Holger emailed me that there is a new version of the firmware -- the most notable feature being that the GPX log file is written to the microSD card after every data row so that, in the case of a "sudden power loss" (which only seems to happen to me when the copter crashes ), there is no data lost. This marks a huge leap forward in terms of our ability to see the last two or three seconds before a crash and thus understand what is going on. Also, the GPX file will now start being written as soon as the motor starts. There are other good features too. For those of us not freezing or being blown away in the USA, it would be nice to test this version! Portland, OR is not too cold, but the wind is crazy! Here's the release details (the image in the posting did not reproduce so visit the original posting to see it): Hello,we just realesed a public beta V2.09http://mikrocontroller.com/files/PublicBeta(KopterTool didn't change - use 2.08 )What's new:1. rotation rate for automaic yawing at waypoints and POI limited to 100°/sec- that was quite fast in the older versions2. Baro measuring range changeover- there is a small step every 100m while changing altitude- this step is made faster now (0,1 sec instead of 0,7 sec)- normally it isn't noticed3. The Baro altitude measurement was new calibrated -> the old value was about 5% too highI was comparing it with GPS V3 altitudes - they seem to be quite accurate.Also I simulated the pressure by an instrument.User imageI found out that the Baro-Altitudes are measured about 5% too high.That means that the raw altitude value in the GPX logs should be devided by 21 to get the correct value.It also effected the measurement in the LCD of the Graupner telemetry - the Altitude value was about 5% too high.If Waypoints were used, the actual altitude was about 5% lower then expected.4. Data structure of "ExternalControl" changed. - nor the MK can be completely controlled via serial commands - including starting, calibrating,...5. Logging- now the data is safed after every GPX-Block to the SD-card (Flush() )- in case of Power-Off the data is safe. In the past versions up to 3 seconds could be lost in case of sudden power off.- it was sucessfully tested up to 200ms logging - GPX-logging starts with motor start. In older Versions the logfile started after liftoff.Regards,HolgerOriginal posting at http://forum.mikrokopter.de/topic-post528189.html#post528189 Andy.