diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 83f8c0a81..d27e3194f 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,83 +1,83 @@
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 :04000005080000ED02
 :00000001FF
diff --git a/src/board.h b/src/board.h
index 6dbe1ef8d..592e4802d 100755
--- a/src/board.h
+++ b/src/board.h
@@ -49,6 +49,12 @@ typedef enum {
     FEATURE_TELEMETRY = 1 << 11,
 } AvailableFeatures;
 
+typedef enum {
+    GPS_NMEA = 0,
+    GPS_UBLOX,
+    GPS_MTK,
+} GPSHardware;
+
 typedef void (* sensorInitFuncPtr)(void);                   // sensor init prototype
 typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
 typedef int32_t (* baroCalculateFuncPtr)(void);             // baro calculation (returns altitude in cm based on static data collected)
diff --git a/src/config.c b/src/config.c
index 3996cfefc..738849e05 100755
--- a/src/config.c
+++ b/src/config.c
@@ -184,8 +184,8 @@ void checkFirstTime(bool reset)
     cfg.gimbal_roll_mid = 1500;
 
     // gps/nav stuff
-    cfg.gps_type = 0; // NMEA
-    cfg.gps_baudrate = 9600;
+    cfg.gps_type = GPS_NMEA;
+    cfg.gps_baudrate = 115200;
     cfg.gps_wp_radius = 200;
     cfg.gps_lpf = 20;
     cfg.nav_slew_rate = 30;
diff --git a/src/drv_uart.c b/src/drv_uart.c
index fca39c076..bbbb9043e 100755
--- a/src/drv_uart.c
+++ b/src/drv_uart.c
@@ -157,11 +157,25 @@ uint32_t tx2BufferTail = 0;
 uint32_t tx2BufferHead = 0;
 bool uart2RxOnly = false;
 
+static void uart2Open(uint32_t speed)
+{
+    USART_InitTypeDef USART_InitStructure;
+
+    USART_StructInit(&USART_InitStructure);
+    USART_InitStructure.USART_BaudRate = speed;
+    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
+    USART_InitStructure.USART_StopBits = USART_StopBits_1;
+    USART_InitStructure.USART_Parity = USART_Parity_No;
+    USART_InitStructure.USART_Mode = USART_Mode_Rx | (uart2RxOnly ? 0 : USART_Mode_Tx);
+    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+    USART_Init(USART2, &USART_InitStructure);
+    USART_Cmd(USART2, ENABLE);
+}
+
 void uart2Init(uint32_t speed, uartReceiveCallbackPtr func, bool rxOnly)
 {
     NVIC_InitTypeDef NVIC_InitStructure;
     GPIO_InitTypeDef GPIO_InitStructure;
-    USART_InitTypeDef USART_InitStructure;
 
     RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
 
@@ -184,21 +198,18 @@ void uart2Init(uint32_t speed, uartReceiveCallbackPtr func, bool rxOnly)
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
     GPIO_Init(GPIOA, &GPIO_InitStructure);
 
-    USART_InitStructure.USART_BaudRate = speed;
-    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
-    USART_InitStructure.USART_StopBits = USART_StopBits_1;
-    USART_InitStructure.USART_Parity = USART_Parity_No;
-    USART_InitStructure.USART_Mode = USART_Mode_Rx | (rxOnly ? 0 : USART_Mode_Tx);
-    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
-    USART_Init(USART2, &USART_InitStructure);
-
+    uart2Open(speed);
     USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
     if (!rxOnly)
         USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
-    USART_Cmd(USART2, ENABLE);
     uart2Callback = func;
 }
 
+void uart2ChangeBaud(uint32_t speed)
+{
+    uart2Open(speed);
+}
+
 void uart2Write(uint8_t ch)
 {
     if (uart2RxOnly)
diff --git a/src/drv_uart.h b/src/drv_uart.h
index 2fd05d3b0..41d93d3c6 100755
--- a/src/drv_uart.h
+++ b/src/drv_uart.h
@@ -9,6 +9,7 @@ uint8_t uartReadPoll(void);
 void uartWrite(uint8_t ch);
 void uartPrint(char *str);
 
-// USART2 (
+// USART2 (GPS, Spektrum)
 void uart2Init(uint32_t speed, uartReceiveCallbackPtr func, bool rxOnly);
+void uart2ChangeBaud(uint32_t speed);
 void uart2Write(uint8_t ch);
diff --git a/src/gps.c b/src/gps.c
index 892ece4bc..5d60fb2d3 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -5,20 +5,99 @@
 #define sq(x) ((x)*(x))
 #endif
 
+uint32_t init_speed[5] = { 9600, 19200, 38400, 57600, 115200 };
+
 static void GPS_NewData(uint16_t c);
 static void GPS_set_pids(void);
+static void gpsPrint(const char *str);
+
+static const char *gpsInitStrings[] = {
+    "$PUBX,41,1,0003,0001,19200,0*23\r\n",      // UBX0..3
+    "$PUBX,41,1,0003,0001,38400,0*26\r\n",
+    "$PUBX,41,1,0003,0001,57600,0*2D\r\n",
+    "$PUBX,41,1,0003,0001,115200,0*1E\r\n",
+    "$PMTK251,19200*22\r\n",                    // MTK4..7
+    "$PMTK251,38400*27\r\n",
+    "$PMTK251,57600*2C\r\n",
+    "$PMTK251,115200*1F\r\n",
+};
+
+static const uint8_t ubloxInit[] = {
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x05, 0x00, 0xFF, 0x19,                                  // disable all default NMEA messages
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x03, 0x00, 0xFD, 0x15,
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x01, 0x00, 0xFB, 0x11,
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x00, 0x00, 0xFA, 0x0F,
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x02, 0x00, 0xFC, 0x13,
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x04, 0x00, 0xFE, 0x17,
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x02, 0x01, 0x0E, 0x47,                                  // set POSLLH MSG rate
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x03, 0x01, 0x0F, 0x49,                                  // set STATUS MSG rate
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x06, 0x01, 0x12, 0x4F,                                  // set SOL MSG rate
+     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x12, 0x01, 0x1E, 0x67,                                  // set VELNED MSG rate
+     0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x51, 0x08, 0x00, 0x00, 0x8A, 0x41,    // set WAAS to EGNOS
+     0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A                 // set rate to 5Hz
+};
 
 void gpsInit(uint32_t baudrate)
 {
+    int i;
+    int offset = 0;
+
     GPS_set_pids();
     uart2Init(baudrate, GPS_NewData, false);
 
+    if (cfg.gps_type == GPS_UBLOX)
+        offset = 0;
+    else if (cfg.gps_type == GPS_MTK)
+        offset = 4;
+
+    if (cfg.gps_type != GPS_NMEA) {
+        for (i = 0; i < 5; i++) {
+            uart2ChangeBaud(init_speed[i]);
+            switch (baudrate) {
+                case 19200:
+                    gpsPrint(gpsInitStrings[offset]);
+                    break;
+                case 38400:
+                    gpsPrint(gpsInitStrings[offset + 1]);
+                    break;
+                case 57600:
+                    gpsPrint(gpsInitStrings[offset + 2]);
+                    break;
+                case 115200:
+                    gpsPrint(gpsInitStrings[offset + 3]);
+                    break;
+            }
+            delay(10);
+        }
+    }
+
+    uart2ChangeBaud(baudrate);
+    if (cfg.gps_type == GPS_UBLOX) {
+        for (i = 0; i < sizeof(ubloxInit); i++) {
+            uart2Write(ubloxInit[i]); // send ubx init binary
+            delay(4);
+        }
+    } else if (cfg.gps_type == GPS_MTK) {
+        gpsPrint("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");  // only GGA and RMC sentence
+        gpsPrint("$PMTK220,200*2C\r\n");                                    // 5 Hz update rate
+    }
+
     // catch some GPS frames. TODO check this
-    delay(500);
+    delay(1000);
     if (GPS_Present)
         sensorsSet(SENSOR_GPS);
 }
 
+static void gpsPrint(const char *str)
+{
+    while (*str) {
+        uart2Write(*str);
+        if (cfg.gps_type == GPS_UBLOX)
+            delay(4);
+        str++;
+    }
+}
+
 /*-----------------------------------------------------------
  *
  * Multiwii GPS code - revision: 1097
@@ -46,6 +125,8 @@ static void GPS_calc_nav_rate(int max_speed);
 static void GPS_update_crosstrack(void);
 static bool GPS_newFrame(char c);
 static bool GPS_NMEA_newFrame(char c);
+static bool GPS_UBLOX_newFrame(uint8_t data);
+static bool UBLOX_parse_gps(void);
 static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow);
 int32_t wrap_18000(int32_t error);
 static int32_t wrap_36000(int32_t angle);
@@ -669,11 +750,11 @@ static uint8_t hex_c(uint8_t n)
 static bool GPS_newFrame(char c)
 {
     switch (cfg.gps_type) {
-        case 0: // NMEA
+        case GPS_NMEA: // NMEA
+        case GPS_MTK: // MTK outputs NMEA too
             return GPS_NMEA_newFrame(c);
-        
-        case 1: // UBX
-            return false; // GPS_UBLOX_newFrame(c);
+        case GPS_UBLOX: // UBX
+            return GPS_UBLOX_newFrame(c);
     }
 
     return false;
@@ -761,3 +842,243 @@ static bool GPS_NMEA_newFrame(char c)
         GPS_Present = 1;
     return frameOK && (frame == FRAME_GGA);
 }
+
+
+// UBX support
+typedef struct {
+    uint8_t preamble1;
+    uint8_t preamble2;
+    uint8_t msg_class;
+    uint8_t msg_id;
+    uint16_t length;
+} ubx_header;
+
+typedef struct {
+    uint32_t time;              // GPS msToW
+    int32_t longitude;
+    int32_t latitude;
+    int32_t altitude_ellipsoid;
+    int32_t altitude_msl;
+    uint32_t horizontal_accuracy;
+    uint32_t vertical_accuracy;
+} ubx_nav_posllh;
+
+typedef struct {
+    uint32_t time;              // GPS msToW
+    uint8_t fix_type;
+    uint8_t fix_status;
+    uint8_t differential_status;
+    uint8_t res;
+    uint32_t time_to_first_fix;
+    uint32_t uptime;            // milliseconds
+} ubx_nav_status;
+
+typedef struct {
+    uint32_t time;
+    int32_t time_nsec;
+    int16_t week;
+    uint8_t fix_type;
+    uint8_t fix_status;
+    int32_t ecef_x;
+    int32_t ecef_y;
+    int32_t ecef_z;
+    uint32_t position_accuracy_3d;
+    int32_t ecef_x_velocity;
+    int32_t ecef_y_velocity;
+    int32_t ecef_z_velocity;
+    uint32_t speed_accuracy;
+    uint16_t position_DOP;
+    uint8_t res;
+    uint8_t satellites;
+    uint32_t res2;
+} ubx_nav_solution;
+
+typedef struct {
+    uint32_t time;              // GPS msToW
+    int32_t ned_north;
+    int32_t ned_east;
+    int32_t ned_down;
+    uint32_t speed_3d;
+    uint32_t speed_2d;
+    int32_t heading_2d;
+    uint32_t speed_accuracy;
+    uint32_t heading_accuracy;
+} ubx_nav_velned;
+
+enum {
+    PREAMBLE1 = 0xb5,
+    PREAMBLE2 = 0x62,
+    CLASS_NAV = 0x01,
+    CLASS_ACK = 0x05,
+    CLASS_CFG = 0x06,
+    MSG_ACK_NACK = 0x00,
+    MSG_ACK_ACK = 0x01,
+    MSG_POSLLH = 0x2,
+    MSG_STATUS = 0x3,
+    MSG_SOL = 0x6,
+    MSG_VELNED = 0x12,
+    MSG_CFG_PRT = 0x00,
+    MSG_CFG_RATE = 0x08,
+    MSG_CFG_SET_RATE = 0x01,
+    MSG_CFG_NAV_SETTINGS = 0x24
+} ubs_protocol_bytes;
+
+enum {
+    FIX_NONE = 0,
+    FIX_DEAD_RECKONING = 1,
+    FIX_2D = 2,
+    FIX_3D = 3,
+    FIX_GPS_DEAD_RECKONING = 4,
+    FIX_TIME = 5
+} ubs_nav_fix_type;
+
+enum {
+    NAV_STATUS_FIX_VALID = 1
+} ubx_nav_status_bits;
+
+// Packet checksum accumulators
+static uint8_t _ck_a;
+static uint8_t _ck_b;
+
+// State machine state
+static uint8_t _step;
+static uint8_t _msg_id;
+static uint16_t _payload_length;
+static uint16_t _payload_counter;
+
+static bool next_fix;
+static uint8_t _class;
+
+// do we have new position information?
+static bool _new_position;
+
+// do we have new speed information?
+static bool _new_speed;
+
+static uint8_t _disable_counter;
+
+// Receive buffer
+static union {
+    ubx_nav_posllh posllh;
+    ubx_nav_status status;
+    ubx_nav_solution solution;
+    ubx_nav_velned velned;
+    uint8_t bytes[64];
+} _buffer;
+
+void _update_checksum(uint8_t *data, uint8_t len, uint8_t *ck_a, uint8_t *ck_b)
+{
+    while (len--) {
+        *ck_a += *data;
+        *ck_b += *ck_a;
+        data++;
+    }
+}
+
+static bool GPS_UBLOX_newFrame(uint8_t data)
+{
+    bool parsed = false;
+
+    switch (_step) {
+        case 1:
+            if (PREAMBLE2 == data) {
+                _step++;
+                break;
+            }
+            _step = 0;
+        case 0:
+            if (PREAMBLE1 == data)
+                _step++;
+            break;
+        case 2:
+            _step++;
+            _class = data;
+            _ck_b = _ck_a = data;   // reset the checksum accumulators
+            break;
+        case 3:
+            _step++;
+            _ck_b += (_ck_a += data);       // checksum byte
+            _msg_id = data;
+            break;
+        case 4:
+            _step++;
+            _ck_b += (_ck_a += data);       // checksum byte
+            _payload_length = data; // payload length low byte
+            break;
+        case 5:
+            _step++;
+            _ck_b += (_ck_a += data);       // checksum byte
+            _payload_length += (uint16_t) (data << 8);
+            if (_payload_length > 512) {
+                _payload_length = 0;
+                _step = 0;
+            }
+            _payload_counter = 0;   // prepare to receive payload
+            break;
+        case 6:
+            _ck_b += (_ck_a += data);       // checksum byte
+            if (_payload_counter < sizeof(_buffer)) {
+                _buffer.bytes[_payload_counter] = data;
+            }
+            if (++_payload_counter == _payload_length)
+                _step++;
+            break;
+        case 7:
+            _step++;
+            if (_ck_a != data)
+                _step = 0;          // bad checksum
+            break;
+        case 8:
+            _step = 0;
+            if (_ck_b != data)
+                break;              // bad checksum
+            GPS_Present = 1;
+            if (UBLOX_parse_gps()) {
+                parsed = true;
+            }
+    }                           //end switch
+    return parsed;
+}
+
+static bool UBLOX_parse_gps(void)
+{
+    switch (_msg_id) {
+    case MSG_POSLLH:
+        //i2c_dataset.time                = _buffer.posllh.time;
+        GPS_coord[LON] = _buffer.posllh.longitude;
+        GPS_coord[LAT] = _buffer.posllh.latitude;
+        GPS_altitude = _buffer.posllh.altitude_msl / 10 / 100;  //alt in m
+        f.GPS_FIX = next_fix;
+        _new_position = true;
+        break;
+    case MSG_STATUS:
+        next_fix = (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.status.fix_type == FIX_3D);
+        if (!next_fix)
+            f.GPS_FIX = false;
+        break;
+    case MSG_SOL:
+        next_fix = (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.solution.fix_type == FIX_3D);
+        if (!next_fix)
+            f.GPS_FIX = false;
+        GPS_numSat = _buffer.solution.satellites;
+        // GPS_hdop                        = _buffer.solution.position_DOP;
+        // debug[3] = GPS_hdop;
+        break;
+    case MSG_VELNED:
+        // speed_3d                        = _buffer.velned.speed_3d;  // cm/s
+        GPS_speed = _buffer.velned.speed_2d;    // cm/s
+        GPS_ground_course = (uint16_t) (_buffer.velned.heading_2d / 10000);     // Heading 2D deg * 100000 rescaled to deg * 10
+        _new_speed = true;
+        break;
+    default:
+        return false;
+    }
+
+    // we only return true when we get new position and speed data
+    // this ensures we don't use stale data
+    if (_new_position && _new_speed) {
+        _new_speed = _new_position = false;
+        return true;
+    }
+    return false;
+}