Finally got everything to work - nearly. Below is a picture of the complete robot - an android phone and app, an IOIO board with an additional board on top, a battery pack, and a servo.
There's a lot on the board in a small space - 4 servo drivers, two temperature sensors, one voltage sensor, a buzzer/strobe LED driver (helps find the thing, maybe) and a GPS chip that works up to 150,000 feet.
Almost there. I will need to upgrade to a 9 volt battery pack. The phone, GPS chip and such load the battery so much that it drops from 6.4v to 5.4v, and running a servo is enough to reset the board - not what you want at 100,000 feet, so I need to move to a 9v supply.
