> The compensation is (xx per hour) is spelled out and I
> have made it clear that I will own the copyright and why

What would you do if you made an improvement to their
hardware ? I presume you have some or all details of the
circuitry you're interfacing to. You might suggest "the circuit
would work better or the PIC would perform better if you
did this or that". It could happen. You've now got a stake
in the product above and beyond the call of duty as a s/w
contractor. Would you sign that away, ask for a royalty or
extra pay or what ?

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