diff --git a/esp32/uwb_tag/platformio.ini b/esp32/uwb_tag/platformio.ini
index 2520868..396ef5c 100644
--- a/esp32/uwb_tag/platformio.ini
+++ b/esp32/uwb_tag/platformio.ini
@@ -1,17 +1,11 @@
-; SaltyBot UWB Tag Firmware — Issue #545, Issue #698
-; Target: Makerfabs ESP32 UWB Pro with Display (DW3000 + SSD1306 OLED)
+; SaltyBot UWB Tag Firmware
+; Target: Makerfabs ESP32 UWB Pro with Display (DW1000 + SSD1306 OLED)
 ;
-; The tag is battery-powered, worn by the person being tracked.
-; It initiates DS-TWR ranging with each anchor in round-robin,
-; shows status on OLED display, and sends data via ESP-NOW.
-;
-; Library: Makerfabs MaUWB_DW3000
-;   https://github.com/Makerfabs/MaUWB_DW3000
+; v2: DW1000 data frames + BLE GPS/IMU input (replaces ESP-NOW)
+; iPhone connects via BLE, streams GPS+IMU, tag relays via UWB to anchors.
 ;
 ; Flash:
 ;   pio run -e tag --target upload
-; Monitor (USB debug):
-;   pio device monitor -b 115200
 
 [env:tag]
 platform      = espressif32
@@ -19,11 +13,12 @@ board         = esp32dev
 framework     = arduino
 monitor_speed = 115200
 upload_speed  = 921600
+lib_extra_dirs = ../../lib
 lib_deps =
-    https://github.com/Makerfabs/MaUWB_DW3000.git
     adafruit/Adafruit SSD1306@^2.5.7
     adafruit/Adafruit GFX Library@^1.11.5
+board_build.partitions = huge_app.csv
 build_flags =
     -DCORE_DEBUG_LEVEL=0
-    -DTAG_ID=0x01        ; unique per tag (0x01–0xFE)
-    -DRANGE_INTERVAL_MS=50  ; 20 Hz round-robin across discovered anchors
+    -DTAG_ID=0x01
+    -Wno-error=return-type