From b05a38b6a8551f2f102cd3b7a4c8c1a3d32832dc Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Tue, 1 Dec 2015 21:52:31 +1100
Subject: [PATCH 1/3] New topic for installing old releases

---
 .../Android_SDK_Manager_Platform_tools.png    | Bin 0 -> 45570 bytes
 doc/contributing_working_with_releases.rst    |  61 ++++++++++++++++++
 doc/index.rst                                 |   1 +
 3 files changed, 62 insertions(+)
 create mode 100644 doc/_static/images/Android_SDK_Manager_Platform_tools.png
 create mode 100644 doc/contributing_working_with_releases.rst

diff --git a/doc/_static/images/Android_SDK_Manager_Platform_tools.png b/doc/_static/images/Android_SDK_Manager_Platform_tools.png
new file mode 100644
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diff --git a/doc/contributing_working_with_releases.rst b/doc/contributing_working_with_releases.rst
new file mode 100644
index 0000000000..6c2bb73f03
--- /dev/null
+++ b/doc/contributing_working_with_releases.rst
@@ -0,0 +1,61 @@
+=====================
+Working with Releases
+=====================
+
+The latest stable version of the *3DR Services App* (which contains the DroneKit-Android Client library) 
+can be always be installed from the 
+`Play Store <https://play.google.com/store/apps/details?id=org.droidplanner.services.android>`_ (on both
+devices and on the Android simulator).
+
+Sometimes it is useful to be able to access new features that are available only in beta releases, or to test your
+application against older releases. In this case you will need to install the appropriate Android application package (APK).
+
+You can find all releases (beta and stable) on the `Project Releases <https://github.com/dronekit/dronekit-android/releases>`_ page on
+Github, along with source code for the release. The file's with extension **.apk** can be installed using the 
+`Android Debug Bridge tool (adb) <http://developer.android.com/tools/help/adb.html>`_.
+
+
+
+Installation steps
+==================
+
+#. Install the **adb** tool using the *Android SDK Manager*.
+
+   .. figure:: _static/images/Android_SDK_Manager_Platform_tools.png
+
+   The tool is part of the *Android SDK Platform tools* as shown. 
+   It is installed to *<sdk path>/sdk/platform-tools*. The path to the **sdk** is shown in the SDK Manager
+   above (highlighted in blue).
+   
+#. Connect your device. Instructions for launching a `virtual device are here <http://developer.android.com/tools/devices/index.html>`_
+   and instructions for using `Hardware Devices are here <http://developer.android.com/tools/device.html>`_.
+   
+   You can verify the connection by running *adb*:
+   
+   .. code-block:: bash
+   
+       > adb devices
+       
+       List of devices attached
+       3204672ab49bc1f5        device
+
+#. Download the `adk file/release of interest <https://github.com/dronekit/dronekit-android/releases>`_ and install it.
+   For example, running adb from the **platform-tools** directory, we might install a file as shown
+
+   
+   .. code-block:: bash
+   
+       > adb install D:\MyFiles\3dr-services-release.104022.apk
+       
+       5331 KB/s (3762561 bytes in 0.689s)
+               pkg: /data/local/tmp/3dr-services-release.104022.apk
+       Success
+       
+   .. note:: 
+   
+       Installation will fail if a version of the file already exists. 
+       If you need to install a new version, manually uninstall the old
+       version first/.
+
+After installation the *3DR Services* app icon will appear on your device. You can confirm the version is 
+correct by viewing the version string in the app footer.
\ No newline at end of file
diff --git a/doc/index.rst b/doc/index.rst
index d7c2a7d138..ca9a91e00f 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -23,5 +23,6 @@ Contents:
    getting_started
    first_app
    pebble_app
+   contributing_working_with_releases
    resources
 

From b15d695da174f9ae49a95c487e7f6ad991b34e09 Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Mon, 7 Dec 2015 16:47:18 +1100
Subject: [PATCH 2/3] Add section on building from source

---
 ...Android_Studio_Import_Dronekit_Android.png | Bin 0 -> 22544 bytes
 doc/contributing_building_from_source.rst     | 105 ++
 doc/first_app.rst                             | 995 +++++++++---------
 doc/getting_started.rst                       |   1 +
 doc/index.rst                                 |   1 +
 5 files changed, 605 insertions(+), 497 deletions(-)
 create mode 100644 doc/_static/images/Android_Studio_Import_Dronekit_Android.png
 create mode 100644 doc/contributing_building_from_source.rst

diff --git a/doc/_static/images/Android_Studio_Import_Dronekit_Android.png b/doc/_static/images/Android_Studio_Import_Dronekit_Android.png
new file mode 100644
index 0000000000000000000000000000000000000000..718f2074cb49a7ad67c1a4332f7570accf16e8e4
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diff --git a/doc/contributing_building_from_source.rst b/doc/contributing_building_from_source.rst
new file mode 100644
index 0000000000..2f7c440d17
--- /dev/null
+++ b/doc/contributing_building_from_source.rst
@@ -0,0 +1,105 @@
+=====================================
+Building DroneKit-Android from Source
+=====================================
+
+Developers who want to contribute to DroneKit-Android will need to to modify and build the 
+*3DR Services* (**ServiceApp**) source code, which contains the DroneKit-Android client library (**ClientLib**).
+
+The build process creates a 
+`.aar file <https://sites.google.com/a/android.com/tools/tech-docs/new-build-system/aar-format>`_ 
+*definition* of the client API. In order to use the modifications your DroneKit-Android apps must specify 
+this file as a dependency rather than the definition file hosted online for official releases.
+
+.. tip::
+
+    If you just want to access old releases you don't need to rebuild the source 
+    (see :doc:`contributing_working_with_releases` for more information).
+
+
+
+Build 3DR Services App (DroneKit-Android)
+=========================================
+
+The steps to modify and build the *3DR Services* app are:
+
+#. Fork and clone the `DroneKit-Android Repo <https://github.com/dronekit/dronekit-android>`_. 
+
+#. Import the project root directory into Android Studio. Android Studio will automatically recognize all the sub-apps inside), as shown below:
+
+   .. figure:: _static/images/Android_Studio_Import_Dronekit_Android.png
+       :width: 400px
+       
+#. Modify DroneKit-Android as needed.
+
+   .. tip::
+   
+       You might want to skip this step for now and come back when you've verified that you can built the project.
+
+#. Build the project (**Build | Rebuild Project**). 
+
+
+   .. note:: 
+
+       Android Studio will generate an **.aar** file in the directory **DroneKit-Android/ClientLib/build/outputs/aar/** 
+       (for example, **dronekit-android.2.7.0.aar**). This file contains the definition of the locally built 
+       DroneKit-Android client API, including any changes you made to the project. This is the dependency file that
+       DroneKit-Android apps will have to link against in order to access your new functionality.
+
+       The version number of the **.aar** file is generated automatically.
+
+#. Select the **Run** button in Android-Studio (with your Android device connected). 
+   This will install your rebuilt *3DR Services* app to your device. 
+
+
+
+Update your DroneKit-Android App
+================================
+
+This section shows how to update your project to use the locally generated *aar* file created in the previous section (instead of
+the cloud hosted definition used when making releases).
+
+For easy comparison with the "normal" case, here we use the same *Hello Drone Android App* described earlier.
+
+#. Fork and Clone `Hello Drone Android App <https://github.com/3drobotics/DroneKit-Android-Starter>`_.
+
+#. Open the app in Android Studio. 
+
+#. Update the app build dependencies so that it uses the local **.aar** file rather than the definition in the online repo:
+
+   * Find **build.gradle** file for the project and open it. 
+     Add a ``flatDir`` attribute inside the ``allprojects | repositories`` entry. 
+     This should contain the path to the directory **DroneKit-Android/ClientLib/build/outputs/aar**:
+     
+     .. code-block:: text
+         :emphasize-lines: 5-7
+     
+         allprojects {
+             repositories {
+                 jcenter()
+
+                 flatDir {
+                     dirs 'libs','../../DroneKit-Android/ClientLib/build/outputs/aar'
+                 }
+                 
+             }
+         }
+   
+   * Find the *build.gradle* (for the Module:app) and open it. Find the entry for the online definition of
+     DroneKit-Android ``compile 'com.o3dr.android:dronekit-android:2.3.+'`` 
+     and replace it with the local file ``compile(name:'dronekit-android.2.7.0', ext:'aar')``:
+   
+     .. code-block:: cpp
+         :emphasize-lines: 5-6
+         
+         dependencies {
+             compile fileTree(dir: 'libs', include: ['*.jar'])
+             compile 'com.android.support:appcompat-v7:21.0.3'
+
+             // compile 'com.o3dr.android:dronekit-android:2.3.+' 
+             compile(name:'dronekit-android.2.7.0', ext:'aar')
+         }
+   
+
+#. Save everything and then select the *Android-Studio* menu: **Tools | Android | Sync Android with Gradle Files**. This will automatically search all dependency libs (including our local DroneKit build) and link it in our code.
+
+That's it - the build process will now use your locally created version of DroneKit-Android.
\ No newline at end of file
diff --git a/doc/first_app.rst b/doc/first_app.rst
index 654097ba4c..cfe229ee75 100644
--- a/doc/first_app.rst
+++ b/doc/first_app.rst
@@ -30,7 +30,8 @@ Adding the Client Library
 
 To add the 3DR Services library to your project:
 
-#. Open **build.gradle (Module:app)** and, under the dependencies section, add: 
+#. Open **build.gradle (Module:app)** and, under the dependencies section add a 
+   reference to the 3DR Services Client library:
 
    .. code-block:: bash
 
@@ -52,25 +53,25 @@ Implement a ``TowerListener`` on your ``MainActivity`` to listen for events sent
    :linenos:
    :emphasize-lines: 1,4-12
 
-	public class MainActivity extends ActionBarActivity implements TowerListener {
+    public class MainActivity extends ActionBarActivity implements TowerListener {
 
-		// 3DR Services Listener
-		@Override
-		public void onTowerConnected() {
-			
-		}
+        // 3DR Services Listener
+        @Override
+                public void onTowerConnected() {
 
-		@Override
-		public void onTowerDisconnected() {
-			
-		}
+        }
 
-		@Override
-		protected void onCreate(Bundle savedInstanceState) {
-			super.onCreate(savedInstanceState);
-			setContentView(R.layout.activity_main);
-		}
-	}
+        @Override
+        public void onTowerDisconnected() {
+
+        }
+
+        @Override
+        protected void onCreate(Bundle savedInstanceState) {
+            super.onCreate(savedInstanceState);
+            setContentView(R.layout.activity_main);
+        }
+    }
 
 
 Now you'll need to:
@@ -116,7 +117,7 @@ Now you'll need to:
 
        @Override
        public void onTowerDisconnected() {
-			
+
        }
 
        @Override
@@ -148,65 +149,65 @@ Now that you have a virtual drone, let’s add the ability to connect to it.
 First, declare that your ``MainActivity`` can act as an interface for DroneListener and implement some methods to listen for drone events.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 1-15
+    :linenos:
+    :emphasize-lines: 1-15
 
-	public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
-		@Override
-		public void onDroneEvent(String event, Bundle extras) {
+    public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
+        @Override
+        public void onDroneEvent(String event, Bundle extras) {
+
+        }
 
-		}
+        @Override
+        public void onDroneConnectionFailed(ConnectionResult result) {
 
-		@Override
-		public void onDroneConnectionFailed(ConnectionResult result) {
-			
-		}
+        }
 
-		@Override
-		public void onDroneServiceInterrupted(String errorMsg) {
+        @Override
+        public void onDroneServiceInterrupted(String errorMsg) {
 
-		}
+        }
 
-		...
-	}
+        ...
+    }
 
 Next, add an instance variable to the top of your ``MainActivity`` to keep track of the drone instance.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 2-3
+    :linenos:
+    :emphasize-lines: 2-3
 
-	public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
-		private Drone drone;
-		private int droneType = Type.TYPE_UNKNOWN;
+    public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
+        private Drone drone;
+        private int droneType = Type.TYPE_UNKNOWN;
 
 
 In order to register with the control tower, the drone instance needs a generic Android handler. Go ahead and add a handler where you declare your instance variables.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 4
+    :linenos:
+    :emphasize-lines: 4
 
-	public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
-		private Drone drone;
-		private int droneType = Type.TYPE_UNKNOWN;
-		private final Handler handler = new Handler();
+    public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
+        private Drone drone;
+        private int droneType = Type.TYPE_UNKNOWN;
+        private final Handler handler = new Handler();
 
 
 Add an instantiation of the new drone upon the creation of your ``MainActivity``. After creation, the new drone will need to be registered with the control tower to be active.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 7
-	
-	@Override
-	protected void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);
-		setContentView(R.layout.activity_main);
-
-		this.serviceManager = new ServiceManager(getApplicationContext());
-		this.drone = new Drone();
-	}
+    :linenos:
+    :emphasize-lines: 7
+    
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_main);
+
+        this.serviceManager = new ServiceManager(getApplicationContext());
+        this.drone = new Drone();
+    }
 
         @Override
         public void onTowerConnected() {
@@ -218,33 +219,33 @@ Add an instantiation of the new drone upon the creation of your ``MainActivity``
 Make sure that when the ``MainActivity`` is stopped, the drone is unregistered from the control tower. 
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 4-8
-	
-	@Override
-	public void onStop() {
-		super.onStop();
-		if (this.drone.isConnected()) {
-			this.drone.disconnect();
-			updateConnectedButton(false);
-		}
+    :linenos:
+    :emphasize-lines: 4-8
+
+    @Override
+    public void onStop() {
+        super.onStop();
+        if (this.drone.isConnected()) {
+            this.drone.disconnect();
+            updateConnectedButton(false);
+        }
                 this.controlTower.unregisterDrone(this.drone);
                 this.controlTower.disconnect();
-	}
+    }
 
 Now let's add a button in **activity_main.xml** that will connect to the drone on press. Open **activity_main.xml** and add the following:
 
 .. code-block:: xml
-	:linenos:
+    :linenos:
 
-	<Button
-		android:layout_width="150dp"
-		android:layout_height="wrap_content"
-		android:text="Connect"
-		android:id="@+id/btnConnect"
-		android:onClick="onBtnConnectTap"
-		android:layout_alignParentRight="true"
-		android:layout_alignParentEnd="true" />
+    <Button
+        android:layout_width="150dp"
+        android:layout_height="wrap_content"
+        android:text="Connect"
+        android:id="@+id/btnConnect"
+        android:onClick="onBtnConnectTap"
+        android:layout_alignParentRight="true"
+        android:layout_alignParentEnd="true" />
 
 Add a method to your ``MainActivity`` to handle the connect button press so that:
 
@@ -252,64 +253,64 @@ Add a method to your ``MainActivity`` to handle the connect button press so that
 2. If the drone isn’t connected, build a set of connection parameters and connect.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 1-100
-
-	public void onBtnConnectTap(View view) {
-		if(this.drone.isConnected()) {
-			this.drone.disconnect();
-		} else {
-			Bundle extraParams = new Bundle();
-			extraParams.putInt(ConnectionType.EXTRA_UDP_SERVER_PORT, 14550); // Set default port to 14550
-
-			ConnectionParameter connectionParams = new ConnectionParameter(ConnectionType.TYPE_UDP, extraParams, null);
-			this.drone.connect(connectionParams);
-		}
-	}
+    :linenos:
+    :emphasize-lines: 1-100
+
+    public void onBtnConnectTap(View view) {
+        if(this.drone.isConnected()) {
+            this.drone.disconnect();
+        } else {
+            Bundle extraParams = new Bundle();
+            extraParams.putInt(ConnectionType.EXTRA_UDP_SERVER_PORT, 14550); // Set default port to 14550
+
+            ConnectionParameter connectionParams = new ConnectionParameter(ConnectionType.TYPE_UDP, extraParams, null);
+            this.drone.connect(connectionParams);
+        }
+    }
 
 
 Now add some UI elements to alert you when the drone is connected. Add the following UI helper method to the bottom of your ``MainActivity`` file.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 1-100
-
-	protected void alertUser(String message) {
-		Toast.makeText(getApplicationContext(), message, Toast.LENGTH_LONG).show();
-	}
-
-	protected void updateConnectedButton(Boolean isConnected) {
-		Button connectButton = (Button)findViewById(R.id.btnConnect);
-		if (isConnected) {
-			connectButton.setText("Disconnect");
-		} else {
-			connectButton.setText("Connect");
-		}
-	}
+    :linenos:
+    :emphasize-lines: 1-100
+
+    protected void alertUser(String message) {
+        Toast.makeText(getApplicationContext(), message, Toast.LENGTH_LONG).show();
+    }
+
+    protected void updateConnectedButton(Boolean isConnected) {
+        Button connectButton = (Button)findViewById(R.id.btnConnect);
+        if (isConnected) {
+            connectButton.setText("Disconnect");
+        } else {
+            connectButton.setText("Connect");
+        }
+    }
 
 Let’s revisit the ``onDroneEvent`` method. Add the following to your ``onDroneEvent`` method to alert the user when the drone is connected:
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 3-16
-
-	@Override
-	public void onDroneEvent(String event, Bundle extras) {
-		switch (event) {
-			case AttributeEvent.STATE_CONNECTED:
-				alertUser("Drone Connected");
-				updateConnectedButton(this.drone.isConnected());
-				break;
-
-			case AttributeEvent.STATE_DISCONNECTED:
-				alertUser("Drone Disconnected");
-				updateConnectedButton(this.drone.isConnected());
-				break;
-
-			default:
-				break;
-		}
-	}
+    :linenos:
+    :emphasize-lines: 3-16
+
+    @Override
+    public void onDroneEvent(String event, Bundle extras) {
+        switch (event) {
+            case AttributeEvent.STATE_CONNECTED:
+                alertUser("Drone Connected");
+                updateConnectedButton(this.drone.isConnected());
+                break;
+
+            case AttributeEvent.STATE_DISCONNECTED:
+                alertUser("Drone Disconnected");
+                updateConnectedButton(this.drone.isConnected());
+                break;
+
+            default:
+                break;
+        }
+    }
 
 Now if you run the app and the SITL environment, you'll be able to connect to your drone!
 
@@ -320,12 +321,12 @@ Connecting via USB (3DR Telemetry Radio)
 For USB connections, you'll need to define an extra param for the baud rate.
 
 .. code-block:: java
-	:linenos:
+    :linenos:
 
-	Bundle extraParams = new Bundle();
-	extraParams.putInt(ConnectionType.EXTRA_USB_BAUD_RATE, 57600); // Set default baud rate to 57600
-	ConnectionParameter connectionParams = new ConnectionParameter(ConnectionType.TYPE_USB, extraParams, null);
-	this.drone.connect(connectionParams);
+    Bundle extraParams = new Bundle();
+    extraParams.putInt(ConnectionType.EXTRA_USB_BAUD_RATE, 57600); // Set default baud rate to 57600
+    ConnectionParameter connectionParams = new ConnectionParameter(ConnectionType.TYPE_USB, extraParams, null);
+    this.drone.connect(connectionParams);
 
 
 Getting Telemetry from the Drone
@@ -334,314 +335,314 @@ Getting Telemetry from the Drone
 In order to get telemetry updates from the drone, you'll need to add cases for different drone events returned in ``onDroneEvent``.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 14-34
-
-	@Override
-	public void onDroneEvent(String event, Bundle extras) {
-		switch (event) {
-			case AttributeEvent.STATE_CONNECTED:
-				alertUser("Drone Connected");
-				updateConnectedButton(this.drone.isConnected());
-				break;
-
-			case AttributeEvent.STATE_DISCONNECTED:
-				alertUser("Drone Disconnected");
-				updateConnectedButton(this.drone.isConnected());
-				break;
-
-			case AttributeEvent.STATE_VEHICLE_MODE:
-				updateVehicleMode();
-				break;
-
-			case AttributeEvent.TYPE_UPDATED:
-				Type newDroneType = this.drone.getAttribute(AttributeType.TYPE);
-				if (newDroneType.getDroneType() != this.droneType) {
-					this.droneType = newDroneType.getDroneType();
-					updateVehicleModesForType(this.droneType);
-				}
-				break;
-
-
-			case AttributeEvent.SPEED_UPDATED:
-				updateAltitude();
-				updateSpeed();
-				break;
-
-			case AttributeEvent.HOME_UPDATED:
-				updateDistanceFromHome();
-				break;
-
-			default:
-				break;
-		}
-	}
+    :linenos:
+    :emphasize-lines: 14-34
+
+    @Override
+    public void onDroneEvent(String event, Bundle extras) {
+        switch (event) {
+            case AttributeEvent.STATE_CONNECTED:
+                alertUser("Drone Connected");
+                updateConnectedButton(this.drone.isConnected());
+                break;
+
+            case AttributeEvent.STATE_DISCONNECTED:
+                alertUser("Drone Disconnected");
+                updateConnectedButton(this.drone.isConnected());
+                break;
+
+            case AttributeEvent.STATE_VEHICLE_MODE:
+                updateVehicleMode();
+                break;
+
+            case AttributeEvent.TYPE_UPDATED:
+                Type newDroneType = this.drone.getAttribute(AttributeType.TYPE);
+                if (newDroneType.getDroneType() != this.droneType) {
+                    this.droneType = newDroneType.getDroneType();
+                    updateVehicleModesForType(this.droneType);
+                }
+                break;
+
+
+            case AttributeEvent.SPEED_UPDATED:
+                updateAltitude();
+                updateSpeed();
+                break;
+
+            case AttributeEvent.HOME_UPDATED:
+                updateDistanceFromHome();
+                break;
+
+            default:
+                break;
+        }
+    }
 
 Add some TextViews to your UI to output telemetry values. In **activity_main.xml**, add a table with ``TextViews`` and a Spinner Dropdown view that will let you change the vehicle’s modes.
 
 .. code-block:: xml
 
-	<TableLayout
-		android:layout_width="fill_parent"
-		android:layout_height="200dp"
-		android:layout_below="@+id/telemetryLabel"
-		android:layout_alignParentLeft="true"
-		android:layout_alignParentStart="true"
-		android:layout_marginTop="10dp">
-
-		<TableRow
-			android:layout_width="fill_parent"
-			android:layout_height="fill_parent"
-			android:id="@+id/vehTelemRow1">
-
-			<TextView
-				android:layout_width="100dp"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="Mode:"
-				android:id="@+id/vehicleModeLabelTextView"
-				android:layout_column="0"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp" />
-
-			<Spinner
-				android:layout_width="fill_parent"
-				android:layout_height="44dp"
-				android:id="@+id/modeSelect"
-				android:spinnerMode="dropdown"
-				android:layout_below="@+id/connectionTypeLabel"
-				android:layout_toLeftOf="@+id/btnConnect"
-				android:layout_alignParentLeft="true"
-				android:layout_alignParentStart="true"
-				android:layout_column="1" />
-		</TableRow>
-
-		<TableRow
-			android:layout_width="fill_parent"
-			android:layout_height="fill_parent"
-			android:id="@+id/vehTelemRow2">
-
-			<TextView
-				android:layout_width="100dp"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="Altitude:"
-				android:id="@+id/altitudeLabelTextView"
-				android:layout_column="0"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp" />
-
-			<TextView
-				android:layout_width="fill_parent"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="0m"
-				android:id="@+id/altitudeValueTextView"
-				android:layout_column="1"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp"
-				android:layout_gravity="left" />
-		</TableRow>
-
-		<TableRow
-			android:layout_width="fill_parent"
-			android:layout_height="fill_parent"
-			android:id="@+id/vehTelemRow3">
-
-			<TextView
-				android:layout_width="100dp"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="Speed:"
-				android:id="@+id/speedLabelTextView"
-				android:layout_column="0"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp" />
-
-			<TextView
-				android:layout_width="fill_parent"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="0m/s"
-				android:id="@+id/speedValueTextView"
-				android:layout_column="1"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp"
-				android:layout_gravity="left" />
-		</TableRow>
-
-		<TableRow
-			android:layout_width="fill_parent"
-			android:layout_height="fill_parent"
-			android:id="@+id/vehTelemRow4">
-
-			<TextView
-				android:layout_width="100dp"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="Distance:"
-				android:id="@+id/distanceLabelTextView"
-				android:layout_column="0"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp" />
-
-			<TextView
-				android:layout_width="fill_parent"
-				android:layout_height="wrap_content"
-				android:textAppearance="?android:attr/textAppearanceMedium"
-				android:text="0m"
-				android:id="@+id/distanceValueTextView"
-				android:layout_column="1"
-				android:paddingTop="5dp"
-				android:paddingBottom="5dp"
-				android:layout_gravity="left" />
-		</TableRow>
-
-	</TableLayout>
+    <TableLayout
+        android:layout_width="fill_parent"
+        android:layout_height="200dp"
+        android:layout_below="@+id/telemetryLabel"
+        android:layout_alignParentLeft="true"
+        android:layout_alignParentStart="true"
+        android:layout_marginTop="10dp">
+
+        <TableRow
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:id="@+id/vehTelemRow1">
+
+            <TextView
+                android:layout_width="100dp"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="Mode:"
+                android:id="@+id/vehicleModeLabelTextView"
+                android:layout_column="0"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp" />
+
+            <Spinner
+                android:layout_width="fill_parent"
+                android:layout_height="44dp"
+                android:id="@+id/modeSelect"
+                android:spinnerMode="dropdown"
+                android:layout_below="@+id/connectionTypeLabel"
+                android:layout_toLeftOf="@+id/btnConnect"
+                android:layout_alignParentLeft="true"
+                android:layout_alignParentStart="true"
+                android:layout_column="1" />
+        </TableRow>
+
+        <TableRow
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:id="@+id/vehTelemRow2">
+
+            <TextView
+                android:layout_width="100dp"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="Altitude:"
+                android:id="@+id/altitudeLabelTextView"
+                android:layout_column="0"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp" />
+
+            <TextView
+                android:layout_width="fill_parent"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="0m"
+                android:id="@+id/altitudeValueTextView"
+                android:layout_column="1"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp"
+                android:layout_gravity="left" />
+        </TableRow>
+
+        <TableRow
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:id="@+id/vehTelemRow3">
+
+            <TextView
+                android:layout_width="100dp"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="Speed:"
+                android:id="@+id/speedLabelTextView"
+                android:layout_column="0"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp" />
+
+            <TextView
+                android:layout_width="fill_parent"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="0m/s"
+                android:id="@+id/speedValueTextView"
+                android:layout_column="1"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp"
+                android:layout_gravity="left" />
+        </TableRow>
+
+        <TableRow
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:id="@+id/vehTelemRow4">
+
+            <TextView
+                android:layout_width="100dp"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="Distance:"
+                android:id="@+id/distanceLabelTextView"
+                android:layout_column="0"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp" />
+
+            <TextView
+                android:layout_width="fill_parent"
+                android:layout_height="wrap_content"
+                android:textAppearance="?android:attr/textAppearanceMedium"
+                android:text="0m"
+                android:id="@+id/distanceValueTextView"
+                android:layout_column="1"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp"
+                android:layout_gravity="left" />
+        </TableRow>
+
+    </TableLayout>
 
 Add a class-level Spinner variable in ``MainActivity`` so you can reference the table throughout the code.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 5
+    :linenos:
+    :emphasize-lines: 5
 
-	public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
-		private Drone drone;
-		private int droneType = Type.TYPE_UNKNOWN;
-		private final Handler handler = new Handler();
-		Spinner modeSelector;
+    public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener {
+        private Drone drone;
+        private int droneType = Type.TYPE_UNKNOWN;
+        private final Handler handler = new Handler();
+        Spinner modeSelector;
 
 Add a reference to the Spinner defined in the XML layout to the ``onCreate`` method.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 10-20
-
-	@Override
-	protected void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);
-		setContentView(R.layout.activity_main);
-
-		final Context context = getApplicationContext();
-		this.controlTower = new ControlTower(context);
-		this.drone = new Drone();
-
-		this.modeSelector = (Spinner)findViewById(R.id.modeSelect);
-		this.modeSelector.setOnItemSelectedListener(new Spinner.OnItemSelectedListener() {
-			@Override
-			public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
-				onFlightModeSelected(view);
-			}
-			@Override
-			public void onNothingSelected(AdapterView<?> parent) {
-				// Do nothing
-			}
-		});
-	}
+    :linenos:
+    :emphasize-lines: 10-20
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_main);
+
+        final Context context = getApplicationContext();
+        this.controlTower = new ControlTower(context);
+        this.drone = new Drone();
+
+        this.modeSelector = (Spinner)findViewById(R.id.modeSelect);
+        this.modeSelector.setOnItemSelectedListener(new Spinner.OnItemSelectedListener() {
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                onFlightModeSelected(view);
+            }
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+                // Do nothing
+            }
+        });
+    }
 
 Now implement some of the methods in ``onDroneEvent`` in order to update the UI. Add the following methods to your ``MainActivity``.
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 1-100
-
-	public void onFlightModeSelected(View view) {
-		VehicleMode vehicleMode = (VehicleMode) this.modeSelector.getSelectedItem();
-		this.drone.changeVehicleMode(vehicleMode);
-	}
-
-	protected void updateVehicleModesForType(int droneType) {
-		List<VehicleMode> vehicleModes =  VehicleMode.getVehicleModePerDroneType(droneType);
-		ArrayAdapter<VehicleMode> vehicleModeArrayAdapter = new ArrayAdapter<VehicleMode>(this, android.R.layout.simple_spinner_item, vehicleModes);
-		vehicleModeArrayAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
-		this.modeSelector.setAdapter(vehicleModeArrayAdapter);
-	}
-
-	protected void updateVehicleMode() {
-		State vehicleState = this.drone.getAttribute(AttributeType.STATE);
-		VehicleMode vehicleMode = vehicleState.getVehicleMode();
-		ArrayAdapter arrayAdapter = (ArrayAdapter)this.modeSelector.getAdapter();
-		this.modeSelector.setSelection(arrayAdapter.getPosition(vehicleMode));
-	}
-
-	protected void updateAltitude() {
-		TextView altitudeTextView = (TextView)findViewById(R.id.altitudeValueTextView);
-		Altitude droneAltitude = this.drone.getAttribute(AttributeType.ALTITUDE);
-		altitudeTextView.setText(String.format("%3.1f", droneAltitude.getAltitude()) + "m");
-	}
-
-	protected void updateSpeed() {
-		TextView speedTextView = (TextView)findViewById(R.id.speedValueTextView);
-		Speed droneSpeed = this.drone.getAttribute(AttributeType.SPEED);
-		speedTextView.setText(String.format("%3.1f", droneSpeed.getGroundSpeed()) + "m/s");
-	}
-
-	protected void updateDistanceFromHome() {
-		TextView distanceTextView = (TextView)findViewById(R.id.distanceValueTextView);
-		Altitude droneAltitude = this.drone.getAttribute(AttributeType.ALTITUDE);
-		double vehicleAltitude = droneAltitude.getAltitude();
-		Gps droneGps = this.drone.getAttribute(AttributeType.GPS);
-		LatLong vehiclePosition = droneGps.getPosition();
-
-		double distanceFromHome =  0;
-
-		if (droneGps.isValid()) {
-			LatLongAlt vehicle3DPosition = new LatLongAlt(vehiclePosition.getLatitude(), vehiclePosition.getLongitude(), vehicleAltitude);
-			Home droneHome = this.drone.getAttribute(AttributeType.HOME);
-			distanceFromHome = distanceBetweenPoints(droneHome.getCoordinate(), vehicle3DPosition);
-		} else {
-			distanceFromHome = 0;
-		}
-
-		distanceTextView.setText(String.format("%3.1f", distanceFromHome) + "m");
-	}
-
-	protected double distanceBetweenPoints(LatLongAlt pointA, LatLongAlt pointB) {
-		if (pointA == null || pointB == null) {
-			return 0;
-		}
-		double dx = pointA.getLatitude() - pointB.getLatitude();
-		double dy  = pointA.getLongitude() - pointB.getLongitude();
-		double dz = pointA.getAltitude() - pointB.getAltitude();
-		return Math.sqrt(dx*dx + dy*dy + dz*dz);
-	}
+    :linenos:
+    :emphasize-lines: 1-100
+
+    public void onFlightModeSelected(View view) {
+        VehicleMode vehicleMode = (VehicleMode) this.modeSelector.getSelectedItem();
+        this.drone.changeVehicleMode(vehicleMode);
+    }
+
+    protected void updateVehicleModesForType(int droneType) {
+        List<VehicleMode> vehicleModes =  VehicleMode.getVehicleModePerDroneType(droneType);
+        ArrayAdapter<VehicleMode> vehicleModeArrayAdapter = new ArrayAdapter<VehicleMode>(this, android.R.layout.simple_spinner_item, vehicleModes);
+        vehicleModeArrayAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+        this.modeSelector.setAdapter(vehicleModeArrayAdapter);
+    }
+
+    protected void updateVehicleMode() {
+        State vehicleState = this.drone.getAttribute(AttributeType.STATE);
+        VehicleMode vehicleMode = vehicleState.getVehicleMode();
+        ArrayAdapter arrayAdapter = (ArrayAdapter)this.modeSelector.getAdapter();
+        this.modeSelector.setSelection(arrayAdapter.getPosition(vehicleMode));
+    }
+
+    protected void updateAltitude() {
+        TextView altitudeTextView = (TextView)findViewById(R.id.altitudeValueTextView);
+        Altitude droneAltitude = this.drone.getAttribute(AttributeType.ALTITUDE);
+        altitudeTextView.setText(String.format("%3.1f", droneAltitude.getAltitude()) + "m");
+    }
+
+    protected void updateSpeed() {
+        TextView speedTextView = (TextView)findViewById(R.id.speedValueTextView);
+        Speed droneSpeed = this.drone.getAttribute(AttributeType.SPEED);
+        speedTextView.setText(String.format("%3.1f", droneSpeed.getGroundSpeed()) + "m/s");
+    }
+
+    protected void updateDistanceFromHome() {
+        TextView distanceTextView = (TextView)findViewById(R.id.distanceValueTextView);
+        Altitude droneAltitude = this.drone.getAttribute(AttributeType.ALTITUDE);
+        double vehicleAltitude = droneAltitude.getAltitude();
+        Gps droneGps = this.drone.getAttribute(AttributeType.GPS);
+        LatLong vehiclePosition = droneGps.getPosition();
+
+        double distanceFromHome =  0;
+
+        if (droneGps.isValid()) {
+            LatLongAlt vehicle3DPosition = new LatLongAlt(vehiclePosition.getLatitude(), vehiclePosition.getLongitude(), vehicleAltitude);
+            Home droneHome = this.drone.getAttribute(AttributeType.HOME);
+            distanceFromHome = distanceBetweenPoints(droneHome.getCoordinate(), vehicle3DPosition);
+        } else {
+            distanceFromHome = 0;
+        }
+
+        distanceTextView.setText(String.format("%3.1f", distanceFromHome) + "m");
+    }
+
+    protected double distanceBetweenPoints(LatLongAlt pointA, LatLongAlt pointB) {
+        if (pointA == null || pointB == null) {
+            return 0;
+        }
+        double dx = pointA.getLatitude() - pointB.getLatitude();
+        double dy  = pointA.getLongitude() - pointB.getLongitude();
+        double dz = pointA.getAltitude() - pointB.getAltitude();
+        return Math.sqrt(dx*dx + dy*dy + dz*dz);
+    }
 
 Whoa, that's a lot of stuff. Let's go through it:
 
 ::
 
-	public void onFlightModeSelected(View view)
+    public void onFlightModeSelected(View view)
 
 This changes the drone's flight mode when the user changes the mode selector.
 
 ::
 
-	protected void updateVehicleModesForType(int droneType)
+    protected void updateVehicleModesForType(int droneType)
 
 This is triggered when the ``onDroneEvent`` tells us the type of vehicle we're dealing with. In the ``onDroneEvent``, we get the type of vehicle and the modes the vehicle can have.
 
 ::
 
-	// Fired when the vehicle mode changes on the drone.
-	protected void updateVehicleMode()
+    // Fired when the vehicle mode changes on the drone.
+    protected void updateVehicleMode()
 
 
 ::
 
-	// Fired when the altitude of the drone updates.
-	protected void updateAltitude()
+    // Fired when the altitude of the drone updates.
+    protected void updateAltitude()
 
 
 ::
 
-	// Fired when the speed of the drone updates.
-	protected void updateSpeed()
+    // Fired when the speed of the drone updates.
+    protected void updateSpeed()
 
 
 ::
 
-	// A convenience method for calculating the distance between two 3D points.
-	protected double distanceBetweenPoints(LatLongAlt pointA, LatLongAlt pointB)
+    // A convenience method for calculating the distance between two 3D points.
+    protected double distanceBetweenPoints(LatLongAlt pointA, LatLongAlt pointB)
 
 
 Take Off!
@@ -651,123 +652,123 @@ Add a button to your app that will allow you to arm, take off and land the drone
 
 .. code-block:: xml
 
-	<Button
-		android:layout_width="120dp"
-		android:layout_height="wrap_content"
-		android:id="@+id/btnArmTakeOff"
-		android:layout_alignParentRight="true"
-		android:layout_alignParentEnd="true"
-		android:layout_column="1"
-		android:visibility="invisible"
-		android:onClick="onArmButtonTap" />
+    <Button
+        android:layout_width="120dp"
+        android:layout_height="wrap_content"
+        android:id="@+id/btnArmTakeOff"
+        android:layout_alignParentRight="true"
+        android:layout_alignParentEnd="true"
+        android:layout_column="1"
+        android:visibility="invisible"
+        android:onClick="onArmButtonTap" />
 
 Add a method to your ``MainActivity`` to update the button's UI depending on the vehicle state:
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 1-100
-
-	protected void updateArmButton() {
-		State vehicleState = this.drone.getAttribute(AttributeType.STATE);
-		Button armButton = (Button)findViewById(R.id.btnArmTakeOff);
-
-		if (!this.drone.isConnected()) {
-			armButton.setVisibility(View.INVISIBLE);
-		} else {
-			armButton.setVisibility(View.VISIBLE);
-		}
-
-		if (vehicleState.isFlying()) {
-			// Land
-			armButton.setText("LAND");
-		} else if (vehicleState.isArmed()) {
-			// Take off
-			armButton.setText("TAKE OFF");
-		} else if (vehicleState.isConnected()){
-			// Connected but not Armed
-			armButton.setText("ARM");
-		}
-	}
+    :linenos:
+    :emphasize-lines: 1-100
+
+    protected void updateArmButton() {
+        State vehicleState = this.drone.getAttribute(AttributeType.STATE);
+        Button armButton = (Button)findViewById(R.id.btnArmTakeOff);
+
+        if (!this.drone.isConnected()) {
+            armButton.setVisibility(View.INVISIBLE);
+        } else {
+            armButton.setVisibility(View.VISIBLE);
+        }
+
+        if (vehicleState.isFlying()) {
+            // Land
+            armButton.setText("LAND");
+        } else if (vehicleState.isArmed()) {
+            // Take off
+            armButton.setText("TAKE OFF");
+        } else if (vehicleState.isConnected()){
+            // Connected but not Armed
+            armButton.setText("ARM");
+        }
+    }
 
 Add a method to your ``MainActivity`` to handle the arm button press:
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 1-25
-
-	public void onArmButtonTap(View view) {
-		Button thisButton = (Button)view;
-		State vehicleState = this.drone.getAttribute(AttributeType.STATE);
-
-		if (vehicleState.isFlying()) {
-			// Land
-			this.drone.changeVehicleMode(VehicleMode.COPTER_LAND);
-		} else if (vehicleState.isArmed()) {
-			// Take off
-			this.drone.doGuidedTakeoff(10); // Default take off altitude is 10m
-		} else if (!vehicleState.isConnected()) {
-			// Connect
-			alertUser("Connect to a drone first");
-		} else if (vehicleState.isConnected() && !vehicleState.isArmed()){
-			// Connected but not Armed
-			this.drone.arm(true);
-		}
-	}
+    :linenos:
+    :emphasize-lines: 1-25
+
+    public void onArmButtonTap(View view) {
+        Button thisButton = (Button)view;
+        State vehicleState = this.drone.getAttribute(AttributeType.STATE);
+
+        if (vehicleState.isFlying()) {
+            // Land
+            this.drone.changeVehicleMode(VehicleMode.COPTER_LAND);
+        } else if (vehicleState.isArmed()) {
+            // Take off
+            this.drone.doGuidedTakeoff(10); // Default take off altitude is 10m
+        } else if (!vehicleState.isConnected()) {
+            // Connect
+            alertUser("Connect to a drone first");
+        } else if (vehicleState.isConnected() && !vehicleState.isArmed()){
+            // Connected but not Armed
+            this.drone.arm(true);
+        }
+    }
 
 Finally, go back to your good old `onDroneEvent`` to link updating the arm button UI to the drone events:
 
 .. code-block:: java
-	:linenos:
-	:emphasize-lines: 18-21
-
-	@Override
-	public void onDroneEvent(String event, Bundle extras) {
-
-		switch (event) {
-			case AttributeEvent.STATE_CONNECTED:
-				alertUser("Drone Connected");
-				updateConnectedButton(this.drone.isConnected());
-				updateArmButton();
-
-				break;
-
-			case AttributeEvent.STATE_DISCONNECTED:
-				alertUser("Drone Disconnected");
-				updateConnectedButton(this.drone.isConnected());
-				updateArmButton();
-				break;
-
-			case AttributeEvent.STATE_UPDATED:
-			case AttributeEvent.STATE_ARMING:
-				updateArmButton();
-				break;
-
-			case AttributeEvent.TYPE_UPDATED:
-				Type newDroneType = this.drone.getAttribute(AttributeType.TYPE);
-				if (newDroneType.getDroneType() != this.droneType) {
-					this.droneType = newDroneType.getDroneType();
-					updateVehicleModesForType(this.droneType);
-				}
-				break;
-
-			case AttributeEvent.STATE_VEHICLE_MODE:
-				updateVehicleMode();
-				break;
-
-
-			case AttributeEvent.SPEED_UPDATED:
-				updateAltitude();
-				updateSpeed();
-				break;
-
-			case AttributeEvent.HOME_UPDATED:
-				updateDistanceFromHome();
-				break;
-			default:
-				 Log.i("DRONE_EVENT", event);
-				break;
-		}
-	}
+    :linenos:
+    :emphasize-lines: 18-21
+
+    @Override
+    public void onDroneEvent(String event, Bundle extras) {
+
+        switch (event) {
+            case AttributeEvent.STATE_CONNECTED:
+                alertUser("Drone Connected");
+                updateConnectedButton(this.drone.isConnected());
+                updateArmButton();
+
+                break;
+
+            case AttributeEvent.STATE_DISCONNECTED:
+                alertUser("Drone Disconnected");
+                updateConnectedButton(this.drone.isConnected());
+                updateArmButton();
+                break;
+
+            case AttributeEvent.STATE_UPDATED:
+            case AttributeEvent.STATE_ARMING:
+                updateArmButton();
+                break;
+
+            case AttributeEvent.TYPE_UPDATED:
+                Type newDroneType = this.drone.getAttribute(AttributeType.TYPE);
+                if (newDroneType.getDroneType() != this.droneType) {
+                    this.droneType = newDroneType.getDroneType();
+                    updateVehicleModesForType(this.droneType);
+                }
+                break;
+
+            case AttributeEvent.STATE_VEHICLE_MODE:
+                updateVehicleMode();
+                break;
+
+
+            case AttributeEvent.SPEED_UPDATED:
+                updateAltitude();
+                updateSpeed();
+                break;
+
+            case AttributeEvent.HOME_UPDATED:
+                updateDistanceFromHome();
+                break;
+            default:
+                 Log.i("DRONE_EVENT", event);
+                break;
+        }
+    }
 
 Run your app and SITL; you'll be able to connect, arm and take off!
 
diff --git a/doc/getting_started.rst b/doc/getting_started.rst
index 381cf39f45..7990fc20c9 100644
--- a/doc/getting_started.rst
+++ b/doc/getting_started.rst
@@ -48,6 +48,7 @@ For an existing app:
        }
 
        dependencies {
+           // Definition for the 3DR Services Client Library
            compile 'com.o3dr.android:dronekit-android:2.3.+'
            ...
        }
diff --git a/doc/index.rst b/doc/index.rst
index ca9a91e00f..027a8579a2 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -24,5 +24,6 @@ Contents:
    first_app
    pebble_app
    contributing_working_with_releases
+   contributing_building_from_source
    resources
 

From 85986c805944355fd46c8a4f161d3ede9e0dba1e Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Thu, 17 Dec 2015 13:50:02 +1100
Subject: [PATCH 3/3] Minor updates and fixes suggested by Fredia

---
 doc/contributing_building_from_source.rst  |  4 ++--
 doc/contributing_working_with_releases.rst | 14 +++++---------
 doc/getting_started.rst                    |  4 +++-
 3 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/doc/contributing_building_from_source.rst b/doc/contributing_building_from_source.rst
index 2f7c440d17..f01b0c0ae2 100644
--- a/doc/contributing_building_from_source.rst
+++ b/doc/contributing_building_from_source.rst
@@ -2,8 +2,8 @@
 Building DroneKit-Android from Source
 =====================================
 
-Developers who want to contribute to DroneKit-Android will need to to modify and build the 
-*3DR Services* (**ServiceApp**) source code, which contains the DroneKit-Android client library (**ClientLib**).
+Developers who want to contribute to DroneKit-Android will need to modify and build the 
+*3DR Services* source code, which contains the DroneKit-Android client library (**ClientLib**).
 
 The build process creates a 
 `.aar file <https://sites.google.com/a/android.com/tools/tech-docs/new-build-system/aar-format>`_ 
diff --git a/doc/contributing_working_with_releases.rst b/doc/contributing_working_with_releases.rst
index 6c2bb73f03..73234a044c 100644
--- a/doc/contributing_working_with_releases.rst
+++ b/doc/contributing_working_with_releases.rst
@@ -39,23 +39,19 @@ Installation steps
        List of devices attached
        3204672ab49bc1f5        device
 
-#. Download the `adk file/release of interest <https://github.com/dronekit/dronekit-android/releases>`_ and install it.
-   For example, running adb from the **platform-tools** directory, we might install a file as shown
+#. Download the `adk file/release of interest <https://github.com/dronekit/dronekit-android/releases>`_ and install it 
+   (replacing any exciting version). For example, running adb from the **platform-tools** directory, 
+   we might install a file as shown
 
    
    .. code-block:: bash
    
-       > adb install D:\MyFiles\3dr-services-release.104022.apk
+       > adb install -r D:\MyFiles\3dr-services-release.104022.apk
        
        5331 KB/s (3762561 bytes in 0.689s)
                pkg: /data/local/tmp/3dr-services-release.104022.apk
        Success
-       
-   .. note:: 
-   
-       Installation will fail if a version of the file already exists. 
-       If you need to install a new version, manually uninstall the old
-       version first/.
+
 
 After installation the *3DR Services* app icon will appear on your device. You can confirm the version is 
 correct by viewing the version string in the app footer.
\ No newline at end of file
diff --git a/doc/getting_started.rst b/doc/getting_started.rst
index 7990fc20c9..cf9a87d2a0 100644
--- a/doc/getting_started.rst
+++ b/doc/getting_started.rst
@@ -29,6 +29,8 @@ Once you have the simulated vehicle running, enter the following commands (you o
        STABILIZE>param set ARMING_CHECK 0
 
 
+.. _getting_started_setting_up_android_studio_project:
+
 Setting up your Android Studio Project
 ======================================
 
@@ -49,7 +51,7 @@ For an existing app:
 
        dependencies {
            // Definition for the 3DR Services Client Library
-           compile 'com.o3dr.android:dronekit-android:2.3.+'
+           compile 'com.o3dr.android:dronekit-android:2.7.+'
            ...
        }