diff --git a/docs/sbp.pdf b/docs/sbp.pdf
index 66d6b0270a..2a2817ddbd 100644
Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ
diff --git a/generator/sbpg/targets/resources/sbp_base.tex b/generator/sbpg/targets/resources/sbp_base.tex
index d56fe63b87..2ad30217eb 100644
--- a/generator/sbpg/targets/resources/sbp_base.tex
+++ b/generator/sbpg/targets/resources/sbp_base.tex
@@ -1,4 +1,4 @@
-\documentclass{article}
+\documentclass[9pt]{extarticle}
 
 \usepackage{amsmath}
 \usepackage{booktabs}
@@ -129,17 +129,17 @@ \section{Message Framing Structure}
     \toprule
     Offset (bytes) & Size (bytes) & Name & Description \\
     \midrule
-    $0$ & $1$ & {Preamble} & Denotes the start of frame transmission. Always 0x55. \\
-    $1$ & $2$ & {Message Type} & Identifies the payload contents. \\
-    $3$ & $2$ & {Sender} & \hangindent=0.5em{A unique identifier of the sender. On the Piksi, this is set to the 2 least significant bytes of the device serial number. A stream of SBP messages may also include sender IDs for forwarded messages. By default, clients of `libsbp` use a sender id value of `0x42`.  Sender id '0x42' is used to represent device controllers such as the Piksi Console.} \\
-    $5$ & $1$ & {Length} & Length (bytes) of the {Payload} field. \\
-    $6$ & $N$ & {Payload} & Binary message contents. \\
-    $N+6$ & $2$ & {CRC} & \hangindent=0.5em{Cyclic Redundancy Check of the frame's binary data from the Message Type up to the end of Payload (does not include the Preamble).} \\
+    $\mathtt{0}$ & $\mathtt{1}$ & {Preamble} & Denotes the start of frame transmission. Always 0x55. \\
+    $\mathtt{1}$ & $\mathtt{2}$ & {Message Type} & Identifies the payload contents. \\
+    $\mathtt{3}$ & $\mathtt{2}$ & {Sender} & \hangindent=0.5em{A unique identifier of the sender. On the Piksi, this is set to the 2 least significant bytes of the device serial number. A stream of SBP messages may also include sender IDs for forwarded messages. By default, clients of `libsbp` use a sender id value of `0x42`.  Sender id '0x42' is used to represent device controllers such as the Piksi Console.} \\
+    $\mathtt{5}$ & $\mathtt{1}$ & {Length} & Length (bytes) of the {Payload} field. \\
+    $\mathtt{6}$ & $\mathtt{N}$ & {Payload} & Binary message contents. \\
+    $\mathtt{N+6}$ & $\mathtt{2}$ & {CRC} & \hangindent=0.5em{Cyclic Redundancy Check of the frame's binary data from the Message Type up to the end of Payload (does not include the Preamble).} \\
     \midrule
-    & $N+8$ & &Total Frame Length \\
+    & $\mathtt{N+8}$ & &Total Frame Length \\
     \bottomrule
   \end{tabularx}
-  \caption{Swift Binary Protocol message structure. $N$ denotes a variable-length size.}
+  \caption{Swift Binary Protocol message structure. $\mathtt{N}$ denotes a variable-length size.}
   \label{tab:message}
 \end{table}
 
diff --git a/generator/sbpg/targets/resources/sbp_messages_desc.tex b/generator/sbpg/targets/resources/sbp_messages_desc.tex
index c932383804..1d958d5f24 100644
--- a/generator/sbpg/targets/resources/sbp_messages_desc.tex
+++ b/generator/sbpg/targets/resources/sbp_messages_desc.tex
@@ -25,15 +25,15 @@ \subsubsection{(((m.name | escape_tex ))) ((*- if m.is_real_message *)) --- ((('
     Offset (bytes) & Size (bytes) & Format & Units & Name & Description \\
     \midrule
     ((*- for f in m.fields *))
-      $(((f.offset)))$ &
-      $(((f.size)))$ &
+      $\mathtt{(((f.offset)))}$ &
+      $\mathtt{(((f.size)))}$ &
       (((f.fmt))) &
       (((f.units|escape_tex))) &
       \texttt{(((f.name|escape_tex)))} &
       \hangindent=0.5em{(((f.desc|escape_tex)))} \\
       ((*- endfor *))
     \midrule
-    & $(((m.size)))$ & & & & Total Payload Length\\
+    & $\mathtt{(((m.size)))}$ & & & & Total Payload Length\\
     \bottomrule
   \end{tabularx}
   \caption{(((m.name|escape_tex))) 
@@ -113,15 +113,15 @@ \subsubsection*{(((m.name|escape_tex|no_us))) --- ((('0x%04X'|format(m.sbp_id)))
     Offset (bytes) & Size (bytes) & Format & Units & Name & Description \\
     \midrule
     ((*- for f in m.fields *))
-      $(((f.offset)))$ &
-      $(((f.size)))$ &
+      $\mathtt{(((f.offset)))}$ &
+      $\mathtt{(((f.size)))}$ &
       (((f.fmt))) &
       (((f.units|escape_tex))) &
       \texttt{(((f.name|escape_tex)))} &
       \hangindent=0.5em{(((f.desc|escape_tex)))} \\
       ((*- endfor *))
     \midrule
-    & $(((m.size)))$ & & & & Total Payload Length\\
+    & $\mathtt{(((m.size)))}$ & & & & Total Payload Length\\
     \bottomrule
   \end{tabularx}
   \caption{(((m.name|escape_tex))) (((('0x%04X'|format(m.sbp_id))))) message structure}
diff --git a/generator/sbpg/targets/resources/sbp_messages_table.tex b/generator/sbpg/targets/resources/sbp_messages_table.tex
index 68cc2eb190..385664e39c 100644
--- a/generator/sbpg/targets/resources/sbp_messages_table.tex
+++ b/generator/sbpg/targets/resources/sbp_messages_table.tex
@@ -27,7 +27,7 @@ \section{Message Types}
         (((m.pkg|packagenameify|escape_tex|no_us|header_write))) &
         \hyperref[sec:(((m.name)))]{\texttt{((('0x%04X'|format(m.sbp_id))))}} &
         \hyperref[sec:(((m.name)))]{\texttt{(((m.name|escape_tex)))}} &
-        $(((m.size)))$ &
+        $\mathtt{(((m.size)))}$ &
         (((m.short_desc|removedir|escape_tex))) \\
       ((*- endif -*))
     ((*- endfor *))
@@ -39,7 +39,7 @@ \section{Message Types}
       (((m.pkg|packagenameify|escape_tex|no_us|header_write))) &
       \hyperref[sec:(((m.name)))]{\texttt{((('0x%04X'|format(m.sbp_id))))}} &
       \hyperref[sec:(((m.name)))]{\texttt{(((m.name|escape_tex)))}} &
-      $(((m.size)))$ &
+      $\mathtt{(((m.size)))}$ &
       (((m.short_desc|removedir|escape_tex))) \\
       ((*- endif -*))
     ((*- endfor *))
diff --git a/latex/swiftnav.sty b/latex/swiftnav.sty
index 74de07b7ac..e163edbacf 100644
--- a/latex/swiftnav.sty
+++ b/latex/swiftnav.sty
@@ -1,11 +1,10 @@
 \ProvidesPackage{swiftnav}
 
 % Font
-%\usepackage[math]{iwona}
+\usepackage[sfdefault]{roboto}
 
 % (2) specify encoding
 \usepackage[T1]{fontenc}
-\usepackage{stix}
 
 % (3) load symbol definitions
 \usepackage{textcomp}
diff --git a/latex/swiftnav_tikz.sty b/latex/swiftnav_tikz.sty
index abe291cbc1..70bea44a86 100644
--- a/latex/swiftnav_tikz.sty
+++ b/latex/swiftnav_tikz.sty
@@ -3,7 +3,7 @@
 \usepackage{tikz}
 
 \usepackage[T1]{fontenc}
-\usepackage{stix}
+\usepackage[sfdefault]{roboto}
 
 \definecolor{swift_red}{rgb}{140,0,0}