diff --git a/config b/config
index 9b3a372d..f33cdae6 100755
--- a/config
+++ b/config
@@ -424,6 +424,8 @@ elif [ "$1" = "-C" ]; then
 	sudo systemctl stop cubesatsim
 	sudo systemctl stop rpitx
 
+	sudo mv -f /home/pi/CubeSatSim/telem.txt /home/pi/CubeSatSim/telem.txt.bk
+
 	sudo journalctl --rotate
 	sudo journalctl --vacuum-time=1s
 
diff --git a/main.c b/main.c
index dba9612c..65502f4b 100644
--- a/main.c
+++ b/main.c
@@ -35,12 +35,12 @@ int main(int argc, char * argv[]) {
   fclose(file_test);	
   
   fprintf(stderr, " %x ", resbuffer[0]);
-  fprintf(stderr, " %x ", resbuffer[1]);	
+  fprintf(stderr, " %x \n", resbuffer[1]);	
   if ((resbuffer[0] == '9') && (resbuffer[1] == '0')) 
   {
     sleep(5);  // try sleep at start to help boot
     voltageThreshold = 3.7;
-    printf("Pi Zero 2 detected");
+    printf("Pi Zero 2 detected\n");
   }
 	
   printf("\n\nCubeSatSim v1.3.2 starting...\n\n");
@@ -369,7 +369,8 @@ int main(int argc, char * argv[]) {
   // try connecting to STEM Payload board using UART
   // /boot/config.txt and /boot/cmdline.txt must be set correctly for this to work	
 
-  if (!ax5043 && !vB3 && !(mode == CW) && !(mode == SSTV)) // don't test for payload if AX5043 is present or CW or SSTV modes
+//  if (!ax5043 && !vB3 && !(mode == CW) && !(mode == SSTV)) // don't test for payload if AX5043 is present or CW or SSTV modes
+  if (!ax5043) // don't test for payload if AX5043 is present
   {
     payload = OFF;
 
@@ -640,7 +641,85 @@ int main(int argc, char * argv[]) {
         batteryCurrent = current[map[BAT]];
 	   
    }
+
+      if (payload == ON) {  // moved to here
+        STEMBoardFailure = 0;
+        printf("get_payload_status: %d \n", get_payload_serial(FALSE));  // not debug
+	fflush(stdout); 
+	printf("String: %s\n", buffer2);       
+	fflush(stdout);   
+	strcpy(sensor_payload, buffer2);      
+	printf(" Response from STEM Payload board: %s\n", sensor_payload);
+
+        telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
+        printf("Writing payload string\n");
+        time_t timeStamp;
+        time(&timeStamp);   // get timestamp 
+//      printf("Timestamp: %s\n", ctime(&timeStamp));
+	    
+        char timeStampNoNl[31], bat_string[31];    
+        snprintf(timeStampNoNl, 30, "%.24s", ctime(&timeStamp)); 
+        printf("TimeStamp: %s\n", timeStampNoNl);
+        snprintf(bat_string, 30, "BAT %4.2f %5.1f", batteryVoltage, batteryCurrent);	     
+        fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload);	 // write telemetry string to telem.txt file    
+        fclose(telem_file);
+      
+        if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
+        {
+          int count1;
+          char * token;
+ 
+          const char space[2] = " ";
+          token = strtok(sensor_payload, space);
+//	  printf("token: %s\n", token);	
+          for (count1 = 0; count1 < 17; count1++) {
+            if (token != NULL) {
+              sensor[count1] = (float) atof(token);
+//              #ifdef DEBUG_LOGGING
+                printf("sensor: %f ", sensor[count1]);  // print sensor data
+//              #endif
+              token = strtok(NULL, space);
+            }
+          }
+          printf("\n");
+//	  if (sensor[XS1] != 0) {     		
+	  if ((sensor[XS1] > -90.0) && (sensor[XS1] < 90.0) && (sensor[XS1] != 0.0))  { 
+		if (sensor[XS1] != latitude) {  
+			latitude = sensor[XS1];  
+			printf("Latitude updated to %f \n", latitude); 
+			newGpsTime = millis();  
+	 	}
+	  }
+//	  if (sensor[XS2] != 0)  {
+	  if ((sensor[XS2] > -180.0) && (sensor[XS2] < 180.0) && (sensor[XS2] != 0.0))  {   
+		if (sensor[XS2] != longitude) {  		  
+			longitude = sensor[XS2];  
+			printf("Longitude updated to %f \n", longitude); 
+			newGpsTime = millis();  
+		}
+	  }
+        }
+	else
+		; //payload = OFF;  // turn off since STEM Payload is not responding
+      }
+      if ((millis() - newGpsTime) > 60000) {
+		longitude += rnd_float(-0.05, 0.05) / 100.0;  // was .05
+     		latitude += rnd_float(-0.05, 0.05) / 100.0;	      
+       		printf("GPS Location with Rnd: %f, %f \n", latitude, longitude);    
+	        printf("GPS Location with Rnd: APRS %07.2f, %08.2f \n", toAprsFormat(latitude), toAprsFormat(longitude));    
+	      	newGpsTime = millis();  
+      }
 	  
+      if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
+        for (int count1 = 0; count1 < 17; count1++) {
+          if (sensor[count1] < sensor_min[count1])
+            sensor_min[count1] = sensor[count1];
+          if (sensor[count1] > sensor_max[count1])
+            sensor_max[count1] = sensor[count1];
+            //  printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]);
+        }
+      }
+	   
     if (sim_mode) { // simulated telemetry 
 
       double time = ((long int)millis() - time_start) / 1000.0;
@@ -770,54 +849,15 @@ int main(int argc, char * argv[]) {
       }
       fclose(cpuTempSensor);
     } 
-	  
+// move this code out of get_tlm
+/*	  
       if (payload == ON) {  // -55
         STEMBoardFailure = 0;
         printf("get_payload_status: %d \n", get_payload_serial(FALSE));  // not debug
 	fflush(stdout); 
 	printf("String: %s\n", buffer2);       
 	fflush(stdout);   
-	      
 	strcpy(sensor_payload, buffer2);      
-/*  
-        char c;
-        unsigned int waitTime;
-	int i, end, trys = 0;
-	sensor_payload[0] = 0;
-	sensor_payload[1] = 0;
-	while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) {	      
-          i = 0;
-//	  serialPutchar(uart_fd, '?');
-//	  sleep(0.05);  // added delay after ?
-//          printf("%d Querying payload with ?\n", trys);
-          waitTime = millis() + 500;
-          end = FALSE;
-          //  int retry = FALSE;
-          while ((millis() < waitTime) && !end) {
-            int chars = (char) serialDataAvail(uart_fd);
-            while ((chars > 0) && !end) {
-//	      printf("Chars: %d\ ", chars);
-	      chars--;
-	      c = (char) serialGetchar(uart_fd);
-              //	printf ("%c", c);
-              //	fflush(stdout);
-              if (c != '\n') {
-                sensor_payload[i++] = c;
-              } else {
-                end = TRUE;
-              }
-            }
-          }
-	
-          sensor_payload[i++] = ' ';
-          //  sensor_payload[i++] = '\n';
-          sensor_payload[i] = '\0';
-          printf(" Response from STEM Payload board: %s\n", sensor_payload);
-		
-		
-	  sleep(0.1);  // added sleep between loops
-	}
-*/	  
 	printf(" Response from STEM Payload board: %s\n", sensor_payload);
       
         if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
@@ -875,6 +915,7 @@ int main(int argc, char * argv[]) {
             //  printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]);
         }
       }
+*/	  
 //  }	  
 	  
     #ifdef DEBUG_LOGGING
@@ -1252,7 +1293,7 @@ void get_tlm(void) {
       sleep(4);  // was 2
 	    
     } else {  // APRS using rpitx
-	    
+/*	    
      if (payload == ON) {	    
       telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
       printf("Writing payload string\n");
@@ -1267,7 +1308,7 @@ void get_tlm(void) {
       fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload);	 // write telemetry string to telem.txt file    
       fclose(telem_file);
     }	 	    
-	    
+*/	    
       strcat(str, footer_str1);
 //      strcat(str, call);
       if (battery_saver_mode == ON)	    
@@ -1299,8 +1340,10 @@ void get_tlm(void) {
   return;
 }
 
-void get_tlm_fox() {
+// generates telemetry which is decoded by AMSAT's FoxTelem: https://www.amsat.org/foxtelem-software-for-windows-mac-linux/
+// for more info about how we use FoxTelem see https://www.g0kla.com/foxtelem/amsat_telemetry_designers_handbook.pdf
 
+void get_tlm_fox() {  
   int i;
 
   long int sync = syncWord;
diff --git a/rpitx.py b/rpitx.py
index 6246033f..5bd38104 100644
--- a/rpitx.py
+++ b/rpitx.py
@@ -523,7 +523,7 @@ if __name__ == "__main__":
 						print("Turning off transmit")	
 						system("echo > command_tx False")
 					sleep(5)	
-				output(pd, 0)
+				output(pd, 1)  # changed from 0 to 1
 				
 				try:
 					f = open("/home/pi/CubeSatSim/cwready")
diff --git a/stempayload/Payload_BME280_MPU6050_XS/Payload_BME280_MPU6050_XS.ino b/stempayload/Payload_BME280_MPU6050_XS/Payload_BME280_MPU6050_XS.ino
index 7b5ed4ae..dbf250fa 100644
--- a/stempayload/Payload_BME280_MPU6050_XS/Payload_BME280_MPU6050_XS.ino
+++ b/stempayload/Payload_BME280_MPU6050_XS/Payload_BME280_MPU6050_XS.ino
@@ -1,19 +1,32 @@
 // code for Pico or Pro Micro or STM32 on the CubeSat Simulator STEM Payload board
 // works wih CubeSatSim software v1.3.2 or later
-// extra sensors can be added in payload_extension.cpp
+// extra sensors can be added in payload_extension.cpp file
 
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BME280.h>
 #include <MPU6050_tockn.h>
-#include <EEPROM.h>
+
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)  // if Arduino Mbed OS RP2040 Boards is used in Arduino IDE
 #include <TinyGPS++.h>
+TinyGPSPlus gps;
+UART Serial2(8, 9, 0, 0);
+
+#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)  // if Raspberry Pi RP2040 Boards in Arduino IDE
+#include <TinyGPS++.h>
+TinyGPSPlus gps;
+bool check_for_wifi();
+bool wifi = false;
+int led_builtin_pin;
+
+#else  // if Sparkfun Pro Micro or STM32 
+#include <EEPROM.h>
+#endif
 
 #define SEALEVELPRESSURE_HPA (1013.25)
 
 Adafruit_BME280 bme;
 MPU6050 mpu6050(Wire);
-TinyGPSPlus gps;
 
 long timer = 0;
 int bmePresent;
@@ -26,12 +39,8 @@ void ee_prom_word_write(int addr, int val);
 short ee_prom_word_read(int addr);
 int first_time = true;
 int first_read = true;
-bool check_for_wifi();
-bool wifi = false;
-int led_builtin_pin;
-#define PICO_W    // define if Pico W board.  Otherwise, compilation fail for Pico or runtime fail if compile as Pico W
 
-#if defined ARDUINO_ARCH_RP2040
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
 float T2 = 26.3; // Temperature data point 1
 float R2 = 167; // Reading data point 1
 float T1 = 2; // Temperature data point 2
@@ -64,41 +73,47 @@ extern void payload_setup();  // sensor extension setup function defined in payl
 extern void payload_loop();  // sensor extension read function defined in payload_extension.cpp
 
 void setup() {
+	
+  Serial.begin(115200); // Serial Monitor for testing
 
-#ifdef ARDUINO_ARCH_RP2040	
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
    Serial1.setRX(1);
    delay(100);
    Serial1.setTX(0);
    delay(100);	
-#endif
+#endif 
 	
-  Serial.begin(115200); // Serial Monitor for testing
- 
-  Serial1.begin(115200);  // Pi UART faster spd
-//  Serial1.begin(9600);  // Pi UART faster spd	
+  Serial1.begin(115200);  // for communication with Pi Zero 
 
-  delay(10000);		
- 
+  delay(2000);
+	
+#if defined (ARDUINO_ARCH_MBED_RP2040) && (ARDUINO_ARCH_RP2040)
+  Serial.println("Pico with Mbed");
+#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  Serial.println("Pico with RP2040");  
+#elif defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
+  Serial.println("STM32");
+#elif defined __AVR_ATmega32U4__
+  Serial.println("Pro Micro");
+#else
+  Serial.println("Unknown board");
+#endif  
+	
   Serial.println("Starting!");
 
-#ifdef ARDUINO_ARCH_RP2040
-  Serial.println("This code is for the Raspberry Pi Pico hardware.");
-
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
   Serial.println("Starting Serial2 for optional GPS on JP12");		
-//  Serial2.begin(9600);  // serial from  - some  modules need 115200	
+//  Serial2.begin(9600);  // serial from  - some  modules need 115200
+  Serial2.begin(9600);   // serial from GPS or other serial sensor.  Some GPS need 115200
 
-  // pinMode(0, INPUT);
-  // pinMode(1, INPUT);
-	
   // set all Pico GPIO connected pins to input	
-  for (int i = 6; i < 22; i++) { 
+  for (int i = 10; i < 22; i++) { 
       pinMode(i, INPUT);	  
   }
   pinMode(26, INPUT);	
   pinMode(27, INPUT);	
   pinMode(28, INPUT);
-  pinMode(15, INPUT_PULLUP);  // squelch	
- 
+  pinMode(15, INPUT_PULLUP);  // squelch	 
 #endif	
  
   blink_setup();
@@ -139,13 +154,10 @@ void setup() {
   }
   else
   {
-#ifdef ARDUINO_ARCH_RP2040	  
     Serial.println("Calculating gyro offsets\n");
-    mpu6050.calcGyroOffsets(true);
-#endif	  
-#ifndef ARDUINO_ARCH_RP2040 
-    Serial.println("Calculating gyro offsets and storing in EEPROM\n");
-    mpu6050.calcGyroOffsets(true);
+    mpu6050.calcGyroOffsets(true);	  
+#if !defined (ARDUINO_ARCH_RP2040)
+    Serial.println("Storing gyro offsets in EEPROM\n");
  
     eeprom_word_write(0, 0xA07);
     eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
@@ -302,7 +314,7 @@ void loop() {
 //    Serial.println(result);
 //    Serial.println("OK");
 //    Serial.println(counter++); 
-#ifndef	ARDUINO_ARCH_RP2040     
+#if !defined (ARDUINO_ARCH_RP2040)
   if (result == 'R') {	  
       Serial1.println("OK");
       delay(100);
@@ -318,25 +330,32 @@ void loop() {
 #endif	  	
   }  
 	  
-#ifdef ARDUINO_ARCH_RP2040
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
   Serial.print("Squelch: ");	
   Serial.println(digitalRead(15));
+
+  get_gps();
+#else
+  delay(1000);  // not needed due to gps 1 second polling delay
+
 #endif
-	
-//  delay(1000);  not needed due to gps 1 second polling delay
-  get_gps();	    
-	
 }
  
 void eeprom_word_write(int addr, int val)
 {
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)	
   EEPROM.write(addr * 2, lowByte(val));
   EEPROM.write(addr * 2 + 1, highByte(val));
+#endif	
 }
  
 short eeprom_word_read(int addr)
 {
-  return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
+  int result = 0;	
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)	
+  result = ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
+#endif
+  return result;	
 }
  
 void blink_setup() 
@@ -355,8 +374,14 @@ void blink_setup()
   pinMode(blueLED,OUTPUT);
 #endif
 
-#if defined ARDUINO_ARCH_RP2040
-   if (check_for_wifi()) {
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  pinMode(LED_BUILTIN, OUTPUT);     
+  pinMode(18, OUTPUT);  // blue LED on STEM Payload Board v1.3.2
+  pinMode(19, OUTPUT);  // green LED on STEM Payload Board v1.3.2	   
+#endif
+
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  if (check_for_wifi()) {
      wifi = true;
      led_builtin_pin = LED_BUILTIN; // use default GPIO for Pico W	  
      pinMode(LED_BUILTIN, OUTPUT);		  
@@ -369,8 +394,7 @@ void blink_setup()
      pinMode(18, OUTPUT);
      pinMode(19, OUTPUT);	   
   }
-#endif
-
+#endif	
 }
  
 void blink(int length)
@@ -384,12 +408,18 @@ void blink(int length)
   TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
 #endif  
 
-#if defined ARDUINO_ARCH_RP2040
-   if (wifi)	
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  digitalWrite(LED_BUILTIN, HIGH);   // set the built-in LED ON
+#endif  
+
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  if (wifi)	
     digitalWrite(LED_BUILTIN, HIGH);   // set the built-in LED ON
   else
     digitalWrite(led_builtin_pin, HIGH);   // set the built-in LED ON
-#endif  
+#endif  	
+
+delay(length);	
  
 #if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
   digitalWrite(PC13, HIGH);    // turn the LED off by making the voltage LOW
@@ -400,15 +430,16 @@ void blink(int length)
   TXLED0; //TX LED macro to turn LED ON
 #endif  
 
-#if defined ARDUINO_ARCH_RP2040 
-   if (wifi)	
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
     digitalWrite(LED_BUILTIN, LOW);   // set the built-in LED OFF
-  else
-    digitalWrite(led_builtin_pin, LOW);   // set the built-in LED OFF
- 
-//  delay(length);              // wait for a lenth of time
-#endif   
+#endif  
 
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  if (wifi)	
+    digitalWrite(LED_BUILTIN, LOW);   // set the built-in LED ON
+  else
+    digitalWrite(led_builtin_pin, LOW);   // set the built-in LED ON
+#endif  	
 }
  
 void led_set(int ledPin, bool state)
@@ -424,7 +455,7 @@ void led_set(int ledPin, bool state)
   digitalWrite(ledPin, state);   
 #endif  
 
-#ifdef ARDUINO_ARCH_RP2040 
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
   if (ledPin == greenLED)
     digitalWrite(19, state);
   else if (ledPin == blueLED)
@@ -438,24 +469,19 @@ int read_analog()
  #if defined __AVR_ATmega32U4__ 
     sensorValue = analogRead(A3);
 #endif
+	
 #if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
     sensorValue = analogRead(PA7);
 #endif
-#if defined ARDUINO_ARCH_RP2040 
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
     sensorValue = analogRead(28);  
 #endif
     return(sensorValue); 
 }
 
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
 bool check_for_wifi() {
-	
-#ifndef PICO_W
-	
-  Serial.println("WiFi disabled in software");
-  return(false);  // skip check if not Pico W board or compilation will fail
-	
-#endif
-	
+
   pinMode(29, INPUT);	
    const float conversion_factor = 3.3f / (1 << 12);
    uint16_t result = analogRead(29);
@@ -470,9 +496,11 @@ bool check_for_wifi() {
      return(false);  
   }
 }
+#endif
 
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
 void get_gps() {
-	
+//  Serial.println("Getting GPS data");	
   bool newData = false;  
   unsigned long start = millis();	
 	
@@ -489,7 +517,9 @@ void get_gps() {
     }
   }	  
   if (newData) {
-    Serial.printf("GPS read new data in ms: %d\n", millis() - start);	    
+    Serial.print("GPS read new data in ms: ");	    
+    Serial.println(millis() - start);	    
+
 //    float flon = 0.0, flat = 0.0, flalt = 0.0;
 //    unsigned long age;
 //    starting = millis();	    
@@ -515,5 +545,5 @@ void get_gps() {
   } else
 //	    Serial.printf("GPS read no new data: %d\n", millis() - start);	      
     ;
-	
 }
+#endif	
diff --git a/stempayload/Payload_BME280_MPU6050_XS/payload_extension.cpp b/stempayload/Payload_BME280_MPU6050_XS/payload_extension.cpp
index 61725282..5b8dd2ec 100644
--- a/stempayload/Payload_BME280_MPU6050_XS/payload_extension.cpp
+++ b/stempayload/Payload_BME280_MPU6050_XS/payload_extension.cpp
@@ -9,7 +9,7 @@
 // put your setup code here
 void payload_setup() {
   
-  Serial.println("Starting new sensor!");
+//  Serial.println("Starting new sensor!");
 
 }
 
@@ -17,4 +17,9 @@ void payload_setup() {
 // Very Important: only use print, not println!!
 void payload_loop() {
 
+/*  
+  Serial1.print(" NEW 0.0");  // send sensor data over serial to Pi Zero
+  Serial.print(" NEW 0.0");   // send sensor data over serial monitor for testing
+*/
+  
 }
diff --git a/stempayload/Payload_BME280_MPU6050_XS_Extended/Payload_BME280_MPU6050_XS_Extended.ino b/stempayload/Payload_BME280_MPU6050_XS_Extended/Payload_BME280_MPU6050_XS_Extended.ino
index 7825f2d1..dbf250fa 100644
--- a/stempayload/Payload_BME280_MPU6050_XS_Extended/Payload_BME280_MPU6050_XS_Extended.ino
+++ b/stempayload/Payload_BME280_MPU6050_XS_Extended/Payload_BME280_MPU6050_XS_Extended.ino
@@ -1,19 +1,32 @@
 // code for Pico or Pro Micro or STM32 on the CubeSat Simulator STEM Payload board
 // works wih CubeSatSim software v1.3.2 or later
-// extra sensors can be added in payload_extension.cpp
+// extra sensors can be added in payload_extension.cpp file
 
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BME280.h>
 #include <MPU6050_tockn.h>
-#include <EEPROM.h>
+
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)  // if Arduino Mbed OS RP2040 Boards is used in Arduino IDE
 #include <TinyGPS++.h>
+TinyGPSPlus gps;
+UART Serial2(8, 9, 0, 0);
+
+#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)  // if Raspberry Pi RP2040 Boards in Arduino IDE
+#include <TinyGPS++.h>
+TinyGPSPlus gps;
+bool check_for_wifi();
+bool wifi = false;
+int led_builtin_pin;
+
+#else  // if Sparkfun Pro Micro or STM32 
+#include <EEPROM.h>
+#endif
 
 #define SEALEVELPRESSURE_HPA (1013.25)
 
 Adafruit_BME280 bme;
 MPU6050 mpu6050(Wire);
-TinyGPSPlus gps;
 
 long timer = 0;
 int bmePresent;
@@ -26,12 +39,8 @@ void ee_prom_word_write(int addr, int val);
 short ee_prom_word_read(int addr);
 int first_time = true;
 int first_read = true;
-bool check_for_wifi();
-bool wifi = false;
-int led_builtin_pin;
-#define PICO_W    // define if Pico W board.  Otherwise, compilation fail for Pico or runtime fail if compile as Pico W
 
-#if defined ARDUINO_ARCH_RP2040
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
 float T2 = 26.3; // Temperature data point 1
 float R2 = 167; // Reading data point 1
 float T1 = 2; // Temperature data point 2
@@ -60,48 +69,54 @@ bool show_gps = true;  // set to false to not see all  messages
 float flon = 0.0, flat = 0.0, flalt = 0.0;
 void get_gps();
 
-extern void payload_setup(); // sensor extension setup function defined in payload_extension.cpp
-extern void payload_loop(); // sensor extension read function defined in payload_extension.cpp
+extern void payload_setup();  // sensor extension setup function defined in payload_extension.cpp
+extern void payload_loop();  // sensor extension read function defined in payload_extension.cpp
 
 void setup() {
+	
+  Serial.begin(115200); // Serial Monitor for testing
 
-#ifdef ARDUINO_ARCH_RP2040	
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
    Serial1.setRX(1);
    delay(100);
    Serial1.setTX(0);
    delay(100);	
-#endif
+#endif 
 	
-  Serial.begin(115200); // Serial Monitor for testing
- 
-  Serial1.begin(115200);  // Pi UART faster spd
-//  Serial1.begin(9600);  // Pi UART faster spd	
+  Serial1.begin(115200);  // for communication with Pi Zero 
 
-  delay(10000);		
- 
+  delay(2000);
+	
+#if defined (ARDUINO_ARCH_MBED_RP2040) && (ARDUINO_ARCH_RP2040)
+  Serial.println("Pico with Mbed");
+#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  Serial.println("Pico with RP2040");  
+#elif defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
+  Serial.println("STM32");
+#elif defined __AVR_ATmega32U4__
+  Serial.println("Pro Micro");
+#else
+  Serial.println("Unknown board");
+#endif  
+	
   Serial.println("Starting!");
 
-#ifdef ARDUINO_ARCH_RP2040
-  Serial.println("This code is for the Raspberry Pi Pico hardware.");
-
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
   Serial.println("Starting Serial2 for optional GPS on JP12");		
-//  Serial2.begin(9600);  // serial from  - some  modules need 115200	
+//  Serial2.begin(9600);  // serial from  - some  modules need 115200
+  Serial2.begin(9600);   // serial from GPS or other serial sensor.  Some GPS need 115200
 
-  // pinMode(0, INPUT);
-  // pinMode(1, INPUT);
-	
   // set all Pico GPIO connected pins to input	
-  for (int i = 6; i < 22; i++) { 
+  for (int i = 10; i < 22; i++) { 
       pinMode(i, INPUT);	  
   }
   pinMode(26, INPUT);	
   pinMode(27, INPUT);	
   pinMode(28, INPUT);
-  pinMode(15, INPUT_PULLUP);  // squelch	
- 
+  pinMode(15, INPUT_PULLUP);  // squelch	 
 #endif	
  
-  blink_setup(); // sensor extension setup function defined in payload_extension.cpp
+  blink_setup();
  
   blink(500);
   delay(250);
@@ -139,13 +154,10 @@ void setup() {
   }
   else
   {
-#ifdef ARDUINO_ARCH_RP2040	  
     Serial.println("Calculating gyro offsets\n");
-    mpu6050.calcGyroOffsets(true);
-#endif	  
-#ifndef ARDUINO_ARCH_RP2040 
-    Serial.println("Calculating gyro offsets and storing in EEPROM\n");
-    mpu6050.calcGyroOffsets(true);
+    mpu6050.calcGyroOffsets(true);	  
+#if !defined (ARDUINO_ARCH_RP2040)
+    Serial.println("Storing gyro offsets in EEPROM\n");
  
     eeprom_word_write(0, 0xA07);
     eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
@@ -158,7 +170,7 @@ void setup() {
     Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
 #endif	  
   }
-  payload_setup();     
+  payload_setup();  // sensor extension setup function defined in payload_extension.cpp   
 }
  
 void loop() {
@@ -302,7 +314,7 @@ void loop() {
 //    Serial.println(result);
 //    Serial.println("OK");
 //    Serial.println(counter++); 
-#ifndef	ARDUINO_ARCH_RP2040     
+#if !defined (ARDUINO_ARCH_RP2040)
   if (result == 'R') {	  
       Serial1.println("OK");
       delay(100);
@@ -318,25 +330,32 @@ void loop() {
 #endif	  	
   }  
 	  
-#ifdef ARDUINO_ARCH_RP2040
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
   Serial.print("Squelch: ");	
   Serial.println(digitalRead(15));
+
+  get_gps();
+#else
+  delay(1000);  // not needed due to gps 1 second polling delay
+
 #endif
-	
-//  delay(1000);  not needed due to gps 1 second polling delay
-  get_gps();	    
-	
 }
  
 void eeprom_word_write(int addr, int val)
 {
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)	
   EEPROM.write(addr * 2, lowByte(val));
   EEPROM.write(addr * 2 + 1, highByte(val));
+#endif	
 }
  
 short eeprom_word_read(int addr)
 {
-  return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
+  int result = 0;	
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)	
+  result = ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
+#endif
+  return result;	
 }
  
 void blink_setup() 
@@ -355,8 +374,14 @@ void blink_setup()
   pinMode(blueLED,OUTPUT);
 #endif
 
-#if defined ARDUINO_ARCH_RP2040
-   if (check_for_wifi()) {
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  pinMode(LED_BUILTIN, OUTPUT);     
+  pinMode(18, OUTPUT);  // blue LED on STEM Payload Board v1.3.2
+  pinMode(19, OUTPUT);  // green LED on STEM Payload Board v1.3.2	   
+#endif
+
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  if (check_for_wifi()) {
      wifi = true;
      led_builtin_pin = LED_BUILTIN; // use default GPIO for Pico W	  
      pinMode(LED_BUILTIN, OUTPUT);		  
@@ -369,8 +394,7 @@ void blink_setup()
      pinMode(18, OUTPUT);
      pinMode(19, OUTPUT);	   
   }
-#endif
-
+#endif	
 }
  
 void blink(int length)
@@ -384,12 +408,18 @@ void blink(int length)
   TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
 #endif  
 
-#if defined ARDUINO_ARCH_RP2040
-   if (wifi)	
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  digitalWrite(LED_BUILTIN, HIGH);   // set the built-in LED ON
+#endif  
+
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  if (wifi)	
     digitalWrite(LED_BUILTIN, HIGH);   // set the built-in LED ON
   else
     digitalWrite(led_builtin_pin, HIGH);   // set the built-in LED ON
-#endif  
+#endif  	
+
+delay(length);	
  
 #if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
   digitalWrite(PC13, HIGH);    // turn the LED off by making the voltage LOW
@@ -400,15 +430,16 @@ void blink(int length)
   TXLED0; //TX LED macro to turn LED ON
 #endif  
 
-#if defined ARDUINO_ARCH_RP2040 
-   if (wifi)	
+#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
     digitalWrite(LED_BUILTIN, LOW);   // set the built-in LED OFF
-  else
-    digitalWrite(led_builtin_pin, LOW);   // set the built-in LED OFF
- 
-//  delay(length);              // wait for a lenth of time
-#endif   
+#endif  
 
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
+  if (wifi)	
+    digitalWrite(LED_BUILTIN, LOW);   // set the built-in LED ON
+  else
+    digitalWrite(led_builtin_pin, LOW);   // set the built-in LED ON
+#endif  	
 }
  
 void led_set(int ledPin, bool state)
@@ -424,7 +455,7 @@ void led_set(int ledPin, bool state)
   digitalWrite(ledPin, state);   
 #endif  
 
-#ifdef ARDUINO_ARCH_RP2040 
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
   if (ledPin == greenLED)
     digitalWrite(19, state);
   else if (ledPin == blueLED)
@@ -438,24 +469,19 @@ int read_analog()
  #if defined __AVR_ATmega32U4__ 
     sensorValue = analogRead(A3);
 #endif
+	
 #if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
     sensorValue = analogRead(PA7);
 #endif
-#if defined ARDUINO_ARCH_RP2040 
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
     sensorValue = analogRead(28);  
 #endif
     return(sensorValue); 
 }
 
+#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
 bool check_for_wifi() {
-	
-#ifndef PICO_W
-	
-  Serial.println("WiFi disabled in software");
-  return(false);  // skip check if not Pico W board or compilation will fail
-	
-#endif
-	
+
   pinMode(29, INPUT);	
    const float conversion_factor = 3.3f / (1 << 12);
    uint16_t result = analogRead(29);
@@ -470,9 +496,11 @@ bool check_for_wifi() {
      return(false);  
   }
 }
+#endif
 
+#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
 void get_gps() {
-	
+//  Serial.println("Getting GPS data");	
   bool newData = false;  
   unsigned long start = millis();	
 	
@@ -489,7 +517,9 @@ void get_gps() {
     }
   }	  
   if (newData) {
-    Serial.printf("GPS read new data in ms: %d\n", millis() - start);	    
+    Serial.print("GPS read new data in ms: ");	    
+    Serial.println(millis() - start);	    
+
 //    float flon = 0.0, flat = 0.0, flalt = 0.0;
 //    unsigned long age;
 //    starting = millis();	    
@@ -515,5 +545,5 @@ void get_gps() {
   } else
 //	    Serial.printf("GPS read no new data: %d\n", millis() - start);	      
     ;
-	
 }
+#endif