Docs update

Author: nseidle

docs/img/Terminal/SparkFun RTK Everywhere - Tilt Menu.png

@@ -33,8 +33,8 @@ In order of appearance:
 * GNSS status including receiver type and firmware version
 * Unique ID assigned to the GNSS receiver
 * GNSS information including SIV, HPA, Lat/Lon/Alt
-* Battery information (if available)
-* Bluetooth MAC (ending) and status
+* Battery information (if supported)
+* Bluetooth MAC (ending) and radio status
 * WiFi MAC (full)
 * System Uptime
 * NTRIP Client/Server uptime (if enabled)
@@ -47,14 +47,14 @@ In order of appearance:
 
 *System Menu Options serial menu*
 
-The device can be in Rover, Base, or WiFi Config mode. The select mode will be entered once the user exits the menu system.
+The device can be in Rover, Base, or WiFi Config mode. The selected mode will be entered once the user exits the menu system.
 
 * **B, R, W, or S** - Change the mode the device is in.
 
     * **R**over - This is the default mode. The device transmits its NMEA and other messages (if enabled) over Bluetooth. It can receive corrections over Bluetooth (or other transport methods such as NTRIP Client) to achieve RTK Fix.
     * **B**ase - The device will reconfigure for base mode. It will begin transmitting corrections over Bluetooth, WiFi (NTRIP Server, TCP, etc), or other (ESP-Now, external radio if compatible, etc).
     * **W**iFi Config - The device will shut down GNSS operations and begin broadcasting as a WiFi Access Point (or will attempt to connect to local WiFi). Once started, the device can be connected to over WiFi for configuration.
-    * **S**hut Down - If available, the device will immediately shut down.
+    * **S**hut Down - If supported, the device will immediately shut down.
 
 ## Settings
 
@@ -66,13 +66,13 @@ The device can be in Rover, Base, or WiFi Config mode. The select mode will be e
 
 * **b** - Change the Bluetooth protocol. By default, the RTK device begins dual broadcasting over Bluetooth Classic SPP (Serial Port Profile) **and** Bluetooth Low-Energy (BLE). The following options are available: *Dual*, *Classic*, *BLE*, or *Off*. Bluetooth v2.0 SPP (Serial Port Profile) is supported by nearly all data collectors and Android tablets. BLE is used for configuration and to be compatible with Apple iOS-based devices. Additionally, the Bluetooth radio can be turned off.
 
-* **c** - By default, a device will continue to operate until the battery (if available) is exhausted. If desired, a timeout can be entered: If no charging is detected, the device will power off once this amount of time has expired.
+* **c** - On devices that support it, a device will continue to operate until the battery is exhausted. If desired, a timeout can be entered: If no charging is detected, the device will power off once this amount of time has expired.
 
 * **d** - Enters the [Debug Software menu](menu_debug_software.md) that is for advanced users.
 
 * **e** - Controls the printing of local characters (also known as 'echoing').
 
-* **f** - If supported, show any files on the microSD card (if present).
+* **f** - On devices that support it, show any files on the microSD card (if present).
 
 * **h** - Enters the [Debug Hardware menu](menu_debug_hardware.md) that is for advanced users.
 

docs/menu_system.md

@@ -0,0 +1,30 @@
+# Tilt Compensation Menu
+
+Torch: ![Feature Supported](img/Icons/GreenDot.png) 
+
+![Tilt Compensation menu](<img/Terminal/SparkFun RTK Everywhere - Tilt Menu.png>)
+![Radio menu showing ESP-Now](<img/Terminal/SparkFun RTK Everywhere - Radios Menu.png>)
+
+*Tilt Compensation menu*
+
+On devices that support it, tilt compensation can be configured. 
+
+* **1** - By default, tilt compensation is enabled but can be disabled if desired.
+
+* **2** - The pole length must be set accurately to enter tilt compensation mode. The default is 1.8 meters but may be altered.
+
+## Entering Tilt Compensation Mode
+
+To use Tilt Compensation, the device must first have Tilt Compensation enabled (by shaking), then once the IMU has calculated its position on the end of the pole, Tile Compensation will be active.
+
+During Tilt Compensation, all outgoing NMEA messages are modified to output the location *of the tip of the pole*. The Data Collector software will not be aware that the position of the GNSS receiver position is being modified.
+
+Tilt compensation mode can be entered using the following steps:
+
+1) The device must be in Rover mode.
+2) The device must achieve an RTK Fix.
+3) The pole length must be accurately configured. By default, this is 1.8 meters.
+4) Once the above requirements are met, the device must be shaken. This is normally a strong up/down vertical motion. However, if it is more comfortable, the device can be positioned horizontally over the shoulder and shaken with a strong forward/backward motion.
+5) On devices that support it, the device will emit a chirp once Tilt Mode is started.
+6) Place the tip of the device on the ground. Move the head of the device back and forth up to ~30 degrees of tilt. Repeat on the opposite axis.
+7) On devices that support it, the device will emit a long chirp once Tilt Mode is active.