diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 82334e56a..7c5498806 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -199,6 +199,8 @@ SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
 SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
 SRC += $(OPUAVSYNTHDIR)/cameradesired.c
 SRC += $(OPUAVSYNTHDIR)/gpsposition.c
+SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c
+SRC += $(OPUAVSYNTHDIR)/gpssettings.c
 SRC += $(OPUAVSYNTHDIR)/hwsettings.c
 SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
 SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index e4b70e931..bcf0b0b23 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -58,7 +58,8 @@
 #define PIOS_INCLUDE_TELEMETRY_RF
 #define PIOS_INCLUDE_GPS
 #define PIOS_GPS_MINIMAL
-
+#define PIOS_INCLUDE_GPS_NMEA_PARSER /* Include the NMEA protocol parser */
+#define PIOS_INCLUDE_GPS_UBX_PARSER  /* Include the UBX protocol parser */
 #define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_SPI
 #define PIOS_INCLUDE_SYS
diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index 791dab046..15bfa4457 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -33,7 +33,7 @@
 #include "openpilot.h"
 #include "GPS.h"
 
-#include <stdbool.h>
+//#include <stdbool.h>
 
 #include "NMEA.h"
 
@@ -41,6 +41,8 @@
 #include "homelocation.h"
 #include "gpstime.h"
 #include "gpssatellites.h"
+#include "gpsvelocity.h"
+#include "gpssettings.h"
 #include "WorldMagModel.h"
 #include "CoordinateConversions.h"
 #include "hwsettings.h"
@@ -62,19 +64,17 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 
 #define GPS_TIMEOUT_MS                  500
 
-#if defined(REVOLUTION)
-#define NMEA_MAX_PACKET_LENGTH			MAX_SVINFO_MSG_SIZE
-#else
-#define NMEA_MAX_PACKET_LENGTH          96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
-// same as in COM buffer
-#endif
 
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 // Unfortunately need a good size stack for the WMM calculation
-	#define STACK_SIZE_BYTES            950
+	#define STACK_SIZE_BYTES            750
+#else
+#if defined(PIOS_GPS_MINIMAL)
+	#define STACK_SIZE_BYTES            500
 #else
 	#define STACK_SIZE_BYTES            650
-#endif
+#endif // PIOS_GPS_MINIMAL
+#endif // PIOS_GPS_SETS_HOMELOCATION
 
 #define TASK_PRIORITY                   (tskIDLE_PRIORITY + 1)
 
@@ -124,6 +124,7 @@ int32_t GPSStart(void)
 int32_t GPSInitialize(void)
 {
 	gpsPort = PIOS_COM_GPS;
+	uint8_t	gpsProtocol;
 
 #ifdef MODULE_GPS_BUILTIN
 	gpsEnabled = true;
@@ -141,6 +142,7 @@ int32_t GPSInitialize(void)
 
 	if (gpsPort && gpsEnabled) {
 		GPSPositionInitialize();
+		GPSVelocityInitialize();
 #if !defined(PIOS_GPS_MINIMAL)
 		GPSTimeInitialize();
 		GPSSatellitesInitialize();
@@ -150,7 +152,19 @@ int32_t GPSInitialize(void)
 #endif
 		updateSettings();
 
-		gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
+	if (gpsPort && gpsEnabled) {
+		GPSSettingsInitialize();
+		GPSSettingsDataProtocolGet(&gpsProtocol);
+		switch (gpsProtocol) {
+			case GPSSETTINGS_DATAPROTOCOL_NMEA:
+				gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
+				break;
+			case GPSSETTINGS_DATAPROTOCOL_UBX:
+				gps_rx_buffer = pvPortMalloc(sizeof(UBXPacket));
+				break;
+			default:
+				gps_rx_buffer = NULL;
+		}
 		PIOS_Assert(gps_rx_buffer);
 
 		return 0;
@@ -169,14 +183,13 @@ MODULE_INITCALL(GPSInitialize, GPSStart)
 static void gpsTask(void *parameters)
 {
 	portTickType xDelay = 100 / portTICK_RATE_MS;
-	uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
-	GPSPositionData GpsData;
-	
-	uint8_t rx_count = 0;
-	bool start_flag = false;
-	bool found_cr = false;
-	int32_t gpsRxOverflow = 0;
-	
+	uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
+
+	GPSPositionData gpsposition;
+	uint8_t	gpsProtocol;
+
+	GPSSettingsDataProtocolGet(&gpsProtocol);
+
 	numUpdates = 0;
 	numChecksumErrors = 0;
 	numParsingErrors = 0;
@@ -184,202 +197,65 @@ static void gpsTask(void *parameters)
 	timeOfLastUpdateMs = timeNowMs;
 	timeOfLastCommandMs = timeNowMs;
 
+	GPSPositionGet(&gpsposition);
 	// Loop forever
 	while (1)
 	{
 		uint8_t c;
-		// NMEA or SINGLE-SENTENCE GPS mode
 
 		// This blocks the task until there is something on the buffer
 		while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
 		{
-		
-			// detect start while acquiring stream
-			if (!start_flag && (c == '$'))
-			{
-				case START: // detect protocol
-					switch (c)
-					{
-						case UBX_SYNC1: // first UBX sync char found
-							proto_state = UBX_SY2;
-							continue;
-						case '$': // NMEA identifier found
-							proto_state = NMEA;
-							found_cr = false;
-							rx_count = 0;
-							break;
-						default:
-							continue;
-					}
+			int res;
+			switch (gpsProtocol) {
+#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
+				case GPSSETTINGS_DATAPROTOCOL_NMEA:
+					res = parse_nmea_stream (c,gps_rx_buffer, &gpsposition);
 					break;
-				case UBX_SY2:
-					if (c == UBX_SYNC2) // second UBX sync char found
-					{
-						proto_state = UBX_CLASS;
-						found_cr = false;
-						rx_count = 0;
-					}
-					else
-					{
-						proto_state = START; // reset state
-					}
-					continue;
-				case UBX_CLASS:
-					ubx->header.class = c;
-					proto_state = UBX_ID;
-					continue;
-				case UBX_ID:
-					ubx->header.id = c;
-					proto_state = UBX_LEN1;
-					continue;
-				case UBX_LEN1:
-					ubx->header.len = c;
-					proto_state = UBX_LEN2;
-					continue;
-				case UBX_LEN2:
-					ubx->header.len += (c << 8);
-					if ((sizeof (UBXHeader)) + ubx->header.len > NMEA_MAX_PACKET_LENGTH)
-					{
-						gpsRxOverflow++;
-						proto_state = START;
-						found_cr = false;
-						rx_count = 0;
-					}
-					else
-					{
-						proto_state = UBX_PAYLOAD;
-					}
-					continue;
-				case UBX_PAYLOAD:
-					if (rx_count < ubx->header.len)
-					{
-						ubx->payload.payload[rx_count] = c;
-						if (++rx_count == ubx->header.len)
-							proto_state = UBX_CHK1;
-					}
-					else
-						proto_state = START;
-					continue;
-				case UBX_CHK1:
-					ubx->header.ck_a = c;
-					proto_state = UBX_CHK2;
-					continue;
-				case UBX_CHK2:
-					ubx->header.ck_b = c;
-					if (checksum_ubx_message(ubx)) // message complete and valid
-					{
-						parse_ubx_message(ubx, &GpsData);
-						timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
-						timeOfLastUpdateMs = timeNowMs;
-						timeOfLastCommandMs = timeNowMs;
-					}
-					proto_state = START;
-					continue;
-				case NMEA:
+#endif
+#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+				case GPSSETTINGS_DATAPROTOCOL_UBX:
+					res = parse_ubx_stream (c,gps_rx_buffer, &gpsposition);
+					break;
+#endif
+				default:
+					res = NO_PARSER; // this should not happen
 					break;
 			}
-			else
-			if (!start_flag)
-				continue;
-		
-			if (rx_count >= NMEA_MAX_PACKET_LENGTH)
-			{
-				// The buffer is already full and we haven't found a valid NMEA sentence.
-				// Flush the buffer and note the overflow event.
-				gpsRxOverflow++;
-				start_flag = false;
-				found_cr = false;
-				rx_count = 0;
-			}
-			else
-			{
-				gps_rx_buffer[rx_count] = c;
-				rx_count++;
-			}
-		
-			// look for ending '\r\n' sequence
-			if (!found_cr && (c == '\r') )
-				found_cr = true;
-			else
-			if (found_cr && (c != '\n') )
-				found_cr = false;  // false end flag
-			else
-			if (found_cr && (c == '\n') )
-			{
-				// The NMEA functions require a zero-terminated string
-				// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
-				gps_rx_buffer[rx_count-2] = 0;
 
-				// prepare to parse next sentence
-				start_flag = false;
-				found_cr = false;
-				rx_count = 0;
-				// Our rxBuffer must look like this now:
-				//   [0]           = '$'
-				//   ...           = zero or more bytes of sentence payload
-				//   [end_pos - 1] = '\r'
-				//   [end_pos]     = '\n'
-				//
-				// Prepare to consume the sentence from the buffer
-			
-				// Validate the checksum over the sentence
-				if (!NMEA_checksum(&gps_rx_buffer[1]))
-				{	// Invalid checksum.  May indicate dropped characters on Rx.
-					//PIOS_DEBUG_PinHigh(2);
-					++numChecksumErrors;
-					//PIOS_DEBUG_PinLow(2);
-				}
-				else
-				{	// Valid checksum, use this packet to update the GPS position
-					if (!NMEA_update_position(&gps_rx_buffer[1])) {
-						//PIOS_DEBUG_PinHigh(2);
-						++numParsingErrors;
-						//PIOS_DEBUG_PinLow(2);
-					}
-					else
-						++numUpdates;
-
-					timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
-					timeOfLastUpdateMs = timeNowMs;
-					timeOfLastCommandMs = timeNowMs;
-				}
+			if (res == PARSER_COMPLETE) {
+				timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
+				timeOfLastUpdateMs = timeNowMs;
+				timeOfLastCommandMs = timeNowMs;
 			}
 		}
 
 		// Check for GPS timeout
 		timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
-		if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS)
-		{	// we have not received any valid GPS sentences for a while.
+		if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS) {
+			// we have not received any valid GPS sentences for a while.
 			// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
-
-			GPSPositionGet(&GpsData);
-			GpsData.Status = GPSPOSITION_STATUS_NOGPS;
-			GPSPositionSet(&GpsData);
+			uint8_t status = GPSPOSITION_STATUS_NOGPS;
+			GPSPositionStatusSet(&status);
 			AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
-
-		}
-		else
-		{	// we appear to be receiving GPS sentences OK, we've had an update
-
-			GPSPositionGet(&GpsData);
-
-#ifdef PIOS_GPS_SETS_HOMELOCATION
-			HomeLocationData home;
-			HomeLocationGet(&home);
-
-			if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
-				setHomeLocation(&GpsData);
-#endif
-
+		} else {
+			// we appear to be receiving GPS sentences OK, we've had an update
 			//criteria for GPS-OK taken from this post...
 			//http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
-			if ((GpsData.PDOP < 3.5) && (GpsData.Satellites >= 7))
+			if ((gpsposition.PDOP < 3.5) && (gpsposition.Satellites >= 7) &&
+					(gpsposition.Status == GPSPOSITION_STATUS_FIX3D)) {
 				AlarmsClear(SYSTEMALARMS_ALARM_GPS);
-			else
-			if (GpsData.Status == GPSPOSITION_STATUS_FIX3D)
-				AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
-			else
-				AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
+#ifdef PIOS_GPS_SETS_HOMELOCATION
+				HomeLocationData home;
+				HomeLocationGet(&home);
+
+				if (home.Set == HOMELOCATION_SET_FALSE)
+					setHomeLocation(&gpsposition);
+#endif
+			} else if (gpsposition.Status == GPSPOSITION_STATUS_FIX3D)
+						AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
+					else
+						AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
 		}
 
 	}
diff --git a/flight/Modules/GPS/NMEA.c b/flight/Modules/GPS/NMEA.c
index 59593b807..3faf29337 100644
--- a/flight/Modules/GPS/NMEA.c
+++ b/flight/Modules/GPS/NMEA.c
@@ -30,10 +30,15 @@
 
 #include "openpilot.h"
 #include "pios.h"
+
+#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
+
+#include "gpsposition.h"
 #include "NMEA.h"
 #include "gpsposition.h"
 #include "gpstime.h"
 #include "gpssatellites.h"
+#include "GPS.h"
 
 //#define ENABLE_DEBUG_MSG						///< define to enable debug-messages
 #define DEBUG_PORT		PIOS_COM_TELEM_RF		///< defines which serial port is ued for debug-messages
@@ -75,6 +80,9 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 	static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
 #endif //PIOS_GPS_MINIMAL
 
+static uint32_t numUpdates;
+static uint32_t numChecksumErrors;
+static uint32_t numParsingErrors;
 
 static struct nmea_parser nmea_parsers[] = {
 	{
@@ -111,6 +119,88 @@ static struct nmea_parser nmea_parsers[] = {
 #endif //PIOS_GPS_MINIMAL
 };
 
+int parse_nmea_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
+{
+	static uint8_t rx_count = 0;
+	static bool start_flag = false;
+	static bool found_cr = false;
+
+	// detect start while acquiring stream
+	if (!start_flag && (c == '$')) // NMEA identifier found
+	{
+		start_flag = true;
+		found_cr = false;
+		rx_count = 0;
+	}
+	else
+	if (!start_flag)
+		return PARSER_ERROR;
+
+	if (rx_count >= NMEA_MAX_PACKET_LENGTH)
+	{
+		// The buffer is already full and we haven't found a valid NMEA sentence.
+		// Flush the buffer and note the overflow event.
+//		gpsRxOverflow++;
+		start_flag = false;
+		found_cr = false;
+		rx_count = 0;
+		return PARSER_OVERRUN;
+	}
+	else
+	{
+		gps_rx_buffer[rx_count] = c;
+		rx_count++;
+	}
+
+	// look for ending '\r\n' sequence
+	if (!found_cr && (c == '\r') )
+		found_cr = true;
+	else
+	if (found_cr && (c != '\n') )
+		found_cr = false;  // false end flag
+	else
+	if (found_cr && (c == '\n') )
+	{
+		// The NMEA functions require a zero-terminated string
+		// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
+		gps_rx_buffer[rx_count-2] = 0;
+
+		// prepare to parse next sentence
+		start_flag = false;
+		found_cr = false;
+		rx_count = 0;
+		// Our rxBuffer must look like this now:
+		//   [0]           = '$'
+		//   ...           = zero or more bytes of sentence payload
+		//   [end_pos - 1] = '\r'
+		//   [end_pos]     = '\n'
+		//
+		// Prepare to consume the sentence from the buffer
+
+		// Validate the checksum over the sentence
+		if (!NMEA_checksum(&gps_rx_buffer[1]))
+		{	// Invalid checksum.  May indicate dropped characters on Rx.
+			//PIOS_DEBUG_PinHigh(2);
+			++numChecksumErrors;
+			//PIOS_DEBUG_PinLow(2);
+			return PARSER_ERROR;
+		}
+		else
+		{	// Valid checksum, use this packet to update the GPS position
+			if (!NMEA_update_position(&gps_rx_buffer[1], GpsData)) {
+				//PIOS_DEBUG_PinHigh(2);
+				++numParsingErrors;
+				//PIOS_DEBUG_PinLow(2);
+			}
+			else
+				++numUpdates;
+
+			return PARSER_COMPLETE;
+		}
+	}
+	return PARSER_INCOMPLETE;
+}
+
 static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix)
 {
 	if (!prefix) {
@@ -352,7 +442,7 @@ bool NMEA_update_position(char *nmea_sentence)
 
 
 	// All is fine :)  Update object if data has changed
-	if (gpsDataUpdated) {
+	if (gpsDataUpdated || (GpsData->Status == GPSPOSITION_STATUS_NOFIX)) {
 		#ifdef DEBUG_MGSID_IN
 			DEBUG_MSG("U");
 		#endif
@@ -400,6 +490,12 @@ static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 		return false;
 	}
 
+
+	// check for invalid GPS fix
+	if (param[6][0] == '0') {
+		// return false;
+		GpsData->Status = GPSPOSITION_STATUS_NOFIX; // treat invalid fix as NOFIX
+	}
 	// get number of satellites used in GPS solution
 	GpsData->Satellites = atoi(param[7]);
 
@@ -669,3 +765,4 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
 	return true;
 }
 
+#endif // PIOS_INCLUDE_GPS_NMEA_PARSER
diff --git a/flight/Modules/GPS/UBX.c b/flight/Modules/GPS/UBX.c
index 99e2a88b1..de97b9e3a 100644
--- a/flight/Modules/GPS/UBX.c
+++ b/flight/Modules/GPS/UBX.c
@@ -30,11 +30,96 @@
 
 #include "openpilot.h"
 #include "pios.h"
-#include "gpsvelocity.h"
-#include "gpssatellites.h"
-#include "gpsposition.h"
-#include "gpstime.h"
+
+#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+
 #include "UBX.h"
+#include "gps.h"
+
+static uint32_t gpsRxReceived = 0;
+static uint32_t gpsRxChkSumError = 0;
+static uint32_t gpsRxOverflow = 0;
+
+// parse incoming character stream for messages in UBX binary format
+
+int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
+{
+	enum proto_states {START,UBX_SY2,UBX_CLASS,UBX_ID,UBX_LEN1,
+		UBX_LEN2,UBX_PAYLOAD,UBX_CHK1,UBX_CHK2,FINISHED};
+	static enum proto_states proto_state = START;
+	static uint8_t rx_count = 0;
+	UBXPacket *ubx = (UBXPacket *)gps_rx_buffer;
+
+	switch (proto_state) {
+		case START: // detect protocol
+			if (c ==  UBX_SYNC1) // first UBX sync char found
+				proto_state = UBX_SY2;
+			break;
+		case UBX_SY2:
+			if (c == UBX_SYNC2) // second UBX sync char found
+				proto_state = UBX_CLASS;
+			else
+				proto_state = START; // reset state
+			break;
+		case UBX_CLASS:
+			ubx->header.class = c;
+			proto_state = UBX_ID;
+			break;
+		case UBX_ID:
+			ubx->header.id = c;
+			proto_state = UBX_LEN1;
+			break;
+		case UBX_LEN1:
+			ubx->header.len = c;
+			proto_state = UBX_LEN2;
+			break;
+		case UBX_LEN2:
+			ubx->header.len += (c << 8);
+			if (ubx->header.len > sizeof(UBXPayload)) {
+				gpsRxOverflow++;
+				proto_state = START;
+			} else {
+				rx_count = 0;
+				proto_state = UBX_PAYLOAD;
+			}
+			break;
+		case UBX_PAYLOAD:
+			if (rx_count < ubx->header.len) {
+				ubx->payload.payload[rx_count] = c;
+				if (++rx_count == ubx->header.len)
+					proto_state = UBX_CHK1;
+			} else {
+				gpsRxOverflow++;
+				proto_state = START;
+			}
+			break;
+		case UBX_CHK1:
+			ubx->header.ck_a = c;
+			proto_state = UBX_CHK2;
+			break;
+		case UBX_CHK2:
+			ubx->header.ck_b = c;
+			if (checksum_ubx_message(ubx)) { // message complete and valid
+				parse_ubx_message(ubx, GpsData);
+				proto_state = FINISHED;
+			} else {
+				gpsRxChkSumError++;
+				proto_state = START;
+			}
+			break;
+		default: break;
+	}
+
+	if (proto_state == START)
+		return PARSER_ERROR;	// parser couldn't use this byte
+	else if (proto_state == FINISHED) {
+		gpsRxReceived++;
+		proto_state = START;
+		return PARSER_COMPLETE;	// message complete & processed
+	}
+
+	return PARSER_INCOMPLETE; // message not (yet) complete
+}
 
 
 // Keep track of various GPS messages needed to make up a single UAVO update
@@ -50,25 +135,21 @@
 
 static struct msgtracker{
 		uint32_t	currentTOW;		// TOW of the message set currently in progress
-		uint8_t		msg_received;	// Flag received messages
+		uint8_t		msg_received;	// keep track of received message types
 	} msgtracker;
 
 // Check if a message belongs to the current data set and register it as 'received'
 bool check_msgtracker (uint32_t tow, uint8_t msg_flag)
 {
-	if ((tow > msgtracker.currentTOW) || 								// start of a new message set
-		(tow < 60000 && msgtracker.currentTOW > (7*24-1)*3600*1000))	// TOW wrap around
-	{
+
+	if (tow > msgtracker.currentTOW ? true                  // start of a new message set
+		: (msgtracker.currentTOW - tow > 6*24*3600*1000)) { // 6 days, TOW wrap around occured
 		msgtracker.currentTOW = tow;
 		msgtracker.msg_received = NONE_RECEIVED;
-	}
-	else
-	{
-		if (tow < msgtracker.currentTOW)	// message outdated (don't process)
+	} else if (tow < msgtracker.currentTOW)	// message outdated (don't process)
 				return false;
-	}
 
-	msgtracker.msg_received |= msg_flag;
+	msgtracker.msg_received |= msg_flag; // register reception of this msg type
 	return true;
 }
 
@@ -89,137 +170,133 @@ bool checksum_ubx_message (UBXPacket *ubx)
 	ck_a += ubx->header.len >> 8;
 	ck_b += ck_a;
 
-
-
-	for (i = 0; i < ubx->header.len; i++)
-	{
+	for (i = 0; i < ubx->header.len; i++) {
 		ck_a += ubx->payload.payload[i];
 		ck_b += ck_a;
 	}
 
 	if (ubx->header.ck_a == ck_a &&
 			ubx->header.ck_b == ck_b)
-	{
 		return true;
-	}
 	else
 		return false;
 
 }
 
-void parse_ubx_nav_posllh (UBXPayload payload, GPSPositionData *gpsposition)
+void parse_ubx_nav_posllh (UBX_NAV_POSLLH *posllh, GPSPositionData *GpsPosition)
 {
-	if (check_msgtracker(payload.nav_posllh.iTOW, POSLLH_RECEIVED))
-	{
-		gpsposition->Altitude = (float)payload.nav_posllh.hMSL*0.001f;
-		gpsposition->GeoidSeparation = (float)(payload.nav_posllh.height -
-				payload.nav_posllh.hMSL)*0.001f;
-		gpsposition->Latitude = payload.nav_posllh.lat;
-		gpsposition->Longitude = payload.nav_posllh.lon;
-	}
-}
-
-void parse_ubx_nav_status (UBXPayload payload, GPSPositionData *gpsposition)
-{
-	if (check_msgtracker(payload.nav_status.iTOW, STATUS_RECEIVED))
-	{
-		switch (payload.nav_status.gpsFix)
-		{
-			case STATUS_GPSFIX_2DFIX:
-				gpsposition->Status = GPSPOSITION_STATUS_FIX2D;
-				break;
-			case STATUS_GPSFIX_3DFIX:
-				gpsposition->Status = GPSPOSITION_STATUS_FIX3D;
-				break;
-			default: gpsposition->Status = GPSPOSITION_STATUS_NOFIX;
+	if (check_msgtracker(posllh->iTOW, POSLLH_RECEIVED)) {
+		if (GpsPosition->Status != GPSPOSITION_STATUS_NOFIX) {
+			GpsPosition->Altitude = (float)posllh->hMSL*0.001f;
+			GpsPosition->GeoidSeparation = (float)(posllh->height - posllh->hMSL)*0.001f;
+			GpsPosition->Latitude = posllh->lat;
+			GpsPosition->Longitude = posllh->lon;
 		}
 	}
 }
 
-void parse_ubx_nav_sol (UBXPayload payload, GPSPositionData *gpsposition)
+void parse_ubx_nav_status (UBX_NAV_STATUS *status, GPSPositionData *GpsPosition)
 {
-	if (check_msgtracker(payload.nav_dop.iTOW, SOL_RECEIVED))
-	{
-		gpsposition->Satellites = (float)payload.nav_sol.numSV;
-		switch (payload.nav_sol.gpsFix)
-		{
+#if 0 // we already get this info from NAV_SOL
+	if (check_msgtracker(status->iTOW, STATUS_RECEIVED)) {
+		switch (status->gpsFix)	{
 			case STATUS_GPSFIX_2DFIX:
-				gpsposition->Status = GPSPOSITION_STATUS_FIX2D;
+				GpsPosition->Status = GPSPOSITION_STATUS_FIX2D;
 				break;
 			case STATUS_GPSFIX_3DFIX:
-				gpsposition->Status = GPSPOSITION_STATUS_FIX3D;
+				GpsPosition->Status = GPSPOSITION_STATUS_FIX3D;
 				break;
-			default: gpsposition->Status = GPSPOSITION_STATUS_NOFIX;
+			default: GpsPosition->Status = GPSPOSITION_STATUS_NOFIX;
 		}
 	}
+#endif
 }
 
-void parse_ubx_nav_dop (UBXPayload payload, GPSPositionData *gpsposition)
+void parse_ubx_nav_sol (UBX_NAV_SOL *sol, GPSPositionData *GpsPosition)
 {
-	if (check_msgtracker(payload.nav_dop.iTOW, DOP_RECEIVED))
-	{
-		gpsposition->HDOP = (float)payload.nav_dop.hDOP * 0.01f;
-		gpsposition->VDOP = (float)payload.nav_dop.vDOP * 0.01f;
-		gpsposition->PDOP = (float)payload.nav_dop.pDOP * 0.01f;
+	if (check_msgtracker(sol->iTOW, SOL_RECEIVED)) {
+		GpsPosition->Satellites = sol->numSV;
+
+		if (sol->flags & STATUS_FLAGS_GPSFIX_OK) {
+			switch (sol->gpsFix) {
+				case STATUS_GPSFIX_2DFIX:
+					GpsPosition->Status = GPSPOSITION_STATUS_FIX2D;
+					break;
+				case STATUS_GPSFIX_3DFIX:
+					GpsPosition->Status = GPSPOSITION_STATUS_FIX3D;
+					break;
+				default: GpsPosition->Status = GPSPOSITION_STATUS_NOFIX;
+			}
+		}
+		else // fix is not valid so we make sure to treat is as NOFIX
+			GpsPosition->Status = GPSPOSITION_STATUS_NOFIX;
 	}
 }
 
-void parse_ubx_nav_velned (UBXPayload payload, GPSPositionData *gpsposition)
+void parse_ubx_nav_dop (UBX_NAV_DOP *dop, GPSPositionData *GpsPosition)
+{
+	if (check_msgtracker(dop->iTOW, DOP_RECEIVED)) {
+		GpsPosition->HDOP = (float)dop->hDOP * 0.01f;
+		GpsPosition->VDOP = (float)dop->vDOP * 0.01f;
+		GpsPosition->PDOP = (float)dop->pDOP * 0.01f;
+	}
+}
+
+void parse_ubx_nav_velned (UBX_NAV_VELNED *velned, GPSPositionData *GpsPosition)
 {
 	GPSVelocityData GpsVelocity;
 
-	GpsVelocity.North	= (float)payload.nav_velned.velN/100.0f;
-	GpsVelocity.East	= (float)payload.nav_velned.velE/100.0f;
-	GpsVelocity.Down	= (float)payload.nav_velned.velD/100.0f;
-
-	GPSVelocitySet(&GpsVelocity);
-
-	if (check_msgtracker(payload.nav_velned.iTOW, VELNED_RECEIVED))
-	{
-		gpsposition->Groundspeed = (float)payload.nav_velned.gSpeed * 0.01f;
-		gpsposition->Heading = (float)payload.nav_velned.heading * 1.0e-5f;
+	if (check_msgtracker(velned->iTOW, VELNED_RECEIVED)) {
+		if (GpsPosition->Status != GPSPOSITION_STATUS_NOFIX) {
+			GpsVelocity.North	= (float)velned->velN/100.0f;
+			GpsVelocity.East	= (float)velned->velE/100.0f;
+			GpsVelocity.Down	= (float)velned->velD/100.0f;
+			GPSVelocitySet(&GpsVelocity);
+			GpsPosition->Groundspeed = (float)velned->gSpeed * 0.01f;
+			GpsPosition->Heading = (float)velned->heading * 1.0e-5f;
+		}
 	}
-
 }
 
-void parse_ubx_nav_timeutc (UBXPayload payload)
+#if !defined(PIOS_GPS_MINIMAL)
+void parse_ubx_nav_timeutc (UBX_NAV_TIMEUTC *timeutc)
 {
-	if (!(payload.nav_timeutc.valid & TIMEUTC_VALIDUTC))
+	if (!(timeutc->valid & TIMEUTC_VALIDUTC))
 		return;
 
-	GPSTimeData gpst;
+	GPSTimeData GpsTime;
 
-	gpst.Year = payload.nav_timeutc.year;
-	gpst.Month = payload.nav_timeutc.month;
-	gpst.Day = payload.nav_timeutc.day;
-	gpst.Hour = payload.nav_timeutc.hour;
-	gpst.Minute = payload.nav_timeutc.min;
-	gpst.Second = payload.nav_timeutc.sec;
+	GpsTime.Year = timeutc->year;
+	GpsTime.Month = timeutc->month;
+	GpsTime.Day = timeutc->day;
+	GpsTime.Hour = timeutc->hour;
+	GpsTime.Minute = timeutc->min;
+	GpsTime.Second = timeutc->sec;
 
-	GPSTimeSet(&gpst);
+	GPSTimeSet(&GpsTime);
 }
+#endif
 
-void parse_ubx_nav_svinfo (UBXPayload payload)
+#if !defined(PIOS_GPS_MINIMAL)
+void parse_ubx_nav_svinfo (UBX_NAV_SVINFO *svinfo)
 {
-	GPSSatellitesData svdata;
 	uint8_t chan;
+	GPSSatellitesData svdata;
+
 	svdata.SatsInView = 0;
-	for (chan = 0; chan < payload.nav_svinfo.numCh;	chan++)
-	{
-		if ((payload.nav_svinfo.sv[chan].elev > 0) &&	// some unhealthy SV report negative elevation
-				(svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM))
-		{
-			svdata.Azimuth[svdata.SatsInView] = (float)payload.nav_svinfo.sv[chan].azim;
-			svdata.Elevation[svdata.SatsInView] = (float)payload.nav_svinfo.sv[chan].elev;
-			svdata.PRN[svdata.SatsInView] = payload.nav_svinfo.sv[chan].svid;
-			svdata.SNR[svdata.SatsInView] = payload.nav_svinfo.sv[chan].cno;
+	for (chan = 0; chan < svinfo->numCh;	chan++) {
+		if ((svinfo->sv[chan].elev > 0) &&	// some unhealthy SV report negative elevation
+				(svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM)) {
+			svdata.Azimuth[svdata.SatsInView] = (float)svinfo->sv[chan].azim;
+			svdata.Elevation[svdata.SatsInView] = (float)svinfo->sv[chan].elev;
+			svdata.PRN[svdata.SatsInView] = svinfo->sv[chan].svid;
+			svdata.SNR[svdata.SatsInView] = svinfo->sv[chan].cno;
 			svdata.SatsInView++;
 		}
 
 	}
 	// fill remaining slots (if any)
-	for (chan = svdata.SatsInView; chan < GPSSATELLITES_PRN_NUMELEM; chan++)
-	{
+	for (chan = svdata.SatsInView; chan < GPSSATELLITES_PRN_NUMELEM; chan++) {
 		svdata.Azimuth[chan] = (float)0.0f;
 		svdata.Elevation[chan] = (float)0.0f;
 		svdata.PRN[chan] = 0;
@@ -228,51 +305,51 @@ void parse_ubx_nav_svinfo (UBXPayload payload)
 
 	GPSSatellitesSet(&svdata);
 }
+#endif
 
 // UBX message parser
-// returns true on valid position updates
+// returns UAVObjectID if a UAVObject structure is ready for further processing
 
-bool parse_ubx_message (UBXPacket *ubx, GPSPositionData *gpsposition)
+uint32_t parse_ubx_message (UBXPacket *ubx, GPSPositionData *GpsPosition)
 {
-#if defined(REVOLUTION)
+	uint32_t id = 0;
 
-	switch (ubx->header.class)
-	{
+	switch (ubx->header.class) {
 		case UBX_CLASS_NAV:
-			switch (ubx->header.id)
-			{
+			switch (ubx->header.id) {
 				case UBX_ID_POSLLH:
-					parse_ubx_nav_posllh (ubx->payload, gpsposition);
+					parse_ubx_nav_posllh (&ubx->payload.nav_posllh, GpsPosition);
 					break;
 				case UBX_ID_STATUS:
-					parse_ubx_nav_status (ubx->payload, gpsposition);
+					parse_ubx_nav_status (&ubx->payload.nav_status, GpsPosition);
 					break;
 				case UBX_ID_DOP:
-					parse_ubx_nav_dop (ubx->payload, gpsposition);
+					parse_ubx_nav_dop (&ubx->payload.nav_dop, GpsPosition);
 					break;
 				case UBX_ID_SOL:
-					parse_ubx_nav_sol (ubx->payload, gpsposition);
+					parse_ubx_nav_sol (&ubx->payload.nav_sol, GpsPosition);
 					break;
 				case UBX_ID_VELNED:
-					parse_ubx_nav_velned (ubx->payload, gpsposition);
+					parse_ubx_nav_velned (&ubx->payload.nav_velned, GpsPosition);
 					break;
+#if !defined(PIOS_GPS_MINIMAL)
 				case UBX_ID_TIMEUTC:
-					parse_ubx_nav_timeutc (ubx->payload);
+					parse_ubx_nav_timeutc (&ubx->payload.nav_timeutc);
 					break;
 				case UBX_ID_SVINFO:
-					parse_ubx_nav_svinfo (ubx->payload);
+					parse_ubx_nav_svinfo (&ubx->payload.nav_svinfo);
 					break;
+#endif
 			}
 			break;
 	}
-	if (msgtracker.msg_received == ALL_RECEIVED)
-	{
-		GPSPositionSet(gpsposition);
+	if (msgtracker.msg_received == ALL_RECEIVED) {
+		GPSPositionSet(GpsPosition);
 		msgtracker.msg_received = NONE_RECEIVED;
-		return true;
+		id = GPSPOSITION_OBJID;
 	}
-	return false;
-#endif
+	return id;
 }
 
+#endif // PIOS_INCLUDE_GPS_UBX_PARSER
 
diff --git a/flight/Modules/GPS/inc/GPS.h b/flight/Modules/GPS/inc/GPS.h
index 86a92d285..250565e0a 100644
--- a/flight/Modules/GPS/inc/GPS.h
+++ b/flight/Modules/GPS/inc/GPS.h
@@ -1,44 +1,55 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotModules OpenPilot Modules
- * @{ 
- * @addtogroup GSPModule GPS Module
- * @brief Process GPS information
- * @{ 
- *
- * @file       GPS.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the GPS module.
- * 	       As with all modules only the initialize function is exposed all other
- * 	       interactions with the module take place through the event queue and
- *             objects.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef GPS_H
-#define GPS_H
-
-int32_t GPSInitialize(void);
-
-#endif // GPS_H
-
-/**
-  * @}
-  * @}
-  */
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup GSPModule GPS Module
+ * @brief Process GPS information
+ * @{ 
+ *
+ * @file       GPS.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the GPS module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef GPS_H
+#define GPS_H
+
+#include "gpsvelocity.h"
+#include "gpssatellites.h"
+#include "gpsposition.h"
+#include "gpstime.h"
+
+#define	NO_PARSER		-3 // no parser available
+#define	PARSER_OVERRUN	-2 // message buffer overrun before completing the message
+#define	PARSER_ERROR	-1 // message unparsable by this parser
+#define PARSER_INCOMPLETE	0 // parser needs more data to complete the message
+#define PARSER_COMPLETE	1 // parser has received a complete message and finished processing
+
+int32_t GPSInitialize(void);
+
+#endif // GPS_H
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/Modules/GPS/inc/NMEA.h b/flight/Modules/GPS/inc/NMEA.h
index 6ff6b1195..eb4567560 100644
--- a/flight/Modules/GPS/inc/NMEA.h
+++ b/flight/Modules/GPS/inc/NMEA.h
@@ -34,7 +34,10 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-extern bool NMEA_update_position(char *nmea_sentence);
+#define NMEA_MAX_PACKET_LENGTH          96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
+
+extern bool NMEA_update_position(char *nmea_sentence, GPSPositionData *GpsData);
 extern bool NMEA_checksum(char *nmea_sentence);
+extern int parse_nmea_stream(uint8_t, char *, GPSPositionData *);
 
 #endif /* NMEA_H */
diff --git a/flight/Modules/GPS/inc/UBX.h b/flight/Modules/GPS/inc/UBX.h
index 5177f8321..4df3641be 100644
--- a/flight/Modules/GPS/inc/UBX.h
+++ b/flight/Modules/GPS/inc/UBX.h
@@ -31,6 +31,7 @@
 #ifndef UBX_H
 #define UBX_H
 #include "openpilot.h"
+#include "gpsposition.h"
 
 #define UBX_SYNC1						0xb5 // UBX protocol synchronization characters
 #define UBX_SYNC2						0x62
@@ -53,13 +54,13 @@
 
 // Geodetic Position Solution
 typedef struct {
-	uint32_t	iTOW;	// GPS Millisecond Time of Week (ms)
-	int32_t		lon;	// Longitude (deg*1e-7)
-	int32_t		lat;	// Latitude (deg*1e-7)
-	int32_t		height;	// Height above Ellipoid (mm)
-	int32_t		hMSL;	// Height abobe mean sea level (mm)
-	uint32_t	hAcc;	// Horizontal Accuracy Estimate (mm)
-	uint32_t	vAcc;	// Vertical Accuracy Estimate (mm)
+	uint32_t	iTOW;   // GPS Millisecond Time of Week (ms)
+	int32_t		lon;    // Longitude (deg*1e-7)
+	int32_t		lat;    // Latitude (deg*1e-7)
+	int32_t		height; // Height above Ellipoid (mm)
+	int32_t		hMSL;   // Height abobe mean sea level (mm)
+	uint32_t	hAcc;   // Horizontal Accuracy Estimate (mm)
+	uint32_t	vAcc;   // Vertical Accuracy Estimate (mm)
 } UBX_NAV_POSLLH;
 
 // Receiver Navigation Status
@@ -77,61 +78,61 @@ typedef struct {
 #define STATUS_FLAGS_TOWSET		(1 << 3)
 
 typedef struct {
-	uint32_t	iTOW;	// GPS Millisecond Time of Week (ms)
-	uint8_t		gpsFix;	// GPS fix type
-	uint8_t		flags;	// Navigation Status Flags
-	uint8_t		fixStat;	// Fix Status Information
-	uint8_t		flags2;	// Additional navigation output information
-	uint32_t	ttff;	// Time to first fix (ms)
-	uint32_t	msss;	// Milliseconds since startup/reset (ms)
+	uint32_t	iTOW;    // GPS Millisecond Time of Week (ms)
+	uint8_t		gpsFix;  // GPS fix type
+	uint8_t		flags;   // Navigation Status Flags
+	uint8_t		fixStat; // Fix Status Information
+	uint8_t		flags2;  // Additional navigation output information
+	uint32_t	ttff;    // Time to first fix (ms)
+	uint32_t	msss;    // Milliseconds since startup/reset (ms)
 } UBX_NAV_STATUS;
 
 // Dilution of precision
 typedef struct {
-	uint32_t	iTOW;	// GPS Millisecond Time of Week (ms)
-	uint16_t	gDOP;	// Geometric DOP
-	uint16_t	pDOP;	// Position DOP
-	uint16_t	tDOP;	// Time DOP
-	uint16_t	vDOP;	// Vertical DOP
-	uint16_t	hDOP;	// Horizontal DOP
-	uint16_t	nDOP;	// Northing DOP
-	uint16_t	eDOP;	// Easting DOP
+	uint32_t	iTOW;  // GPS Millisecond Time of Week (ms)
+	uint16_t	gDOP;  // Geometric DOP
+	uint16_t	pDOP;  // Position DOP
+	uint16_t	tDOP;  // Time DOP
+	uint16_t	vDOP;  // Vertical DOP
+	uint16_t	hDOP;  // Horizontal DOP
+	uint16_t	nDOP;  // Northing DOP
+	uint16_t	eDOP;  // Easting DOP
 } UBX_NAV_DOP;
 
 // Navigation solution
 
 typedef struct {
-	uint32_t	iTOW;	// GPS Millisecond Time of Week (ms)
-	int32_t		fTOW;	// fracional nanoseconds (ns)
-	int16_t		week;	// GPS week
-	uint8_t		gpsFix;	// GPS fix type
-	uint8_t		flags;	// Fix status flags
-	int32_t		ecefX;	// ECEF X coordinate (cm)
-	int32_t		ecefY;	// ECEF Y coordinate (cm)
-	int32_t		ecefZ;	// ECEF Z coordinate (cm)
-	uint32_t	pAcc;	// 3D Position Accuracy Estimate (cm)
-	int32_t		ecefVX;	// ECEF X coordinate (cm/s)
-	int32_t		ecefVY;	// ECEF Y coordinate (cm/s)
-	int32_t		ecefVZ;	// ECEF Z coordinate (cm/s)
-	uint32_t	sAcc;	// Speed Accuracy Estimate
-	uint16_t	pDOP;	// Position DOP
-	uint8_t		reserved1;	// Reserved
-	uint8_t		numSV;	// Number of SVs used in Nav Solution
-	uint32_t	reserved2;	// Reserved
+	uint32_t	iTOW;       // GPS Millisecond Time of Week (ms)
+	int32_t		fTOW;       // fracional nanoseconds (ns)
+	int16_t		week;       // GPS week
+	uint8_t		gpsFix;     // GPS fix type
+	uint8_t		flags;      // Fix status flags
+	int32_t		ecefX;      // ECEF X coordinate (cm)
+	int32_t		ecefY;      // ECEF Y coordinate (cm)
+	int32_t		ecefZ;      // ECEF Z coordinate (cm)
+	uint32_t	pAcc;       // 3D Position Accuracy Estimate (cm)
+	int32_t		ecefVX;     // ECEF X coordinate (cm/s)
+	int32_t		ecefVY;     // ECEF Y coordinate (cm/s)
+	int32_t		ecefVZ;     // ECEF Z coordinate (cm/s)
+	uint32_t	sAcc;       // Speed Accuracy Estimate
+	uint16_t	pDOP;       // Position DOP
+	uint8_t		reserved1;  // Reserved
+	uint8_t		numSV;      // Number of SVs used in Nav Solution
+	uint32_t	reserved2;  // Reserved
 } UBX_NAV_SOL;
 
 // North/East/Down velocity
 
 typedef struct  {
-	uint32_t	iTOW;	// ms GPS Millisecond Time of Week
-	int32_t		velN;	// cm/s NED north velocity
-	int32_t		velE;	// cm/s NED east velocity
-	int32_t		velD;	// cm/s NED down velocity
-	uint32_t	speed;	// cm/s Speed (3-D)
-	uint32_t	gSpeed;	// cm/s Ground Speed (2-D)
-	int32_t		heading;	// 1e-5 *deg Heading of motion 2-D
-	uint32_t	sAcc;	// cm/s Speed Accuracy Estimate
-	uint32_t	cAcc;	// 1e-5 *deg Course / Heading Accuracy Estimate
+	uint32_t	iTOW;     // ms GPS Millisecond Time of Week
+	int32_t		velN;     // cm/s NED north velocity
+	int32_t		velE;     // cm/s NED east velocity
+	int32_t		velD;     // cm/s NED down velocity
+	uint32_t	speed;    // cm/s Speed (3-D)
+	uint32_t	gSpeed;   // cm/s Ground Speed (2-D)
+	int32_t		heading;  // 1e-5 *deg Heading of motion 2-D
+	uint32_t	sAcc;     // cm/s Speed Accuracy Estimate
+	uint32_t	cAcc;     // 1e-5 *deg Course / Heading Accuracy Estimate
 } UBX_NAV_VELNED;
 
 // UTC Time Solution
@@ -141,51 +142,51 @@ typedef struct  {
 #define TIMEUTC_VALIDUTC	(1 << 2)
 
 typedef struct {
-	uint32_t	iTOW;	// GPS Millisecond Time of Week (ms)
-	uint32_t	tAcc;	// Time Accuracy Estimate (ns)
-	int32_t		nano;	// Nanoseconds of second
+	uint32_t	iTOW;   // GPS Millisecond Time of Week (ms)
+	uint32_t	tAcc;   // Time Accuracy Estimate (ns)
+	int32_t		nano;   // Nanoseconds of second
 	uint16_t	year;
 	uint8_t		month;
 	uint8_t		day;
 	uint8_t		hour;
 	uint8_t		min;
 	uint8_t		sec;
-	uint8_t		valid;	// Validity Flags
+	uint8_t		valid;  // Validity Flags
 } UBX_NAV_TIMEUTC;
 
 // Space Vehicle (SV) Information
 
 // Single SV information block
 
-#define SVUSED		(1 << 0)	// This SV is used for navigation
-#define DIFFCORR 	(1 << 1)	// Differential correction available
-#define ORBITAVAIL	(1 << 2)	// Orbit information available
-#define ORBITEPH	(1 << 3)	// Orbit information is Ephemeris
-#define UNHEALTHY	(1 << 4)	// SV is unhealthy
-#define ORBITALM	(1 << 5)	// Orbit information is Almanac Plus
-#define ORBITAOP	(1 << 6)	// Orbit information is AssistNow Autonomous
-#define	SMOOTHED	(1 << 7) 	// Carrier smoothed pseudoranges used
+#define SVUSED		(1 << 0) // This SV is used for navigation
+#define DIFFCORR 	(1 << 1) // Differential correction available
+#define ORBITAVAIL	(1 << 2) // Orbit information available
+#define ORBITEPH	(1 << 3) // Orbit information is Ephemeris
+#define UNHEALTHY	(1 << 4) // SV is unhealthy
+#define ORBITALM	(1 << 5) // Orbit information is Almanac Plus
+#define ORBITAOP	(1 << 6) // Orbit information is AssistNow Autonomous
+#define	SMOOTHED	(1 << 7) // Carrier smoothed pseudoranges used
 
 typedef struct {
-	uint8_t		chn;		// Channel number
-	uint8_t		svid;		// Satellite ID
-	uint8_t		flags;		// Misc SV information
-	uint8_t		quality;	// Misc quality indicators
-	uint8_t		cno;		// Carrier to Noise Ratio (dbHz)
-	int8_t		elev;		// Elevation (integer degrees)
-	int16_t		azim;		// Azimuth	(integer degrees)
-	int32_t		prRes;		// Pseudo range residual (cm)
+	uint8_t		chn;      // Channel number
+	uint8_t		svid;     // Satellite ID
+	uint8_t		flags;    // Misc SV information
+	uint8_t		quality;  // Misc quality indicators
+	uint8_t		cno;      // Carrier to Noise Ratio (dbHz)
+	int8_t		elev;     // Elevation (integer degrees)
+	int16_t		azim;     // Azimuth	(integer degrees)
+	int32_t		prRes;    // Pseudo range residual (cm)
 } UBX_NAV_SVINFO_SV;
 
 // SV information message
-#define MAX_SVINFO_MSG_SIZE	208
+#define MAX_SVS	16
 
 typedef struct {
-	uint32_t	iTOW;			// GPS Millisecond Time of Week (ms)
-	uint8_t		numCh;			// Number of channels
-	uint8_t		globalFlags;	//
-	uint16_t	reserved2;		// Reserved
-	UBX_NAV_SVINFO_SV	sv[16];	// Repeated 'numCh' times
+	uint32_t	iTOW;         // GPS Millisecond Time of Week (ms)
+	uint8_t		numCh;        // Number of channels
+	uint8_t		globalFlags;  //
+	uint16_t	reserved2;    // Reserved
+	UBX_NAV_SVINFO_SV	sv[MAX_SVS]; // Repeated 'numCh' times
 } UBX_NAV_SVINFO;
 
 typedef union {
@@ -195,8 +196,10 @@ typedef union {
 	UBX_NAV_DOP		nav_dop;
 	UBX_NAV_SOL		nav_sol;
 	UBX_NAV_VELNED	nav_velned;
+#if !defined(PIOS_GPS_MINIMAL)
 	UBX_NAV_TIMEUTC	nav_timeutc;
 	UBX_NAV_SVINFO	nav_svinfo;
+#endif
 } UBXPayload;
 
 typedef struct {
@@ -213,5 +216,7 @@ typedef struct {
 } UBXPacket;
 
 bool checksum_ubx_message(UBXPacket *);
-bool parse_ubx_message(UBXPacket *, GPSPositionData *);
+uint32_t parse_ubx_message(UBXPacket *, GPSPositionData *);
+int  parse_ubx_stream(uint8_t, char *, GPSPositionData *);
+
 #endif /* UBX_H */
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index 3043ea630..cc7c67747 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -96,6 +96,8 @@
 #define PIOS_TELEM_PRIORITY_QUEUE       /* Enable a priority queue in telemetry */
 #define PIOS_QUATERNION_STABILIZATION   /* Stabilization options */
 //#define PIOS_GPS_SETS_HOMELOCATION      /* GPS options */
+#define PIOS_INCLUDE_GPS_NMEA_PARSER /* Include the NMEA protocol parser */
+#define PIOS_INCLUDE_GPS_UBX_PARSER  /* Include the UBX protocol parser */
 
 /* Alarm Thresholds */
 #define HEAP_LIMIT_WARNING		4000
diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc
index d91eb9c17..52063f748 100644
--- a/flight/Revolution/UAVObjects.inc
+++ b/flight/Revolution/UAVObjects.inc
@@ -46,6 +46,7 @@ UAVOBJSRCFILENAMES += flighttelemetrystats
 UAVOBJSRCFILENAMES += gcstelemetrystats
 UAVOBJSRCFILENAMES += gpsposition
 UAVOBJSRCFILENAMES += gpssatellites
+UAVOBJSRCFILENAMES += gpssettings
 UAVOBJSRCFILENAMES += gpstime
 UAVOBJSRCFILENAMES += guidancesettings
 UAVOBJSRCFILENAMES += homelocation
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index bfe2342b3..720d36ebd 100755
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -52,6 +52,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gpsposition.h \
     $$UAVOBJECT_SYNTHETICS/gpstime.h \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.h \
+    $$UAVOBJECT_SYNTHETICS/gpssettings.h \
+    $$UAVOBJECT_SYNTHETICS/gpsvelocity.h \
     $$UAVOBJECT_SYNTHETICS/positionactual.h \
     $$UAVOBJECT_SYNTHETICS/flightbatterystate.h \
     $$UAVOBJECT_SYNTHETICS/homelocation.h \
@@ -112,6 +114,8 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
     $$UAVOBJECT_SYNTHETICS/gpstime.cpp \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
+    $$UAVOBJECT_SYNTHETICS/gpssettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/gpsvelocity.cpp \
     $$UAVOBJECT_SYNTHETICS/positionactual.cpp \
     $$UAVOBJECT_SYNTHETICS/flightbatterystate.cpp \
     $$UAVOBJECT_SYNTHETICS/homelocation.cpp \