Docs update

Author: nseidle

Datasheets/IM19_IMU_Tilt_Sensor_IntegrationGuide_v1_3_7.pdf

@@ -0,0 +1,3 @@
+# Firmware Overview
+
+The RTK Torch runs the global firmware called RTK Everywhere. You can find its source [here](https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware). Please see the [Quick Start Guide for the RTK Torch](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/quickstart-torch/) for a summary of how to get it connected over Bluetooth.

Datasheets/IM19_IMU_Tilt_Sensor_v1_1_10.pdf

@@ -0,0 +1,26 @@
+# Hardware Assembly
+
+![RTK Torch on a Prism Pole with Bipod](GPS-24672-Action-4.jpg)
+
+*RTK Torch on a Prism Pole with Bipod*
+
+The RTK Torch has a standard 5/8" 11-TPI threaded base and is compatible with most equipment including surveying poles and equipment.
+
+Users can elect to connect to the RTK Torch from a phone, laptop, or tablet. Any device with Bluetooth is compatible. See [Connecting Bluetooth](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/connecting_bluetooth/) for more information.
+
+## Tilt Compensation
+
+The RTK Torch benefits from an internal IMU that can allow a user to take very accurate location readings even if the pole is not completely vertical.
+
+The IM19 inertial module fuses MEMS sensor and GNSS RTK positioning data to deliver low-cost, high-precision attitude measurement, delivering corrected RTK position data adding as little as 1cm inaccuracy to the position of the *point* of the surveying pole.
+
+IM19 Features
+
+* Extremely fast initializations, within 1~2s (95%)
+* Accuracy 1 cm up to 30° tilt angle, 2 cm up to 60°
+* Very fast calibration
+* Reduces overall mapping inaccuracies and increases productivity by not requiring pole leveling in the field
+
+In Rover mode with Tilt Compensation, once RTK Fix is achieved, tilt compensation can be enabled by tilting the unit back and forth on a surveyor's pole. Once the IMU is activated, the outputted NMEA sentences will be modified to output the location of the *tip* of the pole (not the location of the receiver). This allows taking measurements near trees, structure corners, even underwater topographies with accuracies of +1cm when the tilt is less than 30 degrees, and +2cm when the tilt is less than 60 degrees.
+
+For more information, see the [Tilt Compensation](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/menu_tilt/) feature in the product manual.

Datasheets/MP2762AGV - Charger IC.pdf

@@ -6,7 +6,7 @@ The human interface to the RTK Torch is simplistic by design! There is only one
 
 ![RTK Torch Button and LEDs](RTK-Torch_Buttons_Front.png)
 
-*RTK Torch Button and LEDs*
+*RTK Torch Power Button and LEDs*
 
 To turn the RTK Torch on, press and hold the power button for ~4 seconds. You will hear a short beep and all LEDs will illuminate indicating the device has powered on.
 
@@ -77,4 +77,24 @@ The RTK Torch kit includes the RTK Torch device, a [1/4" to 5/8" thread adapter]
 
 The RTK Torch includes a 7.2V 6.8Ahr 49Whr battery. This is capable of running the device for more than 25 hours under worst-case conditions.
 
-The RTK Torch utilizes fast USB-C PD charging up to 18W. This allows a fully discharged RTK Torch to be charged to 100% in a few hours.
+The RTK Torch utilizes fast USB-C PD charging up to 18W. This allows a fully discharged RTK Torch to be charged to 100% in a few hours.
+
+## Internal Mainboard
+
+![Main PCB Assembly](GPS-24672-RTK-Torch-Internal1.jpg)
+
+*Main PCB Assembly*
+
+While the user should never need to open the RTK Torch, above is an image of the top of the main PCB assembly. This shows the ESP32-WROOM-32UE-N16R2 module (16MB Flash, 2MB PSRAM), the [UM980 Tri-band High Precision GNSS receiver](https://www.sparkfun.com/products/23286), the IM91 IMU / Tilt Compensation sensor, the [STM32WLE5CCU6 MCU](https://www.st.com/en/microcontrollers-microprocessors/stm32wle5cc.html) with built-in LoRa, and 1W amplifier/front-end (centered at 900MHz).
+
+Located on the back side, are the MP2762AGV Charger IC, bq40z50 battery monitor, and the HUSB238 PD Sink IC. These combined allow for fast PD charging and monitoring of the 7.2V 6.8Ahr 49Whr battery pack.
+
+## Beeper
+
+The RTK Torch includes an internal buzzer to give audio feedback to the user. The following prompts are provided.
+
+* Power On: Beep once
+* Power Off: Beep three times
+* Entering Tilt Compensation: Beep Twice
+* While Tilt Compensation is Active: Short Beep every 10 seconds
+* Exit Tilt Compensation: Long Beep

Datasheets/RTK_Torch_Schematic_v2.1.pdf

@@ -129,9 +129,7 @@ nav:
   - Getting Started:
     - Hardware Overview: hardware_overview.md
     - Hardware Assembly: hardware_assembly.md
-    - Software Overview:
-      - Arduino IDE: software_overview-arduino.md
-      - CodeLess AT Commands:  software_overview-codeless.md
+    - Firmware Overview: firmware_overview.md
   - Resources:
     - Hardware Resources: resources.md
   - Support: