calculate vertical acceleration
+
+  // Check for deceleration event
+  bool isDecelerating = verticalAccel < 0
+
+ // Update deceleration timer
+  if (isDecelerating) {
+    if (!decelerationTimer.start()) {
+      decelerationTimer.operator unsigned long(); // Start timer if deceleration starts
+    }
+  } else {
+    decelerationTimer.stop(); // Reset timer if deceleration stops
+  
+
+  // Check for continuous deceleration
+  return isDecelerating && decelerationTimer >= DECELERATION_DURATION;
+  }
+}
+
+//define default current state
+State currentState = State::PRE_FLIGHT_GROUND;
+
+//State machine transition conditions
+
+//checks if altitude is greater than 50m to determine powered flight
+State isInPoweredFlight(float altitude) {
+  if (altitude > 50.0f) { 
+    return State::POWERED_FLIGHT;
+  }
+}
+// Checks for continuous deceleration to determine coasting
+State isInCoasting(bool isDecelerating) {
+  if (isDeceleratingContinuously() && millis() >= DECELERATION_CHECK_DURATION) {
+    return State::COASTING;
+   } else {}
+}
+//Checks for velocity is 0 or negative to determine apogee is reached and deploy drogue
+State isInApogee(float velocity, float altitude) {
+  if (velocity <= 0 && altitude >= APOGEE_ALTITUDE) {
+    return State::DROGUE_DEPLOY;
+   } else if (altitude < DROGUE_DEPLOY_MIN_ALTITUDE) {}
+    else {}
+}
+// Checks for an altitude of 450 meteres to deploy the main chute 
+State isInMainChuteDeploy(float altitude) {
+  if (altitude <= MAIN_CHUTE_DEPLOY_ALTITUDE) {
+    return State::MAIN_CHUTE_DEPLOY;
+   } else {}
+}
+// Checks for an acceleration equal or greater to gravity to determine post flight
+State isInPostFlight(float acceleration) {
+  if (acceleration >= 9.81f) { // Assuming acceleration due to gravity
+    return State::POST_FLIGHT_GROUND;
+   } else {}
+}
+
+void loop() {
+
+  // Read sensor data
+  float currentAltitude = getAltitude();
+  float velocity = getVelocity(); 
+  bool isDecelerating = isDeceleratingContinuously();
+
+  if(modf == FLIGHT_MODE) {
+    
+    // Call state transition functions
+   currentState = isInPoweredFlight(currentAltitude);
+   currentState = isInCoasting(isDecelerating);
+   currentState = isInApogee(velocity,currentAltitude);
+   currentState = isInMainChuteDeploy(currentAltitude);
+
+   } else {
+    currentState = PRE_FLIGHT_GROUND;
+  }
+  
+  
+ // State transitions
+  switch (currentState) {
+   case State::PRE_FLIGHT_GROUND:
+    Serial.println( "Pre-Flight State");
+    break;
+   case State::POWERED_FLIGHT:
+    Serial.println("Powered Flight state");
+    break;
+   case State::COASTING:
+    Serial.println("Coasting State");
+    break;
+   case State::DROGUE_DEPLOY:
+    Serial.println("Apogee reached");
+   // Call drogue eject function
+    ejection(DROGUE_PIN);
+    break;
+   case State::DROGUE_DESCENT:
+    Serial.println("Drogue Descent");
+    break;
+   case State::MAIN_CHUTE_DEPLOY:
+    Serial.println("Main Chute Deploy");
+    // Call main chute eject function
+    ejection(MAIN_PIN);
+    break;
+   case State::POST_FLIGHT_GROUND:
+    Serial.println("Post-Flight state");
+    break;
+   default:
+    break;
+  }
+
+ // Delay between loop iterations
+  delay(100); // will adjust as needed
+}
diff --git a/n4-flight-software/src/states.h b/n4-flight-software/src/states.h
deleted file mode 100644
index e69de29..0000000

From 6f5dd01ccfebd48ebeec13b171f32754a585bec2 Mon Sep 17 00:00:00 2001
From: Swooping-Evil <124680355+Swooping-Evil@users.noreply.github.com>
Date: Thu, 15 Aug 2024 11:07:04 +0300
Subject: [PATCH 2/2] Adds state machine changes

---
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 .../log_time_fmt_test}/custom-time.h          |    7 +-
 .../log_time_fmt_test/log_time_fmt_test.ino}  |   21 +-
 287 files changed, 8141 insertions(+), 2219 deletions(-)
 rename .github/workflows/{main.yml => doxygen-gh-pages.yml} (75%)
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 create mode 100644 docs/html/class_system_logger.js
 rename {n4-flight-software => docs}/html/class_system_logger.png (100%)
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 rename {n4-flight-software => docs}/html/custom-time_8h.html (67%)
 create mode 100644 docs/html/custom-time_8h.js
 rename {n4-flight-software => docs}/html/custom-time_8h_source.html (78%)
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 rename {n4-flight-software => docs}/html/defs_8h_source.html (64%)
 create mode 100644 docs/html/dir_223c149f86d1b3369d43d9ec6c6d367c.html
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 rename n4-flight-software/html/dir_d44c64559bbebec7f509842c48db8b23.html => docs/html/dir_7e35c193691ab641d32e52b2b4a47995.html (78%)
 create mode 100644 docs/html/dir_7e35c193691ab641d32e52b2b4a47995.js
 rename n4-flight-software/html/dir_13e138d54eb8818da29c3992edef070a.html => docs/html/dir_c7dea9aec5351af29cf9782f17ca3e80.html (76%)
 create mode 100644 docs/html/dir_c7dea9aec5351af29cf9782f17ca3e80.js
 rename n4-flight-software/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html => docs/html/dir_d09072d1c94fe000833aa47d92501a74.html (79%)
 create mode 100644 docs/html/dir_d09072d1c94fe000833aa47d92501a74.js
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 create mode 100644 docs/html/dir_f60075fce1cd53b9027038118d904c9d.js
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 create mode 100644 docs/html/hierarchy.js
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 rename {n4-flight-software => docs}/html/include_2state__machine_8h_source.html (80%)
 create mode 100644 docs/html/index.html
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 rename {n4-flight-software => docs}/html/kalman_8h_source.html (79%)
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 rename n4-flight-software/html/states_8h_source.html => docs/html/md_n4-flight-software_2src_2pin-assignment.html (71%)
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 create mode 100644 docs/html/search/pages_0.js
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 rename {n4-flight-software => docs}/html/search/searchdata.js (52%)
 rename {n4-flight-software => docs}/html/search/variables_0.js (100%)
 create mode 100644 docs/html/search/variables_1.js
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 create mode 100644 docs/html/search/variables_3.js
 rename n4-flight-software/html/search/all_6.js => docs/html/search/variables_4.js (100%)
 rename n4-flight-software/html/search/variables_4.js => docs/html/search/variables_5.js (100%)
 rename n4-flight-software/html/search/variables_5.js => docs/html/search/variables_6.js (100%)
 rename n4-flight-software/html/search/all_a.js => docs/html/search/variables_7.js (100%)
 create mode 100644 docs/html/search/variables_8.js
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 create mode 100644 docs/html/src_2main_8cpp.html
 create mode 100644 docs/html/src_2main_8cpp.js
 create mode 100644 docs/html/states_8h.html
 create mode 100644 docs/html/states_8h_source.html
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 rename {n4-flight-software => docs}/html/tab_sd.png (100%)
 rename {n4-flight-software => docs}/html/tabs.css (100%)
 rename {n4-flight-software => docs}/html/test_2state__machine_8cpp.html (72%)
 rename {n4-flight-software => docs}/html/test_2state__machine_8h_source.html (81%)
 rename {n4-flight-software => docs}/html/test__class_8h_source.html (78%)
 create mode 100644 flight-computer-pin-assignment-version-1.xlsx
 create mode 100644 logo.jpg
 create mode 100644 mainpage-backup
 create mode 100644 mainpage.txt
 delete mode 100644 n4-flight-software/html/files.html
 delete mode 100644 n4-flight-software/html/globals.html
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 create mode 100644 n4-flight-software/src/.main.cpp.un~
 create mode 100644 n4-flight-software/src/.states.cpp.un~
 create mode 100644 n4-flight-software/src/custom_time.cpp
 create mode 100644 n4-flight-software/src/custom_time.h
 rename n4-flight-software/src/{data-types.h => data_types.h} (100%)
 create mode 100644 n4-flight-software/src/img_1.png
 create mode 100644 n4-flight-software/src/pin_assignment.MD
 create mode 100644 n4-flight-software/src/states.cpp~
 create mode 100644 n4-flight-software/src/states.h
 rename n4-flight-software/{system-logger/SystemLogLevels.h => src/system_log_levels.h} (77%)
 create mode 100644 n4-flight-software/src/system_logger.cpp
 create mode 100644 n4-flight-software/src/system_logger.h
 delete mode 100644 n4-flight-software/system-logger/SystemLogger.cpp
 delete mode 100644 n4-flight-software/system-logger/SystemLogger.h
 delete mode 100644 n4-flight-software/system-logger/logger-arduino/logger-arduino.ino
 delete mode 100644 n4-flight-software/system-logger/logger-console.cpp
 rename n4-flight-software/{src => test/log_time_fmt_test}/custom-time.h (75%)
 rename n4-flight-software/{src/custom-time.cpp => test/log_time_fmt_test/log_time_fmt_test.ino} (67%)

diff --git a/.github/workflows/main.yml b/.github/workflows/doxygen-gh-pages.yml
similarity index 75%
rename from .github/workflows/main.yml
rename to .github/workflows/doxygen-gh-pages.yml
index 27099c4..51f363f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/doxygen-gh-pages.yml
@@ -1,9 +1,9 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Doxygen Action
+name: Doxygen-Documentation
 
 # Controls when the action will run. Triggers the workflow on push or pull request
-# events but only for the main branch
+# events but only for the master branch
 on:
   push:
     branches: [ main ]
@@ -19,19 +19,22 @@ jobs:
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: actions/checkout@v2
-        
+    
+    # build the doxygen documentation
     - name: Doxygen Action
       uses: mattnotmitt/doxygen-action@v1.1.0
       with:
         # Path to Doxyfile
-        doxyfile-path: "./Doxyfile" # default is ./Doxyfile
+        doxyfile-path: ./Doxyfile # default is ./Doxyfile
         # Working directory
-        working-directory: "." # default is .
+        working-directory: . # default is .
     
+    # Deploy the HTML documentation to GitHub Pages
     - name: Deploy
       uses: peaceiris/actions-gh-pages@v3
       with:
         github_token: ${{ secrets.GITHUB_TOKEN }}
         # Default Doxyfile build documentation to html directory. 
         # Change the directory if changes in Doxyfile
-        publish_dir: ./html
\ No newline at end of file
+        publish_dir: ./docs/html/
+        publish_branch: gh-pages
\ No newline at end of file
diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..8fe0ea1
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Datasource local storage ignored files
+/../../../../../:\5th-year\project\N4-Flight-Software\.idea/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/.idea/N4-Flight-Software.iml b/.idea/N4-Flight-Software.iml
new file mode 100644
index 0000000..bc83c75
--- /dev/null
+++ b/.idea/N4-Flight-Software.iml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="CPP_MODULE" version="4">
+  <component name="FacetManager">
+    <facet type="Python" name="Python facet">
+      <configuration sdkName="Python 3.10" />
+    </facet>
+  </component>
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="Python 3.10 interpreter library" level="application" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..578add8
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="EndlessLoop" enabled="false" level="WARNING" enabled_by_default="false" />
+  </profile>
+</component>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..a7faf2c
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/N4-Flight-Software.iml" filepath="$PROJECT_DIR$/.idea/N4-Flight-Software.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..94a25f7
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/n4-flight-software/Doxyfile b/Doxyfile
similarity index 99%
rename from n4-flight-software/Doxyfile
rename to Doxyfile
index 8d502b8..2811e5b 100644
--- a/n4-flight-software/Doxyfile
+++ b/Doxyfile
@@ -48,20 +48,20 @@ PROJECT_NAME           = "N4 Flight Software"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         =
+PROJECT_NUMBER         = N4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "Flight software used on N4 flight computers for the Nakuja Project "
+PROJECT_BRIEF          = "Flight software used for the N4 flight computers"
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           =
+PROJECT_LOGO           = ./logo.jpg
 
 # With the PROJECT_ICON tag one can specify an icon that is included in the tabs
 # when the HTML document is shown. Doxygen will copy the logo to the output
@@ -74,7 +74,7 @@ PROJECT_ICON           =
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       =
+OUTPUT_DIRECTORY       = ./docs
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
 # sub-directories (in 2 levels) under the output directory of each output format
@@ -949,7 +949,9 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  =
+INPUT                  = mainpage.txt n4-flight-software 
+#INPUT                   += README.md
+#USE_MDFILE_AS_MAINPAGE = README.md
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -1039,7 +1041,8 @@ FILE_PATTERNS          = *.c \
                          *.vhdl \
                          *.ucf \
                          *.qsf \
-                         *.ice
+                         *.ice \
+                         *.md 
 
 # The RECURSIVE tag can be used to specify whether or not subdirectories should
 # be searched for input files as well.
@@ -1756,7 +1759,7 @@ DISABLE_INDEX          = NO
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-GENERATE_TREEVIEW      = NO
+GENERATE_TREEVIEW      = YES
 
 # When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
 # FULL_SIDEBAR option determines if the side bar is limited to only the treeview
diff --git a/README.md b/README.md
index f22526b..6a09c41 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@
 ![Static Badge](https://img.shields.io/badge/Status-development-orange)
 
 ### Code documentation
-The complete code documentation can be found here ()[]
+The complete code documentation can be found here [N4 Flight Software Documentation](https://nakujaproject.com/N4-Flight-Software/)
 
 
 ### N4 Flight software requirements 
diff --git a/contributing.md b/contributing.md
new file mode 100644
index 0000000..13c2ffa
--- /dev/null
+++ b/contributing.md
@@ -0,0 +1,195 @@
+# Contributing Guidelines
+
+*Pull requests, bug reports, and all other forms of contribution are welcomed and highly encouraged!* :octocat:
+
+### Contents
+
+- [Code of Conduct](#book-code-of-conduct)
+- [Asking Questions](#bulb-asking-questions)
+- [Opening an Issue](#inbox_tray-opening-an-issue)
+- [Feature Requests](#love_letter-feature-requests)
+- [Triaging Issues](#mag-triaging-issues)
+- [Submitting Pull Requests](#repeat-submitting-pull-requests)
+- [Writing Commit Messages](#memo-writing-commit-messages)
+- [Code Review](#white_check_mark-code-review)
+- [Coding Style](#nail_care-coding-style)
+- [Certificate of Origin](#medal_sports-certificate-of-origin)
+- [Credits](#pray-credits)
+
+> **This guide serves to set clear expectations for everyone involved with the project so that we can improve it together while also creating a welcoming space for everyone to participate. Following these guidelines will help ensure a positive experience for contributors and maintainers.**
+
+## :book: Code of Conduct
+
+Please review our [Code of Conduct](https://github.com/jessesquires/.github/blob/main/CODE_OF_CONDUCT.md). It is in effect at all times. We expect it to be honored by everyone who contributes to this project. Acting like an asshole will not be tolerated.
+
+## :bulb: Asking Questions
+
+See our [Support Guide](https://github.com/jessesquires/.github/blob/main/SUPPORT.md). In short, GitHub issues are not the appropriate place to debug your specific project, but should be reserved for filing bugs and feature requests.
+
+## :inbox_tray: Opening an Issue
+
+Before [creating an issue](https://help.github.com/en/github/managing-your-work-on-github/creating-an-issue), check if you are using the latest version of the project. If you are not up-to-date, see if updating fixes your issue first.
+
+### :lock: Reporting Security Issues
+
+Review our [Security Policy](https://github.com/jessesquires/.github/blob/main/SECURITY.md). **Do not** file a public issue for security vulnerabilities.
+
+### :beetle: Bug Reports and Other Issues
+
+A great way to contribute to the project is to send a detailed issue when you encounter a problem. We always appreciate a well-written, thorough bug report. :v:
+
+In short, since you are most likely a developer, **provide a ticket that you would like to receive**.
+
+- **Review the documentation and [Support Guide](https://github.com/jessesquires/.github/blob/main/SUPPORT.md)** before opening a new issue.
+
+- **Do not open a duplicate issue!** Search through existing issues to see if your issue has previously been reported. If your issue exists, comment with any additional information you have. You may simply note "I have this problem too", which helps prioritize the most common problems and requests. 
+
+- **Prefer using [reactions](https://github.blog/2016-03-10-add-reactions-to-pull-requests-issues-and-comments/)**, not comments, if you simply want to "+1" an existing issue.
+
+- **Fully complete the provided issue template.** The bug report template requests all the information we need to quickly and efficiently address your issue. Be clear, concise, and descriptive. Provide as much information as you can, including steps to reproduce, stack traces, compiler errors, library versions, OS versions, and screenshots (if applicable).
+
+- **Use [GitHub-flavored Markdown](https://help.github.com/en/github/writing-on-github/basic-writing-and-formatting-syntax).** Especially put code blocks and console outputs in backticks (```). This improves readability.
+
+## :love_letter: Feature Requests
+
+Feature requests are welcome! While we will consider all requests, we cannot guarantee your request will be accepted. We want to avoid [feature creep](https://en.wikipedia.org/wiki/Feature_creep). Your idea may be great, but also out-of-scope for the project. If accepted, we cannot make any commitments regarding the timeline for implementation and release. However, you are welcome to submit a pull request to help!
+
+- **Do not open a duplicate feature request.** Search for existing feature requests first. If you find your feature (or one very similar) previously requested, comment on that issue.
+
+- **Fully complete the provided issue template.** The feature request template asks for all necessary information for us to begin a productive conversation. 
+
+- Be precise about the proposed outcome of the feature and how it relates to existing features. Include implementation details if possible.
+
+## :mag: Triaging Issues
+
+You can triage issues which may include reproducing bug reports or asking for additional information, such as version numbers or reproduction instructions. Any help you can provide to quickly resolve an issue is very much appreciated!
+
+## :repeat: Submitting Pull Requests
+
+We **love** pull requests! Before [forking the repo](https://help.github.com/en/github/getting-started-with-github/fork-a-repo) and [creating a pull request](https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/proposing-changes-to-your-work-with-pull-requests) for non-trivial changes, it is usually best to first open an issue to discuss the changes, or discuss your intended approach for solving the problem in the comments for an existing issue.
+
+For most contributions, after your first pull request is accepted and merged, you will be [invited to the project](https://help.github.com/en/github/setting-up-and-managing-your-github-user-account/inviting-collaborators-to-a-personal-repository) and given **push access**. :tada:
+
+*Note: All contributions will be licensed under the project's license.*
+
+- **Smaller is better.** Submit **one** pull request per bug fix or feature. A pull request should contain isolated changes pertaining to a single bug fix or feature implementation. **Do not** refactor or reformat code that is unrelated to your change. It is better to **submit many small pull requests** rather than a single large one. Enormous pull requests will take enormous amounts of time to review, or may be rejected altogether. 
+
+- **Coordinate bigger changes.** For large and non-trivial changes, open an issue to discuss a strategy with the maintainers. Otherwise, you risk doing a lot of work for nothing!
+
+- **Prioritize understanding over cleverness.** Write code clearly and concisely. Remember that source code usually gets written once and read often. Ensure the code is clear to the reader. The purpose and logic should be obvious to a reasonably skilled developer, otherwise you should add a comment that explains it.
+
+- **Follow existing coding style and conventions.** Keep your code consistent with the style, formatting, and conventions in the rest of the code base. When possible, these will be enforced with a linter. Consistency makes it easier to review and modify in the future.
+
+- **Include test coverage.** Add unit tests or UI tests when possible. Follow existing patterns for implementing tests.
+
+- **Update the example project** if one exists to exercise any new functionality you have added.
+
+- **Add documentation.** Document your changes with code doc comments or in existing guides.
+
+- **Update the CHANGELOG** for all enhancements and bug fixes. Include the corresponding issue number if one exists, and your GitHub username. (example: "- Fixed crash in profile view. #123 @jessesquires")
+
+- **Use the repo's default branch.** Branch from and [submit your pull request](https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/creating-a-pull-request-from-a-fork) to the repo's default branch. Usually this is `main`, but it could be `dev`, `develop`, or `master`.
+
+- **[Resolve any merge conflicts](https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/resolving-a-merge-conflict-on-github)** that occur.
+
+- **Promptly address any CI failures**. If your pull request fails to build or pass tests, please push another commit to fix it. 
+
+- When writing comments, use properly constructed sentences, including punctuation.
+
+- Use spaces, not tabs.
+
+## :memo: Writing Commit Messages
+
+Please [write a great commit message](https://chris.beams.io/posts/git-commit/).
+
+1. Separate subject from body with a blank line
+1. Limit the subject line to 50 characters
+1. Capitalize the subject line
+1. Do not end the subject line with a period
+1. Use the imperative mood in the subject line (example: "Fix networking issue")
+1. Wrap the body at about 72 characters
+1. Use the body to explain **why**, *not what and how* (the code shows that!)
+1. If applicable, prefix the title with the relevant component name. (examples: "[Docs] Fix typo", "[Profile] Fix missing avatar")
+
+```
+[TAG] Short summary of changes in 50 chars or less
+
+Add a more detailed explanation here, if necessary. Possibly give 
+some background about the issue being fixed, etc. The body of the 
+commit message can be several paragraphs. Further paragraphs come 
+after blank lines and please do proper word-wrap.
+
+Wrap it to about 72 characters or so. In some contexts, 
+the first line is treated as the subject of the commit and the 
+rest of the text as the body. The blank line separating the summary 
+from the body is critical (unless you omit the body entirely); 
+various tools like `log`, `shortlog` and `rebase` can get confused 
+if you run the two together.
+
+Explain the problem that this commit is solving. Focus on why you
+are making this change as opposed to how or what. The code explains 
+how or what. Reviewers and your future self can read the patch, 
+but might not understand why a particular solution was implemented.
+Are there side effects or other unintuitive consequences of this
+change? Here's the place to explain them.
+
+ - Bullet points are okay, too
+
+ - A hyphen or asterisk should be used for the bullet, preceded
+   by a single space, with blank lines in between
+
+Note the fixed or relevant GitHub issues at the end:
+
+Resolves: #123
+See also: #456, #789
+```
+
+## :white_check_mark: Code Review
+
+- **Review the code, not the author.** Look for and suggest improvements without disparaging or insulting the author. Provide actionable feedback and explain your reasoning.
+
+- **You are not your code.** When your code is critiqued, questioned, or constructively criticized, remember that you are not your code. Do not take code review personally.
+
+- **Always do your best.** No one writes bugs on purpose. Do your best, and learn from your mistakes.
+
+- Kindly note any violations to the guidelines specified in this document. 
+
+## :nail_care: Coding Style
+
+Consistency is the most important. Following the existing style, formatting, and naming conventions of the file you are modifying and of the overall project. Failure to do so will result in a prolonged review process that has to focus on updating the superficial aspects of your code, rather than improving its functionality and performance.
+
+For example, if all private properties are prefixed with an underscore `_`, then new ones you add should be prefixed in the same way. Or, if methods are named using camelcase, like `thisIsMyNewMethod`, then do not diverge from that by writing `this_is_my_new_method`. You get the idea. If in doubt, please ask or search the codebase for something similar.
+
+When possible, style and format will be enforced with a linter.
+
+## :medal_sports: Certificate of Origin
+
+*Developer's Certificate of Origin 1.1*
+
+By making a contribution to this project, I certify that:
+
+> 1. The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or
+> 1. The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or
+> 1. The contribution was provided directly to me by some other person who certified (1), (2) or (3) and I have not modified it.
+> 1. I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.
+
+## [No Brown M&M's](https://en.wikipedia.org/wiki/Van_Halen#Contract_riders)
+
+If you are reading this, bravo dear user and (hopefully) contributor for making it this far! You are awesome. :100: 
+
+To confirm that you have read this guide and are following it as best as possible, **include this emoji at the top** of your issue or pull request: :black_heart: `:black_heart:`
+
+## :pray: Credits
+
+Written by [@jessesquires](https://github.com/jessesquires). 
+
+**Please feel free to adopt this guide in your own projects. Fork it wholesale or remix it for your needs.**
+
+*Many of the ideas and prose for the statements in this document were based on or inspired by work from the following communities:*
+
+- [Alamofire](https://github.com/Alamofire/Alamofire/blob/master/CONTRIBUTING.md)
+- [CocoaPods](https://github.com/CocoaPods/CocoaPods/blob/master/CONTRIBUTING.md)
+- [Docker](https://github.com/moby/moby/blob/master/CONTRIBUTING.md)
+- [Linux](https://elinux.org/Developer_Certificate_Of_Origin)
+
+*We commend them for their efforts to facilitate collaboration in their projects.*
diff --git a/n4-flight-software/html/_system_log_levels_8h_source.html b/docs/html/_system_log_levels_8h_source.html
similarity index 77%
rename from n4-flight-software/html/_system_log_levels_8h_source.html
rename to docs/html/_system_log_levels_8h_source.html
index 44a2b86..3aef95f 100644
--- a/n4-flight-software/html/_system_log_levels_8h_source.html
+++ b/docs/html/_system_log_levels_8h_source.html
@@ -5,12 +5,14 @@
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
 <meta name="generator" content="Doxygen 1.11.0"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>N4 Flight Software: system-logger/SystemLogLevels.h Source File</title>
+<title>N4 Flight Software: n4-flight-software/system-logger/SystemLogLevels.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
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 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('_system_log_levels_8h_source.html',''); initResizable(true); });
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+<div id="doc-content">
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_223c149f86d1b3369d43d9ec6c6d367c.html">n4-flight-software</a></li><li class="navelem"><a class="el" href="dir_f60075fce1cd53b9027038118d904c9d.html">system-logger</a></li><li class="navelem"><b>SystemLogLevels.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/_system_logger_8h_source.html b/docs/html/_system_logger_8h_source.html
similarity index 81%
rename from n4-flight-software/html/_system_logger_8h_source.html
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-<title>N4 Flight Software: system-logger/SystemLogger.h Source File</title>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
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+$(function(){initNavTree('_system_logger_8h_source.html',''); initResizable(true); });
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+    <li class="navelem"><a class="el" href="dir_223c149f86d1b3369d43d9ec6c6d367c.html">n4-flight-software</a></li><li class="navelem"><a class="el" href="dir_f60075fce1cd53b9027038118d904c9d.html">system-logger</a></li><li class="navelem"><b>SystemLogger.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
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similarity index 87%
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 <script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
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@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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 </script>
 <div id="main-nav"></div>
 </div><!-- top -->
-<div id="doc-content">
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('annotated.html',''); initResizable(true); });
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+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/html/annotated_dup.js b/docs/html/annotated_dup.js
new file mode 100644
index 0000000..74f6807
--- /dev/null
+++ b/docs/html/annotated_dup.js
@@ -0,0 +1,16 @@
+var annotated_dup =
+[
+    [ "Acceleration_Data", "struct_acceleration___data.html", null ],
+    [ "Altimeter_Data", "struct_altimeter___data.html", null ],
+    [ "CustomGPS", "class_custom_g_p_s.html", null ],
+    [ "DataLogger", "class_data_logger.html", "class_data_logger" ],
+    [ "Filtered_Data", "struct_filtered___data.html", null ],
+    [ "GPS_Data", "struct_g_p_s___data.html", null ],
+    [ "Gyroscope_Data", "struct_gyroscope___data.html", null ],
+    [ "LoggerConsole", "class_logger_console.html", null ],
+    [ "MPU6050", "class_m_p_u6050.html", "class_m_p_u6050" ],
+    [ "State_machine", "class_state__machine.html", null ],
+    [ "SystemLogger", "class_system_logger.html", "class_system_logger" ],
+    [ "Telemetry_Data", "struct_telemetry___data.html", null ],
+    [ "Test", "class_test.html", null ]
+];
\ No newline at end of file
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rename to docs/html/class_custom_g_p_s.html
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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 <script type="text/javascript">
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 $(function() {
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 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
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 <script type="text/javascript">
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-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_custom_g_p_s.html',''); initResizable(true); });
 /* @license-end */
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+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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 </div>
 </div>
 
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 </div><hr/>The documentation for this class was generated from the following file:<ul>
-<li>src/<a class="el" href="gps_8h_source.html">gps.h</a></li>
+<li>n4-flight-software/src/<a class="el" href="gps_8h_source.html">gps.h</a></li>
 </ul>
 </div><!-- contents -->
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-<hr class="footer"/><address class="footer"><small>
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_custom_g_p_s.html">CustomGPS</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
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rename to docs/html/class_data_logger-members.html
index 86aa10e..582944c 100644
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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 <script type="text/javascript">
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 $(function() {
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+  initMenu('',true,false,'search.php','Search',true);
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 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_data_logger.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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 </div>
 
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-<div id="doc-content">
 <div class="header">
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 </table></div><!-- contents -->
-<!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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 </body>
 </html>
diff --git a/n4-flight-software/html/class_data_logger.html b/docs/html/class_data_logger.html
similarity index 91%
rename from n4-flight-software/html/class_data_logger.html
rename to docs/html/class_data_logger.html
index be72116..01a24b4 100644
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
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-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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  </tr>
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 <script type="text/javascript">
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 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_data_logger.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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 </div>
 
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-<div id="doc-content">
 <div class="header">
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+<tr class="memitem:a9ddfc501b4bd4f004f11854c3552d574" id="r_a9ddfc501b4bd4f004f11854c3552d574"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9ddfc501b4bd4f004f11854c3552d574">DataLogger</a> (uint8_t cs_pin, uint8_t led_pin, char *<a class="el" href="src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3">filename</a>, SerialFlashFile <a class="el" href="src_2main_8cpp.html#ada14cbbf98490eb3cb49b5d1cb0c0056">file</a>, uint32_t filesize)</td></tr>
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-<li>src/<b>logger.cpp</b></li>
+<li>n4-flight-software/src/<a class="el" href="logger_8h_source.html">logger.h</a></li>
+<li>n4-flight-software/src/<b>logger.cpp</b></li>
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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new file mode 100644
index 0000000..8e34e66
--- /dev/null
+++ b/docs/html/class_data_logger.js
@@ -0,0 +1,12 @@
+var class_data_logger =
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+    [ "DataLogger", "class_data_logger.html#a9ddfc501b4bd4f004f11854c3552d574", null ],
+    [ "loggerEquals", "class_data_logger.html#acb9bf3c62db1f28016d68d51efe25d43", null ],
+    [ "loggerFormat", "class_data_logger.html#a5e9756481c9c74167ba32ad7a479e8b3", null ],
+    [ "loggerInfo", "class_data_logger.html#a9a968317a7e3bb763d8cd551063e7348", null ],
+    [ "loggerInit", "class_data_logger.html#a0cf2853582b7f2194eb0024d3d6d4944", null ],
+    [ "loggerRead", "class_data_logger.html#a5a0deefb9372f1577636014a59025e6f", null ],
+    [ "loggerSpaces", "class_data_logger.html#aa2e189964fbebc28dc2a327fdccc5684", null ],
+    [ "loggerTest", "class_data_logger.html#ae8a69bf0cc965365057e93a164ca9239", null ],
+    [ "loggerWrite", "class_data_logger.html#a411ac6fd751d3a87cef0375fccaad028", null ]
+];
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rename to docs/html/class_logger_console-members.html
index 773dd81..1724ef0 100644
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 <script type="text/javascript" src="dynsections.js"></script>
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 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
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-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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+  initMenu('',true,false,'search.php','Search',true);
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 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+       class="ui-resizable-handle">
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+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('class_logger_console.html',''); initResizable(true); });
 /* @license-end */
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+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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@@ -82,8 +97,6 @@
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 </div>
 
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/class_logger_console.html b/docs/html/class_logger_console.html
similarity index 83%
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rename to docs/html/class_logger_console.html
index 66180a6..9192b39 100644
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
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-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('class_logger_console.html',''); initResizable(true); });
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 </div>
 
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 </table>
 <hr/>The documentation for this class was generated from the following file:<ul>
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+<li>n4-flight-software/system-logger/<b>logger-console.cpp</b></li>
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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 </html>
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rename to docs/html/class_m_p_u6050-members.html
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_m_p_u6050.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
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 <div id="MSearchSelectWindow"
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@@ -82,8 +97,6 @@
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 </div>
 
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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similarity index 94%
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rename to docs/html/class_m_p_u6050.html
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--- a/n4-flight-software/html/class_m_p_u6050.html
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
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 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_m_p_u6050.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
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 <div id="MSearchSelectWindow"
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-<p>Read X axix acceleration </p>
+<p>Read X axiS acceleration </p>
 
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-<li>src/<a class="el" href="mpu_8h_source.html">mpu.h</a></li>
-<li>src/<b>mpu.cpp</b></li>
+<li>n4-flight-software/src/<a class="el" href="mpu_8h_source.html">mpu.h</a></li>
+<li>n4-flight-software/src/<b>mpu.cpp</b></li>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_m_p_u6050.html">MPU6050</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
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new file mode 100644
index 0000000..f57a7cc
--- /dev/null
+++ b/docs/html/class_m_p_u6050.js
@@ -0,0 +1,9 @@
+var class_m_p_u6050 =
+[
+    [ "filterImu", "class_m_p_u6050.html#aed4696b264b467844771ef28b274541b", null ],
+    [ "getPitch", "class_m_p_u6050.html#aa8d0edd31d2892d6703b4dce77d4dfc7", null ],
+    [ "getRoll", "class_m_p_u6050.html#adcecd29f4445b6670aafa2452a26f197", null ],
+    [ "readXAcceleration", "class_m_p_u6050.html#a63bb7b9f83eca4c2debdd0dfa7991865", null ],
+    [ "readYAcceleration", "class_m_p_u6050.html#ab34bd3131afe39a6f5178f46ec63a0e7", null ],
+    [ "readZAcceleration", "class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8", null ]
+];
\ No newline at end of file
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similarity index 85%
rename from n4-flight-software/html/class_state__machine-members.html
rename to docs/html/class_state__machine-members.html
index d48a1b6..b2f02a2 100644
--- a/n4-flight-software/html/class_state__machine-members.html
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_state__machine.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
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@@ -82,8 +97,6 @@
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 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">State_machine Member List</div></div>
 </div><!--header-->
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   <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>pre_flight</b>() (defined in <a class="el" href="class_state__machine.html">State_machine</a>)</td><td class="entry"><a class="el" href="class_state__machine.html">State_machine</a></td><td class="entry"></td></tr>
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 </table></div><!-- contents -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/class_state__machine.html b/docs/html/class_state__machine.html
similarity index 83%
rename from n4-flight-software/html/class_state__machine.html
rename to docs/html/class_state__machine.html
index 61e4f20..bd312c3 100644
--- a/n4-flight-software/html/class_state__machine.html
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@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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  </tr>
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@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_state__machine.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="summary">
 <a href="#pub-methods">Public Member Functions</a> &#124;
@@ -120,15 +133,18 @@
 <tr class="separator:a7206aeeb7b96744e407b2bd8c7241f2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <hr/>The documentation for this class was generated from the following files:<ul>
-<li>include/<a class="el" href="include_2state__machine_8h_source.html">state_machine.h</a></li>
-<li>test/<a class="el" href="test_2state__machine_8h_source.html">state_machine.h</a></li>
-<li>test/<a class="el" href="test_2state__machine_8cpp.html">state_machine.cpp</a></li>
+<li>n4-flight-software/include/<a class="el" href="include_2state__machine_8h_source.html">state_machine.h</a></li>
+<li>n4-flight-software/test/<a class="el" href="test_2state__machine_8h_source.html">state_machine.h</a></li>
+<li>n4-flight-software/test/<a class="el" href="test_2state__machine_8cpp.html">state_machine.cpp</a></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_state__machine.html">State_machine</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/class_system_logger-members.html b/docs/html/class_system_logger-members.html
similarity index 79%
rename from n4-flight-software/html/class_system_logger-members.html
rename to docs/html/class_system_logger-members.html
index 5a42764..9350d34 100644
--- a/n4-flight-software/html/class_system_logger-members.html
+++ b/docs/html/class_system_logger-members.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_system_logger.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">SystemLogger Member List</div></div>
 </div><!--header-->
@@ -94,10 +107,12 @@
   <tr class="even"><td class="entry"><a class="el" href="class_system_logger.html#ad6feeadde357832516761347ff4cf25c">getLogLevelString</a>(uint8_t log_level)</td><td class="entry"><a class="el" href="class_system_logger.html">SystemLogger</a></td><td class="entry"></td></tr>
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 </table></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/class_system_logger.html b/docs/html/class_system_logger.html
similarity index 79%
rename from n4-flight-software/html/class_system_logger.html
rename to docs/html/class_system_logger.html
index 8e0fd36..6425537 100644
--- a/n4-flight-software/html/class_system_logger.html
+++ b/docs/html/class_system_logger.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_system_logger.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="summary">
 <a href="#pub-methods">Public Member Functions</a> &#124;
@@ -112,14 +125,17 @@
 <tr class="separator:ad6feeadde357832516761347ff4cf25c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <hr/>The documentation for this class was generated from the following files:<ul>
-<li>system-logger/<a class="el" href="_system_logger_8h_source.html">SystemLogger.h</a></li>
-<li>system-logger/<b>SystemLogger.cpp</b></li>
+<li>n4-flight-software/system-logger/<a class="el" href="_system_logger_8h_source.html">SystemLogger.h</a></li>
+<li>n4-flight-software/system-logger/<b>SystemLogger.cpp</b></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_system_logger.html">SystemLogger</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/html/class_system_logger.js b/docs/html/class_system_logger.js
new file mode 100644
index 0000000..43c3c75
--- /dev/null
+++ b/docs/html/class_system_logger.js
@@ -0,0 +1,4 @@
+var class_system_logger =
+[
+    [ "getLogLevelString", "class_system_logger.html#ad6feeadde357832516761347ff4cf25c", null ]
+];
\ No newline at end of file
diff --git a/n4-flight-software/html/class_system_logger.png b/docs/html/class_system_logger.png
similarity index 100%
rename from n4-flight-software/html/class_system_logger.png
rename to docs/html/class_system_logger.png
diff --git a/n4-flight-software/html/class_test-members.html b/docs/html/class_test-members.html
similarity index 79%
rename from n4-flight-software/html/class_test-members.html
rename to docs/html/class_test-members.html
index 9481b9d..c9149a8 100644
--- a/n4-flight-software/html/class_test-members.html
+++ b/docs/html/class_test-members.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_test.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">Test Member List</div></div>
 </div><!--header-->
@@ -94,10 +107,12 @@
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>foo</b>() (defined in <a class="el" href="class_test.html">Test</a>)</td><td class="entry"><a class="el" href="class_test.html">Test</a></td><td class="entry"></td></tr>
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 </table></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/class_test.html b/docs/html/class_test.html
similarity index 79%
rename from n4-flight-software/html/class_test.html
rename to docs/html/class_test.html
index 13e6760..d3f7f8d 100644
--- a/n4-flight-software/html/class_test.html
+++ b/docs/html/class_test.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('class_test.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="summary">
 <a href="#pub-methods">Public Member Functions</a> &#124;
@@ -106,13 +119,16 @@
 <tr class="separator:a6cca0d009481a002641431abb50e62b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>test/<a class="el" href="test__class_8h_source.html">test_class.h</a></li>
+<li>n4-flight-software/test/<a class="el" href="test__class_8h_source.html">test_class.h</a></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_test.html">Test</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/classes.html b/docs/html/classes.html
similarity index 84%
rename from n4-flight-software/html/classes.html
rename to docs/html/classes.html
index fc28fd0..0974213 100644
--- a/n4-flight-software/html/classes.html
+++ b/docs/html/classes.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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-</small></address>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
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--- /dev/null
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 <div class="ttc" id="astruct_gyroscope___data_html"><div class="ttname"><a href="struct_gyroscope___data.html">Gyroscope_Data</a></div><div class="ttdef"><b>Definition</b> data-types.h:19</div></div>
 <div class="ttc" id="astruct_telemetry___data_html"><div class="ttname"><a href="struct_telemetry___data.html">Telemetry_Data</a></div><div class="ttdef"><b>Definition</b> data-types.h:40</div></div>
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-</small></address>
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+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_223c149f86d1b3369d43d9ec6c6d367c.html">n4-flight-software</a></li><li class="navelem"><a class="el" href="dir_d09072d1c94fe000833aa47d92501a74.html">src</a></li><li class="navelem"><b>data-types.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
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diff --git a/n4-flight-software/html/defs_8h_source.html b/docs/html/defs_8h_source.html
similarity index 64%
rename from n4-flight-software/html/defs_8h_source.html
rename to docs/html/defs_8h_source.html
index 0df4844..0c6801a 100644
--- a/n4-flight-software/html/defs_8h_source.html
+++ b/docs/html/defs_8h_source.html
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 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>N4 Flight Software: include/defs.h Source File</title>
+<title>N4 Flight Software: n4-flight-software/include/defs.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
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+  initMenu('',true,false,'search.php','Search',true);
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+</div><!-- top -->
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+       class="ui-resizable-handle">
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+$(function(){initNavTree('defs_8h_source.html',''); initResizable(true); });
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+<div id="doc-content">
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@@ -82,12 +97,6 @@
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-  <ul>
-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">defs.h</div></div>
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@@ -95,85 +104,80 @@
 <div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef DEFS_H</span></div>
 <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define DEFS_H</span></div>
 <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment">// to select the telemetry transfer method used </span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#define MQTT 1 </span><span class="comment">// set this to 1 if using MQTT for telemetry transfer</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#define XBEE 1  </span><span class="comment">// set to 1 if using XBEE for telemetry transfer</span></div>
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-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#define XBEE_BAUD_RATE  </span><span class="comment">// TODO: set to XBEE baud rate</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">/* debug parameters for use during testing - set to 0 for production */</span></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define DEBUG 1</span></div>
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-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define DEBUG_TO_TERMINAL 1 </span><span class="comment">// set to 0 for production</span></div>
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-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#if DEBUG </span><span class="comment">// DEBUG</span></div>
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-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#define debugln(x) Serial.println(x)</span></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#define debugf(x, y) Serial.printf(x, y)</span></div>
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-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#else</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;Arduino.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment">// to select the telemetry transfer method used </span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define MQTT 1 </span><span class="comment">// set this to 1 if using MQTT for telemetry transfer</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#define XBEE 1  </span><span class="comment">// set to 1 if using XBEE for telemetry transfer</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define GPS_BAUD_RATE 9600</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#define XBEE_BAUD_RATE  </span><span class="comment">// TODO: set to XBEE baud rate</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">/* debug parameters for use during testing - set to 0 for production */</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define DEBUG 1</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#define LOG_TO_MEMORY 0 </span><span class="comment">// set to 1 during live testing</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#define DEBUG_TO_TERMINAL 1 </span><span class="comment">// set to 0 for production</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#if DEBUG</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#define debug(x) Serial.print(x)</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#define debugln(x) Serial.println(x)</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#define debugf(x, y) Serial.printf(x, y)</span></div>
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-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">/* end of debug parameters */</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#else</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#define debug(x)</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#define debugln(x)</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="preprocessor">#define debugf(x, y)</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#endif </span><span class="comment">// DEBUG</span></div>
 <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="comment">/* timing constant */</span></div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#define SETUP_DELAY 300</span></div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#define TASK_DELAY 10</span></div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="comment">/* flight constants */</span></div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#define EJECTION_HEIGHT 1000 </span><span class="comment">// eject at 1000m AGL</span></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#define SEA_LEVEL_PRESSURE 101325 </span><span class="comment">// Assume the sea level pressure is 101325 Pascals - this can change with weather</span></div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#define BASE_ALTITUDE 1417 </span><span class="comment">/* this value is the altitude at rocket launch site */</span><span class="preprocessor"></span></div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="comment">/* tasks constants */</span></div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="preprocessor">#define STACK_SIZE 2048</span></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#define ALTIMETER_QUEUE_LENGTH 10 </span><span class="comment">// todo: change to 2 items</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="preprocessor">#define GYROSCOPE_QUEUE_LENGTH 10</span></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#define GPS_QUEUE_LENGTH 24</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#define TELEMETRY_DATA_QUEUE_LENGTH  10</span></div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#define FILTERED_DATA_QUEUE_LENGTH 10</span></div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#define FLIGHT_STATES_QUEUE_LENGTH 1</span></div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="comment">/* MQTT constants */</span></div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="preprocessor">#define MQTT_SERVER &quot;192.168.78.19&quot;</span></div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="preprocessor">#define MQTT_PORT 1882</span></div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">/* WIFI credentials */</span></div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="comment">// const char* SSID = &quot;Galaxy&quot;;</span></div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="comment">// const char* PASSWORD = &quot;luwa2131&quot;;</span></div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="comment">/* ROCKET FLIGHT STATES */</span></div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="preprocessor">#define PRE_FLIGHT          0</span></div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span><span class="preprocessor">#define POWERED_FLIGHT      1</span></div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="preprocessor">#define COASTING            2</span></div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="preprocessor">#define APOGEE              3</span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="preprocessor">#define BALLISTIC_DESCENT   4</span></div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="preprocessor">#define PARACHUTE_DESCENT   5</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="preprocessor">#define POST_FLIGHT         6</span></div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="preprocessor">#define UNDEFINED_STATE     7</span></div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="preprocessor">#define EJECTION_PIN 12</span></div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span><span class="comment">/* LEDs for testing - remove on production */</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span><span class="preprocessor">#define PRE_FLIGHT_LED 4</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="comment">/* end of debug parameters */</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="comment">/* timing constant */</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#define SETUP_DELAY 300</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#define TASK_DELAY 10</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">/* flight constants */</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#define EJECTION_HEIGHT 1000 </span><span class="comment">// eject at 1000m AGL</span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#define SEA_LEVEL_PRESSURE 101325 </span><span class="comment">// Assume the sea level pressure is 101325 Pascals - this can change with weather</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#define BASE_ALTITUDE 1417 </span><span class="comment">/* this value is the altitude at rocket launch site */</span><span class="preprocessor"></span></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="comment">/* tasks constants */</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="preprocessor">#define STACK_SIZE 2048</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#define ALTIMETER_QUEUE_LENGTH 10 </span><span class="comment">// todo: change to 2 items</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#define GYROSCOPE_QUEUE_LENGTH 10</span></div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#define GPS_QUEUE_LENGTH 24</span></div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#define TELEMETRY_DATA_QUEUE_LENGTH  10</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="preprocessor">#define FILTERED_DATA_QUEUE_LENGTH 10</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="preprocessor">#define FLIGHT_STATES_QUEUE_LENGTH 1</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="comment">/* MQTT constants */</span></div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="preprocessor">#define MQTT_SERVER &quot;192.168.78.19&quot;</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="preprocessor">#define MQTT_PORT 1882</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
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+<title>N4 Flight Software: File Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
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+ <tbody>
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
+  <td id="projectalign">
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
+   </div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.11.0 -->
+<script type="text/javascript">
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+
+<div class="contents">
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
+  <td id="projectalign">
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
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+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
+  </td>
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+ </tbody>
+</table>
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+<li>ACK&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a6f6489887e08bff4887d0bc5dcf214d8">main.cpp</a></li>
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+</div><!-- doc-content -->
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+<li>TEST_STATE&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a7010bdd588d627529b5948acb89dc09d">main.cpp</a></li>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.11.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>N4 Flight Software: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
+  <td id="projectalign">
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
+   </div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.11.0 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('globals_eval.html',''); initResizable(true); });
+/* @license-end */
+</script>
+<div id="doc-content">
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented enum values with links to the documentation:</div><ul>
+<li>HANDSHAKE&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a7010bdd588d627529b5948acb89dc09dacc6ddcaa36bd57e5aec12749cb5ce29c">main.cpp</a></li>
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+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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+<script type="text/javascript" src="navtree.js"></script>
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 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
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-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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+<li>initGPIO()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#ae8297bf2b99a2ad67af6f9a421ea4b16">main.cpp</a></li>
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+<li>listDir()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a8841578fe91cace6206676f0e751cab5">main.cpp</a></li>
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 <li>loop()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#afe461d27b9c48d5921c00d521181f12f">main.cpp</a></li>
+<li>mainChuteDeploy()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a9074d493ccf55d0cfa3acd2d173f665a">main.cpp</a></li>
+<li>ParseSerialNumeric()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a102c6561be41c1aafb3bd6da443deed7">main.cpp</a></li>
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 <li>readGPSTask()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#aa8ea491ed98b16bb5292ad184537f0b5">main.cpp</a></li>
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 <li>setup()&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a4fc01d736fe50cf5b977f755b675f11d">main.cpp</a></li>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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 <li>filename&#160;:&#160;<a class="el" href="src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3">main.cpp</a></li>
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 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
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 <table cellspacing="0" cellpadding="0">
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
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-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
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-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
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+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('gps_8h_source.html',''); initResizable(true); });
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+<div id="doc-content">
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-</small></address>
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+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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 </body>
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similarity index 87%
rename from n4-flight-software/html/hierarchy.html
rename to docs/html/hierarchy.html
index 4cfab53..2a4aae2 100644
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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 </script>
 <div id="main-nav"></div>
 </div><!-- top -->
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+      <div id="nav-sync" class="sync"></div>
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 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('hierarchy.html',''); initResizable(true); });
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new file mode 100644
index 0000000..dc6ccf9
--- /dev/null
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+    [ "Altimeter_Data", "struct_altimeter___data.html", null ],
+    [ "DataLogger", "class_data_logger.html", null ],
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+    [ "Gyroscope_Data", "struct_gyroscope___data.html", null ],
+    [ "MPU6050", "class_m_p_u6050.html", null ],
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+    [ "Test", "class_test.html", null ],
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
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-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
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-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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+</div><!-- top -->
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+       class="ui-resizable-handle">
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 <script type="text/javascript">
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+$(function(){initNavTree('include_2state__machine_8cpp.html',''); initResizable(true); });
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+<title>N4 Flight Software: N4 Flight Software</title>
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+  <div class="headertitle"><div class="title">N4 Flight Software </div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><h1><a class="anchor" id="intro_sec"></a>
+Introduction</h1>
+<p>Welcome to N4 Flight software docs. N4 Flight software is the code used to run N4 rockets at Nakuja Rocket Project. This code is built using FreeRTOS on the Arduino-ESP32 framework. It is designed to run either on AI-Thinker NodeMCU-ESP32 boards or ESP32-DOIT-DEVKIT V1.</p>
+<h1><a class="anchor" id="step1"></a>
+Major features</h1>
+<p>This firmare has been improved tremendously from the previous versions and includes the following features:</p>
+<h2><a class="anchor" id="step2"></a>
+Modularity</h2>
+<ul>
+<li>Most of the code is now contained in separate files each perfoming its own singular task to ensure code maintainability and testing.</li>
+</ul>
+<h2><a class="anchor" id="step3"></a>
+System Logging</h2>
+<ul>
+<li>We have built a system logger to keep track of each and every operation that the flight computer undertakes. This can be be retrieved later and reviewed for post-flight analysis</li>
+</ul>
+<h2><a class="anchor" id="step4"></a>
+HIL Testing Engine</h2>
+<ul>
+<li>A hardware-in-the-loop testing engine has been built into the flight software to allow us to "Test Like We Fly". This allows the flight computer to be tested and debugged way before flight day. Using an improvised XMODEM algorithm, we are able to upload test flight data and run necessary integration tests. <dl class="section note"><dt>Note</dt><dd>See Integration and Testing Procedures for more info</dd></dl>
+</li>
+</ul>
+<h2><a class="anchor" id="step5"></a>
+Flight data logging</h2>
+<ul>
+<li>Flight data logging has been improved. Using an onboard SPI Flash memory, we are able log sensor data and flight states.</li>
+</ul>
+<h2><a class="anchor" id="step6"></a>
+Data dump interface</h2>
+<ul>
+<li>A data dumping hardware interface has been added to ease the retrieval of data post flight data.</li>
+</ul>
+<h2><a class="anchor" id="step7"></a>
+SAFE and FLIGHT modes</h2>
+<ul>
+<li>To prevent misfires during intergration and testing, this firmware implements SAFE_MODE that among others operations, disables the pyro-charges before POWERED_FLIGHT.</li>
+</ul>
+<h2><a class="anchor" id="step8"></a>
+XBEE, MQTT, LORA, WIFI telemetry selection</h2>
+<ul>
+<li>For backward and forward compatibility, we implement a method to allow choice of data telemetry protocol being used.</li>
+</ul>
+<h2><a class="anchor" id="step9"></a>
+Double ejection</h2>
+<ul>
+<li>We implement drogue and main chute ejection algorithms for successful vehicle recovery</li>
+</ul>
+<h1><a class="anchor" id="install_sec"></a>
+Building, Compilation and Downloading.</h1>
+<h2><a class="anchor" id="step10"></a>
+System requirements</h2>
+<p>The following must be installed to build this release: <br  />
+</p><ol type="1">
+<li>PlatformIO Core. Download the core here: <a href="https://docs.platformio.org/en/latest/core/installation/index.html">PlatformIO Core</a></li>
+<li>PlatformIO IDE (recommended on VS Code but you can use IDE of your choice). To install PlatformIO IDE, follow the steps listed here: <a href="https://platformio.org/platformio-ide">PlatformIO IDE</a></li>
+<li>Serial Monitor tool e.g. Putty, Ai-Thinker Serial, RealTerm etc</li>
+</ol>
+<h2><a class="anchor" id="step11"></a>
+Building the code</h2>
+<ul>
+<li>Clone the repo on your local machine <div class="fragment"><div class="line">git clone https://github.com/nakujaproject/N4-Flight-Software.git</div>
+</div><!-- fragment --></li>
+</ul>
+<dl class="section note"><dt>Note</dt><dd>You can also download the folder as a zip file and extract it to a folder of your choice. But we recommend cloning it so you can keep up to date with the remote changes.</dd></dl>
+<ul>
+<li>Change the directory to <div class="fragment"><div class="line">N4-Flight-Software\n4-flight-software </div>
+</div><!-- fragment -->. This is the folder containing <div class="fragment"><div class="line">platformio.ini </div>
+</div><!-- fragment --></li>
+<li>Install code dependencies <div class="fragment"><div class="line">pio pkg install</div>
+</div><!-- fragment --></li>
+<li>Build <div class="fragment"><div class="line">pio run </div>
+</div><!-- fragment --></li>
+<li>Connect your flight computer using a USB cable and make sure it is seen by your PC. It should be listed under Device Manager&gt;Ports, if you are on windows</li>
+</ul>
+<dl class="section note"><dt>Note</dt><dd>If your ESP32 is note recognized, you have to install USB-TO-TTL chip driver manually. For ESP32 Boards using CH340 chip, download the driver here <a href="https://learn.sparkfun.com/tutorials/how-to-install-ch340-drivers/all">CH340 Driver-SparkFun</a>. Run the driver and it will be automatically installed on your machine. For ESP32 Boards using CP2102 chip, follow the procedure here <a href="https://www.pololu.com/docs/0J7/all">CP2102-driver-POLOLU</a>. Run the driver and it will be automatically installed on your machine.</dd></dl>
+<ul>
+<li>Upload and run Close any open serial ports connected to that ESP32 and run the command below <div class="fragment"><div class="line">pio run -t upload </div>
+</div><!-- fragment --> The firmware will be uploaded to the flight computer</li>
+</ul>
+<h1><a class="anchor" id="step13"></a>
+Hardware, pin assignment and peripherals</h1>
+<dl class="section note"><dt>Note</dt><dd>In development</dd></dl>
+<h1><a class="anchor" id="step14"></a>
+Integration and Testing Procedures</h1>
+<dl class="section note"><dt>Note</dt><dd>In development</dd></dl>
+<h1><a class="anchor" id="step15"></a>
+Contributors</h1>
+<p>Our thanks go to the following current and previous avionics team members for their contribution:</p><ol type="1">
+<li>Edwin Mwiti</li>
+<li>Junn Hope</li>
+<li>Jones Kisaka</li>
+<li>Ruth</li>
+<li>Safa Osman</li>
+<li>Tabby Achieng</li>
+<li>Sharlyn</li>
+<li>Pat</li>
+<li>Emmanuel</li>
+<li>Fortune</li>
+<li>Newton</li>
+<li>Rodney</li>
+<li>Sammy</li>
+<li>Michael Kimani</li>
+<li>George Bange</li>
+<li>Maisha</li>
+<li>Naomi Chesang</li>
+<li>Brian Munene</li>
+<li>Samson Onyambu</li>
+<li>Cate Kabura</li>
+<li>Amos Korir</li>
+<li>Graig Kipkorir</li>
+<li>Jerry Mumo</li>
+<li>Esther Mamai</li>
+<li>Martin Simbona</li>
+<li>Jeff Mboya</li>
+<li>Washington Kamadi</li>
+<li>Ian Muchiri</li>
+<li>Kibandi</li>
+<li>Emmanuel Obara</li>
+<li><p class="startli">Victoria</p>
+<p class="startli">Ad Astra!! </p>
+</li>
+</ol>
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
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@@ -82,12 +97,6 @@
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@@ -113,7 +122,7 @@
 <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
 <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
 <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_function" href="class_data_logger.html#a9ddfc501b4bd4f004f11854c3552d574">DataLogger</a>(uint8_t <a class="code hl_variable" href="src_2main_8cpp.html#aed65b23a4e5c39c4267c5730833e70db">cs_pin</a>, uint8_t led_pin, <span class="keywordtype">char</span>* <a class="code hl_variable" href="src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3">filename</a>, SerialFlashFile <a class="code hl_variable" href="src_2main_8cpp.html#ada14cbbf98490eb3cb49b5d1cb0c0056">file</a>, uint32_t filesize); <span class="comment">// constructor</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_function" href="class_data_logger.html#a9ddfc501b4bd4f004f11854c3552d574">DataLogger</a>(uint8_t cs_pin, uint8_t led_pin, <span class="keywordtype">char</span>* <a class="code hl_variable" href="src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3">filename</a>, SerialFlashFile <a class="code hl_variable" href="src_2main_8cpp.html#ada14cbbf98490eb3cb49b5d1cb0c0056">file</a>, uint32_t filesize); <span class="comment">// constructor</span></div>
 <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_data_logger.html#a0cf2853582b7f2194eb0024d3d6d4944">loggerInit</a>();</div>
 <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_data_logger.html#a5e9756481c9c74167ba32ad7a479e8b3">loggerFormat</a>();</div>
 <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_data_logger.html#a9a968317a7e3bb763d8cd551063e7348">loggerInfo</a>();</div>
@@ -137,15 +146,17 @@
 <div class="ttc" id="aclass_data_logger_html_aa2e189964fbebc28dc2a327fdccc5684"><div class="ttname"><a href="class_data_logger.html#aa2e189964fbebc28dc2a327fdccc5684">DataLogger::loggerSpaces</a></div><div class="ttdeci">void loggerSpaces()</div><div class="ttdoc">helper function to print spaces for data formatting</div><div class="ttdef"><b>Definition</b> logger.cpp:252</div></div>
 <div class="ttc" id="aclass_data_logger_html_acb9bf3c62db1f28016d68d51efe25d43"><div class="ttname"><a href="class_data_logger.html#acb9bf3c62db1f28016d68d51efe25d43">DataLogger::loggerEquals</a></div><div class="ttdeci">void loggerEquals()</div><div class="ttdoc">helper function to print = for data formatting</div><div class="ttdef"><b>Definition</b> logger.cpp:261</div></div>
 <div class="ttc" id="aclass_data_logger_html_ae8a69bf0cc965365057e93a164ca9239"><div class="ttname"><a href="class_data_logger.html#ae8a69bf0cc965365057e93a164ca9239">DataLogger::loggerTest</a></div><div class="ttdeci">bool loggerTest()</div><div class="ttdoc">test the flash memory write and read function by reading and writing a variable to it</div><div class="ttdef"><b>Definition</b> logger.cpp:142</div></div>
-<div class="ttc" id="asrc_2main_8cpp_html_a6c2affe0788e6ba12dce7a51e1bd35c3"><div class="ttname"><a href="src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3">filename</a></div><div class="ttdeci">char filename[]</div><div class="ttdef"><b>Definition</b> main.cpp:42</div></div>
-<div class="ttc" id="asrc_2main_8cpp_html_ada14cbbf98490eb3cb49b5d1cb0c0056"><div class="ttname"><a href="src_2main_8cpp.html#ada14cbbf98490eb3cb49b5d1cb0c0056">file</a></div><div class="ttdeci">SerialFlashFile file</div><div class="ttdef"><b>Definition</b> main.cpp:46</div></div>
-<div class="ttc" id="asrc_2main_8cpp_html_aed65b23a4e5c39c4267c5730833e70db"><div class="ttname"><a href="src_2main_8cpp.html#aed65b23a4e5c39c4267c5730833e70db">cs_pin</a></div><div class="ttdeci">uint8_t cs_pin</div><div class="ttdef"><b>Definition</b> main.cpp:40</div></div>
+<div class="ttc" id="asrc_2main_8cpp_html_a6c2affe0788e6ba12dce7a51e1bd35c3"><div class="ttname"><a href="src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3">filename</a></div><div class="ttdeci">char filename[]</div><div class="ttdef"><b>Definition</b> main.cpp:518</div></div>
+<div class="ttc" id="asrc_2main_8cpp_html_ada14cbbf98490eb3cb49b5d1cb0c0056"><div class="ttname"><a href="src_2main_8cpp.html#ada14cbbf98490eb3cb49b5d1cb0c0056">file</a></div><div class="ttdeci">SerialFlashFile file</div><div class="ttdef"><b>Definition</b> main.cpp:522</div></div>
 <div class="ttc" id="astruct_telemetry___data_html"><div class="ttname"><a href="struct_telemetry___data.html">Telemetry_Data</a></div><div class="ttdef"><b>Definition</b> data-types.h:40</div></div>
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+   <div id="projectname">N4 Flight Software
+   </div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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+<div id="doc-content">
+<div><div class="header">
+  <div class="headertitle"><div class="title">N4 Flight Software Documentation</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md16"></a><img src="https://img.shields.io/badge/Version-N4-blue" alt="Static Badge" class="inline"/> <img src="https://img.shields.io/badge/License-MIT-red" alt="Static Badge" class="inline"/> <img src="https://img.shields.io/badge/Status-development-orange" alt="Static Badge" class="inline"/></p>
+<h2><a class="anchor" id="autotoc_md17"></a>
+Code documentation</h2>
+<p>The complete code documentation can be found here ()[]</p>
+<h2><a class="anchor" id="autotoc_md18"></a>
+N4 Flight software requirements</h2>
+<hr  />
+<h3><a class="anchor" id="autotoc_md20"></a>
+1. Rocket kinematics (acceleration, velocity)</h3>
+<p>a) Perform accurate calculation of acceleration and velocity from sensor data</p>
+<p>b) Perform data filtering to get close to ideal simulated data</p>
+<h3><a class="anchor" id="autotoc_md21"></a>
+2. Rocket altitude above ground level (AGL)</h3>
+<p>a) Determine the rocket's instantaneous AGL during flight</p>
+<h3><a class="anchor" id="autotoc_md22"></a>
+3. Flight state transitions</h3>
+<p>a) Accurately switch to the corresponding flight state based on evaluated sensor data</p>
+<h3><a class="anchor" id="autotoc_md23"></a>
+4. Data logging and storage</h3>
+<p>a) Collect and aggregate all sensor data and store it in an external flash memory for post-flight data recovery</p>
+<p>b) Perform onboard system logging to indicate all events that occur during flight and store this in a separate system log file</p>
+<h3><a class="anchor" id="autotoc_md24"></a>
+5. Onboard systems diagnostics</h3>
+<p>a) Troubleshoot onboard subsystems such as the sensors, batteries etc. and log to the system file</p>
+<p>b) Package the system diagnostics results into telemetry packets for transmission to ground</p>
+<h3><a class="anchor" id="autotoc_md25"></a>
+6. GPS location</h3>
+<p>a) Accurately determine the latitude, longitude and timestamp of the rocket using GPS for post flight recovery</p>
+<h3><a class="anchor" id="autotoc_md26"></a>
+7. Rocket attitude (orientation ) determination</h3>
+<p>a) Calculate the roll and pitch of the rocket in space during flight</p>
+<h3><a class="anchor" id="autotoc_md27"></a>
+8. Command and data handling</h3>
+<p>a) Receive commands sent from ground station</p>
+<p>b) Decode commands sent from ground station</p>
+<p>c) Acknowledge and perform command sent from the ground station</p>
+<h3><a class="anchor" id="autotoc_md28"></a>
+9. Telemetry transmission</h3>
+<p>a) Reliably transmit the rocket's data to the ground station</p>
+<p>b) Perform error detection and correction on the telemetry packets</p>
+<h3><a class="anchor" id="autotoc_md29"></a>
+10. Video capture and streaming**</h3>
+<p>a) Capture video stream during flight</p>
+<p>b) Record video stream to an onboard SD card for post-flight analysis</p>
+<p>b) Transmit video stream to ground**</p>
+<h2><a class="anchor" id="autotoc_md30"></a>
+Tasks and task creation</h2>
+<hr  />
+<h2><a class="anchor" id="autotoc_md32"></a>
+autotoc_md32</h2>
+<h2><a class="anchor" id="autotoc_md33"></a>
+Data queues and task communication</h2>
+<hr  />
+<h2><a class="anchor" id="autotoc_md35"></a>
+Telemetry and transmission to ground</h2>
+<hr  />
+<h3><a class="anchor" id="autotoc_md37"></a>
+Link budget calculation</h3>
+<h3><a class="anchor" id="autotoc_md38"></a>
+Telemetry packet structure</h3>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Data   </th><th class="markdownTableHeadNone">Data type   </th><th class="markdownTableHeadNone">Size (bytes)   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">record_number   </td><td class="markdownTableBodyNone">uint32_t   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">record number count    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">state   </td><td class="markdownTableBodyNone">uint8_t   </td><td class="markdownTableBodyNone">1   </td><td class="markdownTableBodyNone">current flight state    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">operation_mode   </td><td class="markdownTableBodyNone">uint8_t   </td><td class="markdownTableBodyNone">1   </td><td class="markdownTableBodyNone">current flight mode, whether SAFE or ARMED    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">ax   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">acceleration in the x-axis (m/s^2)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">ay   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">acceleration in the y-axis (m/s^2)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">az   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">acceleration in the z-axis (m/s^2)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">pitch   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">pitch angle (deg)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">roll   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">roll angle (deg)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">gx   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">angular velocity along the x-axis (deg/sec)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">gy   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">angular velocity along the y-axis (deg/sec)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">gz   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">angular velocity along the z-axis (deg/sec)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">latitude   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone">8   </td><td class="markdownTableBodyNone">geographical distance N or S of equator (deg)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">longitude   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone">8   </td><td class="markdownTableBodyNone">geographical distance E or W of Greenwich Meridian (deg)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">gps_altitude   </td><td class="markdownTableBodyNone">uint16_t   </td><td class="markdownTableBodyNone">2   </td><td class="markdownTableBodyNone">altitude read by the onboard GPS (m)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">gps_time   </td><td class="markdownTableBodyNone">time_t   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">current time from the GPS (UTC)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">pressure   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">pressure from the altimeter (mb)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">temperature   </td><td class="markdownTableBodyNone">uint8_t   </td><td class="markdownTableBodyNone">1   </td><td class="markdownTableBodyNone">temperature from the altimeter (deg C)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">altitude_agl   </td><td class="markdownTableBodyNone">uint16_t   </td><td class="markdownTableBodyNone">2   </td><td class="markdownTableBodyNone">height above ground level    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">velocity   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone">4   </td><td class="markdownTableBodyNone">velocity derived from the altimeter    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">pyro1_state   </td><td class="markdownTableBodyNone">uint8_t   </td><td class="markdownTableBodyNone">1   </td><td class="markdownTableBodyNone">state of main chute pyro (whether ejected or active)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">pyro2_state   </td><td class="markdownTableBodyNone">uint8_t   </td><td class="markdownTableBodyNone">1   </td><td class="markdownTableBodyNone">state of drogue chute pyro (whether ejected or active)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">battery_voltage   </td><td class="markdownTableBodyNone">uint8_t   </td><td class="markdownTableBodyNone">1   </td><td class="markdownTableBodyNone">voltage of the battery during flight    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone"></td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><b>Total packet size</b>   </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone"><b>74 BYTES</b>   </td><td class="markdownTableBodyNone"></td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md39"></a>
+Data Logging and storage</h2>
+<hr  />
+<p>For logging and storage, we use two methods to ensure redundancy.</p>
+<p>One is logging to an external SPI flash memory during flight, the WINBOND W25Q32JVSIQ2135, which is a 32Mbits(4 MB) storage chip. For redundancy, we add a microSD card into which data is dumped from the external SPI flash memory POST-FLIGHT.</p>
+<p>The logging flowchart is shown below:</p>
+<p><img src="./imgs/logger-flowchart.png" alt="logger-flowchart" class="inline"/></p>
+<h3><a class="anchor" id="autotoc_md41"></a>
+Flash chip hardware tests</h3>
+<p>Using this library <a href="https://github.com/PaulStoffregen/SerialFlash/tree/master">SerialFlashLib</a>, we carried out flash chip hardware tests to make sure the MCU communicates as desired with the memory chip. The circuit diagram is shown below:</p>
+<p><img src="./imgs/flash-mem.png" alt="flash-cct" class="inline"/></p>
+<h3><a class="anchor" id="autotoc_md42"></a>
+PCB layout for the flash memory</h3>
+<p>To ensure maximum reliability of the flash memory on the PCB, follow the following techniques during layout:</p>
+<p>The following snapshot from serial monitor shows that ESP32 was able to recognize the chip over the SPI channel.</p>
+<p><img src="./imgs/flash-test.png" alt="flash-test" class="inline"/></p>
+<p>However, there is a discrepancy when we use this library to recognize this memory chip. This may be because the chip is a fake and therefore not recognized by this library. By default, the lib shows the size of the chip as 1MB, which is wrong.</p>
+<p>If we use the <a href="https://github.com/sparkfun/SparkFun_SPI_SerialFlash_Arduino_Library/tree/main">SparkFun_SPI_SerialFlashChip library</a>, we are able to recognize the chip as shown below.</p>
+<p><img src="./imgs/flash-mem-SFE.png" alt="flash-SFE" class="inline"/></p>
+<p>The flash chip is working okay from the tests above.</p>
+<p>Now, since we want to access the flash memory in a file-system kind of way, where we can read and write FILES, we use the <a href="https://github.com/PaulStoffregen/SerialFlash">SerialFlash Library</a>, even if the flash memory is not recognized by it. This will make it easier for us to access huge blocks of memory in chunks and avoid accessing the memory directly. In addition, we can erase files and use SD-like methods to access data.</p>
+<p>The demonstration below received data from the serial monitor, and writes it to a file inside the flash memory.</p>
+<p>First we test for file R/W.</p>
+<h4><a class="anchor" id="autotoc_md43"></a>
+Known issue</h4>
+<p>When using SPI protocol on breadboard, it might fail to communicate with the peripheral device. This is because SPI is high-speed and is expected to be used with short traces on PCB. When testing this part, I experienced errors before i realized this issue. To correct this, I reduced the SPI communication speed from 50MHz to 20MHz so that I could access the R/W functions using the breadboard. More details are in reference #8 below.</p>
+<p>Note: Make sure you change the speed to 20MHz for your files to be created. Change the speed in the SerialFlashChip.cpp near the top of the file (SPICONFIG)</p>
+<p>The image below shows the response after I reduced the SPI speed: <img src="./imgs/file-ready.png" alt="flash" class="inline"/></p>
+<p>Testing method</p><ol type="1">
+<li>I created a file 4KB in size and named it <code>test.csv</code>.</li>
+<li>Then generated dummy data using random() functions in Arduino.</li>
+<li>I then appended this random data to the file, while checking the size being occupied by the file</li>
+<li>Running the <code>flash_read.ino</code> file after data is done recording displays all the recorded data on the flash memory</li>
+</ol>
+<h3><a class="anchor" id="autotoc_md44"></a>
+How to recover the data</h3>
+<p>Use <code>Nakuja Flight Data Recovery Tool</code> to dump the recorded data as follows:</p>
+<p>The image below shows the response after I reduced the SPI speed: <img src="./imgs/file-ready.png" alt="flash" class="inline"/></p>
+<h2><a class="anchor" id="autotoc_md45"></a>
+GPS Operations</h2>
+<p>GPS is used to give us accurate location in terms of longitude, latitude, time and altitude. This data is useful for post-flight recovery and for apogee detection and verification. However, because of the low sample rate of GPS modules (1 Hz), we cannot use it reliably to log altitude data since rocketry is high speed.</p>
+<p><img src="./imgs/GPS-MODULE.jfif" alt="gps" class="inline"/></p>
+<h3><a class="anchor" id="autotoc_md46"></a>
+Reading GPS data algorithm</h3>
+<p>We read GPS data using the <a href="https://github.com/mikalhart/TinyGPSPlus">TinyGPSPlus Library</a>. The data of interest is the latitude, longitude, time and altitude. The algorithm is as follows:</p>
+<ol type="1">
+<li>Create GPS data queue</li>
+<li>Create the <code>readGPS</code> task</li>
+<li>Inside the task, create a local <code>gps_type_t</code> variable to hold the sampled data</li>
+<li>Read the latitude, longitude, time and altitude into the <code>gps_type_t</code> variable</li>
+<li>Send this data to <code>telemetry_queue</code></li>
+</ol>
+<h3><a class="anchor" id="autotoc_md47"></a>
+GPS fix time issues</h3>
+<p>The start of GPS can be cold or warm. Cold start means the GPS is starting from scratch, no prior satellite data exists, and here it takes much time to lock satellites and download satellite data. Once you initially download satellite data, the following connections take less time, referred to as warm-starts.</p>
+<p>When using GPS, you will find that the time it takes to acquire a fix to GPS satellites depends on the cloud cover. If the cloud cover is too high, it takes longer to acquire a signal and vice-versa. During one of the tests of the GPS, it took ~2 min at 45% cloud cover to acquire signal.</p>
+<p>During launch, we do not want to wait for infinity to get a GPS lock, so we implement a timeout as follows:</p>
+<div class="fragment"><div class="line">Consider the GPS_WAIT_TIME as 2 minutes (2000ms):</div>
+<div class="line"> </div>
+<div class="line">1. Initialize a timeout variable and a lock_acquired boolean <a class="code hl_variable" href="src_2main_8cpp.html#ac4f474c82e82cbb89ca7c36dd52be0ed">value</a></div>
+<div class="line">2. Check the <a class="code hl_variable" href="src_2main_8cpp.html#ac4f474c82e82cbb89ca7c36dd52be0ed">value</a> of the timeout_variable</div>
+<div class="line">3. Is it less than the GPS_WAIT_TIME?</div>
+<div class="line">4. If less than the wait time,  continue waiting for GPS fix, if more than the GPS_WAIT_TIME, stop waiting for fix and return false</div>
+<div class="line">5. If the GPS data is available and successfully encoded via serial, set the lock_acquired booelan <a class="code hl_variable" href="src_2main_8cpp.html#ac4f474c82e82cbb89ca7c36dd52be0ed">value</a> to true</div>
+<div class="ttc" id="asrc_2main_8cpp_html_ac4f474c82e82cbb89ca7c36dd52be0ed"><div class="ttname"><a href="src_2main_8cpp.html#ac4f474c82e82cbb89ca7c36dd52be0ed">value</a></div><div class="ttdeci">int value</div><div class="ttdoc">Parse the received serial command if it is a string.</div><div class="ttdef"><b>Definition</b> main.cpp:388</div></div>
+</div><!-- fragment --><p>This timeout will ensure we do not delay other sub-systems of the flight software from starting.</p>
+<h4><a class="anchor" id="autotoc_md48"></a>
+Flowchart</h4>
+<p><img src="./imgs/gps-lock-flow.png" alt="gps-flowchart" class="inline"/></p>
+<h3><a class="anchor" id="autotoc_md49"></a>
+GPS tests</h3>
+<p>The following screenshots show the results of GPS tests during development. In the image below, the raw GPS coordinates are read and printed on the serial debugger:</p>
+<p><img src="./imgs/gps-test-altitude.png" alt="gps-data" class="inline"/></p>
+<h2><a class="anchor" id="autotoc_md50"></a>
+State machine logic and operation</h2>
+<hr  />
+<h3><a class="anchor" id="autotoc_md52"></a>
+States</h3>
+<h3><a class="anchor" id="autotoc_md53"></a>
+State transition conditions</h3>
+<h3><a class="anchor" id="autotoc_md54"></a>
+State functions handling</h3>
+<h2><a class="anchor" id="autotoc_md55"></a>
+IMU</h2>
+<h3><a class="anchor" id="autotoc_md56"></a>
+Calculating acceleration from accelerometer</h3>
+<h3><a class="anchor" id="autotoc_md57"></a>
+Calculating velocity from accelerometer</h3>
+<p>The initial idea is to use integration. Since velocity is the first integral of acceleration. From the equation: </p><div class="fragment"><div class="line">v = u + at </div>
+</div><!-- fragment --><p>So what we do to calculate the velocity is keep track of time, acceleration in the requires axis and then update the initial velocity. Consider the X axis:</p>
+<div class="fragment"><div class="line">Vx = Ux + ACCx*Sample_time </div>
+</div><!-- fragment --> <div class="fragment"><div class="line">Ux = Vx  </div>
+</div><!-- fragment --><p>(Let the sample tme be 1ms (0.001 s))</p>
+<p>Known issue is velocity drift: where the velocity does not get to zero even when the sensor is stationary. small errors in the measurement of acceleration and angular velocity are integrated into progressively larger errors in velocity, which are compounded into still greater errors in position</p>
+<p>Article: <a href="https://en.wikipedia.org/wiki/Inertial_navigation_system#Drift_rate">IMU Velocity drift</a></p>
+<p>However, after extensive research online, it was concluded that getting velocity from accelerometer is very innacurate and unreliable. Check out this reddit thread: <a href="https://www.reddit.com/r/embedded/comments/138jnhu/acceleration_velocity_with_mpu6050/">Acceleration &amp; velocity with MPU6050</a></p>
+<p>Check this arduinoForum article too (ArduinForum) [<a href="https://forum.arduino.cc/t/integrating-acceleration-to-get-velocity/954731/8">https://forum.arduino.cc/t/integrating-acceleration-to-get-velocity/954731/8</a>]</p>
+<p>Following this, we decide to keep the accelerometer for measuring the acceleration and the rocket orientation.</p>
+<h2><a class="anchor" id="autotoc_md58"></a>
+Data Filtering</h2>
+<hr  />
+<h3><a class="anchor" id="autotoc_md60"></a>
+Complementary filter</h3>
+<h2><a class="anchor" id="autotoc_md61"></a>
+Utility scripts</h2>
+<p>During development the following scripts might (and will) be useful.</p>
+<h4><a class="anchor" id="autotoc_md62"></a>
+1. HEX converter</h4>
+<p>Converts string to HEX string and back. Built with python </p>
+<h5><a class="anchor" id="autotoc_md63"></a>
+Requirements</h5>
+<ol type="1">
+<li>Python &gt; 3.10</li>
+</ol>
+<p>The screenshot below shows the program running: <img src="./imgs/hex-converter.png" alt="hex-converter" class="inline"/></p>
+<h5><a class="anchor" id="autotoc_md64"></a>
+Usage</h5>
+<p>Open a terminal window in the folder containing the <code>hex-converter.py</code> file and run the following command:</p>
+<div class="fragment"><div class="line">python hex-converter.py</div>
+</div><!-- fragment --><p> The screenshot above appears. Select your option and proceed. The program will output your string in HEX format.</p>
+<h2><a class="anchor" id="autotoc_md65"></a>
+References and Error fixes</h2>
+<ol type="1">
+<li>(Wire LIbrary Device Lock) <a href="https://github.com/espressif/arduino-esp32/issues/6616">Confusing overload of <code>Wire::begin</code> · Issue #6616 · espressif/arduino-esp32 · GitHub</a></li>
+<li>(Estimating velocity and altitude) [<a href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4179067/">https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4179067/</a>]</li>
+<li>[rocket orientation and velocity] (<a href="https://www.reddit.com/r/rocketry/comments/10q7j8m/using_accelerometers_for_rocket_attitude/">https://www.reddit.com/r/rocketry/comments/10q7j8m/using_accelerometers_for_rocket_attitude/</a>)</li>
+<li><a href="https://cdn.shopify.com/s/files/1/1014/5789/files/Standard-ASCII-Table_large.jpg?10669400161723642407">https://cdn.shopify.com/s/files/1/1014/5789/files/Standard-ASCII-Table_large.jpg?10669400161723642407</a></li>
+<li><a href="https://www.codeproject.com/Articles/99547/Hex-strings-to-raw-data-and-back">https://www.codeproject.com/Articles/99547/Hex-strings-to-raw-data-and-back</a></li>
+<li><a href="https://cdn.shopify.com/s/files/1/1014/5789/files/Standard-ASCII-Table_large.jpg?10669400161723642407">https://cdn.shopify.com/s/files/1/1014/5789/files/Standard-ASCII-Table_large.jpg?10669400161723642407</a></li>
+<li><a href="https://www.geeksforgeeks.org/convert-a-string-to-hexadecimal-ascii-values/">https://www.geeksforgeeks.org/convert-a-string-to-hexadecimal-ascii-values/</a></li>
+<li>(SPI Flash memory file creation issue on breadboard) <a href="https://forum.arduino.cc/t/esp32-and-winbond-w25q128jv-serial-flash-memory/861315/3">https://forum.arduino.cc/t/esp32-and-winbond-w25q128jv-serial-flash-memory/861315/3</a> </li>
+</ol>
+</div></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
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+  <td id="projectalign">
+   <div id="projectname">N4 Flight Software
+   </div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
+  </td>
+ </tr>
+ </tbody>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.11.0 -->
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+<div id="doc-content">
+<div><div class="header">
+  <div class="headertitle"><div class="title">Contributing Guidelines</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md0"></a> <em>Pull requests, bug reports, and all other forms of contribution are welcomed and highly encouraged!</em> :octocat:</p>
+<h2><a class="anchor" id="autotoc_md1"></a>
+Contents</h2>
+<ul>
+<li>Code of Conduct</li>
+<li>Asking Questions</li>
+<li>Opening an Issue</li>
+<li>Feature Requests</li>
+<li>Triaging Issues</li>
+<li>Submitting Pull Requests</li>
+<li>Writing Commit Messages</li>
+<li>Code Review</li>
+<li>Coding Style</li>
+<li>Certificate of Origin</li>
+<li>Credits</li>
+</ul>
+<blockquote class="doxtable">
+<p>&zwj;<b>This guide serves to set clear expectations for everyone involved with the project so that we can improve it together while also creating a welcoming space for everyone to participate. Following these guidelines will help ensure a positive experience for contributors and maintainers.</b> </p>
+</blockquote>
+<h1><a class="anchor" id="autotoc_md2"></a>
+:book: Code of Conduct</h1>
+<p>Please review our <a href="https://github.com/jessesquires/.github/blob/main/CODE_OF_CONDUCT.md">Code of Conduct</a>. It is in effect at all times. We expect it to be honored by everyone who contributes to this project. Acting like an asshole will not be tolerated.</p>
+<h1><a class="anchor" id="autotoc_md3"></a>
+:bulb: Asking Questions</h1>
+<p>See our <a href="https://github.com/jessesquires/.github/blob/main/SUPPORT.md">Support Guide</a>. In short, GitHub issues are not the appropriate place to debug your specific project, but should be reserved for filing bugs and feature requests.</p>
+<h1><a class="anchor" id="autotoc_md4"></a>
+:inbox_tray: Opening an Issue</h1>
+<p>Before <a href="https://help.github.com/en/github/managing-your-work-on-github/creating-an-issue">creating an issue</a>, check if you are using the latest version of the project. If you are not up-to-date, see if updating fixes your issue first.</p>
+<h2><a class="anchor" id="autotoc_md5"></a>
+:lock: Reporting Security Issues</h2>
+<p>Review our <a href="https://github.com/jessesquires/.github/blob/main/SECURITY.md">Security Policy</a>. <b>Do not</b> file a public issue for security vulnerabilities.</p>
+<h2><a class="anchor" id="autotoc_md6"></a>
+:beetle: Bug Reports and Other Issues</h2>
+<p>A great way to contribute to the project is to send a detailed issue when you encounter a problem. We always appreciate a well-written, thorough bug report. :v:</p>
+<p>In short, since you are most likely a developer, <b>provide a ticket that you would like to receive</b>.</p>
+<ul>
+<li><b>Review the documentation and <a href="https://github.com/jessesquires/.github/blob/main/SUPPORT.md">Support Guide</a></b> before opening a new issue.</li>
+<li><b>Do not open a duplicate issue!</b> Search through existing issues to see if your issue has previously been reported. If your issue exists, comment with any additional information you have. You may simply note "I have this problem too", which helps prioritize the most common problems and requests.</li>
+<li><b>Prefer using <a href="https://github.blog/2016-03-10-add-reactions-to-pull-requests-issues-and-comments/">reactions</a></b>, not comments, if you simply want to "+1" an existing issue.</li>
+<li><b>Fully complete the provided issue template.</b> The bug report template requests all the information we need to quickly and efficiently address your issue. Be clear, concise, and descriptive. Provide as much information as you can, including steps to reproduce, stack traces, compiler errors, library versions, OS versions, and screenshots (if applicable).</li>
+<li><b>Use <a href="https://help.github.com/en/github/writing-on-github/basic-writing-and-formatting-syntax">GitHub-flavored Markdown</a>.</b> Especially put code blocks and console outputs in backticks (```). This improves readability.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md7"></a>
+:love_letter: Feature Requests</h1>
+<p>Feature requests are welcome! While we will consider all requests, we cannot guarantee your request will be accepted. We want to avoid <a href="https://en.wikipedia.org/wiki/Feature_creep">feature creep</a>. Your idea may be great, but also out-of-scope for the project. If accepted, we cannot make any commitments regarding the timeline for implementation and release. However, you are welcome to submit a pull request to help!</p>
+<ul>
+<li><b>Do not open a duplicate feature request.</b> Search for existing feature requests first. If you find your feature (or one very similar) previously requested, comment on that issue.</li>
+<li><b>Fully complete the provided issue template.</b> The feature request template asks for all necessary information for us to begin a productive conversation.</li>
+<li>Be precise about the proposed outcome of the feature and how it relates to existing features. Include implementation details if possible.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md8"></a>
+:mag: Triaging Issues</h1>
+<p>You can triage issues which may include reproducing bug reports or asking for additional information, such as version numbers or reproduction instructions. Any help you can provide to quickly resolve an issue is very much appreciated!</p>
+<h1><a class="anchor" id="autotoc_md9"></a>
+:repeat: Submitting Pull Requests</h1>
+<p>We <b>love</b> pull requests! Before <a href="https://help.github.com/en/github/getting-started-with-github/fork-a-repo">forking the repo</a> and <a href="https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/proposing-changes-to-your-work-with-pull-requests">creating a pull request</a> for non-trivial changes, it is usually best to first open an issue to discuss the changes, or discuss your intended approach for solving the problem in the comments for an existing issue.</p>
+<p>For most contributions, after your first pull request is accepted and merged, you will be <a href="https://help.github.com/en/github/setting-up-and-managing-your-github-user-account/inviting-collaborators-to-a-personal-repository">invited to the project</a> and given <b>push access</b>. :tada:</p>
+<p><em>Note: All contributions will be licensed under the project's license.</em></p>
+<ul>
+<li><b>Smaller is better.</b> Submit <b>one</b> pull request per bug fix or feature. A pull request should contain isolated changes pertaining to a single bug fix or feature implementation. <b>Do not</b> refactor or reformat code that is unrelated to your change. It is better to <b>submit many small pull requests</b> rather than a single large one. Enormous pull requests will take enormous amounts of time to review, or may be rejected altogether.</li>
+<li><b>Coordinate bigger changes.</b> For large and non-trivial changes, open an issue to discuss a strategy with the maintainers. Otherwise, you risk doing a lot of work for nothing!</li>
+<li><b>Prioritize understanding over cleverness.</b> Write code clearly and concisely. Remember that source code usually gets written once and read often. Ensure the code is clear to the reader. The purpose and logic should be obvious to a reasonably skilled developer, otherwise you should add a comment that explains it.</li>
+<li><b>Follow existing coding style and conventions.</b> Keep your code consistent with the style, formatting, and conventions in the rest of the code base. When possible, these will be enforced with a linter. Consistency makes it easier to review and modify in the future.</li>
+<li><b>Include test coverage.</b> Add unit tests or UI tests when possible. Follow existing patterns for implementing tests.</li>
+<li><b>Update the example project</b> if one exists to exercise any new functionality you have added.</li>
+<li><b>Add documentation.</b> Document your changes with code doc comments or in existing guides.</li>
+<li><b>Update the CHANGELOG</b> for all enhancements and bug fixes. Include the corresponding issue number if one exists, and your GitHub username. (example: "- Fixed crash in profile view. #123 @jessesquires")</li>
+<li><b>Use the repo's default branch.</b> Branch from and <a href="https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/creating-a-pull-request-from-a-fork">submit your pull request</a> to the repo's default branch. Usually this is <code>main</code>, but it could be <code>dev</code>, <code>develop</code>, or <code>master</code>.</li>
+<li><b><a href="https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/resolving-a-merge-conflict-on-github">Resolve any merge conflicts</a></b> that occur.</li>
+<li><b>Promptly address any CI failures</b>. If your pull request fails to build or pass tests, please push another commit to fix it.</li>
+<li>When writing comments, use properly constructed sentences, including punctuation.</li>
+<li>Use spaces, not tabs.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md10"></a>
+:memo: Writing Commit Messages</h1>
+<p>Please <a href="https://chris.beams.io/posts/git-commit/">write a great commit message</a>.</p>
+<ol type="1">
+<li>Separate subject from body with a blank line</li>
+</ol>
+<ol type="1">
+<li>Limit the subject line to 50 characters</li>
+</ol>
+<ol type="1">
+<li>Capitalize the subject line</li>
+</ol>
+<ol type="1">
+<li>Do not end the subject line with a period</li>
+</ol>
+<ol type="1">
+<li>Use the imperative mood in the subject line (example: "Fix networking issue")</li>
+</ol>
+<ol type="1">
+<li>Wrap the body at about 72 characters</li>
+</ol>
+<ol type="1">
+<li>Use the body to explain <b>why</b>, <em>not what and how</em> (the code shows that!)</li>
+</ol>
+<ol type="1">
+<li>If applicable, prefix the title with the relevant component name. (examples: "[Docs] Fix typo", "[Profile] Fix missing avatar")</li>
+</ol>
+<div class="fragment"><div class="line">[TAG] Short summary of changes in 50 chars or less</div>
+<div class="line"> </div>
+<div class="line">Add a more detailed explanation here, if necessary. Possibly give </div>
+<div class="line">some background about the issue being fixed, etc. The body of the </div>
+<div class="line">commit message can be several paragraphs. Further paragraphs come </div>
+<div class="line">after blank lines and please do proper word-wrap.</div>
+<div class="line"> </div>
+<div class="line">Wrap it to about 72 characters or so. In some contexts, </div>
+<div class="line">the first line is treated as the subject of the commit and the </div>
+<div class="line">rest of the text as the body. The blank line separating the summary </div>
+<div class="line">from the body is critical (unless you omit the body entirely); </div>
+<div class="line">various tools like `log`, `shortlog` and `rebase` can get confused </div>
+<div class="line">if you run the two together.</div>
+<div class="line"> </div>
+<div class="line">Explain the problem that this commit is solving. Focus on why you</div>
+<div class="line">are making this change as opposed to how or what. The code explains </div>
+<div class="line">how or what. Reviewers and your future self can read the patch, </div>
+<div class="line">but might not understand why a particular solution was implemented.</div>
+<div class="line">Are there side effects or other unintuitive consequences of this</div>
+<div class="line">change? Here&#39;s the place to explain them.</div>
+<div class="line"> </div>
+<div class="line"> - Bullet points are okay, too</div>
+<div class="line"> </div>
+<div class="line"> - A hyphen or asterisk should be used for the bullet, preceded</div>
+<div class="line">   by a single space, with blank lines in between</div>
+<div class="line"> </div>
+<div class="line">Note the fixed or relevant GitHub issues at the end:</div>
+<div class="line"> </div>
+<div class="line">Resolves: #123</div>
+<div class="line">See also: #456, #789</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md11"></a>
+:white_check_mark: Code Review</h1>
+<ul>
+<li><b>Review the code, not the author.</b> Look for and suggest improvements without disparaging or insulting the author. Provide actionable feedback and explain your reasoning.</li>
+<li><b>You are not your code.</b> When your code is critiqued, questioned, or constructively criticized, remember that you are not your code. Do not take code review personally.</li>
+<li><b>Always do your best.</b> No one writes bugs on purpose. Do your best, and learn from your mistakes.</li>
+<li>Kindly note any violations to the guidelines specified in this document.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md12"></a>
+:nail_care: Coding Style</h1>
+<p>Consistency is the most important. Following the existing style, formatting, and naming conventions of the file you are modifying and of the overall project. Failure to do so will result in a prolonged review process that has to focus on updating the superficial aspects of your code, rather than improving its functionality and performance.</p>
+<p>For example, if all private properties are prefixed with an underscore <code>_</code>, then new ones you add should be prefixed in the same way. Or, if methods are named using camelcase, like <code>thisIsMyNewMethod</code>, then do not diverge from that by writing <code>this_is_my_new_method</code>. You get the idea. If in doubt, please ask or search the codebase for something similar.</p>
+<p>When possible, style and format will be enforced with a linter.</p>
+<h1><a class="anchor" id="autotoc_md13"></a>
+:medal_sports: Certificate of Origin</h1>
+<p><em>Developer's Certificate of Origin 1.1</em></p>
+<p>By making a contribution to this project, I certify that:</p>
+<blockquote class="doxtable">
+<p>&zwj;1. The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or</p><ol type="1">
+<li>The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or</li>
+</ol>
+<ol type="1">
+<li>The contribution was provided directly to me by some other person who certified (1), (2) or (3) and I have not modified it.</li>
+</ol>
+<ol type="1">
+<li>I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved. </li>
+</ol>
+</blockquote>
+<h1><a class="anchor" id="autotoc_md14"></a>
+<a href="https://en.wikipedia.org/wiki/Van_Halen#Contract_riders">No Brown M&amp;M's</a></h1>
+<p>If you are reading this, bravo dear user and (hopefully) contributor for making it this far! You are awesome. :100:</p>
+<p>To confirm that you have read this guide and are following it as best as possible, <b>include this emoji at the top</b> of your issue or pull request: :black_heart: <code>:black_heart:</code></p>
+<h1><a class="anchor" id="autotoc_md15"></a>
+:pray: Credits</h1>
+<p>Written by <a href="https://github.com/jessesquires">@jessesquires</a>.</p>
+<p><b>Please feel free to adopt this guide in your own projects. Fork it wholesale or remix it for your needs.</b></p>
+<p><em>Many of the ideas and prose for the statements in this document were based on or inspired by work from the following communities:</em></p>
+<ul>
+<li><a href="https://github.com/Alamofire/Alamofire/blob/master/CONTRIBUTING.md">Alamofire</a></li>
+<li><a href="https://github.com/CocoaPods/CocoaPods/blob/master/CONTRIBUTING.md">CocoaPods</a></li>
+<li><a href="https://github.com/moby/moby/blob/master/CONTRIBUTING.md">Docker</a></li>
+<li><a href="https://elinux.org/Developer_Certificate_Of_Origin">Linux</a></li>
+</ul>
+<p><em>We commend them for their efforts to facilitate collaboration in their projects.</em> </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
+</small></address>
+</div><!-- doc-content -->
+</body>
+</html>
diff --git a/n4-flight-software/html/md__r_e_a_d_m_e.html b/docs/html/md_n4-flight-software_2_r_e_a_d_m_e.html
similarity index 75%
rename from n4-flight-software/html/md__r_e_a_d_m_e.html
rename to docs/html/md_n4-flight-software_2_r_e_a_d_m_e.html
index 40189e1..dbf084e 100644
--- a/n4-flight-software/html/md__r_e_a_d_m_e.html
+++ b/docs/html/md_n4-flight-software_2_r_e_a_d_m_e.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('md_n4-flight-software_2_r_e_a_d_m_e.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,18 +97,18 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div><div class="header">
   <div class="headertitle"><div class="title">README</div></div>
 </div><!--header-->
 <div class="contents">
 <div class="textblock"></div></div><!-- contents -->
 </div><!-- PageDoc -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/states_8h_source.html b/docs/html/md_n4-flight-software_2src_2pin-assignment.html
similarity index 71%
rename from n4-flight-software/html/states_8h_source.html
rename to docs/html/md_n4-flight-software_2src_2pin-assignment.html
index 384564d..389be24 100644
--- a/n4-flight-software/html/states_8h_source.html
+++ b/docs/html/md_n4-flight-software_2src_2pin-assignment.html
@@ -5,12 +5,14 @@
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
 <meta name="generator" content="Doxygen 1.11.0"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>N4 Flight Software: src/states.h Source File</title>
+<title>N4 Flight Software: pin-assignment</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('md_n4-flight-software_2src_2pin-assignment.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,22 +97,18 @@
 </div>
 </div>
 
-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div id="doc-content">
-<div class="header">
-  <div class="headertitle"><div class="title">states.h</div></div>
+<div><div class="header">
+  <div class="headertitle"><div class="title">pin-assignment</div></div>
 </div><!--header-->
 <div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
-</div><!-- fragment --></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
+<div class="textblock"></div></div><!-- contents -->
+</div><!-- PageDoc -->
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/menu.js b/docs/html/menu.js
similarity index 100%
rename from n4-flight-software/html/menu.js
rename to docs/html/menu.js
diff --git a/n4-flight-software/html/menudata.js b/docs/html/menudata.js
similarity index 67%
rename from n4-flight-software/html/menudata.js
rename to docs/html/menudata.js
index f42d491..71668bb 100644
--- a/n4-flight-software/html/menudata.js
+++ b/docs/html/menudata.js
@@ -35,6 +35,27 @@ var menudata={children:[
 {text:"Files",url:"files.html",children:[
 {text:"File List",url:"files.html"},
 {text:"File Members",url:"globals.html",children:[
-{text:"All",url:"globals.html"},
+{text:"All",url:"globals.html",children:[
+{text:"a",url:"globals.html#index_a"},
+{text:"b",url:"globals.html#index_b"},
+{text:"c",url:"globals.html#index_c"},
+{text:"d",url:"globals.html#index_d"},
+{text:"e",url:"globals.html#index_e"},
+{text:"f",url:"globals.html#index_f"},
+{text:"g",url:"globals.html#index_g"},
+{text:"h",url:"globals.html#index_h"},
+{text:"i",url:"globals.html#index_i"},
+{text:"l",url:"globals.html#index_l"},
+{text:"m",url:"globals.html#index_m"},
+{text:"n",url:"globals.html#index_n"},
+{text:"o",url:"globals.html#index_o"},
+{text:"p",url:"globals.html#index_p"},
+{text:"r",url:"globals.html#index_r"},
+{text:"s",url:"globals.html#index_s"},
+{text:"t",url:"globals.html#index_t"},
+{text:"v",url:"globals.html#index_v"}]},
 {text:"Functions",url:"globals_func.html"},
-{text:"Variables",url:"globals_vars.html"}]}]}]}
+{text:"Variables",url:"globals_vars.html"},
+{text:"Enumerations",url:"globals_enum.html"},
+{text:"Enumerator",url:"globals_eval.html"},
+{text:"Macros",url:"globals_defs.html"}]}]}]}
diff --git a/n4-flight-software/html/minus.svg b/docs/html/minus.svg
similarity index 100%
rename from n4-flight-software/html/minus.svg
rename to docs/html/minus.svg
diff --git a/n4-flight-software/html/minusd.svg b/docs/html/minusd.svg
similarity index 100%
rename from n4-flight-software/html/minusd.svg
rename to docs/html/minusd.svg
diff --git a/n4-flight-software/html/mpu_8h_source.html b/docs/html/mpu_8h_source.html
similarity index 77%
rename from n4-flight-software/html/mpu_8h_source.html
rename to docs/html/mpu_8h_source.html
index 45e5d77..e143c62 100644
--- a/n4-flight-software/html/mpu_8h_source.html
+++ b/docs/html/mpu_8h_source.html
@@ -5,12 +5,14 @@
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
 <meta name="generator" content="Doxygen 1.11.0"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>N4 Flight Software: src/mpu.h Source File</title>
+<title>N4 Flight Software: n4-flight-software/src/mpu.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('mpu_8h_source.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,12 +97,6 @@
 </div>
 </div>
 
-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">mpu.h</div></div>
 </div><!--header-->
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 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keyword">private</span>:</div>
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-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        uint8_t _address;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        uint32_t _accel_fs_range;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        uint32_t _gyro_fs_range;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
 <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// sensor data</span></div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    int16_t acc_x, acc_y, acc_z; <span class="comment">// raw acceleration values  </span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">float</span> acc_x_real, acc_y_real, acc_z_real; <span class="comment">// converted aceleration values </span></div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    int16_t ang_vel_x, ang_vel_y, ang_vel_z;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordtype">float</span> ang_vel_x_real, ang_vel_y_real, ang_vel_z_real; <span class="comment">// converted angular velocity values </span></div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    int16_t temp;</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">float</span> temp_real;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="comment">// sensor data</span></div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        int16_t acc_x, acc_y, acc_z; <span class="comment">// raw acceleration values</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="keywordtype">float</span> acc_x_real, acc_y_real, acc_z_real; <span class="comment">// converted acceleration values</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        int16_t ang_vel_x, ang_vel_y, ang_vel_z;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <span class="keywordtype">float</span> ang_vel_x_real, ang_vel_y_real, ang_vel_z_real; <span class="comment">// converted angular velocity values</span></div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        int16_t temp;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <span class="keywordtype">float</span> temp_real;</div>
 <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keywordtype">float</span> pitch_angle, roll_angle;</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordtype">float</span> acc_x_ms, acc_y_ms, acc_z_ms; <span class="comment">// acceleration in m/s^2</span></div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <span class="keywordtype">float</span> pitch_angle, roll_angle;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordtype">float</span> acc_x_ms, acc_y_ms, acc_z_ms; <span class="comment">// acceleration in m/s^2</span></div>
 <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
 <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <a class="code hl_class" href="class_m_p_u6050.html">MPU6050</a>(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">void</span> init();</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#a63bb7b9f83eca4c2debdd0dfa7991865">readXAcceleration</a>();</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#ab34bd3131afe39a6f5178f46ec63a0e7">readYAcceleration</a>();</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8">readZAcceleration</a>();</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">float</span> readXAngularVelocity();</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keywordtype">float</span> readYAngularVelocity();</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordtype">float</span> readZAngularVelocity();</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordtype">float</span> readTemperature();</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="class_m_p_u6050.html#aed4696b264b467844771ef28b274541b">filterImu</a>();</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#adcecd29f4445b6670aafa2452a26f197">getRoll</a>();</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#aa8d0edd31d2892d6703b4dce77d4dfc7">getPitch</a>();</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <a class="code hl_class" href="class_m_p_u6050.html">MPU6050</a>(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordtype">void</span> init();</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#a63bb7b9f83eca4c2debdd0dfa7991865">readXAcceleration</a>();</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#ab34bd3131afe39a6f5178f46ec63a0e7">readYAcceleration</a>();</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8">readZAcceleration</a>();</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        <span class="keywordtype">float</span> readXAngularVelocity();</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="keywordtype">float</span> readYAngularVelocity();</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keywordtype">float</span> readZAngularVelocity();</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keywordtype">float</span> readTemperature();</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_m_p_u6050.html#aed4696b264b467844771ef28b274541b">filterImu</a>();</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#adcecd29f4445b6670aafa2452a26f197">getRoll</a>();</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_m_p_u6050.html#aa8d0edd31d2892d6703b4dce77d4dfc7">getPitch</a>();</div>
 <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
 <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>};</div>
 </div>
 <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
 <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span><span class="preprocessor">#endif</span></div>
 <div class="ttc" id="aclass_m_p_u6050_html"><div class="ttname"><a href="class_m_p_u6050.html">MPU6050</a></div><div class="ttdef"><b>Definition</b> mpu.h:52</div></div>
-<div class="ttc" id="aclass_m_p_u6050_html_a18bf4368cc536ba0da3d41bdd4241be8"><div class="ttname"><a href="class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8">MPU6050::readZAcceleration</a></div><div class="ttdeci">float readZAcceleration()</div><div class="ttdef"><b>Definition</b> mpu.cpp:106</div></div>
-<div class="ttc" id="aclass_m_p_u6050_html_a63bb7b9f83eca4c2debdd0dfa7991865"><div class="ttname"><a href="class_m_p_u6050.html#a63bb7b9f83eca4c2debdd0dfa7991865">MPU6050::readXAcceleration</a></div><div class="ttdeci">float readXAcceleration()</div><div class="ttdef"><b>Definition</b> mpu.cpp:54</div></div>
-<div class="ttc" id="aclass_m_p_u6050_html_aa8d0edd31d2892d6703b4dce77d4dfc7"><div class="ttname"><a href="class_m_p_u6050.html#aa8d0edd31d2892d6703b4dce77d4dfc7">MPU6050::getPitch</a></div><div class="ttdeci">float getPitch()</div><div class="ttdef"><b>Definition</b> mpu.cpp:150</div></div>
-<div class="ttc" id="aclass_m_p_u6050_html_ab34bd3131afe39a6f5178f46ec63a0e7"><div class="ttname"><a href="class_m_p_u6050.html#ab34bd3131afe39a6f5178f46ec63a0e7">MPU6050::readYAcceleration</a></div><div class="ttdeci">float readYAcceleration()</div><div class="ttdef"><b>Definition</b> mpu.cpp:80</div></div>
-<div class="ttc" id="aclass_m_p_u6050_html_adcecd29f4445b6670aafa2452a26f197"><div class="ttname"><a href="class_m_p_u6050.html#adcecd29f4445b6670aafa2452a26f197">MPU6050::getRoll</a></div><div class="ttdeci">float getRoll()</div><div class="ttdef"><b>Definition</b> mpu.cpp:134</div></div>
-<div class="ttc" id="aclass_m_p_u6050_html_aed4696b264b467844771ef28b274541b"><div class="ttname"><a href="class_m_p_u6050.html#aed4696b264b467844771ef28b274541b">MPU6050::filterImu</a></div><div class="ttdeci">void filterImu()</div><div class="ttdef"><b>Definition</b> mpu.cpp:166</div></div>
+<div class="ttc" id="aclass_m_p_u6050_html_a18bf4368cc536ba0da3d41bdd4241be8"><div class="ttname"><a href="class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8">MPU6050::readZAcceleration</a></div><div class="ttdeci">float readZAcceleration()</div><div class="ttdef"><b>Definition</b> mpu.cpp:109</div></div>
+<div class="ttc" id="aclass_m_p_u6050_html_a63bb7b9f83eca4c2debdd0dfa7991865"><div class="ttname"><a href="class_m_p_u6050.html#a63bb7b9f83eca4c2debdd0dfa7991865">MPU6050::readXAcceleration</a></div><div class="ttdeci">float readXAcceleration()</div><div class="ttdef"><b>Definition</b> mpu.cpp:57</div></div>
+<div class="ttc" id="aclass_m_p_u6050_html_aa8d0edd31d2892d6703b4dce77d4dfc7"><div class="ttname"><a href="class_m_p_u6050.html#aa8d0edd31d2892d6703b4dce77d4dfc7">MPU6050::getPitch</a></div><div class="ttdeci">float getPitch()</div><div class="ttdef"><b>Definition</b> mpu.cpp:153</div></div>
+<div class="ttc" id="aclass_m_p_u6050_html_ab34bd3131afe39a6f5178f46ec63a0e7"><div class="ttname"><a href="class_m_p_u6050.html#ab34bd3131afe39a6f5178f46ec63a0e7">MPU6050::readYAcceleration</a></div><div class="ttdeci">float readYAcceleration()</div><div class="ttdef"><b>Definition</b> mpu.cpp:83</div></div>
+<div class="ttc" id="aclass_m_p_u6050_html_adcecd29f4445b6670aafa2452a26f197"><div class="ttname"><a href="class_m_p_u6050.html#adcecd29f4445b6670aafa2452a26f197">MPU6050::getRoll</a></div><div class="ttdeci">float getRoll()</div><div class="ttdef"><b>Definition</b> mpu.cpp:137</div></div>
+<div class="ttc" id="aclass_m_p_u6050_html_aed4696b264b467844771ef28b274541b"><div class="ttname"><a href="class_m_p_u6050.html#aed4696b264b467844771ef28b274541b">MPU6050::filterImu</a></div><div class="ttdeci">void filterImu()</div><div class="ttdef"><b>Definition</b> mpu.cpp:169</div></div>
 </div><!-- fragment --></div><!-- contents -->
-<!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_223c149f86d1b3369d43d9ec6c6d367c.html">n4-flight-software</a></li><li class="navelem"><a class="el" href="dir_d09072d1c94fe000833aa47d92501a74.html">src</a></li><li class="navelem"><b>mpu.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/nav_f.png b/docs/html/nav_f.png
similarity index 100%
rename from n4-flight-software/html/nav_f.png
rename to docs/html/nav_f.png
diff --git a/n4-flight-software/html/nav_fd.png b/docs/html/nav_fd.png
similarity index 100%
rename from n4-flight-software/html/nav_fd.png
rename to docs/html/nav_fd.png
diff --git a/n4-flight-software/html/nav_g.png b/docs/html/nav_g.png
similarity index 100%
rename from n4-flight-software/html/nav_g.png
rename to docs/html/nav_g.png
diff --git a/n4-flight-software/html/nav_h.png b/docs/html/nav_h.png
similarity index 100%
rename from n4-flight-software/html/nav_h.png
rename to docs/html/nav_h.png
diff --git a/n4-flight-software/html/nav_hd.png b/docs/html/nav_hd.png
similarity index 100%
rename from n4-flight-software/html/nav_hd.png
rename to docs/html/nav_hd.png
diff --git a/n4-flight-software/html/navtree.css b/docs/html/navtree.css
similarity index 100%
rename from n4-flight-software/html/navtree.css
rename to docs/html/navtree.css
diff --git a/docs/html/navtree.js b/docs/html/navtree.js
new file mode 100644
index 0000000..9027ce6
--- /dev/null
+++ b/docs/html/navtree.js
@@ -0,0 +1,483 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ 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.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+function initNavTree(toroot,relpath) {
+  let navTreeSubIndices = [];
+  const ARROW_DOWN = '&#9660;';
+  const ARROW_RIGHT = '&#9658;';
+  const NAVPATH_COOKIE_NAME = ''+'navpath';
+
+  const getData = function(varName) {
+    const i = varName.lastIndexOf('/');
+    const n = i>=0 ? varName.substring(i+1) : varName;
+    return eval(n.replace(/-/g,'_'));
+  }
+
+  const stripPath = function(uri) {
+    return uri.substring(uri.lastIndexOf('/')+1);
+  }
+
+  const stripPath2 = function(uri) {
+    const i = uri.lastIndexOf('/');
+    const s = uri.substring(i+1);
+    const m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
+    return m ? uri.substring(i-6) : s;
+  }
+
+  const hashValue = function() {
+    return $(location).attr('hash').substring(1).replace(/[^\w-]/g,'');
+  }
+
+  const hashUrl = function() {
+    return '#'+hashValue();
+  }
+
+  const pathName = function() {
+    return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;()]/g, '');
+  }
+
+  const storeLink = function(link) {
+    if (!$("#nav-sync").hasClass('sync')) {
+      Cookie.writeSetting(NAVPATH_COOKIE_NAME,link,0);
+    }
+  }
+
+  const deleteLink = function() {
+    Cookie.eraseSetting(NAVPATH_COOKIE_NAME);
+  }
+
+  const cachedLink = function() {
+    return Cookie.readSetting(NAVPATH_COOKIE_NAME,'');
+  }
+
+  const getScript = function(scriptName,func) {
+    const head = document.getElementsByTagName("head")[0];
+    const script = document.createElement('script');
+    script.id = scriptName;
+    script.type = 'text/javascript';
+    script.onload = func;
+    script.src = scriptName+'.js';
+    head.appendChild(script);
+  }
+
+  const createIndent = function(o,domNode,node) {
+    let level=-1;
+    let n = node;
+    while (n.parentNode) { level++; n=n.parentNode; }
+    if (node.childrenData) {
+      const imgNode = document.createElement("span");
+      imgNode.className = 'arrow';
+      imgNode.style.paddingLeft=(16*level).toString()+'px';
+      imgNode.innerHTML=ARROW_RIGHT;
+      node.plus_img = imgNode;
+      node.expandToggle = document.createElement("a");
+      node.expandToggle.href = "javascript:void(0)";
+      node.expandToggle.onclick = function() {
+        if (node.expanded) {
+          $(node.getChildrenUL()).slideUp("fast");
+          node.plus_img.innerHTML=ARROW_RIGHT;
+          node.expanded = false;
+        } else {
+          expandNode(o, node, false, true);
+        }
+      }
+      node.expandToggle.appendChild(imgNode);
+      domNode.appendChild(node.expandToggle);
+    } else {
+      let span = document.createElement("span");
+      span.className = 'arrow';
+      span.style.width   = 16*(level+1)+'px';
+      span.innerHTML = '&#160;';
+      domNode.appendChild(span);
+    }
+  }
+
+  let animationInProgress = false;
+
+  const gotoAnchor = function(anchor,aname) {
+    let pos, docContent = $('#doc-content');
+    let ancParent = $(anchor.parent());
+    if (ancParent.hasClass('memItemLeft') || ancParent.hasClass('memtitle')  ||
+        ancParent.hasClass('fieldname')   || ancParent.hasClass('fieldtype') ||
+        ancParent.is(':header')) {
+      pos = ancParent.position().top;
+    } else if (anchor.position()) {
+      pos = anchor.position().top;
+    }
+    if (pos) {
+      const dcOffset    = docContent.offset().top;
+      const dcHeight    = docContent.height();
+      const dcScrHeight = docContent[0].scrollHeight
+      const dcScrTop    = docContent.scrollTop();
+      let dist = Math.abs(Math.min(pos-dcOffset,dcScrHeight-dcHeight-dcScrTop));
+      animationInProgress = true;
+      docContent.animate({
+        scrollTop: pos + dcScrTop - dcOffset
+      },Math.max(50,Math.min(500,dist)),function() {
+        animationInProgress=false;
+        if (anchor.parent().attr('class')=='memItemLeft') {
+          let rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+          glowEffect(rows.children(),300); // member without details
+        } else if (anchor.parent().attr('class')=='fieldname') {
+          glowEffect(anchor.parent().parent(),1000); // enum value
+        } else if (anchor.parent().attr('class')=='fieldtype') {
+          glowEffect(anchor.parent().parent(),1000); // struct field
+        } else if (anchor.parent().is(":header")) {
+          glowEffect(anchor.parent(),1000); // section header
+        } else {
+          glowEffect(anchor.next(),1000); // normal member
+        }
+      });
+    }
+  }
+
+  const newNode = function(o, po, text, link, childrenData, lastNode) {
+    const node = {
+      children     : [],
+      childrenData : childrenData,
+      depth        : po.depth + 1,
+      relpath      : po.relpath,
+      isLast       : lastNode,
+      li           : document.createElement("li"),
+      parentNode   : po,
+      itemDiv      : document.createElement("div"),
+      labelSpan    : document.createElement("span"),
+      label        : document.createTextNode(text),
+      expanded     : false,
+      childrenUL   : null,
+      getChildrenUL : function() {
+        if (!this.childrenUL) {
+          this.childrenUL = document.createElement("ul");
+          this.childrenUL.className = "children_ul";
+          this.childrenUL.style.display = "none";
+          this.li.appendChild(node.childrenUL);
+        }
+        return node.childrenUL;
+      },
+    };
+
+    node.itemDiv.className = "item";
+    node.labelSpan.className = "label";
+    createIndent(o,node.itemDiv,node);
+    node.itemDiv.appendChild(node.labelSpan);
+    node.li.appendChild(node.itemDiv);
+
+    const a = document.createElement("a");
+    node.labelSpan.appendChild(a);
+    po.getChildrenUL().appendChild(node.li);
+    a.appendChild(node.label);
+    if (link) {
+      let url;
+      if (link.substring(0,1)=='^') {
+        url = link.substring(1);
+        link = url;
+      } else {
+        url = node.relpath+link;
+      }
+      a.className = stripPath(link.replace('#',':'));
+      if (link.indexOf('#')!=-1) {
+        const aname = '#'+link.split('#')[1];
+        const srcPage = stripPath(pathName());
+        const targetPage = stripPath(link.split('#')[0]);
+        a.href = srcPage!=targetPage ? url : aname;
+        a.onclick = function() {
+          storeLink(link);
+          aPPar = $(a).parent().parent();
+          if (!aPPar.hasClass('selected')) {
+            $('.item').removeClass('selected');
+            $('.item').removeAttr('id');
+            aPPar.addClass('selected');
+            aPPar.attr('id','selected');
+          }
+          const anchor = $(aname);
+          gotoAnchor(anchor,aname);
+        };
+      } else {
+        a.href = url;
+        a.onclick = () => storeLink(link);
+      }
+    } else if (childrenData != null) {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+    return node;
+  }
+
+  const showRoot = function() {
+    const headerHeight = $("#top").height();
+    const footerHeight = $("#nav-path").height();
+    const windowHeight = $(window).height() - headerHeight - footerHeight;
+    (function() { // retry until we can scroll to the selected item
+      try {
+        const navtree=$('#nav-tree');
+        navtree.scrollTo('#selected',100,{offset:-windowHeight/2});
+      } catch (err) {
+        setTimeout(arguments.callee, 0);
+      }
+    })();
+  }
+
+  const expandNode = function(o, node, imm, setFocus) {
+    if (node.childrenData && !node.expanded) {
+      if (typeof(node.childrenData)==='string') {
+        const varName = node.childrenData;
+        getScript(node.relpath+varName,function() {
+          node.childrenData = getData(varName);
+          expandNode(o, node, imm, setFocus);
+        });
+      } else {
+        if (!node.childrenVisited) {
+          getNode(o, node);
+        }
+        $(node.getChildrenUL()).slideDown("fast");
+        node.plus_img.innerHTML = ARROW_DOWN;
+        node.expanded = true;
+        if (setFocus) {
+          $(node.expandToggle).focus();
+        }
+      }
+    }
+  }
+
+  const glowEffect = function(n,duration) {
+    n.addClass('glow').delay(duration).queue(function(next) {
+      $(this).removeClass('glow');next();
+    });
+  }
+
+  const highlightAnchor = function() {
+    const aname = hashUrl();
+    const anchor = $(aname);
+    gotoAnchor(anchor,aname);
+  }
+
+  const selectAndHighlight = function(hash,n) {
+    let a;
+    if (hash) {
+      const link=stripPath(pathName())+':'+hash.substring(1);
+      a=$('.item a[class$="'+link+'"]');
+    }
+    if (a && a.length) {
+      a.parent().parent().addClass('selected');
+      a.parent().parent().attr('id','selected');
+      highlightAnchor();
+    } else if (n) {
+      $(n.itemDiv).addClass('selected');
+      $(n.itemDiv).attr('id','selected');
+    }
+    let topOffset=5;
+    if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+      topOffset+=25;
+    }
+    $('#nav-sync').css('top',topOffset+'px');
+    showRoot();
+  }
+
+  const showNode = function(o, node, index, hash) {
+    if (node && node.childrenData) {
+      if (typeof(node.childrenData)==='string') {
+        const varName = node.childrenData;
+        getScript(node.relpath+varName,function() {
+          node.childrenData = getData(varName);
+          showNode(o,node,index,hash);
+        });
+      } else {
+        if (!node.childrenVisited) {
+          getNode(o, node);
+        }
+        $(node.getChildrenUL()).css({'display':'block'});
+        node.plus_img.innerHTML = ARROW_DOWN;
+        node.expanded = true;
+        const n = node.children[o.breadcrumbs[index]];
+        if (index+1<o.breadcrumbs.length) {
+          showNode(o,n,index+1,hash);
+        } else if (typeof(n.childrenData)==='string') {
+          const varName = n.childrenData;
+          getScript(n.relpath+varName,function() {
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          });
+        } else {
+          const rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, false);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    } else {
+      selectAndHighlight(hash);
+    }
+  }
+
+  const removeToInsertLater = function(element) {
+    const parentNode = element.parentNode;
+    const nextSibling = element.nextSibling;
+    parentNode.removeChild(element);
+    return function() {
+      if (nextSibling) {
+        parentNode.insertBefore(element, nextSibling);
+      } else {
+        parentNode.appendChild(element);
+      }
+    };
+  }
+
+  const getNode = function(o, po) {
+    const insertFunction = removeToInsertLater(po.li);
+    po.childrenVisited = true;
+    const l = po.childrenData.length-1;
+    for (let i in po.childrenData) {
+      const nodeData = po.childrenData[i];
+      po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2], i==l);
+    }
+    insertFunction();
+  }
+
+  const gotoNode = function(o,subIndex,root,hash,relpath) {
+    const nti = navTreeSubIndices[subIndex][root+hash];
+    o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
+    if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
+      navTo(o,NAVTREE[0][1],"",relpath);
+      $('.item').removeClass('selected');
+      $('.item').removeAttr('id');
+    }
+    if (o.breadcrumbs) {
+      o.breadcrumbs.unshift(0); // add 0 for root node
+      showNode(o, o.node, 0, hash);
+    }
+  }
+
+  const navTo = function(o,root,hash,relpath) {
+    const link = cachedLink();
+    if (link) {
+      const parts = link.split('#');
+      root = parts[0];
+      hash = parts.length>1 ? '#'+parts[1].replace(/[^\w-]/g,'') : '';
+    }
+    if (hash.match(/^#l\d+$/)) {
+      const anchor=$('a[name='+hash.substring(1)+']');
+      glowEffect(anchor.parent(),1000); // line number
+      hash=''; // strip line number anchors
+    }
+    const url=root+hash;
+    let i=-1;
+    while (NAVTREEINDEX[i+1]<=url) i++;
+    if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
+    if (navTreeSubIndices[i]) {
+      gotoNode(o,i,root,hash,relpath)
+    } else {
+      getScript(relpath+'navtreeindex'+i,function() {
+        navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
+        if (navTreeSubIndices[i]) {
+          gotoNode(o,i,root,hash,relpath);
+        }
+      });
+    }
+  }
+
+  const showSyncOff = function(n,relpath) {
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+  }
+
+  const showSyncOn = function(n,relpath) {
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+  }
+
+  const o = {
+    toroot : toroot,
+    node   : {
+      childrenData  : NAVTREE,
+      children      : [],
+      childrenUL    : document.createElement("ul"),
+      getChildrenUL : function() { return this.childrenUL },
+      li            : document.getElementById("nav-tree-contents"),
+      depth         : 0,
+      relpath       : relpath,
+      expanded      : false,
+      isLast        : true,
+      plus_img      : document.createElement("span"),
+    },
+  };
+  o.node.li.appendChild(o.node.childrenUL);
+  o.node.plus_img.className = 'arrow';
+  o.node.plus_img.innerHTML = ARROW_RIGHT;
+
+  const navSync = $('#nav-sync');
+  if (cachedLink()) {
+    showSyncOff(navSync,relpath);
+    navSync.removeClass('sync');
+  } else {
+    showSyncOn(navSync,relpath);
+  }
+
+  navSync.click(() => {
+    const navSync = $('#nav-sync');
+    if (navSync.hasClass('sync')) {
+      navSync.removeClass('sync');
+      showSyncOff(navSync,relpath);
+      storeLink(stripPath2(pathName())+hashUrl());
+    } else {
+      navSync.addClass('sync');
+      showSyncOn(navSync,relpath);
+      deleteLink();
+    }
+  });
+
+  navTo(o,toroot,hashUrl(),relpath);
+  showRoot();
+
+  $(window).bind('hashchange', () => {
+    if (!animationInProgress) {
+      if (window.location.hash && window.location.hash.length>1) {
+        let a;
+        if ($(location).attr('hash')) {
+          const clslink=stripPath(pathName())+':'+hashValue();
+          a=$('.item a[class$="'+clslink.replace(/</g,'\\3c ')+'"]');
+        }
+        if (a==null || !$(a).parent().parent().hasClass('selected')) {
+          $('.item').removeClass('selected');
+          $('.item').removeAttr('id');
+        }
+        const link=stripPath2(pathName());
+        navTo(o,link,hashUrl(),relpath);
+        } else {
+        $('#doc-content').scrollTop(0);
+        $('.item').removeClass('selected');
+        $('.item').removeAttr('id');
+        navTo(o,toroot,hashUrl(),relpath);
+      }
+    }
+  });
+
+  $("div.toc a[href]").click(function(e) {
+    e.preventDefault();
+    const aname = $(this).attr("href");
+    gotoAnchor($(aname),aname);
+  });
+}
+/* @license-end */
diff --git a/docs/html/navtreedata.js b/docs/html/navtreedata.js
new file mode 100644
index 0000000..2dff572
--- /dev/null
+++ b/docs/html/navtreedata.js
@@ -0,0 +1,77 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ 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.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var NAVTREE =
+[
+  [ "N4 Flight Software", "index.html", [
+    [ "Introduction", "index.html#intro_sec", null ],
+    [ "Major features", "index.html#step1", [
+      [ "Modularity", "index.html#step2", null ],
+      [ "System Logging", "index.html#step3", null ],
+      [ "HIL Testing Engine", "index.html#step4", null ],
+      [ "Flight data logging", "index.html#step5", null ],
+      [ "Data dump interface", "index.html#step6", null ],
+      [ "SAFE and FLIGHT modes", "index.html#step7", null ],
+      [ "XBEE, MQTT, LORA, WIFI telemetry selection", "index.html#step8", null ],
+      [ "Double ejection", "index.html#step9", null ]
+    ] ],
+    [ "Building, Compilation and Downloading.", "index.html#install_sec", [
+      [ "System requirements", "index.html#step10", null ],
+      [ "Building the code", "index.html#step11", null ]
+    ] ],
+    [ "Hardware, pin assignment and peripherals", "index.html#step13", null ],
+    [ "Integration and Testing Procedures", "index.html#step14", null ],
+    [ "Contributors", "index.html#step15", null ],
+    [ "README", "md_n4-flight-software_2_r_e_a_d_m_e.html", null ],
+    [ "pin-assignment", "md_n4-flight-software_2src_2pin-assignment.html", null ],
+    [ "Classes", "annotated.html", [
+      [ "Class List", "annotated.html", "annotated_dup" ],
+      [ "Class Index", "classes.html", null ],
+      [ "Class Hierarchy", "hierarchy.html", "hierarchy" ],
+      [ "Class Members", "functions.html", [
+        [ "All", "functions.html", null ],
+        [ "Functions", "functions_func.html", null ]
+      ] ]
+    ] ],
+    [ "Files", "files.html", [
+      [ "File List", "files.html", "files_dup" ],
+      [ "File Members", "globals.html", [
+        [ "All", "globals.html", null ],
+        [ "Functions", "globals_func.html", null ],
+        [ "Variables", "globals_vars.html", null ],
+        [ "Enumerations", "globals_enum.html", null ],
+        [ "Enumerator", "globals_eval.html", null ],
+        [ "Macros", "globals_defs.html", null ]
+      ] ]
+    ] ]
+  ] ]
+];
+
+var NAVTREEINDEX =
+[
+"_system_log_levels_8h_source.html"
+];
+
+var SYNCONMSG = 'click to disable panel synchronisation';
+var SYNCOFFMSG = 'click to enable panel synchronisation';
\ No newline at end of file
diff --git a/docs/html/navtreeindex0.js b/docs/html/navtreeindex0.js
new file mode 100644
index 0000000..14bd5b3
--- /dev/null
+++ b/docs/html/navtreeindex0.js
@@ -0,0 +1,150 @@
+var NAVTREEINDEX0 =
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rename to docs/html/search/files_2.js
index bb110cd..67ab91a 100644
--- a/n4-flight-software/html/search/files_2.js
+++ b/docs/html/search/files_2.js
@@ -1,4 +1,5 @@
 var searchData=
 [
-  ['state_5fmachine_2ecpp_0',['state_machine.cpp',['../include_2state__machine_8cpp.html',1,'(Global Namespace)'],['../test_2state__machine_8cpp.html',1,'(Global Namespace)']]]
+  ['state_5fmachine_2ecpp_0',['state_machine.cpp',['../include_2state__machine_8cpp.html',1,'(Global Namespace)'],['../test_2state__machine_8cpp.html',1,'(Global Namespace)']]],
+  ['states_2eh_1',['states.h',['../states_8h.html',1,'']]]
 ];
diff --git a/docs/html/search/functions_0.js b/docs/html/search/functions_0.js
new file mode 100644
index 0000000..649b112
--- /dev/null
+++ b/docs/html/search/functions_0.js
@@ -0,0 +1,6 @@
+var searchData=
+[
+  ['blink_5f200ms_0',['blink_200ms',['../src_2main_8cpp.html#a4139203bf745c4d38fd73bab228d571e',1,'main.cpp']]],
+  ['bmpinit_1',['BMPInit',['../src_2main_8cpp.html#a80d57b1ee5cb9d474465d3f8485f5bbc',1,'main.cpp']]],
+  ['buzz_2',['buzz',['../src_2main_8cpp.html#a28b1eb955e6e2f5e83599536f6bf4d2f',1,'main.cpp']]]
+];
diff --git a/docs/html/search/functions_1.js b/docs/html/search/functions_1.js
new file mode 100644
index 0000000..83b1274
--- /dev/null
+++ b/docs/html/search/functions_1.js
@@ -0,0 +1,7 @@
+var searchData=
+[
+  ['checkflightstate_0',['checkFlightState',['../src_2main_8cpp.html#a152aa3ad3c21993eb70968de75219174',1,'main.cpp']]],
+  ['checkruntesttoggle_1',['checkRunTestToggle',['../src_2main_8cpp.html#a36d26be00724540c08411ce54b01a49b',1,'main.cpp']]],
+  ['cleartelemetryqueuetask_2',['clearTelemetryQueueTask',['../src_2main_8cpp.html#a2eee545cf4af91a694e63ac4940276a4',1,'main.cpp']]],
+  ['converttimestamp_3',['convertTimestamp',['../custom-time_8h.html#a3e93bbd5d89dde887f93f6264db8a49f',1,'custom-time.cpp']]]
+];
diff --git a/n4-flight-software/html/search/functions_2.js b/docs/html/search/functions_2.js
similarity index 51%
rename from n4-flight-software/html/search/functions_2.js
rename to docs/html/search/functions_2.js
index 2d7e5a2..22f19ff 100644
--- a/n4-flight-software/html/search/functions_2.js
+++ b/docs/html/search/functions_2.js
@@ -1,5 +1,6 @@
 var searchData=
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   ['datalogger_0',['DataLogger',['../class_data_logger.html#a9ddfc501b4bd4f004f11854c3552d574',1,'DataLogger']]],
-  ['debugtoterminaltask_1',['debugToTerminalTask',['../src_2main_8cpp.html#aaa1a5716bd567e8c37465dabe33e6396',1,'main.cpp']]]
+  ['debugtoterminaltask_1',['debugToTerminalTask',['../src_2main_8cpp.html#aaa1a5716bd567e8c37465dabe33e6396',1,'main.cpp']]],
+  ['droguechutedeploy_2',['drogueChuteDeploy',['../src_2main_8cpp.html#aee373e9d6ea48f0b376bdaa1c2970510',1,'main.cpp']]]
 ];
diff --git a/docs/html/search/functions_3.js b/docs/html/search/functions_3.js
new file mode 100644
index 0000000..adf15db
--- /dev/null
+++ b/docs/html/search/functions_3.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['filterimu_0',['filterImu',['../class_m_p_u6050.html#aed4696b264b467844771ef28b274541b',1,'MPU6050']]],
+  ['flightstatecallback_1',['flightStateCallback',['../src_2main_8cpp.html#a6648d201a9f47aa836d36e5339e78ef3',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/search/functions_4.js b/docs/html/search/functions_4.js
similarity index 100%
rename from n4-flight-software/html/search/functions_4.js
rename to docs/html/search/functions_4.js
diff --git a/docs/html/search/functions_5.js b/docs/html/search/functions_5.js
new file mode 100644
index 0000000..e5e81d2
--- /dev/null
+++ b/docs/html/search/functions_5.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['handshakeserialevent_0',['handshakeSerialEvent',['../src_2main_8cpp.html#a41453ccb33ef6b57e513b16e92dd130e',1,'main.cpp']]]
+];
diff --git a/docs/html/search/functions_6.js b/docs/html/search/functions_6.js
new file mode 100644
index 0000000..0b601d5
--- /dev/null
+++ b/docs/html/search/functions_6.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['initgpio_0',['initGPIO',['../src_2main_8cpp.html#ae8297bf2b99a2ad67af6f9a421ea4b16',1,'main.cpp']]],
+  ['initxmodem_1',['InitXMODEM',['../src_2main_8cpp.html#abf447a0860a5fec74fecf8654172fec0',1,'main.cpp']]]
+];
diff --git a/docs/html/search/functions_7.js b/docs/html/search/functions_7.js
new file mode 100644
index 0000000..1f17d99
--- /dev/null
+++ b/docs/html/search/functions_7.js
@@ -0,0 +1,14 @@
+var searchData=
+[
+  ['listdir_0',['listDir',['../src_2main_8cpp.html#a8841578fe91cace6206676f0e751cab5',1,'main.cpp']]],
+  ['loggerequals_1',['loggerEquals',['../class_data_logger.html#acb9bf3c62db1f28016d68d51efe25d43',1,'DataLogger']]],
+  ['loggerformat_2',['loggerFormat',['../class_data_logger.html#a5e9756481c9c74167ba32ad7a479e8b3',1,'DataLogger']]],
+  ['loggerinfo_3',['loggerInfo',['../class_data_logger.html#a9a968317a7e3bb763d8cd551063e7348',1,'DataLogger']]],
+  ['loggerinit_4',['loggerInit',['../class_data_logger.html#a0cf2853582b7f2194eb0024d3d6d4944',1,'DataLogger']]],
+  ['loggerread_5',['loggerRead',['../class_data_logger.html#a5a0deefb9372f1577636014a59025e6f',1,'DataLogger']]],
+  ['loggerspaces_6',['loggerSpaces',['../class_data_logger.html#aa2e189964fbebc28dc2a327fdccc5684',1,'DataLogger']]],
+  ['loggertest_7',['loggerTest',['../class_data_logger.html#ae8a69bf0cc965365057e93a164ca9239',1,'DataLogger']]],
+  ['loggerwrite_8',['loggerWrite',['../class_data_logger.html#a411ac6fd751d3a87cef0375fccaad028',1,'DataLogger']]],
+  ['logtomemory_9',['logToMemory',['../src_2main_8cpp.html#a7df146b43e503e23146e698154d5096d',1,'main.cpp']]],
+  ['loop_10',['loop',['../src_2main_8cpp.html#afe461d27b9c48d5921c00d521181f12f',1,'main.cpp']]]
+];
diff --git a/docs/html/search/functions_8.js b/docs/html/search/functions_8.js
new file mode 100644
index 0000000..c9f7166
--- /dev/null
+++ b/docs/html/search/functions_8.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['mainchutedeploy_0',['mainChuteDeploy',['../src_2main_8cpp.html#a9074d493ccf55d0cfa3acd2d173f665a',1,'main.cpp']]]
+];
diff --git a/docs/html/search/functions_9.js b/docs/html/search/functions_9.js
new file mode 100644
index 0000000..9ba8c01
--- /dev/null
+++ b/docs/html/search/functions_9.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['parseserialnumeric_0',['ParseSerialNumeric',['../src_2main_8cpp.html#a102c6561be41c1aafb3bd6da443deed7',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/search/functions_6.js b/docs/html/search/functions_a.js
similarity index 77%
rename from n4-flight-software/html/search/functions_6.js
rename to docs/html/search/functions_a.js
index ddea2ff..599547f 100644
--- a/n4-flight-software/html/search/functions_6.js
+++ b/docs/html/search/functions_a.js
@@ -5,5 +5,6 @@ var searchData=
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   ['readyacceleration_4',['readYAcceleration',['../class_m_p_u6050.html#ab34bd3131afe39a6f5178f46ec63a0e7',1,'MPU6050']]],
-  ['readzacceleration_5',['readZAcceleration',['../class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8',1,'MPU6050']]]
+  ['readzacceleration_5',['readZAcceleration',['../class_m_p_u6050.html#a18bf4368cc536ba0da3d41bdd4241be8',1,'MPU6050']]],
+  ['receivetestdataserialevent_6',['receiveTestDataSerialEvent',['../src_2main_8cpp.html#a61040c538622d7ad222068e37d96b52a',1,'main.cpp']]]
 ];
diff --git a/docs/html/search/functions_b.js b/docs/html/search/functions_b.js
new file mode 100644
index 0000000..17240f1
--- /dev/null
+++ b/docs/html/search/functions_b.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['setup_0',['setup',['../src_2main_8cpp.html#a4fc01d736fe50cf5b977f755b675f11d',1,'main.cpp']]],
+  ['switchleds_1',['SwitchLEDs',['../src_2main_8cpp.html#a5f3e40ff0b3b6f2c247fadc41b0a5896',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/search/mag.svg b/docs/html/search/mag.svg
similarity index 100%
rename from n4-flight-software/html/search/mag.svg
rename to docs/html/search/mag.svg
diff --git a/n4-flight-software/html/search/mag_d.svg b/docs/html/search/mag_d.svg
similarity index 100%
rename from n4-flight-software/html/search/mag_d.svg
rename to docs/html/search/mag_d.svg
diff --git a/n4-flight-software/html/search/mag_sel.svg b/docs/html/search/mag_sel.svg
similarity index 100%
rename from n4-flight-software/html/search/mag_sel.svg
rename to docs/html/search/mag_sel.svg
diff --git a/n4-flight-software/html/search/mag_seld.svg b/docs/html/search/mag_seld.svg
similarity index 100%
rename from n4-flight-software/html/search/mag_seld.svg
rename to docs/html/search/mag_seld.svg
diff --git a/docs/html/search/pages_0.js b/docs/html/search/pages_0.js
new file mode 100644
index 0000000..368e5da
--- /dev/null
+++ b/docs/html/search/pages_0.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['assignment_0',['pin-assignment',['../md_n4-flight-software_2src_2pin-assignment.html',1,'']]]
+];
diff --git a/docs/html/search/pages_1.js b/docs/html/search/pages_1.js
new file mode 100644
index 0000000..a526e00
--- /dev/null
+++ b/docs/html/search/pages_1.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['flight_20software_0',['N4 Flight Software',['../index.html',1,'']]]
+];
diff --git a/docs/html/search/pages_2.js b/docs/html/search/pages_2.js
new file mode 100644
index 0000000..4d1304e
--- /dev/null
+++ b/docs/html/search/pages_2.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['n4_20flight_20software_0',['N4 Flight Software',['../index.html',1,'']]]
+];
diff --git a/docs/html/search/pages_3.js b/docs/html/search/pages_3.js
new file mode 100644
index 0000000..98eb50f
--- /dev/null
+++ b/docs/html/search/pages_3.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['pin_20assignment_0',['pin-assignment',['../md_n4-flight-software_2src_2pin-assignment.html',1,'']]]
+];
diff --git a/docs/html/search/pages_4.js b/docs/html/search/pages_4.js
new file mode 100644
index 0000000..f60a18e
--- /dev/null
+++ b/docs/html/search/pages_4.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['readme_0',['README',['../md_n4-flight-software_2_r_e_a_d_m_e.html',1,'']]]
+];
diff --git a/docs/html/search/pages_5.js b/docs/html/search/pages_5.js
new file mode 100644
index 0000000..603a84a
--- /dev/null
+++ b/docs/html/search/pages_5.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['software_0',['N4 Flight Software',['../index.html',1,'']]]
+];
diff --git a/docs/html/search/pages_6.js b/docs/html/search/pages_6.js
new file mode 100644
index 0000000..98eb50f
--- /dev/null
+++ b/docs/html/search/pages_6.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['pin_20assignment_0',['pin-assignment',['../md_n4-flight-software_2src_2pin-assignment.html',1,'']]]
+];
diff --git a/docs/html/search/pages_7.js b/docs/html/search/pages_7.js
new file mode 100644
index 0000000..f60a18e
--- /dev/null
+++ b/docs/html/search/pages_7.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['readme_0',['README',['../md_n4-flight-software_2_r_e_a_d_m_e.html',1,'']]]
+];
diff --git a/docs/html/search/pages_8.js b/docs/html/search/pages_8.js
new file mode 100644
index 0000000..f831d08
--- /dev/null
+++ b/docs/html/search/pages_8.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['software_20documentation_0',['N4 Flight Software Documentation',['../md__r_e_a_d_m_e.html',1,'']]]
+];
diff --git a/n4-flight-software/html/search/search.css b/docs/html/search/search.css
similarity index 100%
rename from n4-flight-software/html/search/search.css
rename to docs/html/search/search.css
diff --git a/n4-flight-software/html/search/search.js b/docs/html/search/search.js
similarity index 100%
rename from n4-flight-software/html/search/search.js
rename to docs/html/search/search.js
diff --git a/n4-flight-software/html/search/searchdata.js b/docs/html/search/searchdata.js
similarity index 52%
rename from n4-flight-software/html/search/searchdata.js
rename to docs/html/search/searchdata.js
index 8779ec9..fed4bd0 100644
--- a/n4-flight-software/html/search/searchdata.js
+++ b/docs/html/search/searchdata.js
@@ -1,11 +1,14 @@
 var indexSectionsWithContent =
 {
-  0: "abcdfgilmoprst",
+  0: "abcdefghilmnoprstvwx",
   1: "acdfglmst",
   2: "cms",
-  3: "bcdfglrs",
-  4: "acfilopt",
-  5: "r"
+  3: "bcdfghilmprs",
+  4: "acfgiloprstv",
+  5: "t",
+  6: "hr",
+  7: "acemnst",
+  8: "afnprs"
 };
 
 var indexSectionNames =
@@ -15,7 +18,10 @@ var indexSectionNames =
   2: "files",
   3: "functions",
   4: "variables",
-  5: "pages"
+  5: "enums",
+  6: "enumvalues",
+  7: "defines",
+  8: "pages"
 };
 
 var indexSectionLabels =
@@ -25,6 +31,9 @@ var indexSectionLabels =
   2: "Files",
   3: "Functions",
   4: "Variables",
-  5: "Pages"
+  5: "Enumerations",
+  6: "Enumerator",
+  7: "Macros",
+  8: "Pages"
 };
 
diff --git a/n4-flight-software/html/search/variables_0.js b/docs/html/search/variables_0.js
similarity index 100%
rename from n4-flight-software/html/search/variables_0.js
rename to docs/html/search/variables_0.js
diff --git a/docs/html/search/variables_1.js b/docs/html/search/variables_1.js
new file mode 100644
index 0000000..bd4a330
--- /dev/null
+++ b/docs/html/search/variables_1.js
@@ -0,0 +1,6 @@
+var searchData=
+[
+  ['current_5flog_5ftime_0',['current_log_time',['../src_2main_8cpp.html#a318b23db9cedde5ea8466af114f0c203',1,'main.cpp']]],
+  ['current_5fstate_1',['current_state',['../src_2main_8cpp.html#ac559654865b2d48ea0b77b1a1f4a097b',1,'main.cpp']]],
+  ['current_5ftest_5fstate_2',['current_test_state',['../src_2main_8cpp.html#a9dc783a2c139e60a49e643aed8b741b9',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/search/variables_2.js b/docs/html/search/variables_2.js
similarity index 77%
rename from n4-flight-software/html/search/variables_2.js
rename to docs/html/search/variables_2.js
index 841b83a..10496f6 100644
--- a/n4-flight-software/html/search/variables_2.js
+++ b/docs/html/search/variables_2.js
@@ -5,5 +5,6 @@ var searchData=
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   ['filename_4',['filename',['../src_2main_8cpp.html#a6c2affe0788e6ba12dce7a51e1bd35c3',1,'main.cpp']]],
-  ['flash_5fled_5fpin_5',['flash_led_pin',['../src_2main_8cpp.html#ab506410443108766020e011a3c9293af',1,'main.cpp']]]
+  ['flash_5fcs_5fpin_5',['flash_cs_pin',['../src_2main_8cpp.html#a974c70ac5c2f6156bf0e7fafd973d803',1,'main.cpp']]],
+  ['flash_5fled_5fpin_6',['flash_led_pin',['../src_2main_8cpp.html#ab506410443108766020e011a3c9293af',1,'main.cpp']]]
 ];
diff --git a/docs/html/search/variables_3.js b/docs/html/search/variables_3.js
new file mode 100644
index 0000000..feeaa8c
--- /dev/null
+++ b/docs/html/search/variables_3.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['green_5fled_0',['green_led',['../src_2main_8cpp.html#ac4026e93b77dbb4130e8114a3ce0f669',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/search/all_6.js b/docs/html/search/variables_4.js
similarity index 100%
rename from n4-flight-software/html/search/all_6.js
rename to docs/html/search/variables_4.js
diff --git a/n4-flight-software/html/search/variables_4.js b/docs/html/search/variables_5.js
similarity index 100%
rename from n4-flight-software/html/search/variables_4.js
rename to docs/html/search/variables_5.js
diff --git a/n4-flight-software/html/search/variables_5.js b/docs/html/search/variables_6.js
similarity index 100%
rename from n4-flight-software/html/search/variables_5.js
rename to docs/html/search/variables_6.js
diff --git a/n4-flight-software/html/search/all_a.js b/docs/html/search/variables_7.js
similarity index 100%
rename from n4-flight-software/html/search/all_a.js
rename to docs/html/search/variables_7.js
diff --git a/docs/html/search/variables_8.js b/docs/html/search/variables_8.js
new file mode 100644
index 0000000..9446b1b
--- /dev/null
+++ b/docs/html/search/variables_8.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['recv_5fdata_5fled_0',['recv_data_led',['../src_2main_8cpp.html#a7047c2926a0671d98c6f80a4015f2c14',1,'main.cpp']]],
+  ['red_5fled_1',['red_led',['../src_2main_8cpp.html#a450aab1d5c2ac17dd8a8fd346a47cf16',1,'main.cpp']]]
+];
diff --git a/docs/html/search/variables_9.js b/docs/html/search/variables_9.js
new file mode 100644
index 0000000..839b425
--- /dev/null
+++ b/docs/html/search/variables_9.js
@@ -0,0 +1,7 @@
+var searchData=
+[
+  ['sd_5fcs_5fpin_0',['SD_CS_PIN',['../src_2main_8cpp.html#adcf3e4d2276ee4d10b23c05e4e7da0c3',1,'main.cpp']]],
+  ['set_5frun_5fmode_5fpin_1',['SET_RUN_MODE_PIN',['../src_2main_8cpp.html#abea45f8bc016d99f82b468ae77916e64',1,'main.cpp']]],
+  ['set_5ftest_5fmode_5fpin_2',['SET_TEST_MODE_PIN',['../src_2main_8cpp.html#ac0121f71eae2488320c2cd36a4843976',1,'main.cpp']]],
+  ['soh_5frecvd_5fflag_3',['SOH_recvd_flag',['../src_2main_8cpp.html#a6a02e76e786465c8d2fe8ba9ad3393da',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/search/variables_7.js b/docs/html/search/variables_a.js
similarity index 100%
rename from n4-flight-software/html/search/variables_7.js
rename to docs/html/search/variables_a.js
diff --git a/docs/html/search/variables_b.js b/docs/html/search/variables_b.js
new file mode 100644
index 0000000..6631942
--- /dev/null
+++ b/docs/html/search/variables_b.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['value_0',['value',['../src_2main_8cpp.html#ac4f474c82e82cbb89ca7c36dd52be0ed',1,'main.cpp']]]
+];
diff --git a/n4-flight-software/html/sensors_8h_source.html b/docs/html/sensors_8h_source.html
similarity index 77%
rename from n4-flight-software/html/sensors_8h_source.html
rename to docs/html/sensors_8h_source.html
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+<div class="header">
+  <div class="summary">
+<a href="#define-members">Macros</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle"><div class="title">main.cpp File Reference</div></div>
+</div><!--header-->
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+
+<p>This contains the main driver code for the flight computer.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;Arduino.h&gt;</code><br />
+<code>#include &lt;Wire.h&gt;</code><br />
+<code>#include &lt;WiFi.h&gt;</code><br />
+<code>#include &lt;PubSubClient.h&gt;</code><br />
+<code>#include &lt;TinyGPSPlus.h&gt;</code><br />
+<code>#include &lt;SFE_BMP180.h&gt;</code><br />
+<code>#include &lt;FS.h&gt;</code><br />
+<code>#include &lt;SD.h&gt;</code><br />
+<code>#include &lt;SPIFFS.h&gt;</code><br />
+<code>#include &quot;sensors.h&quot;</code><br />
+<code>#include &quot;defs.h&quot;</code><br />
+<code>#include &quot;mpu.h&quot;</code><br />
+<code>#include &quot;SerialFlash.h&quot;</code><br />
+<code>#include &quot;logger.h&quot;</code><br />
+<code>#include &quot;data-types.h&quot;</code><br />
+<code>#include &quot;<a class="el" href="custom-time_8h_source.html">custom-time.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="states_8h_source.html">states.h</a>&quot;</code><br />
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+#define&#160;</td><td class="memItemRight" valign="bottom"><b>ALTITUDE</b>&#160;&#160;&#160;1525.0</td></tr>
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+<tr class="memitem:a7010bdd588d627529b5948acb89dc09d" id="r_a7010bdd588d627529b5948acb89dc09d"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7010bdd588d627529b5948acb89dc09d">TEST_STATE</a> { <a class="el" href="#a7010bdd588d627529b5948acb89dc09dacc6ddcaa36bd57e5aec12749cb5ce29c">HANDSHAKE</a> = 0
+, <a class="el" href="#a7010bdd588d627529b5948acb89dc09da078eb5ef5383567cdf7a9b36f49289d6">RECEIVE_TEST_DATA</a>
+, <b>CONFIRM_TEST_DATA</b>
+ }</td></tr>
+<tr class="memdesc:a7010bdd588d627529b5948acb89dc09d"><td class="mdescLeft">&#160;</td><td class="mdescRight">This enum holds the states during flight computer test mode.  <a href="#a7010bdd588d627529b5948acb89dc09d">More...</a><br /></td></tr>
+<tr class="separator:a7010bdd588d627529b5948acb89dc09d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:aee373e9d6ea48f0b376bdaa1c2970510" id="r_aee373e9d6ea48f0b376bdaa1c2970510"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aee373e9d6ea48f0b376bdaa1c2970510">drogueChuteDeploy</a> ()</td></tr>
+<tr class="memdesc:aee373e9d6ea48f0b376bdaa1c2970510"><td class="mdescLeft">&#160;</td><td class="mdescRight">fires the pyro-charge to deploy the drogue chute Turn on the drogue chute ejection circuit by running the GPIO HIGH for a preset No. of seconds. <br  />
+ Default no. of seconds to remain HIGH is 5  <br /></td></tr>
+<tr class="separator:aee373e9d6ea48f0b376bdaa1c2970510"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9074d493ccf55d0cfa3acd2d173f665a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+PubSubClient&#160;</td><td class="memItemRight" valign="bottom"><b>mqtt_client</b> (wifi_client)</td></tr>
+<tr class="separator:a4a46279717733648d2fdc69dfa33af50"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8841578fe91cace6206676f0e751cab5" id="r_a8841578fe91cace6206676f0e751cab5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8841578fe91cace6206676f0e751cab5">listDir</a> (fs::FS &amp;fs, const char *dirname, uint8_t levels)</td></tr>
+<tr class="separator:a8841578fe91cace6206676f0e751cab5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae8297bf2b99a2ad67af6f9a421ea4b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad150871dcb335bbf64b1bd7bf9f6d379" id="r_ad150871dcb335bbf64b1bd7bf9f6d379"><td class="memItemLeft" align="right" valign="top"><a id="ad150871dcb335bbf64b1bd7bf9f6d379" name="ad150871dcb335bbf64b1bd7bf9f6d379"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>InitSPIFFS</b> ()</td></tr>
+<tr class="separator:ad150871dcb335bbf64b1bd7bf9f6d379"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af25a1f794fa12539ca1c4cba5122952d" id="r_af25a1f794fa12539ca1c4cba5122952d"><td class="memItemLeft" align="right" valign="top"><a id="af25a1f794fa12539ca1c4cba5122952d" name="af25a1f794fa12539ca1c4cba5122952d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>initSD</b> ()</td></tr>
+<tr class="separator:af25a1f794fa12539ca1c4cba5122952d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:abf447a0860a5fec74fecf8654172fec0" id="r_abf447a0860a5fec74fecf8654172fec0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abf447a0860a5fec74fecf8654172fec0">InitXMODEM</a> ()</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>SerialEvent</b> ()</td></tr>
+<tr class="separator:ae85f069042042f486771e16e80d4ab4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>ParseSerial</b> (char *)</td></tr>
+<tr class="separator:a9511fdd05a1d494d359670ec39a4f536"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>readFile</b> (fs::FS &amp;fs, const char *path)</td></tr>
+<tr class="separator:a39694d8c816730fe5b678b70afa424ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>writeFile</b> (fs::FS &amp;fs, const char *path, const char *message)</td></tr>
+<tr class="separator:adfdfe491c3b951586aeba25a0b8ccf80"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>appendFile</b> (fs::FS &amp;fs, const char *path, const char *message)</td></tr>
+<tr class="separator:a22c708660ca240d82a93c9ab590d4410"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>deleteFile</b> (fs::FS &amp;fs, const char *path)</td></tr>
+<tr class="separator:a539a0ab36133d19baf630c5f09367c1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>readTestDataFile</b> ()</td></tr>
+<tr class="separator:a08fd5ccb534426dffe601ec8a8bf1d3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a116b2d63316554bf84b8f25408795de3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a80d57b1ee5cb9d474465d3f8485f5bbc" id="r_a80d57b1ee5cb9d474465d3f8485f5bbc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a80d57b1ee5cb9d474465d3f8485f5bbc">BMPInit</a> ()</td></tr>
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+<tr class="memdesc:a7df146b43e503e23146e698154d5096d"><td class="mdescLeft">&#160;</td><td class="mdescRight">log the data to the external flash memory  <br /></td></tr>
+<tr class="separator:a7df146b43e503e23146e698154d5096d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:afe461d27b9c48d5921c00d521181f12f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main loop.  <br /></td></tr>
+<tr class="separator:afe461d27b9c48d5921c00d521181f12f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="var-members" name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a59b33f351d47779eaaff510227075be1" id="r_a59b33f351d47779eaaff510227075be1"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a59b33f351d47779eaaff510227075be1">operation_mode</a> = 0</td></tr>
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+<tr class="memitem:ac559654865b2d48ea0b77b1a1f4a097b" id="r_ac559654865b2d48ea0b77b1a1f4a097b"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac559654865b2d48ea0b77b1a1f4a097b">current_state</a> = FLIGHT_STATE::PRE_FLIGHT_GROUND</td></tr>
+<tr class="separator:ac559654865b2d48ea0b77b1a1f4a097b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afafd0fc922c17c38235820189e1d9b3b" id="r_afafd0fc922c17c38235820189e1d9b3b"><td class="memItemLeft" align="right" valign="top"><a id="afafd0fc922c17c38235820189e1d9b3b" name="afafd0fc922c17c38235820189e1d9b3b"></a>
+WiFiClient&#160;</td><td class="memItemRight" valign="bottom"><b>wifi_client</b></td></tr>
+<tr class="separator:afafd0fc922c17c38235820189e1d9b3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a169c53997a7da1d0fb99aec1b4675ce8" id="r_a169c53997a7da1d0fb99aec1b4675ce8"><td class="memItemLeft" align="right" valign="top"><a id="a169c53997a7da1d0fb99aec1b4675ce8" name="a169c53997a7da1d0fb99aec1b4675ce8"></a>
+TinyGPSPlus&#160;</td><td class="memItemRight" valign="bottom"><b>gps</b></td></tr>
+<tr class="separator:a169c53997a7da1d0fb99aec1b4675ce8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a703e0d9679428f7c9e0a24e766ba4489" id="r_a703e0d9679428f7c9e0a24e766ba4489"><td class="memItemLeft" align="right" valign="top"><a id="a703e0d9679428f7c9e0a24e766ba4489" name="a703e0d9679428f7c9e0a24e766ba4489"></a>
+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>RUN_MODE</b> = 0</td></tr>
+<tr class="separator:a703e0d9679428f7c9e0a24e766ba4489"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a692df54084ea1c5ccd3f3545ea837d28" id="r_a692df54084ea1c5ccd3f3545ea837d28"><td class="memItemLeft" align="right" valign="top"><a id="a692df54084ea1c5ccd3f3545ea837d28" name="a692df54084ea1c5ccd3f3545ea837d28"></a>
+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>TEST_MODE</b> = 0</td></tr>
+<tr class="separator:a692df54084ea1c5ccd3f3545ea837d28"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6a02e76e786465c8d2fe8ba9ad3393da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf47e13b2e3cea61c77ba4e8843d0f8d" id="r_adf47e13b2e3cea61c77ba4e8843d0f8d"><td class="memItemLeft" align="right" valign="top"><a id="adf47e13b2e3cea61c77ba4e8843d0f8d" name="adf47e13b2e3cea61c77ba4e8843d0f8d"></a>
+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>last_NAK_time</b> = 0</td></tr>
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+<tr class="memitem:aed99335d0f01fdabbea10db3f6d081f9" id="r_aed99335d0f01fdabbea10db3f6d081f9"><td class="memItemLeft" align="right" valign="top"><a id="aed99335d0f01fdabbea10db3f6d081f9" name="aed99335d0f01fdabbea10db3f6d081f9"></a>
+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>current_NAK_time</b> = 0</td></tr>
+<tr class="separator:aed99335d0f01fdabbea10db3f6d081f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb1dda20eef70405fd6d25816edfe3ae" id="r_adb1dda20eef70405fd6d25816edfe3ae"><td class="memItemLeft" align="right" valign="top"><a id="adb1dda20eef70405fd6d25816edfe3ae" name="adb1dda20eef70405fd6d25816edfe3ae"></a>
+char&#160;</td><td class="memItemRight" valign="bottom"><b>SOH_CHR</b> [6] = &quot;SOH&quot;</td></tr>
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+char&#160;</td><td class="memItemRight" valign="bottom"><b>serial_buffer</b> [<a class="el" href="#a2e69b1ee7e19bfbe378c886f88e60fac">MAX_CMD_LENGTH</a>]</td></tr>
+<tr class="separator:a6a7939ba23ca7e650460facb1ee5787d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75972a45c1f79cb68dca96885806415e" id="r_a75972a45c1f79cb68dca96885806415e"><td class="memItemLeft" align="right" valign="top"><a id="a75972a45c1f79cb68dca96885806415e" name="a75972a45c1f79cb68dca96885806415e"></a>
+int16_t&#160;</td><td class="memItemRight" valign="bottom"><b>serial_index</b> = 0</td></tr>
+<tr class="separator:a75972a45c1f79cb68dca96885806415e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af224269236a3cd2559d760873c0c2ebf" id="r_af224269236a3cd2559d760873c0c2ebf"><td class="memItemLeft" align="right" valign="top"><a id="af224269236a3cd2559d760873c0c2ebf" name="af224269236a3cd2559d760873c0c2ebf"></a>
+char&#160;</td><td class="memItemRight" valign="bottom"><b>test_data_buffer</b> [<a class="el" href="#a3aad00c42368296b28f72f623c446925">MAX_CSV_LENGTH</a>]</td></tr>
+<tr class="separator:af224269236a3cd2559d760873c0c2ebf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+int16_t&#160;</td><td class="memItemRight" valign="bottom"><b>test_data_serial_index</b> = 0</td></tr>
+<tr class="separator:a5e07bd725e8c558533fb37ebd7abeafd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac4026e93b77dbb4130e8114a3ce0f669"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9418b2bdb6757580e513ed448fa30dbf" id="r_a9418b2bdb6757580e513ed448fa30dbf"><td class="memItemLeft" align="right" valign="top"><a id="a9418b2bdb6757580e513ed448fa30dbf" name="a9418b2bdb6757580e513ed448fa30dbf"></a>
+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>buzzer</b> = 33</td></tr>
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+<tr class="memitem:ac0121f71eae2488320c2cd36a4843976" id="r_ac0121f71eae2488320c2cd36a4843976"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac0121f71eae2488320c2cd36a4843976">SET_TEST_MODE_PIN</a> = 14</td></tr>
+<tr class="separator:ac0121f71eae2488320c2cd36a4843976"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abea45f8bc016d99f82b468ae77916e64" id="r_abea45f8bc016d99f82b468ae77916e64"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abea45f8bc016d99f82b468ae77916e64">SET_RUN_MODE_PIN</a> = 13</td></tr>
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+<tr class="memitem:adcf3e4d2276ee4d10b23c05e4e7da0c3" id="r_adcf3e4d2276ee4d10b23c05e4e7da0c3"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adcf3e4d2276ee4d10b23c05e4e7da0c3">SD_CS_PIN</a> = 26</td></tr>
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+<tr class="memitem:a9dc783a2c139e60a49e643aed8b741b9" id="r_a9dc783a2c139e60a49e643aed8b741b9"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9dc783a2c139e60a49e643aed8b741b9">current_test_state</a> = <a class="el" href="#a7010bdd588d627529b5948acb89dc09dacc6ddcaa36bd57e5aec12749cb5ce29c">TEST_STATE::HANDSHAKE</a></td></tr>
+<tr class="separator:a9dc783a2c139e60a49e643aed8b741b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7db00b07999bb801300dca544a0fb21b" id="r_a7db00b07999bb801300dca544a0fb21b"><td class="memItemLeft" align="right" valign="top"><a id="a7db00b07999bb801300dca544a0fb21b" name="a7db00b07999bb801300dca544a0fb21b"></a>
+const char *&#160;</td><td class="memItemRight" valign="bottom"><b>test_data_file</b> = &quot;/data.csv&quot;</td></tr>
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+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>last_buzz</b> = 0</td></tr>
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+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>current_buzz</b> = 0</td></tr>
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+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>buzz_interval</b> = 200</td></tr>
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+<tr class="memitem:a96994c7059d932e6868e55eff23a0128" id="r_a96994c7059d932e6868e55eff23a0128"><td class="memItemLeft" align="right" valign="top"><a id="a96994c7059d932e6868e55eff23a0128" name="a96994c7059d932e6868e55eff23a0128"></a>
+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>buzzer_state</b> = LOW</td></tr>
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+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>last_blink</b> = 0</td></tr>
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+<tr class="memitem:a8724316ea8edd0e7ee4ccb6e582a5419" id="r_a8724316ea8edd0e7ee4ccb6e582a5419"><td class="memItemLeft" align="right" valign="top"><a id="a8724316ea8edd0e7ee4ccb6e582a5419" name="a8724316ea8edd0e7ee4ccb6e582a5419"></a>
+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>current_blink</b> = 0</td></tr>
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+unsigned long&#160;</td><td class="memItemRight" valign="bottom"><b>blink_interval</b> = 200</td></tr>
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+<tr class="memitem:ac523471a8c7c7d10b8622f5bc16068bd" id="r_ac523471a8c7c7d10b8622f5bc16068bd"><td class="memItemLeft" align="right" valign="top"><a id="ac523471a8c7c7d10b8622f5bc16068bd" name="ac523471a8c7c7d10b8622f5bc16068bd"></a>
+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>led_state</b> = LOW</td></tr>
+<tr class="separator:ac523471a8c7c7d10b8622f5bc16068bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ac4f474c82e82cbb89ca7c36dd52be0ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parse the received serial command if it is a string.  <br /></td></tr>
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+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>drogue_pyro</b> = 25</td></tr>
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+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>main_pyro</b> = 12</td></tr>
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+uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>remote_switch</b> = 27</td></tr>
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+long long&#160;</td><td class="memItemRight" valign="bottom"><b>current_time</b> = 0</td></tr>
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+<a class="el" href="struct_telemetry___data.html">telemetry_type_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>telemetry_packet</b></td></tr>
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+<tr class="memitem:a92e0738c1b3bff971ec9a9d57465b3d3" id="r_a92e0738c1b3bff971ec9a9d57465b3d3"><td class="memItemLeft" align="right" valign="top"><a id="a92e0738c1b3bff971ec9a9d57465b3d3" name="a92e0738c1b3bff971ec9a9d57465b3d3"></a>
+SFE_BMP180&#160;</td><td class="memItemRight" valign="bottom"><b>altimeter</b></td></tr>
+<tr class="separator:a92e0738c1b3bff971ec9a9d57465b3d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+char&#160;</td><td class="memItemRight" valign="bottom"><b>status</b></td></tr>
+<tr class="separator:a051c9e198ee930358372c407a17e8b78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac94a6e5794c2d7b59588b14025cfba20" id="r_ac94a6e5794c2d7b59588b14025cfba20"><td class="memItemLeft" align="right" valign="top"><a id="ac94a6e5794c2d7b59588b14025cfba20" name="ac94a6e5794c2d7b59588b14025cfba20"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>T</b></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>P</b></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>p0</b></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>a</b></td></tr>
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+QueueHandle_t&#160;</td><td class="memItemRight" valign="bottom"><b>altimeter_data_qHandle</b></td></tr>
+<tr class="separator:a4261944a9bbfd52dbdc30b2e2d30e29b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+QueueHandle_t&#160;</td><td class="memItemRight" valign="bottom"><b>gps_data_qHandle</b></td></tr>
+<tr class="separator:ac659af111261400ebb2b566a7b250ca3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This contains the main driver code for the flight computer. </p>
+<dl class="section author"><dt>Author</dt><dd>Edwin Mwiti </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>0.1 </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>July 15 2024</dd></dl>
+<p>0x5765206D6179206D616B65206F757220706C616E73202C 0x62757420476F642068617320746865206C61737420776F7264 </p>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a6f6489887e08bff4887d0bc5dcf214d8" name="a6f6489887e08bff4887d0bc5dcf214d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f6489887e08bff4887d0bc5dcf214d8">&#9670;&#160;</a></span>ACK</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define ACK&#160;&#160;&#160;0x06</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>positive acknowledgement </p>
+
+</div>
+</div>
+<a id="a427a40e102258055c72607bf7b604549" name="a427a40e102258055c72607bf7b604549"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a427a40e102258055c72607bf7b604549">&#9670;&#160;</a></span>CAN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CAN&#160;&#160;&#160;0x18</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>cancel </p>
+
+</div>
+</div>
+<a id="aa3210a5256085e136fed7897ae93a756" name="aa3210a5256085e136fed7897ae93a756"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3210a5256085e136fed7897ae93a756">&#9670;&#160;</a></span>EOT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define EOT&#160;&#160;&#160;0x04</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>end of transmission </p>
+
+</div>
+</div>
+<a id="a2e69b1ee7e19bfbe378c886f88e60fac" name="a2e69b1ee7e19bfbe378c886f88e60fac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e69b1ee7e19bfbe378c886f88e60fac">&#9670;&#160;</a></span>MAX_CMD_LENGTH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_CMD_LENGTH&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Maximum length of the XMODEM command string that can be received </p>
+
+</div>
+</div>
+<a id="a3aad00c42368296b28f72f623c446925" name="a3aad00c42368296b28f72f623c446925"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3aad00c42368296b28f72f623c446925">&#9670;&#160;</a></span>MAX_CSV_LENGTH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_CSV_LENGTH&#160;&#160;&#160;256</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Maximum length of the csv string that can be received </p>
+
+</div>
+</div>
+<a id="a7ff3e502ffb5d509612c6c6741de45cc" name="a7ff3e502ffb5d509612c6c6741de45cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ff3e502ffb5d509612c6c6741de45cc">&#9670;&#160;</a></span>NAK</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define NAK&#160;&#160;&#160;0x15</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>negative acknowledgement </p>
+
+</div>
+</div>
+<a id="a394162e74bbeb9bf67d3009cc38e0466" name="a394162e74bbeb9bf67d3009cc38e0466"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a394162e74bbeb9bf67d3009cc38e0466">&#9670;&#160;</a></span>NAK_INTERVAL</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define NAK_INTERVAL&#160;&#160;&#160;4000</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Interval in which to send the NAK command to the transmitter </p>
+
+</div>
+</div>
+<a id="ab3796cca360697d3658162dba5965e28" name="ab3796cca360697d3658162dba5965e28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3796cca360697d3658162dba5965e28">&#9670;&#160;</a></span>SOH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SOH&#160;&#160;&#160;0x01</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>start of header </p>
+
+</div>
+</div>
+<a id="a3101d6fdbdc9f9b1d5395471a32e23c9" name="a3101d6fdbdc9f9b1d5395471a32e23c9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3101d6fdbdc9f9b1d5395471a32e23c9">&#9670;&#160;</a></span>TRANSMIT_TELEMETRY_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TRANSMIT_TELEMETRY_BIT&#160;&#160;&#160;((EventBits_t) 0x01 &lt;&lt; 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Task synchronization variables </p>
+
+</div>
+</div>
+<h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a7010bdd588d627529b5948acb89dc09d" name="a7010bdd588d627529b5948acb89dc09d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7010bdd588d627529b5948acb89dc09d">&#9670;&#160;</a></span>TEST_STATE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="#a7010bdd588d627529b5948acb89dc09d">TEST_STATE</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>This enum holds the states during flight computer test mode. </p>
+<hr  />
+  <table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a7010bdd588d627529b5948acb89dc09dacc6ddcaa36bd57e5aec12749cb5ce29c" name="a7010bdd588d627529b5948acb89dc09dacc6ddcaa36bd57e5aec12749cb5ce29c"></a>HANDSHAKE&#160;</td><td class="fielddoc"><p>state to establish initial communication with transmitter </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a7010bdd588d627529b5948acb89dc09da078eb5ef5383567cdf7a9b36f49289d6" name="a7010bdd588d627529b5948acb89dc09da078eb5ef5383567cdf7a9b36f49289d6"></a>RECEIVE_TEST_DATA&#160;</td><td class="fielddoc"><p>sets the flight computer to receive test data over serial </p>
+</td></tr>
+</table>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a4139203bf745c4d38fd73bab228d571e" name="a4139203bf745c4d38fd73bab228d571e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4139203bf745c4d38fd73bab228d571e">&#9670;&#160;</a></span>blink_200ms()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void blink_200ms </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>led_pin</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>implements non-blocking blink </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a80d57b1ee5cb9d474465d3f8485f5bbc" name="a80d57b1ee5cb9d474465d3f8485f5bbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80d57b1ee5cb9d474465d3f8485f5bbc">&#9670;&#160;</a></span>BMPInit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BMPInit </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Initialize BMP180 barometric sensor. </p>
+<hr  />
+ <dl class="section return"><dt>Returns</dt><dd>TODO: 1 if init OK, 0 otherwise </dd></dl>
+
+</div>
+</div>
+<a id="a28b1eb955e6e2f5e83599536f6bf4d2f" name="a28b1eb955e6e2f5e83599536f6bf4d2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28b1eb955e6e2f5e83599536f6bf4d2f">&#9670;&#160;</a></span>buzz()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void buzz </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Buzz the buzzer for a given buzz_interval This function is non-blocking. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a152aa3ad3c21993eb70968de75219174" name="a152aa3ad3c21993eb70968de75219174"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a152aa3ad3c21993eb70968de75219174">&#9670;&#160;</a></span>checkFlightState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void checkFlightState </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameters</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check and update the current state of flight - refer to <a class="el" href="states_8h.html">states.h</a>. </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameters</td><td>- A value that is passed as the paramater to the created task. If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Updates the telemetry data flight state value </dd></dl>
+
+</div>
+</div>
+<a id="a36d26be00724540c08411ce54b01a49b" name="a36d26be00724540c08411ce54b01a49b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36d26be00724540c08411ce54b01a49b">&#9670;&#160;</a></span>checkRunTestToggle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void checkRunTestToggle </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sample the RUN/TEST toggle pins to check whether the fligh tcomputer is in test mode or run mode. If in TEST mode, define the TEST flag If in RUN mode, define the RUN flag TEST_MODE Pin and RUN_MODE pin are both pulled HIGH. When you set the jumper, you pull that pin to LOW. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a2eee545cf4af91a694e63ac4940276a4" name="a2eee545cf4af91a694e63ac4940276a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2eee545cf4af91a694e63ac4940276a4">&#9670;&#160;</a></span>clearTelemetryQueueTask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void clearTelemetryQueueTask </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameters</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>dequeue data from telemetry queue after all the tasks have consumed the data </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameters</td><td>- A value that is passed as the paramater to the created task. If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>none </dd></dl>
+
+</div>
+</div>
+<a id="aaa1a5716bd567e8c37465dabe33e6396" name="aaa1a5716bd567e8c37465dabe33e6396"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa1a5716bd567e8c37465dabe33e6396">&#9670;&#160;</a></span>debugToTerminalTask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void debugToTerminalTask </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameters</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>debug flight/test data to terminal, this task is called if the DEBUG_TO_TERMINAL is set to 1 (see <a class="el" href="defs_8h_source.html">defs.h</a>) </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameter</td><td>- A value that is passed as the paramater to the created task. If pvParameter is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aee373e9d6ea48f0b376bdaa1c2970510" name="aee373e9d6ea48f0b376bdaa1c2970510"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee373e9d6ea48f0b376bdaa1c2970510">&#9670;&#160;</a></span>drogueChuteDeploy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void drogueChuteDeploy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>fires the pyro-charge to deploy the drogue chute Turn on the drogue chute ejection circuit by running the GPIO HIGH for a preset No. of seconds. <br  />
+ Default no. of seconds to remain HIGH is 5 </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a6648d201a9f47aa836d36e5339e78ef3" name="a6648d201a9f47aa836d36e5339e78ef3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6648d201a9f47aa836d36e5339e78ef3">&#9670;&#160;</a></span>flightStateCallback()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void flightStateCallback </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameters</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>performs flight actions based on the current flight state If the flight state neccessisates an operation, we perfom it here For example if the flight state is apogee, we perfom MAIN_CHUTE ejection </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameter</td><td>- A value that is passed as the paramater to the created task. If pvParameter is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6f220446b54026b1217f93a3a9c04c1f" name="a6f220446b54026b1217f93a3a9c04c1f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f220446b54026b1217f93a3a9c04c1f">&#9670;&#160;</a></span>GPSInit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void GPSInit </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Initialize the GPS connected on Serial2. </p>
+<hr  />
+ <dl class="section return"><dt>Returns</dt><dd>1 if init OK, 0 otherwise </dd></dl>
+
+</div>
+</div>
+<a id="a41453ccb33ef6b57e513b16e92dd130e" name="a41453ccb33ef6b57e513b16e92dd130e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41453ccb33ef6b57e513b16e92dd130e">&#9670;&#160;</a></span>handshakeSerialEvent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void handshakeSerialEvent </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Receive serial message during handshake. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="ae8297bf2b99a2ad67af6f9a421ea4b16" name="ae8297bf2b99a2ad67af6f9a421ea4b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8297bf2b99a2ad67af6f9a421ea4b16">&#9670;&#160;</a></span>initGPIO()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void initGPIO </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Inititialize the GPIOs. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="abf447a0860a5fec74fecf8654172fec0" name="abf447a0860a5fec74fecf8654172fec0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf447a0860a5fec74fecf8654172fec0">&#9670;&#160;</a></span>InitXMODEM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void InitXMODEM </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Initiate XMODEM protocol by sending a NAK command every 4 seconds until the transmitter returns an ACK signal. </p>
+<p>XMODEM serial function definition</p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">none</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8841578fe91cace6206676f0e751cab5" name="a8841578fe91cace6206676f0e751cab5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8841578fe91cace6206676f0e751cab5">&#9670;&#160;</a></span>listDir()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void listDir </td>
+          <td>(</td>
+          <td class="paramtype">fs::FS &amp;</td>          <td class="paramname"><span class="paramname"><em>fs</em></span>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const char *</td>          <td class="paramname"><span class="paramname"><em>dirname</em></span>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>levels</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>XMODEM serial function prototypes </p>
+
+</div>
+</div>
+<a id="a7df146b43e503e23146e698154d5096d" name="a7df146b43e503e23146e698154d5096d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7df146b43e503e23146e698154d5096d">&#9670;&#160;</a></span>logToMemory()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void logToMemory </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameter</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>log the data to the external flash memory </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameter</td><td>- A value that is passed as the paramater to the created task. If pvParameter is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="afe461d27b9c48d5921c00d521181f12f" name="afe461d27b9c48d5921c00d521181f12f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe461d27b9c48d5921c00d521181f12f">&#9670;&#160;</a></span>loop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void loop </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Main loop. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a9074d493ccf55d0cfa3acd2d173f665a" name="a9074d493ccf55d0cfa3acd2d173f665a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9074d493ccf55d0cfa3acd2d173f665a">&#9670;&#160;</a></span>mainChuteDeploy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mainChuteDeploy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>fires the pyro-charge to deploy the main chute Turn on the main chute ejection circuit by running the GPIO HIGH for a preset No. of seconds. <br  />
+ Default no. of seconds to remain HIGH is 5 </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a102c6561be41c1aafb3bd6da443deed7" name="a102c6561be41c1aafb3bd6da443deed7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a102c6561be41c1aafb3bd6da443deed7">&#9670;&#160;</a></span>ParseSerialNumeric()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void ParseSerialNumeric </td>
+          <td>(</td>
+          <td class="paramtype">int</td>          <td class="paramname"><span class="paramname"><em>value</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Parse the received serial command if it is a digit We are only interested in numeric values being sent by the transmitter to us, the receiver. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a64be9ebbabd58a9b6d32b92ce607f2a6" name="a64be9ebbabd58a9b6d32b92ce607f2a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64be9ebbabd58a9b6d32b92ce607f2a6">&#9670;&#160;</a></span>readAccelerationTask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void readAccelerationTask </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameter</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Read acceleration data from the accelerometer. </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameters</td><td>- A value that is passed as the paramater to the created task. If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Updates accelerometer data struct on the telemetry queue </dd></dl>
+
+</div>
+</div>
+<a id="a5947e71102388e9d5bfd09f8e97d668c" name="a5947e71102388e9d5bfd09f8e97d668c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5947e71102388e9d5bfd09f8e97d668c">&#9670;&#160;</a></span>readAltimeterTask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void readAltimeterTask </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameters</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Read ar pressure data from the barometric sensor onboard. </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameters</td><td>- A value that is passed as the paramater to the created task. If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Sends altimeter data to altimeter queue </dd></dl>
+
+</div>
+</div>
+<a id="aa8ea491ed98b16bb5292ad184537f0b5" name="aa8ea491ed98b16bb5292ad184537f0b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8ea491ed98b16bb5292ad184537f0b5">&#9670;&#160;</a></span>readGPSTask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void readGPSTask </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>pvParameters</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Read the GPS location data and altitude and append to telemetry packet for transmission. </p>
+<hr  />
+ <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pvParameters</td><td>- A value that is passed as the paramater to the created task. If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - so it is not valid to pass the address of a stack variable. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a61040c538622d7ad222068e37d96b52a" name="a61040c538622d7ad222068e37d96b52a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61040c538622d7ad222068e37d96b52a">&#9670;&#160;</a></span>receiveTestDataSerialEvent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void receiveTestDataSerialEvent </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Receive serial message during RECEIVE_TEST_DATA state Data received in this state is the actual test data. It is saved into the test flash memory. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a4fc01d736fe50cf5b977f755b675f11d" name="a4fc01d736fe50cf5b977f755b675f11d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4fc01d736fe50cf5b977f755b675f11d">&#9670;&#160;</a></span>setup()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void setup </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Setup - perfom initialization of all hardware subsystems, create queues, create queue handles initialize system check table. </p>
+<hr  />
+  
+</div>
+</div>
+<a id="a5f3e40ff0b3b6f2c247fadc41b0a5896" name="a5f3e40ff0b3b6f2c247fadc41b0a5896"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f3e40ff0b3b6f2c247fadc41b0a5896">&#9670;&#160;</a></span>SwitchLEDs()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void SwitchLEDs </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>red_state</em></span>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>green_state</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Switch the LEDS states. </p>
+<hr  />
+  
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a5db507f1ef37ed2d76f24c064e4e6a85" name="a5db507f1ef37ed2d76f24c064e4e6a85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5db507f1ef37ed2d76f24c064e4e6a85">&#9670;&#160;</a></span>acc_data</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="struct_acceleration___data.html">accel_type_t</a> acc_data</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>///////////////////////// DATA TYPES ///////////////////////// </p>
+
+</div>
+</div>
+<a id="a318b23db9cedde5ea8466af114f0c203" name="a318b23db9cedde5ea8466af114f0c203"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a318b23db9cedde5ea8466af114f0c203">&#9670;&#160;</a></span>current_log_time</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">unsigned long long current_log_time = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>What is the processor time right now? </p>
+
+</div>
+</div>
+<a id="ac559654865b2d48ea0b77b1a1f4a097b" name="ac559654865b2d48ea0b77b1a1f4a097b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac559654865b2d48ea0b77b1a1f4a097b">&#9670;&#160;</a></span>current_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t current_state = FLIGHT_STATE::PRE_FLIGHT_GROUND</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>The starting state - we start at PRE_FLIGHT_GROUND state </p>
+
+</div>
+</div>
+<a id="a9dc783a2c139e60a49e643aed8b741b9" name="a9dc783a2c139e60a49e643aed8b741b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9dc783a2c139e60a49e643aed8b741b9">&#9670;&#160;</a></span>current_test_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t current_test_state = <a class="el" href="#a7010bdd588d627529b5948acb89dc09dacc6ddcaa36bd57e5aec12749cb5ce29c">TEST_STATE::HANDSHAKE</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Define current state the flight computer is in </p>
+
+</div>
+</div>
+<a id="ada14cbbf98490eb3cb49b5d1cb0c0056" name="ada14cbbf98490eb3cb49b5d1cb0c0056"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada14cbbf98490eb3cb49b5d1cb0c0056">&#9670;&#160;</a></span>file</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SerialFlashFile file</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>object representing file object for flash memory </p>
+
+</div>
+</div>
+<a id="a1ba4fed8e0dad7fbe3e7de830a2e9f6c" name="a1ba4fed8e0dad7fbe3e7de830a2e9f6c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ba4fed8e0dad7fbe3e7de830a2e9f6c">&#9670;&#160;</a></span>FILE_SIZE_1M</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t FILE_SIZE_1M = 1048576L</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>1MB </p>
+
+</div>
+</div>
+<a id="aef692c53edfa11997d3470f8ed1d6a26" name="aef692c53edfa11997d3470f8ed1d6a26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef692c53edfa11997d3470f8ed1d6a26">&#9670;&#160;</a></span>FILE_SIZE_4M</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t FILE_SIZE_4M = 4194304L</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>4MB </p>
+
+</div>
+</div>
+<a id="aa9614a793fcf876f8e55a118d21d2d77" name="aa9614a793fcf876f8e55a118d21d2d77"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9614a793fcf876f8e55a118d21d2d77">&#9670;&#160;</a></span>FILE_SIZE_512K</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t FILE_SIZE_512K = 524288L</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>512KB </p>
+
+</div>
+</div>
+<a id="a6c2affe0788e6ba12dce7a51e1bd35c3" name="a6c2affe0788e6ba12dce7a51e1bd35c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c2affe0788e6ba12dce7a51e1bd35c3">&#9670;&#160;</a></span>filename</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">char filename[] = &quot;flight.bin&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>data log filename - Filename must be less than 20 chars, including the file extension </p>
+
+</div>
+</div>
+<a id="a974c70ac5c2f6156bf0e7fafd973d803" name="a974c70ac5c2f6156bf0e7fafd973d803"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a974c70ac5c2f6156bf0e7fafd973d803">&#9670;&#160;</a></span>flash_cs_pin</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t flash_cs_pin = 5</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>External flash memory chip select pin </p>
+
+</div>
+</div>
+<a id="ab506410443108766020e011a3c9293af" name="ab506410443108766020e011a3c9293af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab506410443108766020e011a3c9293af">&#9670;&#160;</a></span>flash_led_pin</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t flash_led_pin = 39</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>LED pin connected to indicate flash memory formatting <br  />
+ </p>
+
+</div>
+</div>
+<a id="ac4026e93b77dbb4130e8114a3ce0f669" name="ac4026e93b77dbb4130e8114a3ce0f669"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4026e93b77dbb4130e8114a3ce0f669">&#9670;&#160;</a></span>green_led</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t green_led = 4</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Green LED pin </p>
+
+</div>
+</div>
+<a id="aea39bb6bc24075cef46a6b4d55071082" name="aea39bb6bc24075cef46a6b4d55071082"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea39bb6bc24075cef46a6b4d55071082">&#9670;&#160;</a></span>imu</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="class_m_p_u6050.html">MPU6050</a> imu(0x68, 16, 1000) </td>
+          <td>(</td>
+          <td class="paramtype">0x68</td>          <td class="paramname"><span class="paramname"><em></em></span>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">16</td>          <td class="paramname"><span class="paramname"><em></em></span>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">1000</td>          <td class="paramname"><span class="paramname"><em></em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>///////////////////////// END OF DATA VARIABLES ///////////////////////// create an <a class="el" href="class_m_p_u6050.html">MPU6050</a> object 0x68 is the address of the MPU set gyro to max deg to 1000 deg/sec set accel fs reading to 16g </p>
+
+</div>
+</div>
+<a id="affaa6e6cce540b233b04e558e3d164b2" name="affaa6e6cce540b233b04e558e3d164b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#affaa6e6cce540b233b04e558e3d164b2">&#9670;&#160;</a></span>log_sample_interval</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t log_sample_interval = 10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>After how long should we sample and log data to flash memory? </p>
+
+</div>
+</div>
+<a id="a59b33f351d47779eaaff510227075be1" name="a59b33f351d47779eaaff510227075be1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59b33f351d47779eaaff510227075be1">&#9670;&#160;</a></span>operation_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t operation_mode = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Tells whether software is in safe or flight mode - FLIGHT_MODE=1, SAFE_MODE=0 </p>
+
+</div>
+</div>
+<a id="ac03f1f50d9e1452593353033c5b2b1b0" name="ac03f1f50d9e1452593353033c5b2b1b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac03f1f50d9e1452593353033c5b2b1b0">&#9670;&#160;</a></span>previous_log_time</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">unsigned long long previous_log_time = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>The last time we logged data to memory </p>
+
+</div>
+</div>
+<a id="a7047c2926a0671d98c6f80a4015f2c14" name="a7047c2926a0671d98c6f80a4015f2c14"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7047c2926a0671d98c6f80a4015f2c14">&#9670;&#160;</a></span>recv_data_led</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t recv_data_led = 2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>External flash memory chip select pin </p>
+
+</div>
+</div>
+<a id="a450aab1d5c2ac17dd8a8fd346a47cf16" name="a450aab1d5c2ac17dd8a8fd346a47cf16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a450aab1d5c2ac17dd8a8fd346a47cf16">&#9670;&#160;</a></span>red_led</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t red_led = 15</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Red LED pin </p>
+
+</div>
+</div>
+<a id="adcf3e4d2276ee4d10b23c05e4e7da0c3" name="adcf3e4d2276ee4d10b23c05e4e7da0c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcf3e4d2276ee4d10b23c05e4e7da0c3">&#9670;&#160;</a></span>SD_CS_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t SD_CS_PIN = 26</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Chip select pin for SD card </p>
+
+</div>
+</div>
+<a id="abea45f8bc016d99f82b468ae77916e64" name="abea45f8bc016d99f82b468ae77916e64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abea45f8bc016d99f82b468ae77916e64">&#9670;&#160;</a></span>SET_RUN_MODE_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t SET_RUN_MODE_PIN = 13</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Pin to set the flight computer to RUN mode </p>
+
+</div>
+</div>
+<a id="ac0121f71eae2488320c2cd36a4843976" name="ac0121f71eae2488320c2cd36a4843976"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac0121f71eae2488320c2cd36a4843976">&#9670;&#160;</a></span>SET_TEST_MODE_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t SET_TEST_MODE_PIN = 14</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Pin to set the flight computer to TEST mode </p>
+
+</div>
+</div>
+<a id="a6a02e76e786465c8d2fe8ba9ad3393da" name="a6a02e76e786465c8d2fe8ba9ad3393da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a02e76e786465c8d2fe8ba9ad3393da">&#9670;&#160;</a></span>SOH_recvd_flag</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t SOH_recvd_flag = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Transmitter acknowledged? <br  />
+ </p>
+
+</div>
+</div>
+<a id="a0ed5ea94df7417ea494d69ca56aab490" name="a0ed5ea94df7417ea494d69ca56aab490"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ed5ea94df7417ea494d69ca56aab490">&#9670;&#160;</a></span>telemetry_data_qHandle</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">QueueHandle_t telemetry_data_qHandle</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>///////////////////////// END OF PERIPHERALS INIT ///////////////////////// </p>
+
+</div>
+</div>
+<a id="ac4f474c82e82cbb89ca7c36dd52be0ed" name="ac4f474c82e82cbb89ca7c36dd52be0ed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4f474c82e82cbb89ca7c36dd52be0ed">&#9670;&#160;</a></span>value</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int value = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Parse the received serial command if it is a string. </p>
+<hr  />
+  
+</div>
+</div>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_223c149f86d1b3369d43d9ec6c6d367c.html">n4-flight-software</a></li><li class="navelem"><a class="el" href="dir_d09072d1c94fe000833aa47d92501a74.html">src</a></li><li class="navelem"><a class="el" href="src_2main_8cpp.html">main.cpp</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
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+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
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+<a href="#enum-members">Enumerations</a>  </div>
+  <div class="headertitle"><div class="title">states.h File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><a href="states_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="enum-members" name="enum-members"></a>
+Enumerations</h2></td></tr>
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+&#160;&#160;<b>PRE_FLIGHT_GROUND</b> = 0
+, <b>POWERED_FLIGHT</b>
+, <b>COASTING</b>
+, <b>APOGEE</b>
+, <br />
+&#160;&#160;<b>DROGUE_DEPLOY</b>
+, <b>DROGUE_DESCENT</b>
+, <b>MAIN_DEPLOY</b>
+, <b>MAIN_DESCENT</b>
+, <br />
+&#160;&#160;<b>POST_FLIGHT_GROUND</b>
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+ }</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file describes the flight states </p>
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+  <td id="projectalign">
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
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--- a/n4-flight-software/html/struct_acceleration___data-members.html
+++ b/docs/html/struct_acceleration___data-members.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_acceleration___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">Acceleration_Data Member List</div></div>
 </div><!--header-->
@@ -97,10 +110,12 @@
   <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>pitch</b> (defined in <a class="el" href="struct_acceleration___data.html">Acceleration_Data</a>)</td><td class="entry"><a class="el" href="struct_acceleration___data.html">Acceleration_Data</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>roll</b> (defined in <a class="el" href="struct_acceleration___data.html">Acceleration_Data</a>)</td><td class="entry"><a class="el" href="struct_acceleration___data.html">Acceleration_Data</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/struct_acceleration___data.html b/docs/html/struct_acceleration___data.html
similarity index 83%
rename from n4-flight-software/html/struct_acceleration___data.html
rename to docs/html/struct_acceleration___data.html
index aaeaa46..fa3e5b6 100644
--- a/n4-flight-software/html/struct_acceleration___data.html
+++ b/docs/html/struct_acceleration___data.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_acceleration___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="summary">
 <a href="#pub-attribs">Public Attributes</a> &#124;
@@ -115,13 +128,16 @@
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>///////////////////////// DATA TYPES ///////////////////////// </p>
 </div><hr/>The documentation for this struct was generated from the following file:<ul>
-<li>src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
+<li>n4-flight-software/src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="struct_acceleration___data.html">Acceleration_Data</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/struct_altimeter___data-members.html b/docs/html/struct_altimeter___data-members.html
similarity index 82%
rename from n4-flight-software/html/struct_altimeter___data-members.html
rename to docs/html/struct_altimeter___data-members.html
index fd5ea52..7f28ad5 100644
--- a/n4-flight-software/html/struct_altimeter___data-members.html
+++ b/docs/html/struct_altimeter___data-members.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_altimeter___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">Altimeter_Data Member List</div></div>
 </div><!--header-->
@@ -97,10 +110,12 @@
   <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>temperature</b> (defined in <a class="el" href="struct_altimeter___data.html">Altimeter_Data</a>)</td><td class="entry"><a class="el" href="struct_altimeter___data.html">Altimeter_Data</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>velocity</b> (defined in <a class="el" href="struct_altimeter___data.html">Altimeter_Data</a>)</td><td class="entry"><a class="el" href="struct_altimeter___data.html">Altimeter_Data</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/struct_altimeter___data.html b/docs/html/struct_altimeter___data.html
similarity index 82%
rename from n4-flight-software/html/struct_altimeter___data.html
rename to docs/html/struct_altimeter___data.html
index 7e8536b..c904d91 100644
--- a/n4-flight-software/html/struct_altimeter___data.html
+++ b/docs/html/struct_altimeter___data.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_altimeter___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="summary">
 <a href="#pub-attribs">Public Attributes</a> &#124;
@@ -111,13 +124,16 @@
 <tr class="separator:a382c06e589981d2b3494fb6b041c6938"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <hr/>The documentation for this struct was generated from the following file:<ul>
-<li>src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
+<li>n4-flight-software/src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="struct_altimeter___data.html">Altimeter_Data</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/struct_filtered___data-members.html b/docs/html/struct_filtered___data-members.html
similarity index 78%
rename from n4-flight-software/html/struct_filtered___data-members.html
rename to docs/html/struct_filtered___data-members.html
index 4eae6bd..856ea82 100644
--- a/n4-flight-software/html/struct_filtered___data-members.html
+++ b/docs/html/struct_filtered___data-members.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_filtered___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">Filtered_Data Member List</div></div>
 </div><!--header-->
@@ -93,10 +106,12 @@
 <table class="directory">
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>x_acceleration</b> (defined in <a class="el" href="struct_filtered___data.html">Filtered_Data</a>)</td><td class="entry"><a class="el" href="struct_filtered___data.html">Filtered_Data</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/struct_filtered___data.html b/docs/html/struct_filtered___data.html
similarity index 77%
rename from n4-flight-software/html/struct_filtered___data.html
rename to docs/html/struct_filtered___data.html
index e49b372..be03c8d 100644
--- a/n4-flight-software/html/struct_filtered___data.html
+++ b/docs/html/struct_filtered___data.html
@@ -11,6 +11,8 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
@@ -50,17 +53,29 @@
 <script type="text/javascript">
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 $(function() {
-  initMenu('',true,false,'search.php','Search',false);
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
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+$(function(){initNavTree('struct_filtered___data.html',''); initResizable(true); });
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+<div id="doc-content">
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+<li>n4-flight-software/include/<a class="el" href="kalman_8h_source.html">kalman.h</a></li>
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-</small></address>
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+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="struct_filtered___data.html">Filtered_Data</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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 </html>
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+<script type="text/javascript" src="navtree.js"></script>
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@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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  </tbody>
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+  initMenu('',true,false,'search.php','Search',true);
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 });
 /* @license-end */
 </script>
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
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+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('struct_g_p_s___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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@@ -82,8 +97,6 @@
 </div>
 </div>
 
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
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similarity index 81%
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rename to docs/html/struct_g_p_s___data.html
index 2da0a93..b7f838f 100644
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 <script type="text/javascript" src="clipboard.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
+    </div>
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+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('struct_g_p_s___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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 <hr/>The documentation for this struct was generated from the following file:<ul>
-<li>src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
+<li>n4-flight-software/src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="struct_g_p_s___data.html">GPS_Data</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
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similarity index 80%
rename from n4-flight-software/html/struct_gyroscope___data-members.html
rename to docs/html/struct_gyroscope___data-members.html
index 18b7bf5..924306d 100644
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 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
   </td>
  </tr>
  </tbody>
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 <script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search',true);
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 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_gyroscope___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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@@ -82,8 +97,6 @@
 </div>
 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">Gyroscope_Data Member List</div></div>
 </div><!--header-->
@@ -95,10 +108,12 @@
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 </table></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
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-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/n4-flight-software/html/struct_gyroscope___data.html b/docs/html/struct_gyroscope___data.html
similarity index 80%
rename from n4-flight-software/html/struct_gyroscope___data.html
rename to docs/html/struct_gyroscope___data.html
index 020087d..476faf3 100644
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
 <table cellspacing="0" cellpadding="0">
  <tbody>
  <tr id="projectrow">
+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
   <td id="projectalign">
-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
+   <div id="projectbrief">Flight software used for the N4 flight computers</div>
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+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+$(function(){initNavTree('struct_gyroscope___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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 </div>
 </div>
 
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 </table>
 <hr/>The documentation for this struct was generated from the following file:<ul>
-<li>src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
+<li>n4-flight-software/src/<a class="el" href="data-types_8h_source.html">data-types.h</a></li>
 </ul>
 </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
 </div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="struct_gyroscope___data.html">Gyroscope_Data</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0 </li>
+  </ul>
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 </body>
 </html>
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similarity index 83%
rename from n4-flight-software/html/struct_telemetry___data-members.html
rename to docs/html/struct_telemetry___data-members.html
index abdbab6..907cfb1 100644
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 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
@@ -24,10 +26,11 @@
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+  <td id="projectlogo"><img alt="Logo" src="logo.jpg"/></td>
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-   <div id="projectname">N4 Flight Software
+   <div id="projectname">N4 Flight Software<span id="projectnumber">&#160;N4</span>
    </div>
-   <div id="projectbrief">Flight software used on N4 flight computers for the Nakuja Project</div>
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 $(function() {
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+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){ initResizable(false); });
+$(function(){initNavTree('struct_telemetry___data.html',''); initResizable(true); });
 /* @license-end */
 </script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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@@ -82,8 +97,6 @@
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 </div>
 
-</div><!-- top -->
-<div id="doc-content">
 <div class="header">
   <div class="headertitle"><div class="title">Telemetry_Data Member List</div></div>
 </div><!--header-->
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-</small></address>
 </div><!-- doc-content -->
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diff --git a/mainpage-backup b/mainpage-backup
new file mode 100644
index 0000000..e69de29
diff --git a/mainpage.txt b/mainpage.txt
new file mode 100644
index 0000000..803c19c
--- /dev/null
+++ b/mainpage.txt
@@ -0,0 +1,132 @@
+
+/*! @mainpage
+ *
+ * @section intro_sec Introduction
+ *
+ * Welcome to N4 Flight software docs.
+ * N4 Flight software is the code used to run N4 rockets at Nakuja Rocket Project. This code is built using FreeRTOS on the Arduino-ESP32 framework. It is designed to run either on AI-Thinker NodeMCU-ESP32 boards or ESP32-DOIT-DEVKIT V1. 
+
+ * @section step1 Major features
+ * This firmare has been improved tremendously from the previous versions and includes the following features:
+
+ * @subsection step2 Modularity 
+ * - Most of the code is now contained in separate files each perfoming its own singular task to ensure code maintainability and testing. 
+
+ * @subsection step3 System Logging
+ * - We have built a system logger to keep track of each and every operation that the flight computer undertakes. This can be be retrieved later and reviewed for post-flight analysis
+
+* @subsection step4 HIL Testing Engine
+* - A hardware-in-the-loop testing engine has been built into the flight software to allow us to "Test Like We Fly". This allows the flight computer to be tested and debugged way before flight day. Using an improvised XMODEM algorithm, we are able to upload test flight data and run necessary integration tests. 
+* @note See Integration and Testing Procedures for more info
+
+* @subsection step5 Flight data logging
+* - Flight data logging has been improved. Using an onboard SPI Flash memory, we are able log sensor data and flight states. 
+*
+* @subsection step6 Data dump interface
+* - A data dumping hardware interface has been added to ease the retrieval of data post flight data. 
+* 
+* @subsection step7 SAFE and FLIGHT modes
+* - To prevent misfires during intergration and testing, this firmware implements SAFE_MODE that among others operations, disables the pyro-charges before POWERED_FLIGHT.
+*
+* @subsection step8 XBEE, MQTT, LORA, WIFI telemetry selection
+* - For backward and forward compatibility, we implement a method to allow choice of data telemetry protocol being used. 
+*
+* @subsection step9 Double ejection
+* - We implement drogue and main chute ejection algorithms for successful vehicle recovery
+*
+ * @section install_sec Building, Compilation and Downloading.
+ * 
+ *
+ * @subsection step10 System requirements
+ *
+ * The following must be installed to build this release:  
+ * 1. PlatformIO Core. Download the core here: [PlatformIO Core](https://docs.platformio.org/en/latest/core/installation/index.html)
+ * 2. PlatformIO IDE (recommended on VS Code but you can use IDE of your choice). To install PlatformIO IDE, follow the steps listed here: [PlatformIO IDE](https://platformio.org/platformio-ide)
+ * 3. Serial Monitor tool e.g. Putty, Ai-Thinker Serial, RealTerm etc
+
+ * @subsection step11 Building the code
+
+ * - Clone the repo on your local machine 
+ * @code{.sh}
+ * git clone https://github.com/nakujaproject/N4-Flight-Software.git
+ * @endcode
+
+ * @note You can also download the folder as a zip file and extract it to a folder of your choice. But we recommend cloning it so you can keep up to  date with the remote changes.
+ * 
+
+ * - Change the directory to @code{.sh}N4-Flight-Software\n4-flight-software @endcode. This is the folder containing @code{.sh}platformio.ini @endcode 
+
+ * - Install code dependencies
+ * @code{.sh}
+ * pio pkg install
+ * @endcode
+ *
+ * - Build
+ * @code{.sh}
+ * pio run 
+ * @endcode
+
+ * - Connect your flight computer using a USB cable and make sure it is seen by your PC. It should be listed under Device Manager>Ports, if you are on windows
+
+ * @note If your ESP32 is note recognized, you have to install USB-TO-TTL chip driver manually. For ESP32 Boards using CH340 chip, download the driver here [CH340 Driver-SparkFun](https://learn.sparkfun.com/tutorials/how-to-install-ch340-drivers/all). Run the driver and it will be automatically installed on your machine. For ESP32 Boards using CP2102 chip, follow the procedure here [CP2102-driver-POLOLU](https://www.pololu.com/docs/0J7/all). Run the driver and it will be automatically installed on your machine.
+
+ * - Upload and run 
+ * Close any open serial ports connected to that ESP32 and run the command below
+ * @code{.sh}
+ * pio run -t upload 
+ * @endcode
+ * The firmware will be uploaded to the flight computer
+
+ * @section step13 Hardware, pin assignment and peripherals
+ * @note In development
+
+ * @section step14 Integration and Testing Procedures
+ * @note In development
+
+ * @section step15 Pre-flight software checks
+ * The following checks MUST be performed pre-flight to ensure the software operates as designed:
+ 1. test mode pin toggle
+ 2. telemetry protocol selection
+ 3. clientID (rocket ID)
+ 4. arming check 
+ 5. DEBUG_to_terminal check - defs.h
+ 6. LOG_TO_MEMORY - defs.h
+
+
+ * @section step16 Contributors
+ * Our thanks go to the following current and previous avionics team members for their contribution:
+1. Edwin Mwiti
+2. Junn Hope 
+3. Jones Kisaka
+4. Ruth 
+5. Safa Osman 
+6. Tabby Achieng
+7. Sharlyn 
+8. Pat
+9. Emmanuel
+10. Fortune
+11. Newton 
+12. Rodney
+13. Sammy 
+14. Michael Kimani
+15. George Bange
+16. Maisha
+17. Naomi Chesang
+18. Brian Munene
+19. Samson Onyambu 
+20. Cate Kabura 
+21. Amos Korir
+22. Graig Kipkorir
+23. Jerry Mumo
+24. Esther Mamai
+25. Martin Simbona 
+36. Jeff Mboya
+37. Washington Kamadi
+38. Ian Muchiri
+39. Kibandi
+40. Emmanuel Obara
+41. Victoria
+
+* Ad Astra!!
+
+ */
diff --git a/n4-flight-software/data-logger.py b/n4-flight-software/data-logger.py
index 451f90f..a1529e7 100644
--- a/n4-flight-software/data-logger.py
+++ b/n4-flight-software/data-logger.py
@@ -7,8 +7,6 @@
 import csv
 
 import atexit
-
-
 port = "COM4"
 baud_rate = 115200
 
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-<a href="#define-members">Macros</a> &#124;
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-<p>This contains the main driver code for the flight computer.  
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-<div class="textblock"><code>#include &lt;Arduino.h&gt;</code><br />
-<code>#include &lt;Wire.h&gt;</code><br />
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>This contains the main driver code for the flight computer. </p>
-<dl class="section author"><dt>Author</dt><dd>Edwin Mwiti </dd></dl>
-<dl class="section version"><dt>Version</dt><dd>0.1 </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>July 15 2024</dd></dl>
-<p>0x5765206D6179206D616B65206F757220706C616E73202C 0x62757420476F642068617320746865206C61737420776F7264 </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a80d57b1ee5cb9d474465d3f8485f5bbc">&#9670;&#160;</a></span>BMPInit()</h2>
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-<p>Initialize BMP180 barometric sensor. </p>
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- <dl class="section return"><dt>Returns</dt><dd>TODO: 1 if init OK, 0 otherwise </dd></dl>
-
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-<p>debug flight/test data to terminal, this task is called if the DEBUG_TO_TERMINAL is set to 1 (see <a class="el" href="defs_8h_source.html">defs.h</a>) </p>
-<hr  />
- <dl class="params"><dt>Parameters</dt><dd>
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-
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-<h2 class="memtitle"><span class="permalink"><a href="#a6f220446b54026b1217f93a3a9c04c1f">&#9670;&#160;</a></span>GPSInit()</h2>
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-<p>Initialize the GPS connected on Serial2. </p>
-<hr  />
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-
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-<p>log the data to the external flash memory </p>
-<hr  />
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-<p>Read aceleration data from the accelerometer. </p>
-<hr  />
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-  <table class="params">
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-<p>Read ar pressure data from the barometric sensor onboard. </p>
-<hr  />
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-  <table class="params">
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-<p>Read the GPS location data and altitude and append to telemetry packet for transmission. </p>
-<hr  />
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-<p>Setup - perfom initialization of all hardware subsystems, create queues, create queue handles initialize system check table. </p>
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-<p>///////////////////////// DATA VARIABLES ///////////////////////// </p>
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-
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-<p>What is the processor time right now? </p>
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-<a id="aa9614a793fcf876f8e55a118d21d2d77" name="aa9614a793fcf876f8e55a118d21d2d77"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aa9614a793fcf876f8e55a118d21d2d77">&#9670;&#160;</a></span>FILE_SIZE_512K</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">uint32_t FILE_SIZE_512K = 524288L</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>512KB </p>
-
-</div>
-</div>
-<a id="a6c2affe0788e6ba12dce7a51e1bd35c3" name="a6c2affe0788e6ba12dce7a51e1bd35c3"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a6c2affe0788e6ba12dce7a51e1bd35c3">&#9670;&#160;</a></span>filename</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">char filename[] = &quot;flight.bin&quot;</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>data log filename - Filename must be less than 20 chars, including the file extension </p>
-
-</div>
-</div>
-<a id="ab506410443108766020e011a3c9293af" name="ab506410443108766020e011a3c9293af"></a>
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-      <table class="memname">
-        <tr>
-          <td class="memname">uint8_t flash_led_pin = 4</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>LED pin connected to indicate flash memory formatting <br  />
- </p>
-
-</div>
-</div>
-<a id="aea39bb6bc24075cef46a6b4d55071082" name="aea39bb6bc24075cef46a6b4d55071082"></a>
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-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname"><a class="el" href="class_m_p_u6050.html">MPU6050</a> imu(0x68, 16, 1000) </td>
-          <td>(</td>
-          <td class="paramtype">0x68</td>          <td class="paramname"><span class="paramname"><em></em></span>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">16</td>          <td class="paramname"><span class="paramname"><em></em></span>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">1000</td>          <td class="paramname"><span class="paramname"><em></em></span>&#160;)</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>///////////////////////// END OF DATA VARIABLES ///////////////////////// create an <a class="el" href="class_m_p_u6050.html">MPU6050</a> object set gyro to max deg to 1000 deg/sec set accel fs reading to 16g </p>
-
-</div>
-</div>
-<a id="affaa6e6cce540b233b04e558e3d164b2" name="affaa6e6cce540b233b04e558e3d164b2"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#affaa6e6cce540b233b04e558e3d164b2">&#9670;&#160;</a></span>log_sample_interval</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">uint16_t log_sample_interval = 10</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>After how long should we sample and log data to flash memory? </p>
-
-</div>
-</div>
-<a id="a59b33f351d47779eaaff510227075be1" name="a59b33f351d47779eaaff510227075be1"></a>
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-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">uint8_t operation_mode = 0</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Tells whether software is in safe or flight mode - FLIGHT_MODE=1, SAFE_MODE=0 </p>
-
-</div>
-</div>
-<a id="ac03f1f50d9e1452593353033c5b2b1b0" name="ac03f1f50d9e1452593353033c5b2b1b0"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac03f1f50d9e1452593353033c5b2b1b0">&#9670;&#160;</a></span>previous_log_time</h2>
-
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-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">unsigned long long previous_log_time = 0</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>The last time we logged data to memory </p>
-
-</div>
-</div>
-<a id="a0ed5ea94df7417ea494d69ca56aab490" name="a0ed5ea94df7417ea494d69ca56aab490"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a0ed5ea94df7417ea494d69ca56aab490">&#9670;&#160;</a></span>telemetry_data_qHandle</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">QueueHandle_t telemetry_data_qHandle</td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>///////////////////////// END OF PERIPHERALS INIT ///////////////////////// </p>
-
-</div>
-</div>
-</div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.11.0
-</small></address>
-</div><!-- doc-content -->
-</body>
-</html>
diff --git a/n4-flight-software/include/defs.h b/n4-flight-software/include/defs.h
index 476bdcc..26a9c97 100644
--- a/n4-flight-software/include/defs.h
+++ b/n4-flight-software/include/defs.h
@@ -53,10 +53,23 @@
 // const char* SSID = "Galaxy";
 // const char* PASSWORD = "luwa2131";
 
+<<<<<<< Updated upstream
+=======
+// defines the various thresholds  that need to be achieved in the state machine
+#define APOGEE_ALTITUDE 0.0f // meters
+#define DROGUE_DEPLOY_MIN_ALTITUDE 200.0f // meters
+#define MAIN_CHUTE_DEPLOY_ALTITUDE 450.0f // meters
+#define DECELERATION_CHECK_DURATION 100 // milliseconds
+
+/*Defines safe mode and flight mode*/
+#define FLIGHT_MODE 1
+#define SAFE_MODE   0
+
+>>>>>>> Stashed changes
 /* ROCKET FLIGHT STATES */
 #define PRE_FLIGHT          0
-#define POWERED_FLIGHT      1
-#define COASTING            2
+#define FLIGHT_MODE_POWERED      1
+#define COASTING_STATE           2
 #define APOGEE              3
 #define BALLISTIC_DESCENT   4
 #define PARACHUTE_DESCENT   5
diff --git a/n4-flight-software/include/functions.h b/n4-flight-software/include/functions.h
index 1a5606b..d3024a2 100644
--- a/n4-flight-software/include/functions.h
+++ b/n4-flight-software/include/functions.h
@@ -22,5 +22,7 @@ float getAcceleration();
 float getVelocity();
 
 
+void readAltimeterTask();
+
 
 #endif
\ No newline at end of file
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diff --git a/n4-flight-software/src/custom_time.cpp b/n4-flight-software/src/custom_time.cpp
new file mode 100644
index 0000000..2a4dd98
--- /dev/null
+++ b/n4-flight-software/src/custom_time.cpp
@@ -0,0 +1,23 @@
+/*!****************************************************************************
+ * @file custom-time.c
+ * @brief This file implements functions to convert time in milliseconds to 
+ * a human readable format to be used for logging time 
+ *******************************************************************************/
+
+
+#include "custom_time.h"
+
+char tstamp[50];
+int minute=0, sec=0, msec=0;
+
+/*!****************************************************************************
+ * @brief convert time in milliseconds to minutes, seconds and time that are human readable
+ * @param msec time in milliseconds, got from millis() function
+ *******************************************************************************/
+void convertTimestamp(unsigned long msec) {
+    minute = ((msec / 1000) / 60) % 60;
+    sec = (msec / 1000) % 60;
+    msec = msec % 1000;
+
+    sprintf(tstamp, "%d:%d:%ul", minute, sec, msec);
+}
diff --git a/n4-flight-software/src/custom_time.h b/n4-flight-software/src/custom_time.h
new file mode 100644
index 0000000..d176c89
--- /dev/null
+++ b/n4-flight-software/src/custom_time.h
@@ -0,0 +1,15 @@
+/*!****************************************************************************
+ * @file custom-time.h
+ * @brief This file defines functions needed for time conversions
+ * for data logging 
+ *******************************************************************************/
+
+#ifndef CUSTOM_TIME_H
+#define CUSTOM_TIME_H
+
+#include <Arduino.h>
+
+extern char tstamp[]; // to hold a human readable timestamp
+void convertTimestamp(unsigned long);
+
+#endif
\ No newline at end of file
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diff --git a/n4-flight-software/src/logger.cpp b/n4-flight-software/src/logger.cpp
index a3e35b6..83f958c 100644
--- a/n4-flight-software/src/logger.cpp
+++ b/n4-flight-software/src/logger.cpp
@@ -3,7 +3,7 @@
 */
 
 #include "logger.h"
-#include "data-types.h"
+#include "data_types.h"
 
 telemetry_type_t t;
 char pckt_buff[50];
diff --git a/n4-flight-software/src/logger.h b/n4-flight-software/src/logger.h
index a2070f5..e0ae8a3 100644
--- a/n4-flight-software/src/logger.h
+++ b/n4-flight-software/src/logger.h
@@ -16,7 +16,7 @@
 
 #include <Arduino.h>
 #include <SerialFlash.h>
-#include "data-types.h"
+#include "data_types.h"
 
 class DataLogger {
     private:
diff --git a/n4-flight-software/src/main.cpp b/n4-flight-software/src/main.cpp
index dfd839b..50d8cb1 100644
--- a/n4-flight-software/src/main.cpp
+++ b/n4-flight-software/src/main.cpp
@@ -15,17 +15,29 @@
 #include <Wire.h>
 #include <WiFi.h>
 #include <PubSubClient.h> // TODO: ADD A MQTT SWITCH - TO USE MQTT OR NOT
+#include <TinyGPSPlus.h>
+#include <SFE_BMP180.h>
+#include <FS.h>
+#include <SD.h>
+#include <SPIFFS.h>
 #include "sensors.h"
 #include "defs.h"
 #include "mpu.h"
-#include <SFE_BMP180.h>
 #include "SerialFlash.h"
 #include "logger.h"
-#include "data-types.h"
-#include "custom-time.h"
-#include <TinyGPSPlus.h>
+#include "data_types.h"
+#include "custom_time.h"
+#include "states.h"
+#include "system_logger.h"
+#include "system_log_levels.h"
+
+/* function prototypes definition */
+void drogueChuteDeploy();
+void mainChuteDeploy();
 
-uint8_t operation_mode = 0;     /*!< Tells whether software is in safe or flight mode - FLIGHT_MODE=1, SAFE_MODE=0 */
+/* state machine variables*/
+uint8_t operation_mode = 0;                                     /*!< Tells whether software is in safe or flight mode - FLIGHT_MODE=1, SAFE_MODE=0 */
+uint8_t current_state = FLIGHT_STATE::PRE_FLIGHT_GROUND;	    /*!< The starting state - we start at PRE_FLIGHT_GROUND state */
 
 /* create Wi-Fi Client */
 WiFiClient wifi_client;
@@ -36,9 +48,481 @@ PubSubClient mqtt_client(wifi_client);
 /* GPS object */
 TinyGPSPlus gps;
 
+/* system logger */
+SystemLogger system_logger;
+const char* system_log_file = "/sys_log.log";
+LOG_LEVEL level = INFO;
+const char* rocket_ID = "rocket-1";             /*!< Unique ID of the rocket. Change to the needed rocket name before uploading */
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////// FLIGHT COMPUTER TESTING SYSTEM  /////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
+
+uint8_t RUN_MODE = 0;
+uint8_t TEST_MODE = 0;
+
+#define BAUDRATE        115200
+#define NAK_INTERVAL    4000 /*!< Interval in which to send the NAK command to the transmitter */
+
+//  Flags
+uint8_t SOH_recvd_flag = 0; /*!< Transmitter acknowledged?  */
+
+unsigned long last_NAK_time = 0;
+unsigned long current_NAK_time = 0;
+char SOH_CHR[6] = "SOH";
+
+/* define XMODEM commands in HEX */
+#define SOH     0x01    /*!< start of header */
+#define EOT     0x04    /*!< end of transmission */
+#define ACK     0x06    /*!< positive acknowledgement */
+#define NAK     0x15    /*!< negative acknowledgement */
+#define CAN     0x18    /*!< cancel */
+
+#define MAX_CMD_LENGTH 10 /*!< Maximum length of the XMODEM command string that can be received */
+#define MAX_CSV_LENGTH 256 /*!< Maximum length of the csv string that can be received */
+
+// buffer to store the XMODEM commands
+char serial_buffer[MAX_CMD_LENGTH];
+int16_t serial_index = 0;
+
+// buffer to store the CSV test data
+char test_data_buffer[MAX_CSV_LENGTH];
+int16_t test_data_serial_index = 0;
+
+// pin definitions
+uint8_t recv_data_led = 2;          /*!< External flash memory chip select pin */
+uint8_t red_led = 15;               /*!< Red LED pin */
+uint8_t green_led = 4;              /*!< Green LED pin */
+uint8_t buzzer = 33;
+uint8_t SET_TEST_MODE_PIN = 14;     /*!< Pin to set the flight computer to TEST mode */
+uint8_t SET_RUN_MODE_PIN = 13;      /*!< Pin to set the flight computer to RUN mode */
+uint8_t SD_CS_PIN = 26;             /*!< Chip select pin for SD card */
+
+
+/*!*****************************************************************************
+ * @brief This enum holds the states during flight computer test mode
+ *******************************************************************************/
+enum TEST_STATE {
+    HANDSHAKE = 0,      /*!< state to establish initial communication with transmitter */
+    RECEIVE_TEST_DATA,  /*!< sets the flight computer to receive test data over serial */
+    CONFIRM_TEST_DATA
+};
+
+uint8_t current_test_state = TEST_STATE::HANDSHAKE; /*!< Define current state the flight computer is in */
+
+/**
+ * XMODEM serial function prototypes
+ *
+ */
+void listDir(fs::FS &fs, const char * dirname, uint8_t levels);
+void initGPIO();
+void InitSPIFFS();
+void initSD(); // TODO: return a bool
+void SwitchLEDs(uint8_t, uint8_t);
+void InitXMODEM();
+void SerialEvent();
+void ParseSerial(char*);
+void checkRunTestToggle();
+
+//////////////////// SPIFFS FILE OPERATIONS ///////////////////////////
+
+#define FORMAT_SPIFFS_IF_FAILED 1
+const char* test_data_file = "/data.csv";
+
+void listDir(fs::FS &fs, const char * dirname, uint8_t levels){
+    Serial.printf("Listing directory: %s\r\n", dirname);
+    File root = fs.open(dirname);
+    if(!root){
+        debugln("- failed to open directory");
+        return;
+    }
+    if(!root.isDirectory()){
+        debugln(" - not a directory");
+        return;
+    }
+    File file = root.openNextFile();
+    while(file){
+        if(file.isDirectory()){
+            debug("  DIR : ");
+            debugln(file.name());
+            if(levels){
+                listDir(fs, file.name(), levels -1);
+            }
+        } else {
+            debug("  FILE: ");
+            debug(file.name());
+            debug("\tSIZE: ");
+            debugln(file.size());
+        }
+        file = root.openNextFile();
+    }
+}
+
+void readFile(fs::FS &fs, const char * path){
+    Serial.printf("Reading file: %s\r\n", path);
+    File file = fs.open(path);
+    if(!file || file.isDirectory()){
+        debugln("- failed to open file for reading");
+        return;
+    }
+    debugln("- read from file:");
+    while(file.available()){
+        Serial.write(file.read());
+    }
+    file.close();
+}
+
+void writeFile(fs::FS &fs, const char * path, const char * message){
+    Serial.printf("Writing file: %s\r\n", path);
+    File file = fs.open(path, FILE_WRITE);
+    if(!file){
+        debugln("- failed to open file for writing");
+        return;
+    }
+    if(file.print(message)){
+        debugln("- file written");
+    } else {
+        debugln("- write failed");
+    }
+    file.close();
+}
+
+void appendFile(fs::FS &fs, const char * path, const char * message){
+    Serial.printf("Appending to file: %s\r\n", path);
+    File file = fs.open(path, FILE_APPEND);
+    if(!file){
+        debugln("- failed to open file for appending");
+        return;
+    }
+    if(file.print(message)){
+        debugln("- message appended");
+    } else {
+        debugln("- append failed");
+    }
+    file.close();
+}
+
+void deleteFile(fs::FS &fs, const char * path){
+    Serial.printf("Deleting file: %s\r\n", path);
+    if(fs.remove(path)){
+        debugln("- file deleted");
+    } else {
+        debugln("- delete failed");
+    }
+}
+
+void readTestDataFile() {
+    File logFile = SPIFFS.open(test_data_file, "r");
+    if (logFile) {
+        debugln("Log file contents:");
+        while (logFile.available()) {
+            Serial.write(logFile.read());
+        }
+        logFile.close();
+    } else {
+        debugln("Failed to open log file for reading.");
+    }
+}
+
+void InitSPIFFS() {
+    if(!SPIFFS.begin(FORMAT_SPIFFS_IF_FAILED)) {
+        debugln("SPIFFS mount failed"); // TODO: Set a flag for test GUI
+        return;
+    } else {
+        debugln("SPIFFS init success");
+    }
+}
+
+void initSD() {
+    if(!SD.begin(SD_CS_PIN)) {
+        delay(100);
+        debugln(F("[SD Card mounting failed]"));
+        return;
+    } else {
+        debugln(F("[SD card Init OK!"));
+    }
+
+    uint8_t cardType = SD.cardType();
+    if(cardType == CARD_NONE) {
+        debugln("[No SD card attached]");
+        return;
+    }
+
+    // initialize test data file
+    File file = SD.open("/data.csv", FILE_WRITE); // TODO: change file name to const char*
+
+    if(!file) {
+        debugln("[File does not exist. Creating file]");
+        writeFile(SD, "/data.csv", "SSID, SECURITY, CHANNEL, LAT, LONG, TIME \r\n");
+    } else {
+        debugln("[Data file already exists]");
+    }
+
+    file.close();
+
+}
+
+//////////////////// END OF SPIFFS FILE OPERATIONS ///////////////////////////
+
+/*!****************************************************************************
+ * @brief Inititialize the GPIOs
+ *******************************************************************************/
+void initGPIO() {
+    pinMode(red_led, OUTPUT);
+    pinMode(green_led, OUTPUT);
+    pinMode(SET_TEST_MODE_PIN, INPUT);
+    pinMode(SET_RUN_MODE_PIN, INPUT);
+    pinMode(buzzer, OUTPUT);
+
+    // set LEDs to a known starting state
+    digitalWrite(red_led, LOW);
+    digitalWrite(green_led, LOW);
+}
+
+/*!****************************************************************************
+ * @brief Switch the LEDS states
+ *******************************************************************************/
+void SwitchLEDs(uint8_t red_state, uint8_t green_state) {
+    digitalWrite(red_led, red_state);
+    digitalWrite(green_led, green_state);
+}
+
+// non blocking timings
+unsigned long last_buzz = 0;
+unsigned long current_buzz = 0;
+unsigned long buzz_interval = 200;
+uint8_t buzzer_state = LOW;
+
+unsigned long last_blink = 0;
+unsigned long current_blink = 0;
+unsigned long blink_interval = 200;
+uint8_t led_state = LOW;
+
+/*!****************************************************************************
+ * @brief Buzz the buzzer for a given buzz_interval
+ * This function is non-blocking
+ *******************************************************************************/
+void buzz() {
+    current_buzz = millis();
+    if((current_buzz - last_buzz) > buzz_interval) {
+        if(buzzer_state == LOW) {
+            buzzer_state = HIGH;
+        } else {
+            buzzer_state = LOW;
+        }
+
+        digitalWrite(buzzer, buzzer_state);
+
+        last_buzz = current_buzz;
+    }
+
+}
+
+/*!****************************************************************************
+ * @brief implements non-blocking blink
+ *******************************************************************************/
+void blink_200ms(uint8_t led_pin) {
+    current_blink = millis();
+    if((current_blink - last_blink) > blink_interval) {
+        if(led_state == LOW) {
+            led_state = HIGH;
+        } else if(led_state == HIGH) {
+            led_state = LOW;
+        }
+
+        digitalWrite(led_pin, led_state);
+        last_blink = current_blink;
+    }
+}
+
+/*!****************************************************************************
+ * @brief Sample the RUN/TEST toggle pins to check whether the fligh tcomputer is in test mode
+ * or run mode.
+ * If in TEST mode, define the TEST flag
+ * If in RUN mode, define the RUN flag
+ * TEST_MODE Pin and RUN_MODE pin are both pulled HIGH. When you set the jumper, you pull that pin to
+ * LOW.
+ *******************************************************************************/
+void checkRunTestToggle() {
+
+    if( (digitalRead(SET_RUN_MODE_PIN) == 0) && (digitalRead(SET_TEST_MODE_PIN) == 1) ) {
+        // run mode
+        RUN_MODE = 1;
+        TEST_MODE = 0;
+        SwitchLEDs(TEST_MODE, RUN_MODE);
+    }
+
+    if((digitalRead(SET_RUN_MODE_PIN) == 1) && (digitalRead(SET_TEST_MODE_PIN) == 0)){
+        // test mode
+        RUN_MODE = 0;
+        TEST_MODE = 1;
+
+        SwitchLEDs(TEST_MODE, RUN_MODE);
+    }
+
+    // here the jumper has been removed. we are neither in the TEST or RUN mode
+    // INVALID STATE
+    if((digitalRead(SET_RUN_MODE_PIN) == 1) && (digitalRead(SET_TEST_MODE_PIN) == 1)) {
+        TEST_MODE = 0;
+        RUN_MODE = 0;
+        SwitchLEDs(!TEST_MODE, !RUN_MODE);
+    }
+
+}
+
+
+
+/**
+ * XMODEM serial function definition
+ */
+
+/*!****************************************************************************
+ * @brief Initiate XMODEM protocol by sending a NAK command every 4 seconds until the transmitter returns an ACK signal
+ * @param none
+ *******************************************************************************/
+void InitXMODEM() {
+
+    // call the trasmitter
+    Serial.begin(BAUDRATE);
+    debug(NAK);
+    debug("\n");
+    Serial.flush();
+
+}
+
+/*!****************************************************************************
+ * @brief Parse the received serial command if it is a string
+ *******************************************************************************/
+int value = 0;
+void ParseSerialBuffer(char* buffer) {
+
+    if(strcmp(buffer, SOH_CHR) == 0) {
+        // if(buffer == SOH){
+
+        debugln(F("<Start of transmission>"));
+        SOH_recvd_flag = 1;
+        digitalWrite(red_led, HIGH);
+        debugln(F("<SOH rcvd from receiver> Waiting for data..."));
+
+        // put the MCU in data receive state
+        current_test_state = TEST_STATE::RECEIVE_TEST_DATA;
+        SwitchLEDs(0, 1);
+
+    } else {
+        debugln("Unknown");
+    }
+
+}
+
+/*!****************************************************************************
+ * @brief Parse the received serial command if it is a digit
+ We are only interested in numeric values being sent by the transmitter to us, the receiver
+ *******************************************************************************/
+void ParseSerialNumeric(int value) {
+    debug("Receive val: ");
+    debugln(value);
+
+    if(value == 1) // SOH: numeric 1
+    {
+        debugln("<Start of transmission>");
+        SOH_recvd_flag = 1;
+        debugln("<SOH rcvd> Waiting for data");
+
+        // put the MCU in data receive state
+        // any serial data after this will be the actual test data being received
+        SwitchLEDs(0, 1); // red off, green on
+        current_test_state = TEST_STATE::RECEIVE_TEST_DATA;
+
+    } else if(value == 4) {
+        // EOT: numeric 4
+        debugln("Unknown");
+    }
+}
+
+/*!****************************************************************************
+ * @brief Receive serial message during handshake
+ *******************************************************************************/
+void handshakeSerialEvent() {
+    SwitchLEDs(1,0);
+    while (Serial.available()) {
+        char ch = Serial.read();
+
+        if(isDigit(ch)) { // character between 0 an 9
+            // accumulate value
+            value = value*ch + (ch - '0');
+        } else if (ch == '\n') {
+            debug("SerEvent: ");
+            debugln(value);
+            ParseSerialNumeric(value);
+            value = 0; // reset value for the next transmission burst
+        }
+
+
+        // if(serial_index < MAX_CMD_LENGTH && (ch != '\n') ) { // use newline to signal end of command
+        //     serial_buffer[serial_index++] = ch;
+        // } else {
+        //     // here when buffer is full or a newline is received
+        //     debugln(serial_buffer);
+        //     ParseSerial(serial_buffer);
+        //     serial_buffer[serial_index] = 0; // terminate the string with a 0
+        //     serial_index = 0;
+
+        // }
+
+    }
+}
+
+/*!****************************************************************************
+ * @brief Receive serial message during RECEIVE_TEST_DATA state
+ * Data received in this state is the actual test data. It is saved into the test flash memory
+ *
+ *******************************************************************************/
+void receiveTestDataSerialEvent() {
+    while(Serial.available()) {
+        char ch = Serial.read();
+        Serial.write(ch);
+
+        // each CSV string ends with a newline
+        if(test_data_serial_index < MAX_CSV_LENGTH && (ch != '\n') ) {
+            test_data_buffer[test_data_serial_index++] = ch;
+
+        } else {
+            // buffer is full or newline is received
+            test_data_buffer[test_data_serial_index] = 0; // NUL terminator
+            test_data_serial_index = 0;
+
+            // HERE - LOG THE CSV STRING TO EXTERNAL FLASH MEMORY
+            //debugln(test_data_buffer);
+            // open file in append mode
+            File data_file = SPIFFS.open(test_data_file, "a");
+            if(data_file) {
+                data_file.print(test_data_buffer);
+                data_file.println(); // start a new line
+                data_file.close();
+            } else {
+                debugln("<Failed to write to file>");
+            }
+        }
+
+    }
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////// END OF FLIGHT COMPUTER TESTING SYSTEM  //////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
+
+
+
+//=================== MAIN SYSTEM =================
+uint8_t drogue_pyro = 25;
+uint8_t main_pyro = 12;
+uint8_t flash_cs_pin = 5;           /*!< External flash memory chip select pin */
+uint8_t remote_switch = 27;
+
+
 /* Flight data logging */
-uint8_t cs_pin = 5;                         /*!< External flash memory chip select pin */
-uint8_t flash_led_pin = 4;                  /*!< LED pin connected to indicate flash memory formatting  */
+uint8_t flash_led_pin = 39;                  /*!< LED pin connected to indicate flash memory formatting  */
 char filename[] = "flight.bin";             /*!< data log filename - Filename must be less than 20 chars, including the file extension */
 uint32_t FILE_SIZE_512K = 524288L;          /*!< 512KB */
 uint32_t FILE_SIZE_1M  = 1048576L;          /*!< 1MB */
@@ -48,16 +532,28 @@ unsigned long long previous_log_time = 0;   /*!< The last time we logged data to
 unsigned long long current_log_time = 0;    /*!< What is the processor time right now? */
 uint16_t log_sample_interval = 10;          /*!< After how long should we sample and log data to flash memory? */
 
-DataLogger data_logger(cs_pin, flash_led_pin, filename, file,  FILE_SIZE_4M);
+DataLogger data_logger(flash_cs_pin, flash_led_pin, filename, file,  FILE_SIZE_4M);
 
 /* position integration variables */
 long long current_time = 0;
 long long previous_time = 0;
 
 /**
- * ///////////////////////// DATA VARIABLES /////////////////////////
-*/
+ * Task synchronization variables
+ */
+// event group bits 
+#define TRANSMIT_TELEMETRY_BIT  ((EventBits_t) 0x01 << 0)   // for bit 0
+#define CHECK_FLIGHT_STATE_BIT  ((EventBits_t) 0x01 << 1)   // for bit 1
+#define LOG_TO_MEMORY_BIT       ((EventBits_t) 0x01 << 2)   // for bit 2
+#define TRANSMIT_XBEE_BIT       ((EventBits_t) 0x01 << 3)   // for bit 3
+#define DEBUG_TO_TERM_BIT       ((EventBits_t) 0x01 << 4)   // for bit 4
 
+// event group type for task syncronization
+EventGroupHandle_t tasksDataReceiveEventGroup;
+
+/**
+ * ///////////////////////// DATA TYPES /////////////////////////
+*/
 accel_type_t acc_data;
 gyro_type_t gyro_data;
 gps_type_t gps_data;
@@ -69,10 +565,13 @@ telemetry_type_t telemetry_packet;
 */
 
 
-///////////////////////// PERIPHERALS INIT /////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////// PERIPHERALS INIT                              /////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
 
 /**
  * create an MPU6050 object
+ * 0x68 is the address of the MPU
  * set gyro to max deg to 1000 deg/sec
  * set accel fs reading to 16g
 */
@@ -82,7 +581,7 @@ MPU6050 imu(0x68, 16, 1000);
 SFE_BMP180 altimeter;
 char status;
 double T, P, p0, a;
-#define ALTITUDE 1525.0 // altitude of iPIC building, JKUAT, Juja.
+#define ALTITUDE 1525.0 // altitude of iPIC building, JKUAT, Juja. TODO: Change to launch site altitude
 
 /*!****************************************************************************
  * @brief Initialize BMP180 barometric sensor
@@ -91,34 +590,29 @@ double T, P, p0, a;
  *******************************************************************************/
 void BMPInit() {
     if(altimeter.begin()) {
-        Serial.println("BMP init success");
+        debugln("[+]BMP init OK.");
         // TODO: update system table
     } else {
-        Serial.println("BMP init failed");
+        debugln("[+]BMP init failed");
     }
 }
 
-
 /*!****************************************************************************
  * @brief Initialize the GPS connected on Serial2
  * @return 1 if init OK, 0 otherwise
  * 
  *******************************************************************************/
 void GPSInit() {
-    // create the GPS object 
-    debugln("Initializing the GPS..."); // TODO: log to system logger
     Serial2.begin(GPS_BAUD_RATE);
     delay(100); // wait for GPS to init
+
+    debugln("[+]GPS init OK!"); // TODO: Proper GPS init check
 }
 
 /**
  * ///////////////////////// END OF PERIPHERALS INIT /////////////////////////
  */
 
-
-// create data types to hold the sensor data 
-
-
 /* create queue to store altimeter data
  * store pressure and altitude
  * */
@@ -153,10 +647,13 @@ QueueHandle_t gps_data_qHandle;
 //     mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
 // }
 
+
+//////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////// ACCELERATION AND ROCKET ATTITUDE DETERMINATION /////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
 
 /*!****************************************************************************
- * @brief Read aceleration data from the accelerometer
+ * @brief Read acceleration data from the accelerometer
  * @param pvParameters - A value that is passed as the paramater to the created task.
  * If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - 
  * so it is not valid to pass the address of a stack variable.
@@ -186,7 +683,9 @@ void readAccelerationTask(void* pvParameter) {
 }
 
 
-///////////////////////// ALTITUDE AND VELOCITY DETERMINATION /////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////// ALTITUDE AND VELOCITY DETERMINATION /////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
 
 /*!****************************************************************************
  * @brief Read ar pressure data from the barometric sensor onboard
@@ -218,9 +717,9 @@ void readAltimeterTask(void* pvParameters){
             status = altimeter.getTemperature(T);
             if(status != 0) {
                 // print out the measurement 
-                // Serial.print("temperature: ");
-                // Serial.print(T, 2);
-                // Serial.print(" \xB0 C, ");
+                // debug("temperature: ");
+                // debug(T, 2);
+                // debug(" \xB0 C, ");
 
                 // start pressure measurement 
                 // The parameter is the oversampling setting, from 0 to 3 (highest res, longest wait).
@@ -240,9 +739,9 @@ void readAltimeterTask(void* pvParameters){
                     status = altimeter.getPressure(P, T);
                     if(status != 0) {
                         // print out the measurement
-                        // Serial.print("absolute pressure: ");
-                        // Serial.print(P, 2);
-                        // Serial.print(" mb, "); // in millibars
+                        // debug("absolute pressure: ");
+                        // debug(P, 2);
+                        // debug(" mb, "); // in millibars
 
                         p0 = altimeter.sealevel(P,ALTITUDE);
                         // If you want to determine your altitude from the pressure reading,
@@ -251,24 +750,24 @@ void readAltimeterTask(void* pvParameters){
                         // Result: a = altitude in m.
 
                         a = altimeter.altitude(P, p0);
-                        // Serial.print("computed altitude: ");
-                        // Serial.print(a, 0);
-                        // Serial.print(" meters, ");
+                        // debug("computed altitude: ");
+                        // debug(a, 0);
+                        // debug(" meters, ");
 
                     } else {
-                        Serial.println("error retrieving pressure measurement\n");
+                        debugln("error retrieving pressure measurement\n");
                     } 
                 
                 } else {
-                    Serial.println("error starting pressure measurement\n");
+                    debugln("error starting pressure measurement\n");
                 }
 
             } else {
-                Serial.println("error retrieving temperature measurement\n");
+                debugln("error retrieving temperature measurement\n");
             }
 
         } else {
-            Serial.println("error starting temperature measurement\n");
+            debugln("error starting temperature measurement\n");
         }
 
         // delay(2000);
@@ -350,6 +849,154 @@ void readGPSTask(void* pvParameters){
 
 }
 
+/*!****************************************************************************
+ * @brief dequeue data from telemetry queue after all the tasks have consumed the data
+ * @param pvParameters - A value that is passed as the paramater to the created task.
+ * If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - 
+ * so it is not valid to pass the address of a stack variable.
+ * @return none
+ * 
+ *******************************************************************************/
+void clearTelemetryQueueTask(void* pvParameters) {
+    telemetry_type_t data_item; // data item to dequeue
+
+    const EventBits_t xBitsToWaitFor = (TRANSMIT_TELEMETRY_BIT | CHECK_FLIGHT_STATE_BIT | LOG_TO_MEMORY_BIT); // todo: ADD  TRANSMIT_TO_XBEE AND DEBUG TO_TERMINAL
+    EventBits_t xEventGroupValue;
+    
+    while (1) {
+        xEventGroupValue = xEventGroupWaitBits(
+                tasksDataReceiveEventGroup, 		// event group to use
+                xBitsToWaitFor, 	                // bit combo to wait for 
+                pdTRUE,				                // clear all bits on exit
+                pdTRUE, 			                // Wait for all bits (AND)
+                portMAX_DELAY		                // wait indefinitely
+        );
+
+        // Clear the data item from telemetry queue
+        xQueueReceive(telemetry_data_qHandle, &data_item, portMAX_DELAY);
+
+        // check if all data consuming tasks have received the data
+        // check TRANSMIT_TELEMETRY TASK
+        if(xEventGroupValue & TRANSMIT_TELEMETRY_BIT != 0) {
+            // TODO: MUST LOG TO SYSTEM LOGGER
+            debugln("[transmit telemetry task receive data OK!]");
+        }
+
+        // check CHECK_FLIGHT_STATE_TASK
+        if(xEventGroupValue & CHECK_FLIGHT_STATE_BIT != 0) {
+            // TODO: MUST LOG TO SYSTEM LOGGER
+            debugln("[check state task receive data OK!]");
+        }
+
+        // check LOG_TO_MEMORY task 
+        if(xEventGroupValue & LOG_TO_MEMORY_BIT != 0) {
+            // TODO: MUST LOG TO SYSTEM LOGGER
+            debugln("[log to memory task receive data OK!]");
+        }
+
+        //TODO: XBEE, DEBUG TO TERM
+
+    }
+	
+}
+
+/*!****************************************************************************
+ * @brief Check and update the current state of flight - refer to states.h
+ * @param pvParameters - A value that is passed as the paramater to the created task.
+ * If pvParameters is set to the address of a variable then the variable must still exist when the created task executes - 
+ * so it is not valid to pass the address of a stack variable.
+ * @return Updates the telemetry data flight state value
+ * 
+ *******************************************************************************/
+void checkFlightState(void* pvParameters) {
+    // get the flight state from the telemetry task
+    telemetry_type_t sensor_data; 
+    
+    while (1) {
+        uint8_t s = xQueuePeek(telemetry_data_qHandle, &sensor_data, portMAX_DELAY);
+        xEventGroupSetBits(tasksDataReceiveEventGroup, CHECK_FLIGHT_STATE_BIT); // signal that we have received flight data
+        
+
+        // check the flight state based on the conditions 
+        // this is a dummy condition
+        if(sensor_data.acc_data.ax < 5 && sensor_data.acc_data.ay > 2){
+            // change flight state to POWERED FLIGHT
+            current_state = FLIGHT_STATE::POWERED_FLIGHT;
+        } 
+        // else if() {}
+    }
+
+}
+
+/*!****************************************************************************
+ * @brief performs flight actions based on the current flight state
+ * If the flight state neccessisates an operation, we perfom it here
+ * For example if the flight state is apogee, we perfom MAIN_CHUTE ejection
+ * 
+ * @param pvParameter - A value that is passed as the paramater to the created task.
+ * If pvParameter is set to the address of a variable then the variable must still exist when the created task executes - 
+ * so it is not valid to pass the address of a stack variable.
+ * 
+ *******************************************************************************/
+void flightStateCallback(void* pvParameters) {
+    while(1) {
+        switch (current_state) {
+            // PRE_FLIGHT_GROUND
+            case FLIGHT_STATE::PRE_FLIGHT_GROUND:
+                debugln("PRE-FLIGHT STATE");
+                break;
+
+            // POWERED_FLIGHT
+            case FLIGHT_STATE::POWERED_FLIGHT:
+                debugln("POWERED FLIGHT STATE");
+                break;
+
+            // COASTING
+            case FLIGHT_STATE::COASTING:
+                debugln("COASTING");
+                break;
+
+            // APOGEE
+            case FLIGHT_STATE::APOGEE:
+                debugln("APOGEE");
+                break;
+
+            // DROGUE_DEPLOY
+            case FLIGHT_STATE::DROGUE_DEPLOY:
+                debugln("DROGUE DEPLOY");
+                drogueChuteDeploy();
+                break;
+
+            // DROGUE_DESCENT
+            case FLIGHT_STATE::DROGUE_DESCENT: 
+                debugln("DROGUE DESCENT");
+                break;
+
+            // MAIN_DEPLOY
+            case FLIGHT_STATE::MAIN_DEPLOY:
+                debugln("MAIN CHUTE DEPLOY");
+                mainChuteDeploy();
+                break;
+
+            // MAIN_DESCENT
+            case FLIGHT_STATE::MAIN_DESCENT:
+                debugln("MAIN CHUTE DESCENT");
+                break;
+
+            // POST_FLIGHT_GROUND
+            case FLIGHT_STATE::POST_FLIGHT_GROUND:
+                debugln("POST FLIGHT GROUND");
+                break;
+            
+            // MAINTAIN AT PRE_FLIGHT_GROUND IF NO STATE IS SPECIFIED - NOT GONNA HAPPEN BUT BETTER SAFE THAN SORRY
+            default:
+                debugln(current_state);
+                break;
+
+        }
+    }
+}
+
 
 /*!****************************************************************************
  * @brief debug flight/test data to terminal, this task is called if the DEBUG_TO_TERMINAL is set to 1 (see defs.h)
@@ -362,7 +1009,7 @@ void debugToTerminalTask(void* pvParameters){
     telemetry_type_t rcvd_data; // accelration received from acceleration_queue
 
     while(true){
-        if(xQueueReceive(telemetry_data_qHandle, &rcvd_data, portMAX_DELAY) == pdPASS){
+        if(xQueuePeek(telemetry_data_qHandle, &rcvd_data, portMAX_DELAY) == pdPASS){
             // debug CSV to terminal 
             // debug(rcvd_data.acc_data.ax); debug(","); 
             // debug(rcvd_data.acc_data.ay); debug(","); 
@@ -403,6 +1050,9 @@ void debugToTerminalTask(void* pvParameters){
         // }else{
         //     /* no queue */
         // }
+
+        xEventGroupSetBits(tasksDataReceiveEventGroup, DEBUG_TO_TERM_BIT); // signal that we have received flight data
+
     }
 }
 
@@ -418,7 +1068,9 @@ void logToMemory(void* pvParameter) {
     telemetry_type_t received_packet;
 
     while(1) {
-        xQueueReceive(telemetry_data_qHandle, &received_packet, portMAX_DELAY);
+        xQueuePeek(telemetry_data_qHandle, &received_packet, portMAX_DELAY);
+        xEventGroupSetBits(tasksDataReceiveEventGroup, LOG_TO_MEMORY_BIT); // signal that we have received flight data
+
         // received_packet.record_number++; 
 
         // is it time to record?
@@ -534,37 +1186,72 @@ void logToMemory(void* pvParameter) {
 // }
 
 
+
 /*!****************************************************************************
- * @brief Setup - perfom initialization of all hardware subsystems, create queues, create queue handles 
+ * @brief fires the pyro-charge to deploy the drogue chute
+ * Turn on the drogue chute ejection circuit by running the GPIO 
+ * HIGH for a preset No. of seconds.  
+ * Default no. of seconds to remain HIGH is 5 
+ * 
+ *******************************************************************************/
+void drogueChuteDeploy() {
+    debugln("DROGUE CHUTE DEPLOYED");
+}
+
+/*!****************************************************************************
+ * @brief fires the pyro-charge to deploy the main chute
+ * Turn on the main chute ejection circuit by running the GPIO 
+ * HIGH for a preset No. of seconds.  
+ * Default no. of seconds to remain HIGH is 5 
+ * 
+ *******************************************************************************/
+void mainChuteDeploy() {
+    debugln("MAIN CHUTE DEPLOYED");
+}
+
+
+/*!****************************************************************************
+ * @brief Setup - perform initialization of all hardware subsystems, create queues, create queue handles
  * initialize system check table
  * 
  *******************************************************************************/
 void setup(){
     /* initialize serial */
-    Serial.begin(115200);
+    Serial.begin(BAUDRATE);
+    delay(100);
 
-    uint8_t app_id = xPortGetCoreID();
-    BaseType_t th; // task creation handle
+    /* initialize the system logger */
+    InitSPIFFS();
 
-    /* initialize the data logging system - logs to flash memory */
-    data_logger.loggerInit();
+    /* mode 0 resets the system log file by clearing all the current contents */
+//    system_logger.logToFile(SPIFFS, 0, rocket_ID, level, system_log_file, "Game Time!"); // TODO: DEBUG
 
-    /* connect to WiFi*/
-    // connectToWifi();
-
-    ///////////////////////// PERIPHERALS INIT /////////////////////////
+    debugln();
+    debugln(F("=============================================="));
+    debugln(F("========= INITIALIZING PERIPHERALS ==========="));
+    debugln(F("=============================================="));
     imu.init();
     BMPInit();
     GPSInit();
+    initGPIO();
 
-    //==============================================================
+    debugln();
+    debugln(F("=============================================="));
+    debugln(F("===== INITIALIZING DATA LOGGING SYSTEM ======="));
+    debugln(F("=============================================="));
+    initSD();
+    data_logger.loggerInit();
 
+    uint8_t app_id = xPortGetCoreID();
+    BaseType_t th; // task creation handle
     // mqtt_client.setBufferSize(MQTT_BUFFER_SIZE);
     // mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
 
-    debugln("==============Creating queues=============="); // TODO: LOG TO SYSTEM LOGGER
+    debugln();
+    debugln(F("=============================================="));
+    debugln(F("============== CREATING QUEUES ==============="));
+    debugln(F("=============================================="));
 
-    ///////////////////// create data queues ////////////////////
     // this queue holds the data from MPU 6050 - this data is filtered already
     accel_data_qHandle = xQueueCreate(GYROSCOPE_QUEUE_LENGTH, sizeof(accel_type_t)); 
 
@@ -582,122 +1269,128 @@ void setup(){
 
     /* check if the queues were created successfully */
     if(accel_data_qHandle == NULL){
-        debugln("[-]accel data queue creation failed!");
+        debugln("[-]accel data queue creation failed");
     } else{
-        debugln("[+]Accelleration data queue creation success");
+        debugln("[+]Acceleration data queue creation OK.");
     }
     
     if(altimeter_data_qHandle == NULL){
-        debugln("[-]Altimeter data queue creation failed!");
+        debugln("[-]Altimeter data queue creation failed");
     } else{
-        debugln("[+]Altimeter data queue creation success");
+        debugln("[+]Altimeter data queue creation OK.");
     }
 
     if(gps_data_qHandle == NULL){
-        debugln("[-]GPS data queue creation failed!");
+        debugln("[-]GPS data queue creation failed");
     } else{
-        debugln("[+]GPS data queue creation success");
+        debugln("[+]GPS data queue creation OK.");
     }
 
     if(telemetry_data_qHandle == NULL) {
-        debugln("Telemetry queue created");
+        debugln("[-]Telemetry data queue creation failed");
     } else {
-        debugln("Failed to create telemetry queue");
+        debugln("[+]Telemetry data queue creation OK.");
     }
 
     // if(filtered_data_queue == NULL){
     //     debugln("[-]Filtered data queue creation failed!");
     // } else{
-    //     debugln("[+]Filtered data queue creation success");
+    //     debugln("[+]Filtered data queue creation OK.");
     // }
 
     // if(flight_states_queue == NULL){
     //     debugln("[-]Flight states queue creation failed!");
     // } else{
-    //     debugln("[+]Flight states queue creation success");
+    //     debugln("[+]Flight states queue creation OK.");
     // }
 
-    //====================== TASK CREATION ==========================
+    debugln();
+    debugln(F("=============================================="));
+    debugln(F("============== CREATING TASKS ==============="));
+    debugln(F("=============================================="));
+
     /* Create tasks
      * All tasks have a stack size of 1024 words - not bytes!
      * ESP32 is 32 bit, therefore 32bits x 1024 = 4096 bytes
      * So the stack size is 4096 bytes
-     * */
+     * 
+     * TASK CREATION PARAMETERS
+     * function that executes this task
+     * Function name - for debugging 
+     * Stack depth in words 
+     * parameter to be passed to the task 
+     * Task priority - in this case 1 
+     * task handle that can be passed to other tasks to reference the task 
+     *
+     * /
     debugln("==============Creating tasks==============");
 
     /* TASK 1: READ ACCELERATION DATA */
-   th = xTaskCreatePinnedToCore(
-        readAccelerationTask,         
-        "readGyroscope",
-        STACK_SIZE*2,                  
-        NULL,                       
-        1,
-        NULL,
-        app_id
-   );
-
-   if(th == pdPASS) {
-    Serial.println("Read acceleration task created");
-   } else {
-    Serial.println("Read acceleration task creation failed");
-   }
+    th = xTaskCreatePinnedToCore(readAccelerationTask, "readGyroscope", STACK_SIZE*2, NULL, 1, NULL,app_id);
+    if(th == pdPASS) {
+        debugln("[+]Read acceleration task created");
+    } else {
+        debugln("[-]Read acceleration task creation failed");
+    }
 
     /* TASK 2: READ ALTIMETER DATA */
-   th = xTaskCreatePinnedToCore(
-           readAltimeterTask,           /* function that executes this task*/
-           "readAltimeter",             /* Function name - for debugging */
-           STACK_SIZE*2,                /* Stack depth in words */
-           NULL,                        /* parameter to be passed to the task */
-           2,                           /* Task priority - in this case 1 */
-           NULL,                        /* task handle that can be passed to other tasks to reference the task */
-           app_id
-        );
-
+    th = xTaskCreatePinnedToCore(readAltimeterTask,"readAltimeter",STACK_SIZE*2,NULL,2,NULL,app_id);
     if(th == pdPASS) {
-        debugln("Read altimeter task created successfully");
+        debugln("[+]Read altimeter task created OK.");
     } else {
-        debugln("Failed to create read altimeter task");
+        debugln("[-]Failed to create read altimeter task");
     }
 
     /* TASK 3: READ GPS DATA */
-    th = xTaskCreatePinnedToCore(
-            readGPSTask,         
-            "readGPS",
-            STACK_SIZE*2,                  
-            NULL,                       
-            1,
-            NULL,
-            app_id
-        );
+    th = xTaskCreatePinnedToCore(readGPSTask, "readGPS", STACK_SIZE*2, NULL,1,NULL, app_id);
 
     if(th == pdPASS) {
-        debugln("GPS task created");
+        debugln("[+]GPS task created OK.");
     } else {
-        debugln("Failed to create GPS task");
-    }
-
-    #if DEBUG_TO_TERMINAL   // set SEBUG_TO_TERMINAL to 0 to prevent serial debug data to serial monitor
-    /* TASK 4: DISPLAY DATA ON SERIAL MONITOR - FOR DEBUGGING */
-    th = xTaskCreatePinnedToCore(
-            debugToTerminalTask,
-            "displayData",
-            STACK_SIZE,
-            NULL,
-            1,
-            NULL,
-            app_id
-        );
+        debugln("[-]Failed to create GPS task");
+    }
+
+    /* TASK 4: CLEAR TELEMETRY QUEUE ITEM */
+    th = xTaskCreatePinnedToCore(clearTelemetryQueueTask,"clearTelemetryQueueTask",STACK_SIZE*2,NULL,1, NULL,app_id);
+
+    if(th == pdPASS) {
+        debugln("[+]clearTelemetryQueueTask task created OK.");
+    } else {
+        debugln("[-]Failed to create clearTelemetryQueueTask task");
+    }
+
+    /* TASK 5: CHECK FLIGHT STATE TASK */
+    th = xTaskCreatePinnedToCore(checkFlightState,"checkFlightState",STACK_SIZE*2,NULL,1, NULL,app_id);
+    if(th == pdPASS) {
+        debugln("[+]checkFlightState task created OK.");
+    } else {
+        debugln("[-}Failed to create checkFlightState task");
+    }
+    ////
+
+    /* TASK 6: FLIGHT STATE CALLBACK TASK */    
+    th = xTaskCreatePinnedToCore(flightStateCallback,"flightStateCallback",STACK_SIZE*2,NULL,1, NULL,app_id);
+    if(th == pdPASS) {
+        debugln("[+]flightStateCallback task created OK.");
+    } else {
+        debugln("[-}Failed to create flightStateCallback task");
+    }
+
+    #if DEBUG_TO_TERMINAL   // set DEBUG_TO_TERMINAL to 0 to prevent serial debug data to serial monitor
+
+    /* TASK 7: DISPLAY DATA ON SERIAL MONITOR - FOR DEBUGGING */
+    th = xTaskCreatePinnedToCore(debugToTerminalTask,"debugToTerminalTask",STACK_SIZE,NULL,1,NULL,app_id);
         
     if(th == pdPASS) {
-        Serial.println("Task created");
+        debugln("[+}debugToTerminalTaskTask created");
     } else {
-        Serial.println("Task not created");
+        debugln("[-}Task not created");
     }
 
     #endif // DEBUG_TO_TERMINAL_TASK
 
 
-    /* TASK 4: TRANSMIT TELEMETRY DATA */
+    /* TASK 8: TRANSMIT TELEMETRY DATA */
     // if(xTaskCreate(
     //         transmitTelemetry,
     //         "transmit_telemetry",
@@ -708,11 +1401,11 @@ void setup(){
     // ) != pdPASS){
     //     debugln("[-]Transmit task failed to create");
     // }else{
-    //     debugln("[+]Transmit task created success");
+    //     debugln("[+]Transmit task created OK.");
     // }
 
-    #if LOG_TO_MEMORY   // set LOG_TO_MEMORY to 1 to allow loggin to memory 
-        /* TASK 4: LOG DATA TO MEMORY */
+    #if LOG_TO_MEMORY   // set LOG_TO_MEMORY to 1 to allow logging to memory 
+        /* TASK 9: LOG DATA TO MEMORY */
         if(xTaskCreate(
                 logToMemory,
                 "logToMemory",
@@ -722,8 +1415,9 @@ void setup(){
                 NULL
         ) != pdPASS){
             debugln("[-]logToMemory task failed to create");
+  
         }else{
-            debugln("[+]logToMemory task created success");
+            debugln("[+]logToMemory task created OK.");
         }
     #endif // LOG_TO_MEMORY
 
@@ -737,9 +1431,31 @@ void setup(){
     // ) != pdPASS){
     //     debugln("[-]FSM task failed to create");
     // }else{
-    //     debugln("[+]FSM task created success");
+    //     debugln("[+]FSM task created OK.");
     // }
 
+    // create  event group to sync flight data consumption 
+    // see N4 flight software docs for more info
+    debugln();
+    debugln(F("=============================================="));
+    debugln(F("===== CREATING DATA CONSUMER EVENT GROUP ===="));
+    debugln(F("=============================================="));
+
+    tasksDataReceiveEventGroup = xEventGroupCreate();
+    if(tasksDataReceiveEventGroup == NULL) {
+        debugln("[-] data consumer event group failed to create");
+    } else {
+        debugln("[+] data consumer event group created OK.");
+    }
+
+    // check whether we are in test mode or running mode
+    checkRunTestToggle();
+    if(TEST_MODE) {
+        debugln();
+        debugln(F("=============================================="));
+        debugln(F("=========FLIGHT COMPUTER TESTING MODE========="));
+        debugln(F("=============================================="));
+    }
 }
 
 
@@ -760,4 +1476,4 @@ void loop(){
 
 //    mqtt_client.loop();
 
-}
\ No newline at end of file
+}
diff --git a/n4-flight-software/src/mpu.cpp b/n4-flight-software/src/mpu.cpp
index 21000bd..233e70e 100644
--- a/n4-flight-software/src/mpu.cpp
+++ b/n4-flight-software/src/mpu.cpp
@@ -1,4 +1,5 @@
 #include "mpu.h"
+#include <Arduino.h>
 
 // constructor
 MPU6050::MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range) {
@@ -46,10 +47,12 @@ void MPU6050::init() {
          Wire.write(SET_ACCEL_FS_16G);
     }
     Wire.endTransmission(true);
+
+    Serial.println(F("[+]MPU6050 init OK."));
 }
 
 /**
- * Read X axix acceleration
+ * Read X axiS acceleration
 */
 float MPU6050::readXAcceleration() {
     Wire.beginTransmission(this->_address);
diff --git a/n4-flight-software/src/mpu.h b/n4-flight-software/src/mpu.h
index e89c1f1..f2b8936 100644
--- a/n4-flight-software/src/mpu.h
+++ b/n4-flight-software/src/mpu.h
@@ -51,35 +51,35 @@
 
 class MPU6050 {
     private:
-    uint8_t _address;
-    uint32_t _accel_fs_range;
-    uint32_t _gyro_fs_range;
-    
+        uint8_t _address;
+        uint32_t _accel_fs_range;
+        uint32_t _gyro_fs_range;
+
     public:
-    // sensor data
-    int16_t acc_x, acc_y, acc_z; // raw acceleration values  
-    float acc_x_real, acc_y_real, acc_z_real; // converted aceleration values 
-    int16_t ang_vel_x, ang_vel_y, ang_vel_z;
-    float ang_vel_x_real, ang_vel_y_real, ang_vel_z_real; // converted angular velocity values 
-    int16_t temp;
-    float temp_real;
+        // sensor data
+        int16_t acc_x, acc_y, acc_z; // raw acceleration values
+        float acc_x_real, acc_y_real, acc_z_real; // converted acceleration values
+        int16_t ang_vel_x, ang_vel_y, ang_vel_z;
+        float ang_vel_x_real, ang_vel_y_real, ang_vel_z_real; // converted angular velocity values
+        int16_t temp;
+        float temp_real;
 
-    float pitch_angle, roll_angle;
-    float acc_x_ms, acc_y_ms, acc_z_ms; // acceleration in m/s^2
+        float pitch_angle, roll_angle;
+        float acc_x_ms, acc_y_ms, acc_z_ms; // acceleration in m/s^2
 
 
-    MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);
-    void init();
-    float readXAcceleration();
-    float readYAcceleration();
-    float readZAcceleration();
-    float readXAngularVelocity();
-    float readYAngularVelocity();
-    float readZAngularVelocity();
-    float readTemperature();
-    void filterImu();
-    float getRoll();
-    float getPitch();
+        MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);
+        void init();
+        float readXAcceleration();
+        float readYAcceleration();
+        float readZAcceleration();
+        float readXAngularVelocity();
+        float readYAngularVelocity();
+        float readZAngularVelocity();
+        float readTemperature();
+        void filterImu();
+        float getRoll();
+        float getPitch();
 
 };
 
diff --git a/n4-flight-software/src/pin_assignment.MD b/n4-flight-software/src/pin_assignment.MD
new file mode 100644
index 0000000..e68614e
--- /dev/null
+++ b/n4-flight-software/src/pin_assignment.MD
@@ -0,0 +1,2 @@
+## Flight computer pin assignment  
+
diff --git a/n4-flight-software/src/states.cpp b/n4-flight-software/src/states.cpp
index fa0e665..ef290fb 100644
--- a/n4-flight-software/src/states.cpp
+++ b/n4-flight-software/src/states.cpp
@@ -2,7 +2,17 @@
 #include "functions.h"
 #include "defs.h"
 #include "sensors.h"
+<<<<<<< Updated upstream
 #include "elapsedMillis.h"
+=======
+#include "mpu.h"
+#include <elapsedMillis.h>
+
+
+int PREVIOUS_STATE = 0;
+ 
+int Mode;
+>>>>>>> Stashed changes
 
 const int DROGUE_PIN = 3;
 const int MAIN_PIN = 5;
@@ -12,7 +22,11 @@ elapsedMillis decelerationTimer; // Timer to track deceleration duration
 bool isDeceleratingContinuously(){
   static float previousAltitude = 0.0f; // Store previous altitude
   float currentAltitude = getAltitude(); // Read current altitude
+<<<<<<< Updated upstream
   float verticalAccel = getAcceleration(MPU_SENSOR_Z_AXIS) - 9.81f; // Calculate vertical acceleration
+=======
+  float verticalAccel = readZAcceleration(); // Calculate vertical acceleration
+>>>>>>> Stashed changes
 
   // Check for deceleration event
   bool isDecelerating = verticalAccel < 0
@@ -36,11 +50,19 @@ State currentState = State::PRE_FLIGHT_GROUND;
 
 //State machine transition conditions
 
-//checks if altitude is greater than 50m to determine powered flight
+//checks if altitude displacement is greater than 50m to determine powered flight
 State isInPoweredFlight(float altitude) {
+<<<<<<< Updated upstream
   if (altitude > 50.0f) { 
     return State::POWERED_FLIGHT;
   }
+=======
+   float displacement = altitude - BASE_ALTITUDE;
+    if (displacement > 5) {
+     return POWERED_FLIGHT;
+    }
+    return currentState; 
+>>>>>>> Stashed changes
 }
 // Checks for continuous deceleration to determine coasting
 State isInCoasting(bool isDecelerating) {
@@ -75,7 +97,7 @@ void loop() {
   float velocity = getVelocity(); 
   bool isDecelerating = isDeceleratingContinuously();
 
-  if(modf == FLIGHT_MODE) {
+  if(Mode == FLIGHT_MODE) {
     
     // Call state transition functions
    currentState = isInPoweredFlight(currentAltitude);
@@ -83,7 +105,11 @@ void loop() {
    currentState = isInApogee(velocity,currentAltitude);
    currentState = isInMainChuteDeploy(currentAltitude);
 
+<<<<<<< Updated upstream
    } else {
+=======
+   } else if (Mode == SAFE_MODE) {
+>>>>>>> Stashed changes
     currentState = PRE_FLIGHT_GROUND;
   }
   
diff --git a/n4-flight-software/src/states.cpp~ b/n4-flight-software/src/states.cpp~
new file mode 100644
index 0000000..53b713c
--- /dev/null
+++ b/n4-flight-software/src/states.cpp~
@@ -0,0 +1,21 @@
+/**
+ * @file states.h
+ * This file describes the flight states 
+ *
+ */
+#ifdef STATES_H
+#define STATES_H
+
+enum FLIGHT_STATE {
+	PRE_FLIGHT_GROUND = 0,
+	POWERED_FLIGHT,
+	COASTING,
+	APOGEE,
+	DROGUE_DEPLOY,
+	DROGUE_DESCENT,
+	MAIN_DEPLOY,
+	MAIN_DESCENT,
+	POST_FLIGHT_GROUND
+};
+
+#endif
diff --git a/n4-flight-software/src/states.h b/n4-flight-software/src/states.h
new file mode 100644
index 0000000..b46fa2e
--- /dev/null
+++ b/n4-flight-software/src/states.h
@@ -0,0 +1,21 @@
+/**
+ * @file states.h
+ * This file describes the flight states 
+ *
+ */
+#ifndef STATES_H
+#define STATES_H
+
+typedef enum {
+	PRE_FLIGHT_GROUND = 0,
+	POWERED_FLIGHT,
+	COASTING,
+	APOGEE,
+	DROGUE_DEPLOY,
+	DROGUE_DESCENT,
+	MAIN_DEPLOY,
+	MAIN_DESCENT,
+	POST_FLIGHT_GROUND
+} FLIGHT_STATE;
+
+#endif
diff --git a/n4-flight-software/system-logger/SystemLogLevels.h b/n4-flight-software/src/system_log_levels.h
similarity index 77%
rename from n4-flight-software/system-logger/SystemLogLevels.h
rename to n4-flight-software/src/system_log_levels.h
index fa2dc6e..17745f8 100644
--- a/n4-flight-software/system-logger/SystemLogLevels.h
+++ b/n4-flight-software/src/system_log_levels.h
@@ -7,15 +7,15 @@
  *
  */
 
-#ifndef LEVELS_H
-#define LEVELS_H
+#ifndef SYSTEM_LOG_LEVELS_H
+#define SYSTEM_LOG_LEVELS_H
 
-enum LOG_LEVEL {
+typedef enum{
 	DEBUG = 0,
 	INFO,
 	WARNING,
 	CRITICAL,
 	ERROR
-};
+} LOG_LEVEL;
 
 #endif
diff --git a/n4-flight-software/src/system_logger.cpp b/n4-flight-software/src/system_logger.cpp
new file mode 100644
index 0000000..6e7d9c8
--- /dev/null
+++ b/n4-flight-software/src/system_logger.cpp
@@ -0,0 +1,124 @@
+#include "system_logger.h"
+
+void SystemLogger::logToFile (fs::FS &fs, uint8_t mode, const char* client, uint8_t log_level, const char* file,  const char* msg) {
+    char log_buffer[100];
+    // get the timestamp
+    unsigned long raw_timestamp = millis();
+
+    // convert the timestamp to human readable format
+    convertTimestamp(raw_timestamp);
+
+    // construct the log message
+    // timestamp clientID log_level msg
+    sprintf(log_buffer,
+            "%c %d %s %s %s\n",
+            tstamp,
+            client,
+            this->getLogLevelString(log_level),
+            msg
+    );
+
+    // open the file in the specified mode
+    if(mode == 0) {
+        // clear the file contents
+        // this is used just before flight to make sure we do not have previous data
+        // on the log file
+        File f = fs.open(file, FILE_WRITE);
+        if(!f) {
+            Serial.println("Failed to open file ");
+            return;
+        }
+
+        // log to file
+        if(f.print(log_buffer)) {
+            Serial.println("- file written");
+        } else {
+            Serial.println("- write failed");
+        }
+
+        // close file
+        f.close();
+
+    } else if(mode == 1) {
+        File f = fs.open(file, FILE_APPEND);
+        if(!f) {
+            Serial.println("Failed to open file ");
+            return;
+        }
+
+        // log to file
+        if(f.print(log_buffer)) {
+            Serial.println("- file written");
+        } else {
+            Serial.println("- write failed");
+        }
+
+        // close file
+        f.close();
+
+    }
+}
+
+/**
+ * @brief read log file to console
+ */
+ void SystemLogger::readLogFile(fs::FS &fs, const char* file) {
+        Serial.printf("Reading file: %s\r\n", file);
+        File f = fs.open(file);
+
+        if(!f || f.isDirectory()){
+            Serial.println("- failed to open file for reading");
+            return;
+        }
+
+        Serial.println("- read from file:");
+        while(f.available()){
+            Serial.write(f.read());
+        }
+        Serial.println();
+        f.close();
+ }
+
+/**
+ * 
+ * @brief convert the log level to string
+ * 
+ */
+const char* SystemLogger::getLogLevelString(uint8_t log_level) {
+    static const char* debug = "DEBUG";
+    static const char* info = "INFO";
+    static const char* warning = "WARNING";
+    static const char* critical = "CRITICAL";
+    static const char* error = "ERROR";
+    static const char* unknown = "UNKNOWN";
+
+    switch (log_level) {
+    case 0:
+        return debug;
+        break;
+
+    case 1:
+        return info;
+        break;
+
+    case 2:
+        return warning;
+        break;
+
+    case 3:
+        return critical;
+        break;
+    
+    case 4:
+        return error;
+        break;
+    
+    default:
+        return unknown;
+        break;
+    }
+
+}
+
+
+
diff --git a/n4-flight-software/src/system_logger.h b/n4-flight-software/src/system_logger.h
new file mode 100644
index 0000000..12d569b
--- /dev/null
+++ b/n4-flight-software/src/system_logger.h
@@ -0,0 +1,17 @@
+#ifndef SYSTEMLOGGER_H
+#define SYSTEMLOGGER_H
+
+#include <Arduino.h>
+#include <FS.h>
+#include <SPIFFS.h>
+#include "custom_time.h"
+
+class SystemLogger {
+	public:
+        const char* getLogLevelString(uint8_t log_level);
+		void logToConsole (const uint32_t timestamp, const char* client, uint8_t log_level, const char* msg);
+		void logToFile (fs::FS &fs, uint8_t mode, const char* client, uint8_t log_level, const char* file,  const char* msg);
+		void readLogFile(fs::FS &fs, const char* file);
+};
+	
+#endif
diff --git a/n4-flight-software/system-logger/SystemLogger.cpp b/n4-flight-software/system-logger/SystemLogger.cpp
deleted file mode 100644
index ab2a93a..0000000
--- a/n4-flight-software/system-logger/SystemLogger.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include "SystemLogger.h"
-
-/**
- * 
- * @brief convert the log level to string
- * 
- */
-const char* SystemLogger::getLogLevelString(uint8_t log_level) {
-    static const char* debug = "DEBUG";
-    static const char* info = "INFO";
-    static const char* warning = "WARNING";
-    static const char* critical = "CRITICAL";
-    static const char* error = "ERROR";
-    static const char* unknown = "UNKNOWN";
-
-    switch (log_level) {
-    case 0:
-        return debug;
-        break;
-
-    case 1:
-        return info;
-        break;
-
-    case 2:
-        return warning;
-        break;
-
-    case 3:
-        return critical;
-        break;
-    
-    case 4:
-        return error;
-        break;
-    
-    default:
-        return unknown;
-        break;
-    }
-
-}
-
-
-
diff --git a/n4-flight-software/system-logger/SystemLogger.h b/n4-flight-software/system-logger/SystemLogger.h
deleted file mode 100644
index 091f0df..0000000
--- a/n4-flight-software/system-logger/SystemLogger.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef SYSTEMLOGGER_H
-#define SYSTEMLOGGER_H
-
-#include <cstdint>
-
-
-class SystemLogger {
-	public:
-		void writeToConsole (const uint32_t timestamp, const char* client, uint8_t log_level, const char* msg);
-		const char* getLogLevelString(uint8_t log_level);
-};
-	
-#endif
diff --git a/n4-flight-software/system-logger/logger-arduino/logger-arduino.ino b/n4-flight-software/system-logger/logger-arduino/logger-arduino.ino
deleted file mode 100644
index 13d06c0..0000000
--- a/n4-flight-software/system-logger/logger-arduino/logger-arduino.ino
+++ /dev/null
@@ -1,28 +0,0 @@
-
-char tstamp[50]; // to hold a timestamp
-int minute=0, sec=0, msec=0;
-
-void getTimeStamp(unsigned long m) {
-  // convert time to mins, secs, msecs
-  
-  minute = ((m/1000)/60) % 60;
-  sec = (m/1000) % 60;
-  msec = m%1000;
-
-  sprintf(tstamp, "%d:%d:%ul", minute, sec, msec);
-
-}
-
-void setup() {
-  Serial.begin(115200);
-
-}
-
-void loop() {
-
-  unsigned long x = millis();
-  getTimeStamp(x);
-
-  Serial.println(tstamp);
-
-}
diff --git a/n4-flight-software/system-logger/logger-console.cpp b/n4-flight-software/system-logger/logger-console.cpp
deleted file mode 100644
index c399290..0000000
--- a/n4-flight-software/system-logger/logger-console.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include <string>
-#include <iostream>
-#include "SystemLogger.h"
-#include "SystemLogLevels.h"
-
-// DRIVER CODE FOR CONSOLE TESTING
-
-// LOG MESSAGE STRUCTURE
-// [TIMESTAMP]:[CLIENT_ID]:[LOG-LEVEL]:MESSAGE
-// CLIENT_ID tells which ESP - flight computer(FC) or ground-station(GS) - this is an ID xtracted from the ESP's core 
-// TIMESTAMP STRUCTURE: [HOUR/MIN/SEC/DAY/MONTH/YR] 
-
-class LoggerConsole : public SystemLogger {
-		public:
-			void writeToConsole(const time_t timestamp, const char* client, uint8_t log_level, const char* msg) {
-				char log_buffer[128];
-
-				// get verbose log levels - returns int converted to string to tell the log level
-				const char* log_level_str = getLogLevelString(log_level);
-
-				// package the log message structure
-				// int chars = sprintf(log_buffer, "[%s]:[%s]:[%s]:%s\n", timestamp, client, log_level_str, msg);
-				sprintf(log_buffer, "[%s]:[%s]:[%s]",client, log_level_str, msg);
-
-				// print to console
-				std::cout << log_buffer;
-				
-		}
-};
-
-int main() {
-	LoggerConsole syslogger;
-	
-	// fake message - timestamp, client_id, log_level, message
-	time_t timestamp = 19400;
-	const char* client = "123EDFE";
-	uint8_t log_level = LOG_LEVEL::DEBUG;
-	const char* msg = "Testing 1..2";
-
-	std::cout<<"<Done logging>\n";
-	
-	// call the logger
-	syslogger.writeToConsole(timestamp, client, log_level, msg);
-
-	
-
-	return 0;
-}
diff --git a/n4-flight-software/src/custom-time.h b/n4-flight-software/test/log_time_fmt_test/custom-time.h
similarity index 75%
rename from n4-flight-software/src/custom-time.h
rename to n4-flight-software/test/log_time_fmt_test/custom-time.h
index 50fcc18..9bb2e05 100644
--- a/n4-flight-software/src/custom-time.h
+++ b/n4-flight-software/test/log_time_fmt_test/custom-time.h
@@ -9,9 +9,6 @@
 
 #include <Arduino.h>
 
-char tstamp[50]; // to hold a timestamp
-int minute=0, sec=0, msec=0;
-
-char* convertTimestamp(unsigned long);
-
+void convertTimestamp(unsigned long);
+ma
 #endif
\ No newline at end of file
diff --git a/n4-flight-software/src/custom-time.cpp b/n4-flight-software/test/log_time_fmt_test/log_time_fmt_test.ino
similarity index 67%
rename from n4-flight-software/src/custom-time.cpp
rename to n4-flight-software/test/log_time_fmt_test/log_time_fmt_test.ino
index 5f70b35..beb849b 100644
--- a/n4-flight-software/src/custom-time.cpp
+++ b/n4-flight-software/test/log_time_fmt_test/log_time_fmt_test.ino
@@ -1,3 +1,4 @@
+
 /*!****************************************************************************
  * @file custom-time.c
  * @brief This file implements functions to convert time in milliseconds to 
@@ -7,16 +8,30 @@
 
 #include "custom-time.h"
 
+char tstamp[50]; // to hold a timestamp
+int minute=0, sec=0, msec=0;
+
 /*!****************************************************************************
- * @brief convert time in millisecsonds to minutes, seconds and time that are human readable
+ * @brief convert time in milliseconds to minutes, seconds and time that are human readable
  * @param msec time in milliseconds, got from millis() function
  *******************************************************************************/
-char* convertTimestamp(unsigned long msec) {
+void convertTimestamp(unsigned long msec) {
     minute = ((msec/1000)/60) % 60;
     sec = (msec/1000) % 60;
     msec = msec%1000;
 
     sprintf(tstamp, "%d:%d:%ul", minute, sec, msec);
-    return tstamp;
 
 }
+
+void setup() {
+  Serial.begin(115200);
+
+}
+
+void loop() {
+  convertTimestamp(millis());
+  Serial.println(tstamp);
+  delay(200);
+}
+