From 05fe3d8c4f8598b4882b6a47b06775ba91a591de Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Sun, 21 Jun 2026 18:05:17 -0700
Subject: [PATCH 01/38] Refactor LoRa: Move async FSM to lora_async.c

---
 app/rev2/Makefile                             | 1 +
 app/rev2/flight.c                             | 6 ++++--
 init/rev2/config/Src/stm32h7xx_it.c           | 6 +++---
 test/app/rev2/flight/mock/test_flight_stubs.c | 6 +++---
 test/app/rev2/flight/test_flight.c            | 6 +++---
 5 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/app/rev2/Makefile b/app/rev2/Makefile
index d849cf8e..e67d4370 100644
--- a/app/rev2/Makefile
+++ b/app/rev2/Makefile
@@ -87,6 +87,7 @@ $(DRIVER_DIR)/ignition/ignition.c                                        \
 $(DRIVER_DIR)/imu/imu.c                                                  \
 $(DRIVER_DIR)/led/led.c                                                  \
 $(DRIVER_DIR)/lora/lora.c                                                  \
+$(DRIVER_DIR)/lora/lora_async.c                                                  \
 $(MOD_DIR)/sensor/sensor.c                                            \
 $(DRIVER_DIR)/usb/usb.c                                                  \
 $(DRIVER_DIR)/gps/gps.c                                                  \
diff --git a/app/rev2/flight.c b/app/rev2/flight.c
index 096ac12e..ac2f905e 100644
--- a/app/rev2/flight.c
+++ b/app/rev2/flight.c
@@ -30,6 +30,7 @@ Includes
 #include <math.h>
 #include "main.h"
 #include "led.h"
+#include "lora.h"
 #include "usb.h"
 #include "math.h"
 #include "sensor.h"
@@ -149,6 +150,7 @@ if ( preset_data.config_settings.enabled_features & GPS_ENABLED )
 sensorCalibrationSWCON();
 write_preset( flash_handle, flash_address );
 flash_erase_preserve_preset( flash_handle, flash_address );
+lora_fsm_set_mode( LORA_ASYNC_TX );
 
 fc_state_update( FC_STATE_LAUNCH_DETECT );
 
@@ -202,11 +204,11 @@ if ( ( fc_state == FC_STATE_ASCENT )
 update_state();
 
 /*------------------------------------------------------------------------------
- Update Telemetry FSM                                                            
+ Update LoRa FSM                                                            
 ------------------------------------------------------------------------------*/
 if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLED )
     {
-    telemetry_update( TELEMETRY_EVENT_SYNCHRONOUS_UPDATE );
+    lora_fsm_update( LORA_FSM_EVENT_SYNCHRONOUS_UPDATE );
     }
 
 /*------------------------------------------------------------------------------
diff --git a/init/rev2/config/Src/stm32h7xx_it.c b/init/rev2/config/Src/stm32h7xx_it.c
index 7234faf8..b2fcce76 100644
--- a/init/rev2/config/Src/stm32h7xx_it.c
+++ b/init/rev2/config/Src/stm32h7xx_it.c
@@ -38,7 +38,7 @@ Standard Includes
 #include "imu.h"
 #include "baro.h"
 #include "timer.h"
-#include "telemetry.h"
+#include "lora.h"
 #include "error_sdr.h"
 #include <string.h>
 
@@ -326,7 +326,7 @@ void HAL_SPI_TxRxCpltCallback( SPI_HandleTypeDef *hspi ) {
         /* Driver contract: pull NSS high */
         HAL_GPIO_WritePin( LORA_NSS_GPIO_PORT, LORA_NSS_PIN, GPIO_PIN_SET );
         /* Update telemetry FSM */
-        telemetry_update( TELEMETRY_EVENT_REG_READ_CPLT );
+        lora_fsm_update( LORA_FSM_EVENT_REG_READ_CPLT );
     }
 }
 
@@ -336,7 +336,7 @@ void HAL_SPI_TxCpltCallback( SPI_HandleTypeDef *hspi ) {
         /* Driver contract: pull NSS high */
         HAL_GPIO_WritePin( LORA_NSS_GPIO_PORT, LORA_NSS_PIN, GPIO_PIN_SET );
         /* Update telemetry FSM */
-        telemetry_update( TELEMETRY_EVENT_WRITE_CPLT );
+        lora_fsm_update( LORA_FSM_EVENT_WRITE_CPLT );
     }
 }
 
diff --git a/test/app/rev2/flight/mock/test_flight_stubs.c b/test/app/rev2/flight/mock/test_flight_stubs.c
index 7ade9869..2b1ca6ec 100644
--- a/test/app/rev2/flight/mock/test_flight_stubs.c
+++ b/test/app/rev2/flight/mock/test_flight_stubs.c
@@ -34,7 +34,7 @@ uint16_t flash_busy_counts = 0;
 uint16_t sensor_dump_calls = 0;
 bool store_frame_called = false;
 bool is_apogee_detected = false;
-TELEMETRY_EVENT last_event = TELEMETRY_EVENT_CANCEL;
+LORA_FSM_EVENT last_event = LORA_FSM_EVENT_CANCEL;
 
 /* internal use */
 
@@ -62,7 +62,7 @@ sensor_dump_calls = 0;
 store_frame_called = false;
 is_apogee_detected = false;
 preset_data.config_settings.flash_rate_limit = 0;
-last_event = TELEMETRY_EVENT_CANCEL;
+last_event = LORA_FSM_EVENT_CANCEL;
 }
 
 void set_return_ign_deploy_main
@@ -446,7 +446,7 @@ FLIGHT_COMP_STATE_TYPE get_fc_state()
 return flight_computer_state;
 }
 
-void telemetry_update(TELEMETRY_EVENT event) {
+void telemetry_update(LORA_FSM_EVENT event) {
 last_event = event;
 }
 
diff --git a/test/app/rev2/flight/test_flight.c b/test/app/rev2/flight/test_flight.c
index e70ead97..6fff17fc 100644
--- a/test/app/rev2/flight/test_flight.c
+++ b/test/app/rev2/flight/test_flight.c
@@ -52,7 +52,7 @@ extern uint16_t preset_preserving_flash_erase_calls;
 extern uint16_t flash_busy_calls;
 extern uint16_t flash_busy_counts;
 extern bool store_frame_called;
-extern TELEMETRY_EVENT last_event;
+extern LORA_FSM_EVENT last_event;
 
 /* hijacked globals */
 extern uint32_t pid_previous;
@@ -704,7 +704,7 @@ flight_loop
 /*------------------------------------------------------------------------------
 Verify results
 ------------------------------------------------------------------------------*/
-TEST_ASSERT_EQ_UINT("Test that the last telemetry state update was not caused by this function", last_event, TELEMETRY_EVENT_CANCEL);
+TEST_ASSERT_EQ_UINT("Test that the last telemetry state update was not caused by this function", last_event, LORA_FSM_EVENT_CANCEL);
 
 TEST_end_nested_case();
 
@@ -748,7 +748,7 @@ flight_loop
 /*------------------------------------------------------------------------------
 Verify results
 ------------------------------------------------------------------------------*/
-TEST_ASSERT_EQ_UINT("Test that the last telemetry state update was a synchronous update.", last_event, TELEMETRY_EVENT_SYNCHRONOUS_UPDATE);
+TEST_ASSERT_EQ_UINT("Test that the last telemetry state update was a synchronous update.", last_event, LORA_FSM_EVENT_SYNCHRONOUS_UPDATE);
 
 TEST_end_nested_case();
 

From 277aa0fff243349f8bc7d4d7537deb31d1eaf291 Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Sun, 21 Jun 2026 18:06:05 -0700
Subject: [PATCH 02/38] Update tests

---
 test/app/rev2/flight/mock/test_flight_stubs.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/app/rev2/flight/mock/test_flight_stubs.c b/test/app/rev2/flight/mock/test_flight_stubs.c
index 2b1ca6ec..34b8b807 100644
--- a/test/app/rev2/flight/mock/test_flight_stubs.c
+++ b/test/app/rev2/flight/mock/test_flight_stubs.c
@@ -446,7 +446,7 @@ FLIGHT_COMP_STATE_TYPE get_fc_state()
 return flight_computer_state;
 }
 
-void telemetry_update(LORA_FSM_EVENT event) {
+void lora_fsm_update(LORA_FSM_EVENT event) {
 last_event = event;
 }
 

From e8e2644440a47a5ac8b74a5f81e238a94ae2ff29 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 21 Jun 2026 21:00:39 -0700
Subject: [PATCH 03/38] Pull up submoduiles (for CI)

---
 driver      | 2 +-
 mod         | 2 +-
 test/SDECv2 | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/driver b/driver
index 42a63d0f..04f73299 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit 42a63d0fda862aa673b210b20bf40402efcf655b
+Subproject commit 04f73299405bdf72057bc4c20f22f52997ca2659
diff --git a/mod b/mod
index 690f370d..4b4b8803 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 690f370d123ae97ce51bcff911b79703235791b8
+Subproject commit 4b4b8803545c48ccd0e37f6c57ab55eae55cb0dc
diff --git a/test/SDECv2 b/test/SDECv2
index 8388be49..a6e26514 160000
--- a/test/SDECv2
+++ b/test/SDECv2
@@ -1 +1 @@
-Subproject commit 8388be4913e38c39a22721f990ad76418dd9e992
+Subproject commit a6e26514b254b110c7c31fe5f26664a1804e291a

From ddb13e6dcad307d9721e11b354b1ca25920baf14 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Wed, 10 Jun 2026 13:30:08 -0700
Subject: [PATCH 04/38] Remap Z axis to vertical

---
 app/rev2/main.h             |  4 ++--
 app/rev2/sensor_calibrate.c | 22 +++++++++++-----------
 app/rev2/state_transition.c | 31 +++++--------------------------
 3 files changed, 18 insertions(+), 39 deletions(-)

diff --git a/app/rev2/main.h b/app/rev2/main.h
index 6fe33068..ae16acea 100644
--- a/app/rev2/main.h
+++ b/app/rev2/main.h
@@ -80,8 +80,8 @@ extern "C" {
 #define VERSION_PRERELEASE_NUMBER (uint8_t)0
 
 /* Tunable (but not configurable) constants */
-#define COAST_DETECT_SAMPLES 3 /* does not need to be tuned per vehicle, our system should work for all */
-#define COAST_DETECT_THRESHOLD 1.25
+#define COAST_DETECT_SAMPLES 5 /* does not need to be tuned per vehicle, our system should work for all */
+#define COAST_DETECT_THRESHOLD 0.75
 
 /*------------------------------------------------------------------------------
  Typedefs
diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index 1e197934..1942f90f 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -42,17 +42,6 @@ extern IMU_OFFSET imu_offset;
 extern BARO_PRESET baro_preset;
 extern float velo_x_prev, velo_y_prev, velo_z_prev;
 
-float acc_x_nonzero[1000];
-float acc_y_nonzero[1000];
-float acc_z_nonzero[1000];
-
-float gyro_x_nonzero[1000];
-float gyro_y_nonzero[1000];
-float gyro_z_nonzero[1000];
-
-float baro_pres_nonzero[1000];
-float baro_temp_nonzero[1000];
-
 /*******************************************************************************
 *                                                                              *
 * PROCEDURE:                                                                   *
@@ -119,6 +108,17 @@ void sensorCalibrationSWCON(){
     calc_gyro_y = calc_gyro_y / ( samples );
     calc_gyro_z = calc_gyro_z / ( samples );
 
+    debug_assert( calc_acc_z != 0.0f, ERROR_SENSOR_CMD_ERROR );
+    /* If z is positive, gravity is down */
+    if ( calc_acc_z > 0.0f )
+        {
+        set_mount_orientation( MOUNT_ORIENTATION_Z_UP );
+        }
+    else /* FC mounted upside down, so remap */
+        {
+        set_mount_orientation( MOUNT_ORIENTATION_Z_DOWN );
+        }
+
     calc_baro_pres = calc_baro_pres / ( samples );
     calc_baro_temp = calc_baro_temp / ( samples );
 
diff --git a/app/rev2/state_transition.c b/app/rev2/state_transition.c
index f356a230..a08deacb 100644
--- a/app/rev2/state_transition.c
+++ b/app/rev2/state_transition.c
@@ -39,6 +39,8 @@
 /* Error Handling */
 #include "error_sdr.h"
 
+#include "math_sdr.h"
+
 /*------------------------------------------------------------------------------
  Global Variables                                                                     
 ------------------------------------------------------------------------------*/
@@ -71,9 +73,9 @@ bool launch_detection
 {
 static uint8_t acc_detect_cnts = 0;
 static uint8_t baro_detect_cnts = 0;
-float accX = sensor_data.imu_data.imu_converted.accel_x;
+float accZ = sensor_data.imu_data.imu_converted.accel_z;
 float pressure = sensor_data.baro_pressure;
-float acc_scalar = sqrtf(accX*accX);
+float acc_scalar = fabsf(accZ);
 
 if ( preset_data.config_settings.enabled_features & LAUNCH_DETECT_ACCEL_ENABLED )
     {
@@ -183,32 +185,9 @@ bool coast_detect
 {
 /* local variables */
 static uint8_t positive_readings = 0;
-bool gravity_is_negative_x;
-
-/* determine thrust vs gravity axis */
-if( preset_data.imu_offset.accel_x < 0 )
-    {
-    gravity_is_negative_x = true;
-    }
-else if( preset_data.imu_offset.accel_x > 0 )
-    {
-    gravity_is_negative_x = false;
-    }
-else
-    {
-    // TODO: log warning -- we will not compute coast state for 
-    // this flight without knowing what our axis of gravity is.
-    return false;
-    }
 
 /* check if accel is sufficiently low */
-if( gravity_is_negative_x 
- && ( sensor_data.imu_data.imu_converted.accel_x < (-1) * COAST_DETECT_THRESHOLD * 9.8f ) )
-    {
-    positive_readings++;
-    }
-else if( !gravity_is_negative_x
-      && ( sensor_data.imu_data.imu_converted.accel_x > COAST_DETECT_THRESHOLD * 9.8f ) )
+if ( sensor_data.imu_data.imu_converted.accel_z < COAST_DETECT_THRESHOLD * GRAVITY )
     {
     positive_readings++;
     }

From 5b0bac01bf37548f1b78eccf6b8f6e036834f49e Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Fri, 19 Jun 2026 13:26:37 -0700
Subject: [PATCH 05/38] Move new sensor init to sensor_calibrate

---
 app/rev2/sensor_calibrate.c                    | 12 ++++--------
 test/app/rev2/sensor_calibrate/mock/MOCK_hal.c |  2 +-
 2 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index 1942f90f..e4503a8b 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -122,7 +122,7 @@ void sensorCalibrationSWCON(){
     calc_baro_pres = calc_baro_pres / ( samples );
     calc_baro_temp = calc_baro_temp / ( samples );
 
-    preset_data.imu_offset.accel_x = calc_acc_x;
+    preset_data.imu_offset.accel_x = calc_acc_x; /* na todo: check if this needs to be flipped */
     preset_data.imu_offset.accel_y = calc_acc_y;
     preset_data.imu_offset.accel_z = calc_acc_z;
 
@@ -133,13 +133,8 @@ void sensorCalibrationSWCON(){
     preset_data.baro_preset.baro_pres = calc_baro_pres;
     preset_data.baro_preset.baro_temp = calc_baro_temp;
 
-    // Reset velocity for accurate data
-    velo_x_prev = 0.00;
-    velo_y_prev = 0.00;
-    velo_z_prev = 0.00;
-
-    // set sensor tick to current time
-    sensor_initialize_tick();
+    /* Initialize sensor */
+    sensor_init( &preset_data );
 
     #ifdef DEBUG
     char sensor_dbg_msg[128];
@@ -153,6 +148,7 @@ void sensorCalibrationSWCON(){
         calc_acc_x, calc_acc_y, calc_acc_z, calc_gyro_x, calc_gyro_y, calc_gyro_z, calc_baro_pres, calc_baro_temp);
     debug_log(sensor_dbg_msg, msg_len, LOG_LVL_INFO);
     #endif
+
 }
 
 
diff --git a/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c b/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
index 49ec1c8c..3222d378 100644
--- a/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
+++ b/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
@@ -68,7 +68,7 @@ sensor_dump_calls++;
 return SENSOR_OK;
 }
 
-void sensor_initialize_tick(void) {}
+void sensor_init(void) {}
 
 DEBUG_STATUS debug_log
     (

From 5511e7df987b8c8f76865f54880359468174a44d Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Sun, 21 Jun 2026 21:57:43 -0700
Subject: [PATCH 06/38] Remove IMU_DATA

---
 app/rev2/flash_appa.c                              |  4 ++--
 app/rev2/flight.c                                  |  4 ++--
 app/rev2/sensor_calibrate.c                        | 12 ++++++------
 app/rev2/state_transition.c                        |  4 ++--
 test/app/rev2/flight/test_flight.c                 |  8 ++++----
 test/app/rev2/launch_detect/test_launch_detect.c   | 12 ++++++------
 .../rev2/sensor_calibrate/test_sensor_calibrate.c  | 14 +++++++-------
 7 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/app/rev2/flash_appa.c b/app/rev2/flash_appa.c
index 6b829d9a..231740d0 100644
--- a/app/rev2/flash_appa.c
+++ b/app/rev2/flash_appa.c
@@ -309,7 +309,7 @@ idx = 6;
 if ( preset_data.config_settings.enabled_data & STORE_CONV )
 	{
 	memcpy( &buffer[idx],
-			&sensor_data.imu_data.imu_converted,
+			&sensor_data.imu_converted,
 			sizeof( IMU_CONVERTED ));
 	idx += sizeof( IMU_CONVERTED );
 	memcpy( &buffer[idx], &sensor_data.baro_pressure, sizeof(float));
@@ -321,7 +321,7 @@ if ( preset_data.config_settings.enabled_data & STORE_CONV )
 if ( preset_data.config_settings.enabled_data & STORE_STATE_ESTIM )
 	{
 	memcpy( &buffer[idx],
-			&sensor_data.imu_data.state_estimate,
+			&sensor_data.state_estimate,
 			sizeof( STATE_ESTIMATION ));
 	idx += sizeof( STATE_ESTIMATION );
 	memcpy( &buffer[idx], &sensor_data.baro_alt, sizeof(float));
diff --git a/app/rev2/flight.c b/app/rev2/flight.c
index ac2f905e..db60f716 100644
--- a/app/rev2/flight.c
+++ b/app/rev2/flight.c
@@ -359,8 +359,8 @@ uint8_t max_range_4 = preset_data.servo_preset.rp_servo4 + preset_data.config_se
 uint8_t min_range_4 = preset_data.servo_preset.rp_servo4 - preset_data.config_settings.control_max_deflection_angle;
 
 /* Read velocity and body state from sensor */
-float velocity = sensor_data.imu_data.state_estimate.velocity;
-float roll_rate = sensor_data.imu_data.imu_converted.gyro_x;
+float velocity = sensor_data.state_estimate.velocity;
+float roll_rate = sensor_data.imu_converted.gyro_x;
 
 /* Get timing */
 pid_delta = HAL_GetTick() - pid_previous;
diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index e4503a8b..fcc5be79 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -90,12 +90,12 @@ void sensorCalibrationSWCON(){
     for (int i = 0; i < samples; i++){
         sensor_status = sensor_dump( &sensor_data );
         debug_assert( sensor_status == SENSOR_OK, ERROR_SENSOR_CMD_ERROR );
-        calc_acc_x = calc_acc_x + sensor_data.imu_data.imu_converted.accel_x;
-        calc_acc_y = calc_acc_y + sensor_data.imu_data.imu_converted.accel_y;
-        calc_acc_z = calc_acc_z + sensor_data.imu_data.imu_converted.accel_z;
-        calc_gyro_x = calc_gyro_x + sensor_data.imu_data.imu_converted.gyro_x;
-        calc_gyro_y = calc_gyro_y + sensor_data.imu_data.imu_converted.gyro_y;
-        calc_gyro_z = calc_gyro_z + sensor_data.imu_data.imu_converted.gyro_z;
+        calc_acc_x = calc_acc_x + sensor_data.imu_converted.accel_x;
+        calc_acc_y = calc_acc_y + sensor_data.imu_converted.accel_y;
+        calc_acc_z = calc_acc_z + sensor_data.imu_converted.accel_z;
+        calc_gyro_x = calc_gyro_x + sensor_data.imu_converted.gyro_x;
+        calc_gyro_y = calc_gyro_y + sensor_data.imu_converted.gyro_y;
+        calc_gyro_z = calc_gyro_z + sensor_data.imu_converted.gyro_z;
         calc_baro_pres = calc_baro_pres + sensor_data.baro_pressure;
         calc_baro_temp = calc_baro_temp + sensor_data.baro_temp;
     }
diff --git a/app/rev2/state_transition.c b/app/rev2/state_transition.c
index a08deacb..529fa370 100644
--- a/app/rev2/state_transition.c
+++ b/app/rev2/state_transition.c
@@ -73,7 +73,7 @@ bool launch_detection
 {
 static uint8_t acc_detect_cnts = 0;
 static uint8_t baro_detect_cnts = 0;
-float accZ = sensor_data.imu_data.imu_converted.accel_z;
+float accZ = sensor_data.imu_converted.accel_z;
 float pressure = sensor_data.baro_pressure;
 float acc_scalar = fabsf(accZ);
 
@@ -187,7 +187,7 @@ bool coast_detect
 static uint8_t positive_readings = 0;
 
 /* check if accel is sufficiently low */
-if ( sensor_data.imu_data.imu_converted.accel_z < COAST_DETECT_THRESHOLD * GRAVITY )
+if ( sensor_data.imu_converted.accel_z < COAST_DETECT_THRESHOLD * GRAVITY )
     {
     positive_readings++;
     }
diff --git a/test/app/rev2/flight/test_flight.c b/test/app/rev2/flight/test_flight.c
index 6fff17fc..a4d57c35 100644
--- a/test/app/rev2/flight/test_flight.c
+++ b/test/app/rev2/flight/test_flight.c
@@ -371,8 +371,8 @@ for( uint8_t test_num = 0; test_num < sizeof(cases) / sizeof(struct test_case);
 	/* active roll setup. values are not important, we just need to check control flow. */
 	pid_previous = 0;
 	launch_detect_time = 0;
-	sensor_data.imu_data.state_estimate.velocity = 0.0f; /* not important yet */
-	sensor_data.imu_data.imu_converted.gyro_x = 100.0f; /* crazy val to check NE assert */
+	sensor_data.state_estimate.velocity = 0.0f; /* not important yet */
+	sensor_data.imu_converted.gyro_x = 100.0f; /* crazy val to check NE assert */
 	preset_data.config_settings.control_delay_after_launch = 0;
 	preset_data.config_settings.control_max_deflection_angle = 25;
 	preset_data.config_settings.roll_control_constant_p = 2.0f;
@@ -809,8 +809,8 @@ for( uint8_t test_num = 0; test_num < sizeof(cases) / sizeof(struct test_case);
 	stubs_reset();
 	pid_previous = 0;
 	launch_detect_time = 0;
-	sensor_data.imu_data.state_estimate.velocity = 0.0f; /* not important yet */
-	sensor_data.imu_data.imu_converted.gyro_x = cases[test_num].roll_rate;
+	sensor_data.state_estimate.velocity = 0.0f; /* not important yet */
+	sensor_data.imu_converted.gyro_x = cases[test_num].roll_rate;
 	set_return_HAL_GetTick( cases[test_num].time_since_launch );
 	preset_data.config_settings.control_delay_after_launch = cases[test_num].delay_after_launch_configuration;
 	preset_data.config_settings.control_max_deflection_angle = cases[test_num].max_deflection_angle;
diff --git a/test/app/rev2/launch_detect/test_launch_detect.c b/test/app/rev2/launch_detect/test_launch_detect.c
index 46798fc7..c62f380e 100644
--- a/test/app/rev2/launch_detect/test_launch_detect.c
+++ b/test/app/rev2/launch_detect/test_launch_detect.c
@@ -114,9 +114,9 @@ for ( int test_num = 0; test_num < NUM_CASES_LAUNCH_DETECT; test_num++ )
 		
 	for ( int i = 0; i < NUM_EXPECTED_SAMPLES; i++ )
 		{
-			sensor_data.imu_data.imu_converted.accel_x = inputsAcc[test_num][i];
-			sensor_data.imu_data.imu_converted.accel_y = inputsAcc[test_num][i];
-			sensor_data.imu_data.imu_converted.accel_z = inputsAcc[test_num][i];
+			sensor_data.imu_converted.accel_x = inputsAcc[test_num][i];
+			sensor_data.imu_converted.accel_y = inputsAcc[test_num][i];
+			sensor_data.imu_converted.accel_z = inputsAcc[test_num][i];
 			sensor_data.baro_pressure = inputsBaro[test_num][i];
 
 			fut_return = launch_detection(&sample_ld_time);
@@ -130,9 +130,9 @@ for ( int test_num = 0; test_num < NUM_CASES_LAUNCH_DETECT; test_num++ )
 				}
 		}
 	/* reset test */
-	sensor_data.imu_data.imu_converted.accel_x = 0;
-	sensor_data.imu_data.imu_converted.accel_y = 0;
-	sensor_data.imu_data.imu_converted.accel_z = 0;
+	sensor_data.imu_converted.accel_x = 0;
+	sensor_data.imu_converted.accel_y = 0;
+	sensor_data.imu_converted.accel_z = 0;
 	sensor_data.baro_pressure = 0;
 	launch_detection(&sample_ld_time);
 	sample_ld_time = 0;
diff --git a/test/app/rev2/sensor_calibrate/test_sensor_calibrate.c b/test/app/rev2/sensor_calibrate/test_sensor_calibrate.c
index dc6c5d8d..f3122ff0 100644
--- a/test/app/rev2/sensor_calibrate/test_sensor_calibrate.c
+++ b/test/app/rev2/sensor_calibrate/test_sensor_calibrate.c
@@ -70,13 +70,13 @@ memset( sensor_dump_mock, 0, sizeof( SENSOR_DATA ) * 100 );
 preset_data.config_settings.sensor_calibration_samples = 100;
 for( int i = 0; i < 50; i++ )
 	{
-	sensor_dump_mock[i].imu_data.imu_converted.accel_x = 100;
-	sensor_dump_mock[i].imu_data.imu_converted.accel_y = 100;
-	sensor_dump_mock[i].imu_data.imu_converted.accel_z = 100;
-	sensor_dump_mock[i].imu_data.imu_converted.gyro_x = 100;
-	sensor_dump_mock[i].imu_data.imu_converted.gyro_y = 100;
-	sensor_dump_mock[i].imu_data.imu_converted.gyro_z = 100;
-	sensor_dump_mock[i].imu_data.imu_converted.gyro_y = 100;
+	sensor_dump_mock[i].imu_converted.accel_x = 100;
+	sensor_dump_mock[i].imu_converted.accel_y = 100;
+	sensor_dump_mock[i].imu_converted.accel_z = 100;
+	sensor_dump_mock[i].imu_converted.gyro_x = 100;
+	sensor_dump_mock[i].imu_converted.gyro_y = 100;
+	sensor_dump_mock[i].imu_converted.gyro_z = 100;
+	sensor_dump_mock[i].imu_converted.gyro_y = 100;
 	sensor_dump_mock[i].baro_pressure = 100;
 	sensor_dump_mock[i].baro_temp = 100;
 	}

From f2accaefe362eff00f97b7237b3fdab621122c00 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Sun, 21 Jun 2026 22:26:14 -0700
Subject: [PATCH 07/38] Minor incomplete test mock changes

---
 test/app/rev2/flight/mock/test_flight_stubs.c  | 7 -------
 test/app/rev2/sensor_calibrate/mock/MOCK_hal.c | 2 +-
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/test/app/rev2/flight/mock/test_flight_stubs.c b/test/app/rev2/flight/mock/test_flight_stubs.c
index c5ece3e5..ebb475cc 100644
--- a/test/app/rev2/flight/mock/test_flight_stubs.c
+++ b/test/app/rev2/flight/mock/test_flight_stubs.c
@@ -388,13 +388,6 @@ FLASH_STATUS get_sensor_frame
 return FLASH_OK;
 }
 
-void sensor_frame_size_init
-	(
-	void
-	)
-{
-
-}
 
 /* launch_detect.c */
 bool launch_detection
diff --git a/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c b/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
index 3222d378..b464a789 100644
--- a/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
+++ b/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
@@ -68,7 +68,7 @@ sensor_dump_calls++;
 return SENSOR_OK;
 }
 
-void sensor_init(void) {}
+void sensor_init( PRESET_DATA* preset_data ) {}
 
 DEBUG_STATUS debug_log
     (

From dac52e53c5ee72e48beb9be2b856a5801a2cc866 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Sun, 21 Jun 2026 22:53:44 -0700
Subject: [PATCH 08/38] Remove baro velo

---
 app/rev2/flash_appa.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/app/rev2/flash_appa.c b/app/rev2/flash_appa.c
index 231740d0..5b33d39c 100644
--- a/app/rev2/flash_appa.c
+++ b/app/rev2/flash_appa.c
@@ -326,8 +326,6 @@ if ( preset_data.config_settings.enabled_data & STORE_STATE_ESTIM )
 	idx += sizeof( STATE_ESTIMATION );
 	memcpy( &buffer[idx], &sensor_data.baro_alt, sizeof(float));
 	idx += 4;
-	memcpy( &buffer[idx], &sensor_data.baro_velo, sizeof(float));
-	idx += 4;
 	}
 
 if ( preset_data.config_settings.enabled_data & STORE_GPS )
@@ -400,7 +398,7 @@ if ( preset_data.config_settings.enabled_data & STORE_CONV )
 if ( preset_data.config_settings.enabled_data & STORE_STATE_ESTIM )
 	{
 	size += sizeof( STATE_ESTIMATION );
-	size += 2 * sizeof( float ); /* baro alt/velo */
+	size += sizeof( float ); /* baro alt */
 	}
 
 if ( preset_data.config_settings.enabled_data & STORE_GPS )

From 21efa37a72d62e1eea92bca389e8a4b1a9e8b02a Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Sun, 21 Jun 2026 22:54:11 -0700
Subject: [PATCH 09/38] Pull up submodules

---
 driver      | 2 +-
 mod         | 2 +-
 test/SDECv2 | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/driver b/driver
index 04f73299..e40d3ccd 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit 04f73299405bdf72057bc4c20f22f52997ca2659
+Subproject commit e40d3ccd1a0c07882189e5d8e5934716cc956307
diff --git a/mod b/mod
index 4b4b8803..203e341f 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 4b4b8803545c48ccd0e37f6c57ab55eae55cb0dc
+Subproject commit 203e341fb5721b33b8d8503afbe386d79dfa8428
diff --git a/test/SDECv2 b/test/SDECv2
index a6e26514..8388be49 160000
--- a/test/SDECv2
+++ b/test/SDECv2
@@ -1 +1 @@
-Subproject commit a6e26514b254b110c7c31fe5f26664a1804e291a
+Subproject commit 8388be4913e38c39a22721f990ad76418dd9e992

From 99fe196e553ff0c3888344db6da1b6f2d9a1106a Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Mon, 22 Jun 2026 13:14:46 -0700
Subject: [PATCH 10/38] Update integration tests

---
 test/SDECv2                                     | 2 +-
 test/app/rev2/terminal_int/terminal_int_test.py | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/test/SDECv2 b/test/SDECv2
index 8388be49..262c2a03 160000
--- a/test/SDECv2
+++ b/test/SDECv2
@@ -1 +1 @@
-Subproject commit 8388be4913e38c39a22721f990ad76418dd9e992
+Subproject commit 262c2a030843cb31fdf5aba1bfbf014d03a46106
diff --git a/test/app/rev2/terminal_int/terminal_int_test.py b/test/app/rev2/terminal_int/terminal_int_test.py
index 4236f154..08898fef 100644
--- a/test/app/rev2/terminal_int/terminal_int_test.py
+++ b/test/app/rev2/terminal_int/terminal_int_test.py
@@ -24,10 +24,10 @@ def check_sensor(tester, sensor_name, readout):
         max = float('inf')
         match sensor_name:
             # RAW VALUES
-            case "accXconv" | "accYconv" | "accZconv":
+            case "accXconv" | "accYconv" | "accZconv" | "acc_z":
                 min = -12
                 max = 12
-            case "gyroXconv" | "gyroYconv" | "gyroZconv":
+            case "gyroXconv" | "gyroYconv" | "gyroZconv" | "roll_rate":
                 min = -25
                 max = 25
             case "magXconv" | "magYconv":
@@ -36,6 +36,9 @@ def check_sensor(tester, sensor_name, readout):
             case "magZconv":
                 min = -125
                 max = 125
+            case "quat_w" | "quat_x" | "quat_y" | "quat_z":
+                min = -1
+                max = 1
             case "pres":
                 min = 90000
                 max = 101300

From 41e34d8542d2724625164c8aed6dabf33a2e0179 Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Mon, 22 Jun 2026 13:52:56 -0700
Subject: [PATCH 11/38] Pull up mod

---
 mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mod b/mod
index 203e341f..f03bfd12 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 203e341fb5721b33b8d8503afbe386d79dfa8428
+Subproject commit f03bfd125ce0b314084ceba00a3c82400fb541eb

From 29c9f5fb8cbcc12b50c05b262818133470f6c342 Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Mon, 22 Jun 2026 14:12:04 -0700
Subject: [PATCH 12/38] Fix tests

---
 test/app/rev2/error_int/test_error_int.c       |  8 ++++----
 test/app/rev2/flight/mock/test_flight_stubs.c  | 11 +++++++++++
 test/app/rev2/flight/test_flight.c             |  6 +++---
 test/app/rev2/sensor_calibrate/mock/MOCK_hal.c |  6 ++++++
 4 files changed, 24 insertions(+), 7 deletions(-)

diff --git a/test/app/rev2/error_int/test_error_int.c b/test/app/rev2/error_int/test_error_int.c
index 46432fd1..a56286f0 100644
--- a/test/app/rev2/error_int/test_error_int.c
+++ b/test/app/rev2/error_int/test_error_int.c
@@ -216,7 +216,7 @@ void test_log_messages
 /*------------------------------------------------------------------------------
  Set up test
 ------------------------------------------------------------------------------*/
-char test_msg[TEXT_MESSAGE_LENGTH] = "This message tests the log message system.";
+char test_msg[TEXT_MESSAGE_LENGTH] = "This msg tsts the log msg system.";
 TEXT_MESSAGE return_buffer;
 memset( &return_buffer, 0, sizeof( TEXT_MESSAGE ) );
 TEST_ASSERT_FALSE( "Precondition: Verify that there's no pending messages.", error_is_pending_info() );
@@ -224,7 +224,7 @@ TEST_ASSERT_FALSE( "Precondition: Verify that there's no pending messages.", err
 /*------------------------------------------------------------------------------
  Adding to buffer: Call FUT
 ------------------------------------------------------------------------------*/
-error_log_info( test_msg );
+error_log_info( "This msg tsts the log msg system." );
 
 /*------------------------------------------------------------------------------
  Adding to buffer: Verify Result
@@ -264,7 +264,7 @@ void test_warning_messages
 /*------------------------------------------------------------------------------
  Set up test
 ------------------------------------------------------------------------------*/
-char test_msg[TEXT_MESSAGE_LENGTH] = "This message tests the warning message system.";
+char test_msg[TEXT_MESSAGE_LENGTH] = "This msg tsts the log msg system.";
 TEXT_MESSAGE return_buffer;
 memset( &return_buffer, 0, sizeof( TEXT_MESSAGE ) );
 TEST_ASSERT_FALSE( "Precondition: Verify that there's no pending messages.", error_is_pending_info() );
@@ -272,7 +272,7 @@ TEST_ASSERT_FALSE( "Precondition: Verify that there's no pending messages.", err
 /*------------------------------------------------------------------------------
  Adding to buffer: Call FUT
 ------------------------------------------------------------------------------*/
-error_log_warning( test_msg );
+error_log_warning( "This msg tsts the log msg system." );
 
 /*------------------------------------------------------------------------------
  Adding to buffer: Verify Result
diff --git a/test/app/rev2/flight/mock/test_flight_stubs.c b/test/app/rev2/flight/mock/test_flight_stubs.c
index ebb475cc..884058a9 100644
--- a/test/app/rev2/flight/mock/test_flight_stubs.c
+++ b/test/app/rev2/flight/mock/test_flight_stubs.c
@@ -36,6 +36,7 @@ uint16_t sensor_dump_calls = 0;
 bool store_frame_called = false;
 bool is_apogee_detected = false;
 LORA_FSM_EVENT last_event = LORA_FSM_EVENT_CANCEL;
+LORA_ASYNC_OP_MODE last_op_mode = LORA_ASYNC_OFF;
 
 /* internal use */
 
@@ -455,4 +456,14 @@ DEBUG_STATUS debug_log
 {
 /* Do nothing. Ideally, our tests should run in release mode though. */
 return DEBUG_OK;
+}
+
+LORA_STATUS lora_fsm_set_mode
+    (
+    LORA_ASYNC_OP_MODE new_mode
+    )
+{
+last_op_mode = new_mode;
+return LORA_OK;
+
 }
\ No newline at end of file
diff --git a/test/app/rev2/flight/test_flight.c b/test/app/rev2/flight/test_flight.c
index a4d57c35..a772d263 100644
--- a/test/app/rev2/flight/test_flight.c
+++ b/test/app/rev2/flight/test_flight.c
@@ -53,6 +53,7 @@ extern uint16_t flash_busy_calls;
 extern uint16_t flash_busy_counts;
 extern bool store_frame_called;
 extern LORA_FSM_EVENT last_event;
+extern LORA_ASYNC_OP_MODE last_op_mode;
 
 /* hijacked globals */
 extern uint32_t pid_previous;
@@ -141,12 +142,11 @@ flight_calib
 /*------------------------------------------------------------------------------
 Verify results
 ------------------------------------------------------------------------------*/
-/* The only critical parts of this are GPS enablement based on feature flags. All
-   others can be proven by analysis. */
 TEST_ASSERT_EQ_UINT("Test that GPS was enabled.", was_gps_enabled, true);
+TEST_ASSERT_EQ_UINT("Test that TX mode was enabled.", last_op_mode, LORA_ASYNC_TX);
 
 /*------------------------------------------------------------------------------
-Case 1: GPS Disabled
+Case 2: GPS Disabled
 ------------------------------------------------------------------------------*/
 stubs_reset();
 preset_data.config_settings.enabled_features = 0u;
diff --git a/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c b/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
index b464a789..8aa93548 100644
--- a/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
+++ b/test/app/rev2/sensor_calibrate/mock/MOCK_hal.c
@@ -83,3 +83,9 @@ return DEBUG_OK;
 }
 
 void error_fail_fast(ERROR_CODE error_code) {}
+
+void set_mount_orientation
+	(
+	MOUNT_ORIENTATION orientation
+	)
+{}

From b0dd24f9cac360d126b4884366639ad48dac406e Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Mon, 22 Jun 2026 14:27:45 -0700
Subject: [PATCH 13/38] Initialize LoRa before entering flight state

---
 app/rev2/flight.c                             | 23 ++++++++++++++++++-
 test/app/rev2/flight/mock/test_flight_stubs.c | 12 ++++++++++
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/app/rev2/flight.c b/app/rev2/flight.c
index db60f716..2fc97ee6 100644
--- a/app/rev2/flight.c
+++ b/app/rev2/flight.c
@@ -138,6 +138,8 @@ void flight_calib
     uint32_t* flash_address
     )
 {
+LORA_STATUS lora_status = LORA_OK;
+
 led_set_color( LED_YELLOW );
 buzzer_multi_beeps(50, 50, 4);
 
@@ -150,7 +152,26 @@ if ( preset_data.config_settings.enabled_features & GPS_ENABLED )
 sensorCalibrationSWCON();
 write_preset( flash_handle, flash_address );
 flash_erase_preserve_preset( flash_handle, flash_address );
-lora_fsm_set_mode( LORA_ASYNC_TX );
+
+if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLED )
+    {
+    if( !lora_is_lora_initialized() )
+        {
+        lora_status = lora_configure( &preset_data.lora_preset );
+        }
+    
+    /* If the modem fails to configure, disable TX in RAM (but do not write back to flash) */
+    if( lora_status != LORA_OK )
+        {
+        preset_data.config_settings.enabled_features &= ~WIRELESS_TRANSMISSION_ENABLED;
+
+        /* Give an indication */
+        led_set_color(LED_RED);
+        buzzer_multi_beeps(400, 200, 3);
+        led_set_color(LED_YELLOW);
+        }
+    lora_fsm_set_mode( LORA_ASYNC_TX );
+    }
 
 fc_state_update( FC_STATE_LAUNCH_DETECT );
 
diff --git a/test/app/rev2/flight/mock/test_flight_stubs.c b/test/app/rev2/flight/mock/test_flight_stubs.c
index 884058a9..3ceaf29e 100644
--- a/test/app/rev2/flight/mock/test_flight_stubs.c
+++ b/test/app/rev2/flight/mock/test_flight_stubs.c
@@ -466,4 +466,16 @@ LORA_STATUS lora_fsm_set_mode
 last_op_mode = new_mode;
 return LORA_OK;
 
+}
+
+LORA_STATUS lora_configure(LORA_PRESET* preset_ptr)
+{
+return LORA_OK;
+
+}
+
+bool lora_is_lora_initialized(void)
+{
+return false;
+
 }
\ No newline at end of file

From 80592317e7a09703b6accbaaf49f463c4bea5605 Mon Sep 17 00:00:00 2001
From: ETSsound <147210601+ETSsound@users.noreply.github.com>
Date: Mon, 22 Jun 2026 14:28:30 -0700
Subject: [PATCH 14/38] Pull up driver

---
 driver | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/driver b/driver
index e40d3ccd..43593b09 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit e40d3ccd1a0c07882189e5d8e5934716cc956307
+Subproject commit 43593b0913ad78048186b7008ee12b776ee734f4

From 79686aa10625cd01a57f37a75f279786e8b9c13c Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Tue, 23 Jun 2026 21:38:05 -0700
Subject: [PATCH 15/38] Rename mount orientation enum

---
 app/rev2/sensor_calibrate.c | 4 ++--
 mod                         | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index fcc5be79..827b5845 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -112,11 +112,11 @@ void sensorCalibrationSWCON(){
     /* If z is positive, gravity is down */
     if ( calc_acc_z > 0.0f )
         {
-        set_mount_orientation( MOUNT_ORIENTATION_Z_UP );
+        set_mount_orientation( MOUNT_ORIENTATION_IMU_NORMAL );
         }
     else /* FC mounted upside down, so remap */
         {
-        set_mount_orientation( MOUNT_ORIENTATION_Z_DOWN );
+        set_mount_orientation( MOUNT_ORIENTATION_IMU_INVERTED );
         }
 
     calc_baro_pres = calc_baro_pres / ( samples );
diff --git a/mod b/mod
index f03bfd12..91a01986 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit f03bfd125ce0b314084ceba00a3c82400fb541eb
+Subproject commit 91a019869ee5641ac6b6307281d7454613cc7a27

From 8483f40db1ba8247a31a51330443a3ffc387e93b Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Sun, 28 Jun 2026 23:41:05 -0700
Subject: [PATCH 16/38] Correct sensor calib with axis remap

---
 app/rev2/sensor_calibrate.c | 30 +++++++++++++++++++-----------
 mod                         |  2 +-
 2 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index 827b5845..0f4fdbf8 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -58,7 +58,6 @@ void sensorCalibrationSWCON(){
     #endif
     uint16_t samples = preset_data.config_settings.sensor_calibration_samples;
     SENSOR_STATUS sensor_status = SENSOR_OK;
-    (void)sensor_status;
 
     preset_data.imu_offset.accel_x = 0.00;
     preset_data.imu_offset.accel_y = 0.00;
@@ -109,20 +108,11 @@ void sensorCalibrationSWCON(){
     calc_gyro_z = calc_gyro_z / ( samples );
 
     debug_assert( calc_acc_z != 0.0f, ERROR_SENSOR_CMD_ERROR );
-    /* If z is positive, gravity is down */
-    if ( calc_acc_z > 0.0f )
-        {
-        set_mount_orientation( MOUNT_ORIENTATION_IMU_NORMAL );
-        }
-    else /* FC mounted upside down, so remap */
-        {
-        set_mount_orientation( MOUNT_ORIENTATION_IMU_INVERTED );
-        }
 
     calc_baro_pres = calc_baro_pres / ( samples );
     calc_baro_temp = calc_baro_temp / ( samples );
 
-    preset_data.imu_offset.accel_x = calc_acc_x; /* na todo: check if this needs to be flipped */
+    preset_data.imu_offset.accel_x = calc_acc_x;
     preset_data.imu_offset.accel_y = calc_acc_y;
     preset_data.imu_offset.accel_z = calc_acc_z;
 
@@ -132,6 +122,24 @@ void sensorCalibrationSWCON(){
     
     preset_data.baro_preset.baro_pres = calc_baro_pres;
     preset_data.baro_preset.baro_temp = calc_baro_temp;
+    
+    /* Sensor dump readings already factor in the orientation, which is assumed at startup to be inverted.
+       If gravity is a negative value at calib, flip the orientaion and offsets back accordingly. */
+    if ( calc_acc_z > 0.0f )
+        {
+        set_mount_orientation( MOUNT_ORIENTATION_IMU_INVERTED );
+        }
+    else
+        {
+        set_mount_orientation( MOUNT_ORIENTATION_IMU_NORMAL );
+
+        /* Flip the X and Z offsets back to match */
+        preset_data.imu_offset.accel_x *= -1;
+        preset_data.imu_offset.accel_z *= -1; 
+
+        preset_data.imu_offset.gyro_x *= -1;
+        preset_data.imu_offset.gyro_z *= -1;
+        }
 
     /* Initialize sensor */
     sensor_init( &preset_data );
diff --git a/mod b/mod
index 91a01986..1edd7ae5 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 91a019869ee5641ac6b6307281d7454613cc7a27
+Subproject commit 1edd7ae5e9e1d161f9a4e35b0712aabbff19cd91

From c06902058c4c8a00729710f1266a6db6c643ceac Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Sun, 28 Jun 2026 23:48:32 -0700
Subject: [PATCH 17/38] oops -Werror (fix CI)

---
 app/rev2/sensor_calibrate.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index 0f4fdbf8..63d38075 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -58,6 +58,7 @@ void sensorCalibrationSWCON(){
     #endif
     uint16_t samples = preset_data.config_settings.sensor_calibration_samples;
     SENSOR_STATUS sensor_status = SENSOR_OK;
+    (void)sensor_status;
 
     preset_data.imu_offset.accel_x = 0.00;
     preset_data.imu_offset.accel_y = 0.00;

From 12a74d097b3e3691081db538f312b6692e15faa8 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Tue, 30 Jun 2026 17:46:14 -0700
Subject: [PATCH 18/38] Pull up mod

---
 mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mod b/mod
index 1edd7ae5..61e4ecde 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 1edd7ae5e9e1d161f9a4e35b0712aabbff19cd91
+Subproject commit 61e4ecdebebf9355bf63da927443bea186c554a9

From c52b410d8ada78610936bc6a277ddabe39bfa557 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 13:47:16 -0700
Subject: [PATCH 19/38] Resolve bug where the flight computer would crash on
 startup if LoRa was configured improperly

---
 app/rev2/flight.c |  3 +++
 app/rev2/main.c   | 23 -----------------------
 2 files changed, 3 insertions(+), 23 deletions(-)

diff --git a/app/rev2/flight.c b/app/rev2/flight.c
index 2fc97ee6..e291263c 100644
--- a/app/rev2/flight.c
+++ b/app/rev2/flight.c
@@ -35,6 +35,7 @@ Includes
 #include "math.h"
 #include "sensor.h"
 #include "buzzer.h"
+#include "debug_sdr.h"
 #include "error_sdr.h"
 #include "ignition.h"
 #include "telemetry.h"
@@ -158,6 +159,7 @@ if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLE
     if( !lora_is_lora_initialized() )
         {
         lora_status = lora_configure( &preset_data.lora_preset );
+        debug_assert( lora_status == LORA_OK, ERROR_LORA_INIT_ERROR );
         }
     
     /* If the modem fails to configure, disable TX in RAM (but do not write back to flash) */
@@ -170,6 +172,7 @@ if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLE
         buzzer_multi_beeps(400, 200, 3);
         led_set_color(LED_YELLOW);
         }
+
     lora_fsm_set_mode( LORA_ASYNC_TX );
     }
 
diff --git a/app/rev2/main.c b/app/rev2/main.c
index c879c93a..04000f1d 100644
--- a/app/rev2/main.c
+++ b/app/rev2/main.c
@@ -297,29 +297,6 @@ if ( read_status == FLASH_FAIL )
 	{
 	error_fail_fast( ERROR_FLASH_CMD_ERROR );
 	}
-  
-/*------------------------------------------------------------------------------
- LoRA Initialization
-------------------------------------------------------------------------------*/
-if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLED )
-    {
-    LORA_STATUS lora_init_status = lora_configure( &(preset_data.lora_preset) );
-    if( lora_init_status == LORA_USING_DEFAULTS )
-        {
-        /* give an indicator of default configs*/
-        for( int i = 0; i < 4; i++ )
-            {
-            led_set_color( LED_YELLOW );
-            buzzer_beep( 400 );
-			led_set_color( LED_CYAN );
-			delay_ms( 400 );
-            }
-        }
-    else if( lora_init_status != LORA_OK )
-        {
-        error_fail_fast( ERROR_LORA_INIT_ERROR );
-        }
-    }
 
 /*------------------------------------------------------------------------------
  End of init // Begin program

From f6fa5f055162e47035ba1f3d4ec48f3252a98f56 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 16:15:08 -0700
Subject: [PATCH 20/38] Pull up emulator

---
 emulator | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/emulator b/emulator
index b94dc304..0109193e 160000
--- a/emulator
+++ b/emulator
@@ -1 +1 @@
-Subproject commit b94dc304a5eab64c5f3f4b917ef860850b4fe652
+Subproject commit 0109193e0e4a2f5b847b50d299ac95fe36088e62

From 2458909425138f48bbd31848185df42dcdbdb818 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 16:19:16 -0700
Subject: [PATCH 21/38] fix: Unit tests

---
 test/app/rev2/main/test_main.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/test/app/rev2/main/test_main.c b/test/app/rev2/main/test_main.c
index 5e4e2b55..98a62f35 100644
--- a/test/app/rev2/main/test_main.c
+++ b/test/app/rev2/main/test_main.c
@@ -108,15 +108,15 @@ struct test_case
 struct test_case cases[] =
 	{
 	{ "Normal Case: Initialization Correct", false, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_OK, false, ERROR_NO_ERROR },
-    { "Normal Case: Initialization w/ Valid LoRa", true, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_OK, false, ERROR_NO_ERROR },
-    { "Normal Case: Initialization w/ Invalid Lora", true, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_USING_DEFAULTS, false, ERROR_NO_ERROR},
+//  { "Normal Case: Initialization w/ Valid LoRa", true, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_OK, false, ERROR_NO_ERROR }, 				/* MOVED TO FLIGHT */
+//  { "Normal Case: Initialization w/ Invalid Lora", true, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_USING_DEFAULTS, false, ERROR_NO_ERROR}, 	/* MOVED TO FLIGHT */
 	{ "Robust Case: Flash Init Fail", false, FLASH_INIT_FAIL, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_OK, false, ERROR_FLASH_INIT_ERROR },
 //	{ "Robust Case: Baro Init Fail", false, FLASH_OK, BARO_FAIL, IMU_OK, SERVO_OK, FLASH_OK, LORA_OK, false, ERROR_BARO_INIT_ERROR },
 //	{ "Robust Case: IMU Init Fail", false, FLASH_OK, BARO_OK, IMU_FAIL, SERVO_OK, FLASH_OK, LORA_OK, false, ERROR_IMU_INIT_ERROR },
 	{ "Robust Case: Servo Init Fail", false, FLASH_OK, BARO_OK, IMU_OK, SERVO_FAIL, FLASH_OK, LORA_OK, false, ERROR_SERVO_INIT_ERROR },
 	{ "Robust Case: Read Preset Fail", false, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_FAIL, LORA_OK, false, ERROR_FLASH_CMD_ERROR },
 	{ "Robust Case: Switch Terminal Toggled", false, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_OK, true, ERROR_DATA_HAZARD_ERROR },
-    { "Robust Case: LoRa init fail", true, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_FAIL, false, ERROR_LORA_INIT_ERROR }
+//    { "Robust Case: LoRa init fail", true, FLASH_OK, BARO_OK, IMU_OK, SERVO_OK, FLASH_OK, LORA_FAIL, false, ERROR_LORA_INIT_ERROR }
 	};
 
 for( uint8_t test_num = 0; test_num < sizeof(cases) / sizeof(struct test_case); test_num++ )

From 8a9886c74d1f7216185569631a429586ca5ada7f Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 18:38:30 -0700
Subject: [PATCH 22/38] Add ground station emulator

---
 app/rev2/Makefile | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/app/rev2/Makefile b/app/rev2/Makefile
index cf4be3ba..0f5c8533 100644
--- a/app/rev2/Makefile
+++ b/app/rev2/Makefile
@@ -132,8 +132,10 @@ $(BASE_DIR)/emulator/src/emulator_timer.c							  \
 $(BASE_DIR)/emulator/src/emulator_error.c							  \
 $(BASE_DIR)/emulator/src/emulator_init.c							  \
 $(BASE_DIR)/emulator/src/emulator_gpio.c							  \
+$(BASE_DIR)/emulator/src/emulator_ground_station.c					  \
 $(BASE_DIR)/emulator/src/emulator_uart.c							  \
 $(BASE_DIR)/emulator/src/emulator_spi.c								  \
+$(BASE_DIR)/emulator/src/emulator_lora.c							  \
 $(BASE_DIR)/emulator/src/emulator_i2c.c 							  \
 $(BASE_DIR)/emulator/src/emulator_gui.c								  \
 $(BASE_DIR)/emulator/src/shaders/shaders.c						  	  \

From f000f42e6ebe5c14fe746fccd1a811e8affb876d Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 18:38:49 -0700
Subject: [PATCH 23/38] Pull up emulator

---
 emulator | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/emulator b/emulator
index 0109193e..9a3e3094 160000
--- a/emulator
+++ b/emulator
@@ -1 +1 @@
-Subproject commit 0109193e0e4a2f5b847b50d299ac95fe36088e62
+Subproject commit 9a3e30944bd62964335d2473eeb5616adcf0f29a

From e13c9846b401b18bd766c50de06eae679c160767 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 19:14:13 -0700
Subject: [PATCH 24/38] Pull up submodules

---
 emulator | 2 +-
 mod      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/emulator b/emulator
index 9a3e3094..ead7aa98 160000
--- a/emulator
+++ b/emulator
@@ -1 +1 @@
-Subproject commit 9a3e30944bd62964335d2473eeb5616adcf0f29a
+Subproject commit ead7aa98ef4af8c42cc69800ae68b23c27d87bbd
diff --git a/mod b/mod
index 61e4ecde..e4db23eb 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 61e4ecdebebf9355bf63da927443bea186c554a9
+Subproject commit e4db23eb872d2ebf67aec28b5e9bcd9eeadb86eb

From 4fdb507f97e32d59e5ac60cba2c77eeea7c81285 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 19:16:24 -0700
Subject: [PATCH 25/38] Add LoRa/telem verification to flight_int test

---
 test/app/rev2/flight_int/flight_int_test.py   | 67 +++++++++++++++++--
 .../rev2/flight_int/support/test_presets.json |  2 +-
 .../sdr_emulator_utils/emulator_runner.py     | 11 ++-
 3 files changed, 73 insertions(+), 7 deletions(-)

diff --git a/test/app/rev2/flight_int/flight_int_test.py b/test/app/rev2/flight_int/flight_int_test.py
index d2ab671d..fa5f2aba 100644
--- a/test/app/rev2/flight_int/flight_int_test.py
+++ b/test/app/rev2/flight_int/flight_int_test.py
@@ -5,10 +5,11 @@
 import json
 import csv
 import shutil
+import threading
 
 from SDECv2.BaseController import Firmware, BaseController
 from SDECv2.BaseController import create_controllers
-from SDECv2.Parser import Parser, PresetConfig, DataBitmask, FeatureBitmask, create_configs
+from SDECv2.Parser import Parser, PresetConfig, DataBitmask, FeatureBitmask, Telemetry, create_configs
 from SDECv2.SerialController import SerialSentry, SerialObj, Comport
 
 from sdr_emulator_utils import Emulator, Tester
@@ -27,6 +28,32 @@
 tmp_dir = Path("tmp")
 tmp_dir.mkdir(exist_ok=True)
 
+# Set up threading/sync objects
+stop_event = threading.Event()
+telemetry_obj = Telemetry()
+
+POLL_INTERVAL = 1/60
+
+# Inspired by the API dashboard thread
+def dashboard_update_thread(serial_connection: SerialObj):
+    next_time = time.perf_counter()
+    while not stop_event.is_set():
+        next_time += POLL_INTERVAL
+
+        try:
+            serial_connection.reset_input_buffer()
+            telemetry_obj.dashboard_dump(serial_connection)
+        except ValueError as e: # Serial returned bad values
+            print("Warning: The telemetry thread received an error. Attempting to recover, but this may not work.")
+            serial_connection.reset_input_buffer()
+            tester.assert_eq(False, True, "The dashboard thread received an error: {e}.")
+
+        sleep_time = next_time - time.perf_counter()
+        if sleep_time > 0: 
+            time.sleep(sleep_time)
+        else:
+            next_time = time.perf_counter()
+
 # connect
 try:
     ########################################################
@@ -52,6 +79,9 @@
     print("[setup] Uploading presets")
     parser = Parser.upload_preset(serial_connection, path="support/test_presets.json")
     tester.assert_eq(type(parser), Parser, "The parser object was created successfully.")
+
+    print("[setup] Uploading LoRa presets")
+    parser.upload_lora_preset(serial_connection, "support/test_presets.json")
     
     # give enough time to complete the serial transaction
     print("[setup] Waiting for completion")
@@ -65,19 +95,48 @@
     ###################### EXECUTE #########################
     ########################################################
     print("[execute] Starting emulator")
-    emulator.start(fast_arm=True)
+    emulator.start(fast_arm=True, connect_gs=True)
     time.sleep(5)
 
-    print("[execute] Waiting 10 seconds for calibration")
-    time.sleep(10) # Allow enough time for calib to complete
+    print("[execute] Set up dashboard drain")
+    dashboard_dump_thread = threading.Thread(
+        target=dashboard_update_thread,
+        args=[serial_connection],
+        daemon=True
+    )
+
+    print("[execute] Connecting")
+    serial_connection.reset_input_buffer()
+    serial_connection.connect()
+
+    # assert proper connection
+    print("[execute] Verifying connection")
+    tester.assert_eq(serial_connection.target.controller.id, b'\x10', "Check that connect completed successfully (GS HW Opcode).")
+    tester.assert_eq(serial_connection.target.firmware.id, b'\x11', "Check that connect completed successfully (GS FW Opcode).")
+
+    print("[execute] Start dashboard drain")
+    dashboard_dump_thread.start()
+
+    print("[execute] Waiting 20 seconds for calibration & sufficient LoRa messages")
+    time.sleep(20) # Allow enough time for calib to complete
 
     print("[execute] Tearing down execute phase")
+    stop_event.set()
+    dashboard_dump_thread.join()
     emulator.stop()
     time.sleep(5)
 
     ########################################################
     ###################### VERIFY ##########################
     ########################################################
+    print("[verify] Check that a dashboard_dump message was received.")
+    dump_msg = telemetry_obj.get_latest_dashboard_dump()
+    tester.assert_eq(dump_msg is not None, True, "Dashboard Dump message is not None.")
+
+    print("[verify] Check that a vehicle_id message was received.")
+    id_msg = telemetry_obj.get_latest_wireless_stats()
+    tester.assert_eq(id_msg["target"] != "Connecting...", True, "Vehicle ID message received.")
+
     print("[verify] Starting emulator")
     emulator.start()
     time.sleep(5)
diff --git a/test/app/rev2/flight_int/support/test_presets.json b/test/app/rev2/flight_int/support/test_presets.json
index e3c9ffda..f993ccbd 100644
--- a/test/app/rev2/flight_int/support/test_presets.json
+++ b/test/app/rev2/flight_int/support/test_presets.json
@@ -4,7 +4,7 @@
         "Dual Deploy": false,
         "Active Roll Control": false,
         "Active Pitch Yaw Control": false,
-        "Wireless Transmission": false,
+        "Wireless Transmission": true,
         "Launch Detect Baro": true,
         "Launch Detect Accel": true,
         "GPS": true
diff --git a/test/utilities/sdr_emulator_utils/emulator_runner.py b/test/utilities/sdr_emulator_utils/emulator_runner.py
index 45be5925..ec67cf32 100644
--- a/test/utilities/sdr_emulator_utils/emulator_runner.py
+++ b/test/utilities/sdr_emulator_utils/emulator_runner.py
@@ -61,7 +61,7 @@ def generate_coverage(self) -> bool:
         os.chdir(cwd)
         return result.returncode == 0
 
-    def start(self, fast_arm = False) -> subprocess.Popen:
+    def start(self, fast_arm = False, connect_gs = False) -> subprocess.Popen:
         args = []
         if os.name == "nt":
             args.append("build/appa.exe")
@@ -83,7 +83,14 @@ def start(self, fast_arm = False) -> subprocess.Popen:
             **kwargs
         )
         assert proc.stdin is not None
-        proc.stdin.write(os.environ["EMULATOR_COMPORT"] + "\n")
+        
+        # Startup Interactions
+        # 1: FC SDEC Comport
+        # 2: GS SDEC Comport
+        if not connect_gs:
+            proc.stdin.write(os.environ["EMULATOR_COMPORT"] + "\n" + "\n")
+        else:
+            proc.stdin.write("\n" + os.environ["EMULATOR_COMPORT"] + "\n")
         proc.stdin.flush()
         proc.stdin.close()
         os.chdir(cwd)

From e58c355285fc8bc3eb9e3e0af78badef2baa5ac9 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 19:24:59 -0700
Subject: [PATCH 26/38] Add CodeQL to try to track down the memory bug

---
 .github/workflows/codeql.yml | 135 ++++++++++++++++++++++++++---------
 1 file changed, 102 insertions(+), 33 deletions(-)

diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index 249b9bda..1e2408de 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -10,15 +10,15 @@
 # supported CodeQL languages.
 #
 name: "CodeQL Advanced"
-
+ 
 on:
   push:
-    branches: [ "main" ]
+    branches: [ "main", "integration/**" ]
   pull_request:
-    branches: [ "main" ]
+    branches: [ "main", "integration/**" ]
   schedule:
     - cron: '41 0 * * 1'
-
+ 
 jobs:
   analyze:
     name: Analyze (${{ matrix.language }})
@@ -27,18 +27,18 @@ jobs:
     #   - https://gh.io/supported-runners-and-hardware-resources
     #   - https://gh.io/using-larger-runners (GitHub.com only)
     # Consider using larger runners or machines with greater resources for possible analysis time improvements.
-    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    runs-on: ubuntu-latest
     permissions:
       # required for all workflows
       security-events: write
-
+ 
       # required to fetch internal or private CodeQL packs
       packages: read
-
+ 
       # only required for workflows in private repositories
       actions: read
       contents: read
-
+ 
     strategy:
       fail-fast: false
       matrix:
@@ -60,15 +60,26 @@ jobs:
       uses: actions/checkout@v6
       with:
         submodules: 'recursive'
-
+ 
     # Add any setup steps before running the `github/codeql-action/init` action.
     # This includes steps like installing compilers or runtimes (`actions/setup-node`
     # or others). This is typically only required for manual builds.
-    # - name: Setup runtime (example)
-    #   uses: actions/setup-example@v1
-
-    # Initializes the CodeQL tools for scanning.
+    - name: Check out firmware compiler
+      if: matrix.language == 'c-cpp'
+      uses: carlosperate/arm-none-eabi-gcc-action@v1
+      with:
+        release: '13.3.Rel1' # <-- The compiler release to use
+    - name: Check out X11 tools for emulator build
+      if: matrix.language == 'c-cpp'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libxcursor-dev libxrandr-dev libxinerama-dev libxcb-xinput-dev libxi-dev
+ 
+    # ------------------------------------------------------------------
+    # Non-c-cpp languages (e.g. 'actions'): single init / build / analyze
+    # ------------------------------------------------------------------
     - name: Initialize CodeQL
+      if: matrix.language != 'c-cpp'
       uses: github/codeql-action/init@v4
       with:
         languages: ${{ matrix.language }}
@@ -79,33 +90,91 @@ jobs:
         # If you wish to specify custom queries, you can do so here or in a config file.
         # By default, queries listed here will override any specified in a config file.
         # Prefix the list here with "+" to use these queries and those in the config file.
-
+ 
         # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
         # queries: security-extended,security-and-quality
-    - name: Check out firmware compiler
-      uses: carlosperate/arm-none-eabi-gcc-action@v1
+ 
+    - name: Perform CodeQL Analysis
+      if: matrix.language != 'c-cpp'
+      uses: github/codeql-action/analyze@v4
       with:
-        release: '13.3.Rel1' # <-- The compiler release to use
-
-    # If the analyze step fails for one of the languages you are analyzing with
-    # "We were unable to automatically build your code", modify the matrix above
-    # to set the build mode to "manual" for that language. Then modify this step
-    # to build your code.
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
-    - name: Run manual build steps
-      if: matrix.build-mode == 'manual'
+        category: "/language:${{matrix.language}}"
+ 
+    # ------------------------------------------------------------------
+    # c-cpp: split into three databases/categories so rev2, rev3, and the
+    # emulator build show up as separate results in code scanning instead
+    # of being merged into a single combined database.
+    # ------------------------------------------------------------------
+ 
+    # --- rev2 release build ---
+    - name: Initialize CodeQL (rev2 release)
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/init@v4
+      with:
+        languages: c-cpp
+        build-mode: manual
+        config: |
+          paths-ignore:
+            - auto
+ 
+    - name: Build rev2 release
+      if: matrix.language == 'c-cpp'
       shell: bash
       run: |
-        # Release Build
         cd app/rev2
         make DEBUG=0
-
-        # Rev 3 Test App (drivers)
-        cd ../rev3
+ 
+    - name: Analyze rev2 release
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/analyze@v4
+      with:
+        category: "/language:c-cpp/rev2"
+ 
+    # --- rev3 test app (drivers) ---
+    - name: Initialize CodeQL (rev3)
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/init@v4
+      with:
+        languages: c-cpp
+        build-mode: manual
+        config: |
+          paths-ignore:
+            - auto
+ 
+    - name: Build rev3 test app
+      if: matrix.language == 'c-cpp'
+      shell: bash
+      run: |
+        cd app/rev3
         make
-
-    - name: Perform CodeQL Analysis
+ 
+    - name: Analyze rev3
+      if: matrix.language == 'c-cpp'
       uses: github/codeql-action/analyze@v4
       with:
-        category: "/language:${{matrix.language}}"
+        category: "/language:c-cpp/rev3"
+ 
+    # --- emulator build ---
+    - name: Initialize CodeQL (emulator)
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/init@v4
+      with:
+        languages: c-cpp
+        build-mode: manual
+        config: |
+          paths-ignore:
+            - auto
+ 
+    - name: Build emulator
+      if: matrix.language == 'c-cpp'
+      shell: bash
+      run: |
+        cd app/rev2
+        make clean
+        make emulator
+ 
+    - name: Analyze emulator
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/analyze@v4
+      with:
+        category: "/language:c-cpp/emulator"

From 5f2e54d4c5542ff011feb19bc1aefcec37cea69a Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 19:52:39 -0700
Subject: [PATCH 27/38] Pull up emulator to fix OBO

---
 emulator | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/emulator b/emulator
index ead7aa98..77b588c8 160000
--- a/emulator
+++ b/emulator
@@ -1 +1 @@
-Subproject commit ead7aa98ef4af8c42cc69800ae68b23c27d87bbd
+Subproject commit 77b588c8ea605cf6b6e23986773e2391bb391979

From ff61f411b90b4b08dcc044cce3b00331095f3be8 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 20:01:45 -0700
Subject: [PATCH 28/38] Pull up mod

---
 mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mod b/mod
index e4db23eb..fda21c44 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit e4db23eb872d2ebf67aec28b5e9bcd9eeadb86eb
+Subproject commit fda21c44cffc908267233b7c5c37e365d2278b09

From 67643a24b27deded94198b189a6ea413ad0a8d69 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 20:27:14 -0700
Subject: [PATCH 29/38] Pull up driver and add driver tests to project-level CI

---
 .github/workflows/test-runner.yml | 49 +++++++++++++++++++++++++++++--
 driver                            |  2 +-
 2 files changed, 48 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/test-runner.yml b/.github/workflows/test-runner.yml
index 04636bdd..dfed4626 100644
--- a/.github/workflows/test-runner.yml
+++ b/.github/workflows/test-runner.yml
@@ -18,7 +18,7 @@ on:
 permissions:
   contents: read
 jobs:
-  unit-tests:
+  app-unit-tests:
     runs-on: ubuntu-latest
     strategy:
       matrix:
@@ -63,6 +63,51 @@ jobs:
         run: echo 'Artifact ID is ${{ steps.promote-results.outputs.artifact-id }}'
       - run: echo "🍏 This job's status is ${{ job.status }}."
 
+  driver-unit-tests:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        tests: [gps, servo]
+    steps:
+      - run: echo "🎉 The job was automatically triggered by a ${{ github.event_name }} event."
+      - run: echo "🐧 This job is now running on a ${{ runner.os }} server hosted by GitHub!"
+      - run: echo "🔎 The name of your branch is ${{ github.ref }}."
+      - name: Install test environment
+        run: |
+          python -m pip install --upgrade pip
+          pip install gcovr
+      - name: Check out FCF repository code
+        uses: actions/checkout@v6
+        with:
+          ref: ${{ github.event.inputs.fw-branch || github.ref }}
+          submodules: 'recursive'
+      - run: echo "💡 The repository has been cloned to the runner."
+      - run: echo "🖥️ The workflow is now ready to test your code on the runner."
+      - name: List files in the repository
+        run: |
+          ls ${{ github.workspace }}
+
+      - name: Build and run the appa/${{ matrix.tests }} tests
+        run: |
+          cd ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}
+          make test
+      - name: Check for fails.
+        run: |
+          cd ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}
+          tail -3 results.txt | grep "Result: PASS"
+      - name: Consolidate ${{ matrix.tests }} artifacts
+        run: mv ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}/results.txt ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}/coverage/results.txt
+      - name: "Promote Artifacts"
+        uses: actions/upload-artifact@v6
+        id: promote-results
+        with:
+          name: ${{ matrix.tests }}-artifacts
+          path: ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}/coverage/
+          include-hidden-files: true
+      - name: Output artifact ID
+        run: echo 'Artifact ID is ${{ steps.promote-results.outputs.artifact-id }}'
+      - run: echo "🍏 This job's status is ${{ job.status }}."
+
   emulator-tests:
     runs-on: ubuntu-latest
     timeout-minutes: 7
@@ -162,7 +207,7 @@ jobs:
   # Take coverage reports and merge them
   consolidate-coverage:
     runs-on: ubuntu-latest
-    needs: [unit-tests, emulator-tests]
+    needs: [app-unit-tests, driver-unit-tests, emulator-tests]
     steps:
       - name: Install gcovr
         run: |
diff --git a/driver b/driver
index 43593b09..b311d278 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit 43593b0913ad78048186b7008ee12b776ee734f4
+Subproject commit b311d278d430c44a33b826de614d567d74b3da2e

From 7511d075e99fe8c7a434f649c2030ba9749627ec Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sun, 5 Jul 2026 20:31:23 -0700
Subject: [PATCH 30/38] Pull up driver/test_framework

---
 driver | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/driver b/driver
index b311d278..4df5e8bd 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit b311d278d430c44a33b826de614d567d74b3da2e
+Subproject commit 4df5e8bd02fcd5c216b4a084b2ab8690943bee20

From 5c2b45f0cd195d3c9f07c171737f3b3c011b4049 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Mon, 6 Jul 2026 18:13:52 -0700
Subject: [PATCH 31/38] Pull up emulator

---
 app/rev2/Makefile | 1 +
 emulator          | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/app/rev2/Makefile b/app/rev2/Makefile
index 0f5c8533..d74f0d04 100644
--- a/app/rev2/Makefile
+++ b/app/rev2/Makefile
@@ -136,6 +136,7 @@ $(BASE_DIR)/emulator/src/emulator_ground_station.c					  \
 $(BASE_DIR)/emulator/src/emulator_uart.c							  \
 $(BASE_DIR)/emulator/src/emulator_spi.c								  \
 $(BASE_DIR)/emulator/src/emulator_lora.c							  \
+$(BASE_DIR)/emulator/src/emulator_serial.c							  \
 $(BASE_DIR)/emulator/src/emulator_i2c.c 							  \
 $(BASE_DIR)/emulator/src/emulator_gui.c								  \
 $(BASE_DIR)/emulator/src/shaders/shaders.c						  	  \
diff --git a/emulator b/emulator
index 77b588c8..d08921b9 160000
--- a/emulator
+++ b/emulator
@@ -1 +1 @@
-Subproject commit 77b588c8ea605cf6b6e23986773e2391bb391979
+Subproject commit d08921b926f1678724859a16aab4d2a712040cca

From 880b211d780396daf5f001b9523004de3d563156 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Wed, 8 Jul 2026 19:59:16 -0700
Subject: [PATCH 32/38] coast detect z to x one liner, pull up mod

---
 app/rev2/state_transition.c | 2 +-
 mod                         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/app/rev2/state_transition.c b/app/rev2/state_transition.c
index 529fa370..fddd3ea5 100644
--- a/app/rev2/state_transition.c
+++ b/app/rev2/state_transition.c
@@ -187,7 +187,7 @@ bool coast_detect
 static uint8_t positive_readings = 0;
 
 /* check if accel is sufficiently low */
-if ( sensor_data.imu_converted.accel_z < COAST_DETECT_THRESHOLD * GRAVITY )
+if ( sensor_data.imu_converted.accel_x < COAST_DETECT_THRESHOLD * GRAVITY )
     {
     positive_readings++;
     }
diff --git a/mod b/mod
index fda21c44..c857f8af 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit fda21c44cffc908267233b7c5c37e365d2278b09
+Subproject commit c857f8af0225ed4fc62cfcd54c855bdbe140e948

From 6e11f3e1e99cc13fda825ca903c9049dbab17e82 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sat, 11 Jul 2026 12:21:04 -0700
Subject: [PATCH 33/38] Pull up mod

---
 mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mod b/mod
index c857f8af..654bbb34 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit c857f8af0225ed4fc62cfcd54c855bdbe140e948
+Subproject commit 654bbb346c14c6e8f8c37e69680d462e5f2b0b01

From d9dcfeae7483cdd67fec1a6c25d3695223a53ebe Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Sat, 11 Jul 2026 12:27:26 -0700
Subject: [PATCH 34/38] Test updates + submodule pullup

---
 emulator                                        |  2 +-
 mod                                             |  2 +-
 test/app/rev2/terminal_int/terminal_int_test.py | 17 +----------------
 3 files changed, 3 insertions(+), 18 deletions(-)

diff --git a/emulator b/emulator
index d08921b9..3f9f5549 160000
--- a/emulator
+++ b/emulator
@@ -1 +1 @@
-Subproject commit d08921b926f1678724859a16aab4d2a712040cca
+Subproject commit 3f9f5549e9f94160d8da3be27405ece3718888c6
diff --git a/mod b/mod
index 654bbb34..91d13bb6 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 654bbb346c14c6e8f8c37e69680d462e5f2b0b01
+Subproject commit 91d13bb685965cf9166f698fa9e551d37622bb76
diff --git a/test/app/rev2/terminal_int/terminal_int_test.py b/test/app/rev2/terminal_int/terminal_int_test.py
index 08898fef..ca90c6d3 100644
--- a/test/app/rev2/terminal_int/terminal_int_test.py
+++ b/test/app/rev2/terminal_int/terminal_int_test.py
@@ -16,15 +16,12 @@
 
 # Helper functions
 def check_sensor(tester, sensor_name, readout):
-    # These sensors will not trigger a fail if the readout is invalid
-    postponed_list = ["pos", "altg", "speedg", "utc_time", "long", "lat", "ns", "ew", "gll_s", "rmc_s"]
-
     if readout:
         min = float('-inf')
         max = float('inf')
         match sensor_name:
             # RAW VALUES
-            case "accXconv" | "accYconv" | "accZconv" | "acc_z":
+            case "accXconv" | "accYconv" | "accZconv" | "acc_x" | "acc_y" | "acc_z":
                 min = -12
                 max = 12
             case "gyroXconv" | "gyroYconv" | "gyroZconv" | "roll_rate":
@@ -55,18 +52,6 @@ def check_sensor(tester, sensor_name, readout):
                         # This is true since the else branch's assert wasn't reached
         
         tester.assert_float_in_range(readout, min, max, f"Check that {sensor_name} is in the expected range.")
-    else:
-        # GPS is expected to fail if there are no valid readings, and GPS is only enabled after arming.
-        # This is known behavior that you may want to consider a bug. If you would like this fixed,
-        # please open a ticket.
-        #
-        # Position is known to be defective as of v2.6.0. The issue was noticed during mod#102
-        # and we chose not to address it. The reading will instead be removed at a later date
-        # when space is needed in the sensor data struct.
-        #
-        # Follow mod#101 for updates on this.
-        if sensor_name not in postponed_list:
-            tester.assert_neq(0, 0, f"{sensor_name} has no available reading, so autofail.")
 
 sdec_comport = os.environ.get("SDEC_COMPORT")
 emulator_comport = os.environ.get("EMULATOR_COMPORT")

From d79aef785338f8a1a06a3c3c4c224dd637bc95a3 Mon Sep 17 00:00:00 2001
From: etsells <etsells44@gmail.com>
Date: Mon, 13 Jul 2026 18:17:39 -0700
Subject: [PATCH 35/38] Pull up mod

---
 mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mod b/mod
index 91d13bb6..2680f5b5 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 91d13bb685965cf9166f698fa9e551d37622bb76
+Subproject commit 2680f5b5184fdcb1078754a8526e1f0b1b70b68c

From f331337093d0c77e4029d70d92fcd21ad296df6e Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Mon, 20 Jul 2026 01:47:01 -0700
Subject: [PATCH 36/38] Corrections to mount orientation

---
 app/rev2/main.c             |  1 +
 app/rev2/main.h             |  3 ++-
 app/rev2/sensor_calibrate.c | 20 ++++++++++----------
 mod                         |  2 +-
 4 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/app/rev2/main.c b/app/rev2/main.c
index 04000f1d..0e29f8a0 100644
--- a/app/rev2/main.c
+++ b/app/rev2/main.c
@@ -297,6 +297,7 @@ if ( read_status == FLASH_FAIL )
 	{
 	error_fail_fast( ERROR_FLASH_CMD_ERROR );
 	}
+set_mount_orientation( preset_data.last_orientation );
 
 /*------------------------------------------------------------------------------
  End of init // Begin program
diff --git a/app/rev2/main.h b/app/rev2/main.h
index ae16acea..e8cc5f10 100644
--- a/app/rev2/main.h
+++ b/app/rev2/main.h
@@ -141,8 +141,9 @@ typedef struct _PRESET_DATA /* total: 88 bytes */
 	IMU_OFFSET imu_offset; /* 24 bytes */
 	BARO_PRESET baro_preset; /* 8 bytes */
 	SERVO_PRESET servo_preset; /* 4 bytes */
+	MOUNT_ORIENTATION last_orientation; /* 4 bytes */
 	} PRESET_DATA;
-	_Static_assert( sizeof(PRESET_DATA) == 96, "PRESET_DATA size invalid." );
+	_Static_assert( sizeof(PRESET_DATA) == 100, "PRESET_DATA size invalid." );
 
 typedef enum __attribute__((packed)) _FLIGHT_COMP_STATE 
 	{
diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index 63d38075..7b35a97e 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -60,6 +60,9 @@ void sensorCalibrationSWCON(){
     SENSOR_STATUS sensor_status = SENSOR_OK;
     (void)sensor_status;
 
+    /* Make sure this is consistent at calib, then flip after if we need to */
+    set_mount_orientation( MOUNT_ORIENTATION_IMU_INVERTED );
+
     preset_data.imu_offset.accel_x = 0.00;
     preset_data.imu_offset.accel_y = 0.00;
     preset_data.imu_offset.accel_z = 0.00;
@@ -108,7 +111,7 @@ void sensorCalibrationSWCON(){
     calc_gyro_y = calc_gyro_y / ( samples );
     calc_gyro_z = calc_gyro_z / ( samples );
 
-    debug_assert( calc_acc_z != 0.0f, ERROR_SENSOR_CMD_ERROR );
+    debug_assert( calc_acc_x != 0.0f, ERROR_SENSOR_CMD_ERROR );
 
     calc_baro_pres = calc_baro_pres / ( samples );
     calc_baro_temp = calc_baro_temp / ( samples );
@@ -126,20 +129,16 @@ void sensorCalibrationSWCON(){
     
     /* Sensor dump readings already factor in the orientation, which is assumed at startup to be inverted.
        If gravity is a negative value at calib, flip the orientaion and offsets back accordingly. */
-    if ( calc_acc_z > 0.0f )
-        {
-        set_mount_orientation( MOUNT_ORIENTATION_IMU_INVERTED );
-        }
-    else
+    if ( calc_acc_x < 0.0f )
         {
         set_mount_orientation( MOUNT_ORIENTATION_IMU_NORMAL );
 
-        /* Flip the X and Z offsets back to match */
+        /* Flip the X and Z offsets to match */
         preset_data.imu_offset.accel_x *= -1;
         preset_data.imu_offset.accel_z *= -1; 
 
         preset_data.imu_offset.gyro_x *= -1;
-        preset_data.imu_offset.gyro_z *= -1;
+        preset_data.imu_offset.gyro_z *= -1;        
         }
 
     /* Initialize sensor */
@@ -153,8 +152,9 @@ void sensorCalibrationSWCON(){
         tdelta, (float)tdelta / samples );
     debug_ignore_emulator_warnings_stop();
     debug_log(sensor_dbg_msg, msg_len, LOG_LVL_INFO);
-    msg_len = snprintf(sensor_dbg_msg, 128, "IMU Offsets: %.04f %.04f %.04f %.04f %.04f %.04f. Baro Offsets: %.04f %.04f.",
-        calc_acc_x, calc_acc_y, calc_acc_z, calc_gyro_x, calc_gyro_y, calc_gyro_z, calc_baro_pres, calc_baro_temp);
+    MOUNT_ORIENTATION orientation = get_mount_orientation();
+    msg_len = snprintf(sensor_dbg_msg, 128, "IMU Offsets: %.04f %.04f %.04f %.04f %.04f %.04f. Baro Offsets: %.04f %.04f. Orientation: %d",
+        calc_acc_x, calc_acc_y, calc_acc_z, calc_gyro_x, calc_gyro_y, calc_gyro_z, calc_baro_pres, calc_baro_temp, orientation );
     debug_log(sensor_dbg_msg, msg_len, LOG_LVL_INFO);
     #endif
 
diff --git a/mod b/mod
index 2680f5b5..719e2eb8 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 2680f5b5184fdcb1078754a8526e1f0b1b70b68c
+Subproject commit 719e2eb84f76a5ed71774be1f875c618c605ec81

From 4a547e08ef0e19eab66625896b29563308e21b30 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Mon, 20 Jul 2026 07:28:19 -0700
Subject: [PATCH 37/38] test stub for mount orientation, pull up driver

---
 driver                          | 2 +-
 test/app/rev2/main/mock/mocks.c | 8 ++++++++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/driver b/driver
index 4df5e8bd..8091bc52 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit 4df5e8bd02fcd5c216b4a084b2ab8690943bee20
+Subproject commit 8091bc52b8477477ff8f05439f4f3c0e90582816
diff --git a/test/app/rev2/main/mock/mocks.c b/test/app/rev2/main/mock/mocks.c
index a4cef76d..ea353217 100644
--- a/test/app/rev2/main/mock/mocks.c
+++ b/test/app/rev2/main/mock/mocks.c
@@ -139,6 +139,14 @@ IMU_STATUS imu_init
 return imu_init_return;
 }
 
+void set_mount_orientation
+	(
+	MOUNT_ORIENTATION orientation
+	)
+{
+// stub
+}
+
 SERVO_STATUS servo_init
     (
     void

From 45209a8bd5d32b4148456f6feae0a412fe4d2721 Mon Sep 17 00:00:00 2001
From: NArmistead <nicholas.armistead05@gmail.com>
Date: Tue, 21 Jul 2026 10:04:45 -0700
Subject: [PATCH 38/38] Hopefully better way to do orientation

---
 app/rev2/main.c             | 11 ++++++++++-
 app/rev2/main.h             |  3 +--
 app/rev2/sensor_calibrate.c |  9 +--------
 mod                         |  2 +-
 4 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/app/rev2/main.c b/app/rev2/main.c
index 0e29f8a0..b73f940d 100644
--- a/app/rev2/main.c
+++ b/app/rev2/main.c
@@ -297,7 +297,16 @@ if ( read_status == FLASH_FAIL )
 	{
 	error_fail_fast( ERROR_FLASH_CMD_ERROR );
 	}
-set_mount_orientation( preset_data.last_orientation );
+
+/* Set orientation based on saved data */
+if ( preset_data.imu_offset.accel_x < 0.0f )
+	{
+	set_mount_orientation( MOUNT_ORIENTATION_IMU_NORMAL );
+	}
+else
+	{
+	set_mount_orientation( MOUNT_ORIENTATION_IMU_INVERTED );
+	}
 
 /*------------------------------------------------------------------------------
  End of init // Begin program
diff --git a/app/rev2/main.h b/app/rev2/main.h
index e8cc5f10..ae16acea 100644
--- a/app/rev2/main.h
+++ b/app/rev2/main.h
@@ -141,9 +141,8 @@ typedef struct _PRESET_DATA /* total: 88 bytes */
 	IMU_OFFSET imu_offset; /* 24 bytes */
 	BARO_PRESET baro_preset; /* 8 bytes */
 	SERVO_PRESET servo_preset; /* 4 bytes */
-	MOUNT_ORIENTATION last_orientation; /* 4 bytes */
 	} PRESET_DATA;
-	_Static_assert( sizeof(PRESET_DATA) == 100, "PRESET_DATA size invalid." );
+	_Static_assert( sizeof(PRESET_DATA) == 96, "PRESET_DATA size invalid." );
 
 typedef enum __attribute__((packed)) _FLIGHT_COMP_STATE 
 	{
diff --git a/app/rev2/sensor_calibrate.c b/app/rev2/sensor_calibrate.c
index 7b35a97e..991b1111 100644
--- a/app/rev2/sensor_calibrate.c
+++ b/app/rev2/sensor_calibrate.c
@@ -128,17 +128,10 @@ void sensorCalibrationSWCON(){
     preset_data.baro_preset.baro_temp = calc_baro_temp;
     
     /* Sensor dump readings already factor in the orientation, which is assumed at startup to be inverted.
-       If gravity is a negative value at calib, flip the orientaion and offsets back accordingly. */
+       If we read a negative value for gravity, flip the orientation */
     if ( calc_acc_x < 0.0f )
         {
         set_mount_orientation( MOUNT_ORIENTATION_IMU_NORMAL );
-
-        /* Flip the X and Z offsets to match */
-        preset_data.imu_offset.accel_x *= -1;
-        preset_data.imu_offset.accel_z *= -1; 
-
-        preset_data.imu_offset.gyro_x *= -1;
-        preset_data.imu_offset.gyro_z *= -1;        
         }
 
     /* Initialize sensor */
diff --git a/mod b/mod
index 719e2eb8..2c2e9c8c 160000
--- a/mod
+++ b/mod
@@ -1 +1 @@
-Subproject commit 719e2eb84f76a5ed71774be1f875c618c605ec81
+Subproject commit 2c2e9c8ce8f84ce7fc340b30ff8f5463447a47c8