Version 10.0 (these latter three versions except where stated
Supports new REMOTE software through additional checksum. Hardware clock 2 line display

Version 9.51 
Supports new REMOTE software through additional chacksum. 4 line display, hardware clock

Version 8.40
Supports new REMOTE software through additional checksum. Software clock 2 line display

Version 9.03
Added support for Hardware Clock (DS1307), added RunOn facility to allow for beam systems that run on for a time after power removed from motor.
Added averaging choice for moving and static systems to improve readout and to a degree accuracy. Added support for Yaesu GS232A. Note that a GS232A is not needed to control Yaesu rotators but some have asked for this. Check manual for changes.

Version 8.30 
Same as Version 9.03 but with the original software clock

Version 8.22
I've been doing some more work on the hysteresis and swap direction part of the software. I believe I have improved the operation considerably.

Version 8.11
I found an error in the hysteresis code. This version now tracks to the centre of the hysteresis band and then does not move until the object moves outside the hysteresis set in the PIC menu. I have also implemented a small degree of averaging even when the antenna is moving. This helps overcome jitter. Averaging needs to be turned on for this to happen.

Version 8.00
Requires 18F4682 or 18F4685. Code works in both chips.
Added support for SCA6T inclinometer chip
Reconfigured doppler calculations for improved accuracy
Returned Nutation calculation to original form now more space on chip

Version 7.02 has a number of changes from earlier versions
FIXes Ver 7.02
Fixed a speed problem with the relays in Mode B. If no delay was set in menu for change of 
direction a relay could come on before the opposite direction relay had released. 
Fuses could be blown. This was why I had chosen mode A in the first place. 
I have now placed a short delay (100msec) in the code if ModeB is selected and 
there is no delay set in the menu. This should give time for relays to settle.
As I had a few spare bytes I have fixed the Time setting to prevent numbers > 59 for
seconds and minutes and >23 for hours when adjusting time in the menu. 
Version 7.00 has a number of changes from earlier versions

MENU
The menu is no longer accessed by putting the unit in auto and holding the UP button. 
I have moved the Park function to a menu item and reallocated the Park Switch to become 
a MENU switch. To access the Menu system put the MENU switch on. Releasing the menu switch
returns to the main operational mode. Note that the memory is not updated in most menu 
changes until either the up or down button is pressed. 

PARK
No accessed through the menu system. To access put menu switch on, press down once, 
press right or left button to change to put in Park mode. Return to main screen with the 
menu switch. Put in Auto mode.

BRAKE
The brake now operates as follows: If a brake is present (set in menu item 7) whenever
a direction button is pressed in manual or the unit is in auto mode and a direction 
command is issued the brake relay is actuated to take the brake off. When
the unit has not issed a movement command for 5 secs the brake is set by the relay 
turning off.

GPS
The unit now supports a GPS running NMEA at 4800 baud serial output. The active data should
go to pin 2 of the DB25 and ground to pin 7.
The information is loaded only at boot up. Hold down the UP button and turn the unit on. 
The button should be held on for at least one second after the Version number screen
is displayed. The Up button may then be released and the unit will wait at the Version
screen until an acquired string is received.

DOPPLER
A doppler calculation is made if the frequency is entered in menu item 36.
The doppler is displayed every 5 seconds on the second line.
It is a guide based on rotation of the earth only. Movement due to apogee/perigee
calculations had to be removed to fit the GPS entry system.

Tip: once the menu is accessed it is sometimes faster to work from the last item of the 
menu system using the down button.

THE FUTURE
As people mention new ideas I will keep track of them here. Some await more memory.
Currently I have about 40 bytes free so this is a bit limiting - Hi, Hi

(1) Change to a PIC18F4685 with 96K of memory. This should allow me to return the full 
    doppler calculation
(2) Make greater use of the menu to reduce the number of switches and therefore free some 
    ports for extra features.
(3) Arrange for a high speed/low speed movement of the rotator motors. Two possible
    methods (a) PWM from the PIC  (b) a lowspeed output on two pins to allow external logic
(4) Interface to USB for the computer and to USB GPS units
(5) A hardware clock
(6) Consider I2C extender chips to create more ports
(7) Emulation in the unit for GS-232 to control Yaesu rotators
 