From c663a9fb44d912ff4ea23ef8eeefb3b50e08ce95 Mon Sep 17 00:00:00 2001
From: Timo Volkmann <timo.tvm@gmail.com>
Date: Wed, 18 Nov 2020 14:17:42 +0100
Subject: [PATCH] branch develop

---
 .idea/gyrogpsc.iml                            |   10 +
 .idea/inspectionProfiles/Project_Default.xml  |    6 +
 .idea/jsLibraryMappings.xml                   |    6 +
 .idea/modules.xml                             |    8 +
 .idea/vcs.xml                                 |    7 +
 .idea/workspace.xml                           |  297 ++
 ex_websocketMessage.json                      |    9 +
 go.mod                                        |   12 +
 go.sum                                        |   26 +
 hyperimu.json                                 |   65 +
 index.html                                    |   96 +-
 .../.gitattributes                            |    2 +
 .../SparkFun_Ublox_Arduino_Library/.gitignore |   55 +
 .../CONTRIBUTING.md                           |   15 +
 .../ISSUE_TEMPLATE.md                         |   18 +
 .../SparkFun_Ublox_Arduino_Library/LICENSE.md |   55 +
 .../SparkFun_Ublox_Arduino_Library/README.md  |  126 +
 .../SparkFun_Ublox_Arduino_Library/Theory.md  |   32 +
 .../Example1_calibrateSensor.ino              |   66 +
 .../Example2_getIMUData.ino                   |   84 +
 .../Example3_getSensorStatus.ino              |   97 +
 .../Example4_vehicleDynamics.ino              |   82 +
 .../Example10_AltitudeMSL.ino                 |   82 +
 .../Example1_FactoryDefaultviaI2C.ino         |   58 +
 .../Example2_FactoryDefaultsviaSerial.ino     |   95 +
 .../Example12_UseUart/Example12_UseUart.ino   |   98 +
 .../Example1_AutoPVT/Example1_AutoPVT.ino     |   88 +
 .../Example2_AutoPVT_ExplicitUpdate.ino       |  103 +
 .../Example3_AssumeAutoPVTviaUart.ino         |   79 +
 .../Example14_DebugOutput.ino                 |   93 +
 .../Example15_GetDateTime.ino                 |  107 +
 .../Example16_Nanosecond_MaxOutput.ino        |  106 +
 .../Example16_PartialSecond_MaxOutput.ino     |  116 +
 .../Example17_Geofence/Example17_Geofence.ino |  169 +
 .../Example18_PowerSaveMode.ino               |  163 +
 .../Example19_DynamicModel.ino                |  117 +
 .../Example1_BasicNMEARead.ino                |   51 +
 .../Example20_SendCustomCommand.ino           |  161 +
 .../Example21_ModuleInfo.ino                  |  183 +
 .../Example22_PowerOff/Example22_PowerOff.ino |   88 +
 .../Example2_NMEAParsing.ino                  |   83 +
 .../Example3_GetPosition.ino                  |   84 +
 .../Example4_FixType/Example4_FixType.ino     |   94 +
 .../Example5_SpeedHeadingPrecision.ino        |   83 +
 .../Example6_EnableNMEASentences.ino          |   79 +
 .../Example7_OutputRate.ino                   |   91 +
 .../Example8_GetProtocolVersion.ino           |   61 +
 .../Example9_ChangeI2CAddress.ino             |  112 +
 .../Example1_EnableRTCM.ino                   |   77 +
 .../Example2_StartRTCMBase.ino                |  153 +
 .../Example3_BaseWithLCD.ino                  |  185 +
 ...Example1_GetPositionAndTime_Series_6_7.ino |  109 +
 ...rkFun_Ublox_Arduino_Library_Series_6_7.cpp | 3474 +++++++++++++++
 ...parkFun_Ublox_Arduino_Library_Series_6_7.h |  932 ++++
 ...10_GetHighPrecisionPositionAndAccuracy.ino |  154 +
 ...11_GetHighPrecisionPositionUsingDouble.ino |  146 +
 .../Example11_autoHPPOSLLH.ino                |  118 +
 .../Example11_setStaticPosition.ino           |   73 +
 .../Example1_GetPositionAccuracy.ino          |   77 +
 .../Example2_ValConfigurationMethod.ino       |   60 +
 .../Example3_StartRTCMBase.ino                |  161 +
 .../Example4_BaseWithLCD.ino                  |  200 +
 ...xample5_RelativePositioningInformation.ino |  125 +
 .../Example6_GetVal/Example6_GetVal.ino       |   88 +
 .../Example7_SetVal/Example7_SetVal.ino       |   76 +
 .../Example8_GetSetPortSettings.ino           |   98 +
 .../Example9_multiSetVal.ino                  |   90 +
 .../keywords.txt                              |  246 ++
 .../library.properties                        |    9 +
 .../src/SparkFun_Ublox_Arduino_Library.cpp    | 3803 +++++++++++++++++
 .../src/SparkFun_Ublox_Arduino_Library.h      |  909 ++++
 .../src/u-blox_config_keys.h                  |  547 +++
 serial/serial.go                              |   41 +
 server.go                                     |    2 +-
 74 files changed, 15746 insertions(+), 25 deletions(-)
 create mode 100644 .idea/gyrogpsc.iml
 create mode 100644 .idea/inspectionProfiles/Project_Default.xml
 create mode 100644 .idea/jsLibraryMappings.xml
 create mode 100644 .idea/modules.xml
 create mode 100644 .idea/vcs.xml
 create mode 100644 .idea/workspace.xml
 create mode 100644 ex_websocketMessage.json
 create mode 100644 go.mod
 create mode 100644 go.sum
 create mode 100644 hyperimu.json
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/.gitattributes
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/.gitignore
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/CONTRIBUTING.md
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/ISSUE_TEMPLATE.md
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/LICENSE.md
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/README.md
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/Theory.md
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example10_AltitudeMSL/Example10_AltitudeMSL.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example1_FactoryDefaultviaI2C/Example1_FactoryDefaultviaI2C.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example2_FactoryDefaultsviaSerial/Example2_FactoryDefaultsviaSerial.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example12_UseUart/Example12_UseUart.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example2_AutoPVT_ExplicitUpdate/Example2_AutoPVT_ExplicitUpdate.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example3_AssumeAutoPVTviaUart/Example3_AssumeAutoPVTviaUart.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example14_DebugOutput/Example14_DebugOutput.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example15_GetDateTime/Example15_GetDateTime.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example17_Geofence/Example17_Geofence.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example19_DynamicModel/Example19_DynamicModel.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example21_ModuleInfo/Example21_ModuleInfo.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example22_PowerOff/Example22_PowerOff.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example2_NMEAParsing/Example2_NMEAParsing.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example3_GetPosition/Example3_GetPosition.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example4_FixType/Example4_FixType.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example5_SpeedHeadingPrecision/Example5_SpeedHeadingPrecision.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example6_EnableNMEASentences/Example6_EnableNMEASentences.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example7_OutputRate/Example7_OutputRate.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example8_GetProtocolVersion/Example8_GetProtocolVersion.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Example9_ChangeI2CAddress/Example9_ChangeI2CAddress.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example1_EnableRTCM/Example1_EnableRTCM.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example2_StartRTCMBase/Example2_StartRTCMBase.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example3_BaseWithLCD/Example3_BaseWithLCD.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/Example1_GetPositionAndTime_Series_6_7.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.cpp
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.h
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example10_GetHighPrecisionPositionAndAccuracy/Example10_GetHighPrecisionPositionAndAccuracy.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_GetHighPrecisionPositionUsingDouble/Example11_GetHighPrecisionPositionUsingDouble.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example1_GetPositionAccuracy/Example1_GetPositionAccuracy.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example2_ValConfigurationMethod/Example2_ValConfigurationMethod.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example4_BaseWithLCD/Example4_BaseWithLCD.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example6_GetVal/Example6_GetVal.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example8_GetSetPortSettings/Example8_GetSetPortSettings.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example9_multiSetVal/Example9_multiSetVal.ino
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/keywords.txt
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/library.properties
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.cpp
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.h
 create mode 100644 serial/SparkFun_Ublox_Arduino_Library/src/u-blox_config_keys.h
 create mode 100644 serial/serial.go

diff --git a/.idea/gyrogpsc.iml b/.idea/gyrogpsc.iml
new file mode 100644
index 0000000..6cf7b35
--- /dev/null
+++ b/.idea/gyrogpsc.iml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="WEB_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="Chart" level="application" />
+    <orderEntry type="library" name="Chart.js" level="application" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..642c675
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="GoSnakeCaseUsage" enabled="false" level="WEAK WARNING" enabled_by_default="false" />
+  </profile>
+</component>
\ No newline at end of file
diff --git a/.idea/jsLibraryMappings.xml b/.idea/jsLibraryMappings.xml
new file mode 100644
index 0000000..6d58e5d
--- /dev/null
+++ b/.idea/jsLibraryMappings.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="JavaScriptLibraryMappings">
+    <file url="PROJECT" libraries="{Chart, Chart.js}" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..a52c3a2
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/gyrogpsc.iml" filepath="$PROJECT_DIR$/.idea/gyrogpsc.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..ac4ad06
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/serial/SparkFun_Ublox_Arduino_Library" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
new file mode 100644
index 0000000..4705fbd
--- /dev/null
+++ b/.idea/workspace.xml
@@ -0,0 +1,297 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BranchesTreeState">
+    <expand>
+      <path>
+        <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
+        <item name="LOCAL_ROOT" type="e8cecc67:BranchNodeDescriptor" />
+      </path>
+      <path>
+        <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
+        <item name="LOCAL_ROOT" type="e8cecc67:BranchNodeDescriptor" />
+        <item name="GROUP_NODE:sensor" type="e8cecc67:BranchNodeDescriptor" />
+      </path>
+    </expand>
+    <select>
+      <path>
+        <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
+        <item name="LOCAL_ROOT" type="e8cecc67:BranchNodeDescriptor" />
+        <item name="GROUP_NODE:sensor" type="e8cecc67:BranchNodeDescriptor" />
+        <item name="BRANCH:sensor/relative" type="e8cecc67:BranchNodeDescriptor" />
+      </path>
+    </select>
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/serial/serial.go" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/index.html" beforeDir="false" afterPath="$PROJECT_DIR$/index.html" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/server.go" beforeDir="false" afterPath="$PROJECT_DIR$/server.go" afterDir="false" />
+    </list>
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="Go File" />
+        <option value="Go Application" />
+      </list>
+    </option>
+  </component>
+  <component name="GOROOT" path="/usr/local/Cellar/go/1.15.2/libexec" />
+  <component name="Git.Settings">
+    <option name="RECENT_BRANCH_BY_REPOSITORY">
+      <map>
+        <entry key="$PROJECT_DIR$" value="master" />
+      </map>
+    </option>
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
+  <component name="ProjectId" id="1jq0r5aMzeueG8kqyThltUQyqCa" />
+  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent">
+    <property name="DefaultGoTemplateProperty" value="Go Application" />
+    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
+    <property name="WebServerToolWindowFactoryState" value="false" />
+    <property name="configurable.Global.GOPATH.is.expanded" value="true" />
+    <property name="configurable.Module.GOPATH.is.expanded" value="true" />
+    <property name="configurable.Project.GOPATH.is.expanded" value="true" />
+    <property name="go.import.settings.migrated" value="true" />
+    <property name="go.sdk.automatically.set" value="true" />
+    <property name="go.tried.to.enable.integration.vgo.integrator" value="true" />
+    <property name="last_opened_file_path" value="$USER_HOME$" />
+    <property name="settings.editor.selected.configurable" value="preferences.pluginManager" />
+  </component>
+  <component name="RecentsManager">
+    <key name="MoveFile.RECENT_KEYS">
+      <recent name="$PROJECT_DIR$/serial" />
+      <recent name="$PROJECT_DIR$/internal" />
+      <recent name="$PROJECT_DIR$" />
+    </key>
+  </component>
+  <component name="RunManager" selected="Go Build.go build server.go">
+    <configuration name="go build git.timovolkmann.de/gyrogpsc/serial" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
+      <module name="gyrogpsc" />
+      <working_directory value="$PROJECT_DIR$" />
+      <kind value="PACKAGE" />
+      <filePath value="$PROJECT_DIR$/serial/serial.go" />
+      <package value="git.timovolkmann.de/gyrogpsc/serial" />
+      <directory value="$PROJECT_DIR$" />
+      <method v="2" />
+    </configuration>
+    <configuration name="go build server.go" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
+      <module name="gyrogpsc" />
+      <working_directory value="$PROJECT_DIR$" />
+      <kind value="FILE" />
+      <filePath value="$PROJECT_DIR$/server.go" />
+      <directory value="$PROJECT_DIR$" />
+      <method v="2" />
+    </configuration>
+    <recent_temporary>
+      <list>
+        <item itemvalue="Go Build.go build server.go" />
+        <item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/serial" />
+        <item itemvalue="Go Build.go build server.go" />
+        <item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/serial" />
+      </list>
+    </recent_temporary>
+  </component>
+  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="" />
+      <created>1604516509922</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1604516509922</updated>
+    </task>
+    <task id="LOCAL-00001" summary="initial working version">
+      <created>1604747925521</created>
+      <option name="number" value="00001" />
+      <option name="presentableId" value="LOCAL-00001" />
+      <option name="project" value="LOCAL" />
+      <updated>1604747925521</updated>
+    </task>
+    <task id="LOCAL-00002" summary="added dispatcher.go">
+      <created>1604747940729</created>
+      <option name="number" value="00002" />
+      <option name="presentableId" value="LOCAL-00002" />
+      <option name="project" value="LOCAL" />
+      <updated>1604747940729</updated>
+    </task>
+    <task id="LOCAL-00003" summary="3d orientation visualization html/css">
+      <created>1604768327573</created>
+      <option name="number" value="00003" />
+      <option name="presentableId" value="LOCAL-00003" />
+      <option name="project" value="LOCAL" />
+      <updated>1604768327573</updated>
+    </task>
+    <task id="LOCAL-00004" summary="switched to relative sensor data (gyroscope)">
+      <created>1604777752387</created>
+      <option name="number" value="00004" />
+      <option name="presentableId" value="LOCAL-00004" />
+      <option name="project" value="LOCAL" />
+      <updated>1604777752387</updated>
+    </task>
+    <task id="LOCAL-00005" summary="changed orientation">
+      <created>1605444355479</created>
+      <option name="number" value="00005" />
+      <option name="presentableId" value="LOCAL-00005" />
+      <option name="project" value="LOCAL" />
+      <updated>1605444355479</updated>
+    </task>
+    <option name="localTasksCounter" value="6" />
+    <servers />
+  </component>
+  <component name="TypeScriptGeneratedFilesManager">
+    <option name="version" value="3" />
+  </component>
+  <component name="Vcs.Log.Tabs.Properties">
+    <option name="TAB_STATES">
+      <map>
+        <entry key="MAIN">
+          <value>
+            <State>
+              <option name="FILTERS">
+                <map>
+                  <entry key="branch">
+                    <value>
+                      <list>
+                        <option value="sensor/relative" />
+                      </list>
+                    </value>
+                  </entry>
+                </map>
+              </option>
+            </State>
+          </value>
+        </entry>
+      </map>
+    </option>
+    <option name="oldMeFiltersMigrated" value="true" />
+  </component>
+  <component name="VcsManagerConfiguration">
+    <MESSAGE value="initial working version" />
+    <MESSAGE value="added dispatcher.go" />
+    <MESSAGE value="3d orientation visualization html/css" />
+    <MESSAGE value="switched to relative sensor data (gyroscope)" />
+    <MESSAGE value="changed orientation" />
+    <option name="LAST_COMMIT_MESSAGE" value="changed orientation" />
+  </component>
+  <component name="VgoProject">
+    <integration-enabled>true</integration-enabled>
+  </component>
+  <component name="WindowStateProjectService">
+    <state x="640" y="377" key="#Go_Modules" timestamp="1604584628285">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state x="640" y="377" key="#Go_Modules/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604584628285" />
+    <state x="603" y="247" key="#xdebugger.evaluate" timestamp="1604750409547">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state x="603" y="247" key="#xdebugger.evaluate/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750409547" />
+    <state x="100" y="123" width="1480" height="827" key="DiffContextDialog" timestamp="1604517986662">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state x="100" y="123" width="1480" height="827" key="DiffContextDialog/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604517986662" />
+    <state x="739" y="405" key="EnvironmentVariablesDialog" timestamp="1604585759907">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state x="739" y="405" key="EnvironmentVariablesDialog/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604585759907" />
+    <state width="1638" height="346" key="GridCell.Tab.-1.bottom" timestamp="1604750445987">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.-1.bottom/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750445987" />
+    <state width="1638" height="346" key="GridCell.Tab.-1.center" timestamp="1604750445987">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.-1.center/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750445987" />
+    <state width="1638" height="346" key="GridCell.Tab.-1.left" timestamp="1604750445987">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.-1.left/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750445987" />
+    <state width="1638" height="346" key="GridCell.Tab.-1.right" timestamp="1604750445987">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.-1.right/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750445987" />
+    <state width="1638" height="330" key="GridCell.Tab.0.bottom" timestamp="1605641533913">
+      <screen x="0" y="23" width="1920" height="1177" />
+    </state>
+    <state width="1638" height="273" key="GridCell.Tab.0.bottom/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042531" />
+    <state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985770" />
+    <state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604760252890" />
+    <state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1680.1027@0.23.1680.1027" timestamp="1604933111805" />
+    <state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018474" />
+    <state width="1638" height="330" key="GridCell.Tab.0.bottom/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605641533913" />
+    <state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225921" />
+    <state width="1638" height="330" key="GridCell.Tab.0.center" timestamp="1605641533912">
+      <screen x="0" y="23" width="1920" height="1177" />
+    </state>
+    <state width="1638" height="273" key="GridCell.Tab.0.center/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042530" />
+    <state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985769" />
+    <state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604760252890" />
+    <state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1680.1027@0.23.1680.1027" timestamp="1604933111805" />
+    <state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018473" />
+    <state width="1638" height="330" key="GridCell.Tab.0.center/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605641533912" />
+    <state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225920" />
+    <state width="1638" height="330" key="GridCell.Tab.0.left" timestamp="1605641533911">
+      <screen x="0" y="23" width="1920" height="1177" />
+    </state>
+    <state width="1638" height="273" key="GridCell.Tab.0.left/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042530" />
+    <state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985768" />
+    <state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604760252889" />
+    <state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1680.1027@0.23.1680.1027" timestamp="1604933111805" />
+    <state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018472" />
+    <state width="1638" height="330" key="GridCell.Tab.0.left/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605641533911" />
+    <state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225919" />
+    <state width="1638" height="330" key="GridCell.Tab.0.right" timestamp="1605641533912">
+      <screen x="0" y="23" width="1920" height="1177" />
+    </state>
+    <state width="1638" height="273" key="GridCell.Tab.0.right/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042531" />
+    <state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985770" />
+    <state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604760252890" />
+    <state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1680.1027@0.23.1680.1027" timestamp="1604933111805" />
+    <state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018473" />
+    <state width="1638" height="330" key="GridCell.Tab.0.right/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605641533912" />
+    <state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225920" />
+    <state width="1638" height="346" key="GridCell.Tab.1.bottom" timestamp="1604750442086">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.1.bottom/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750442086" />
+    <state width="1638" height="346" key="GridCell.Tab.1.center" timestamp="1604750442085">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.1.center/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750442085" />
+    <state width="1638" height="346" key="GridCell.Tab.1.left" timestamp="1604750442085">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.1.left/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750442085" />
+    <state width="1638" height="346" key="GridCell.Tab.1.right" timestamp="1604750442085">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="1638" height="346" key="GridCell.Tab.1.right/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750442085" />
+    <state x="204" y="155" width="1501" height="766" key="SettingsEditor" timestamp="1605609479939">
+      <screen x="0" y="23" width="1920" height="1177" />
+    </state>
+    <state x="179" y="138" width="1501" height="766" key="SettingsEditor/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604757277174" />
+    <state x="204" y="155" key="SettingsEditor/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605609479939" />
+    <state width="840" height="513" key="XDebugger.FullValuePopup" timestamp="1604750505120">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state width="840" height="513" key="XDebugger.FullValuePopup/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750505120" />
+    <state x="505" y="250" width="670" height="676" key="search.everywhere.popup" timestamp="1604757918385">
+      <screen x="0" y="23" width="1680" height="1027" />
+    </state>
+    <state x="505" y="250" width="670" height="676" key="search.everywhere.popup/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604757918385" />
+    <state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog" timestamp="1605566567276">
+      <screen x="0" y="23" width="1920" height="1177" />
+    </state>
+    <state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605566567276" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/ex_websocketMessage.json b/ex_websocketMessage.json
new file mode 100644
index 0000000..5245410
--- /dev/null
+++ b/ex_websocketMessage.json
@@ -0,0 +1,9 @@
+{
+  "timestamp": 2938502375,
+  "position": [490663054, 91358016],
+  "altitude": 221,
+  "altitude_msl": 221,
+  "accuracy": [16.2, 20.3],
+  "speed": [13, 9]
+
+}
\ No newline at end of file
diff --git a/go.mod b/go.mod
new file mode 100644
index 0000000..55adb8b
--- /dev/null
+++ b/go.mod
@@ -0,0 +1,12 @@
+module git.timovolkmann.de/gyrogpsc
+
+go 1.15
+
+require (
+	github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d
+	github.com/gorilla/websocket v1.4.2
+	github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7 // indirect
+	github.com/tidwall/pretty v1.0.2
+	go.bug.st/serial v1.1.1
+	golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf // indirect
+)
diff --git a/go.sum b/go.sum
new file mode 100644
index 0000000..6be5812
--- /dev/null
+++ b/go.sum
@@ -0,0 +1,26 @@
+github.com/creack/goselect v0.1.1 h1:tiSSgKE1eJtxs1h/VgGQWuXUP0YS4CDIFMp6vaI1ls0=
+github.com/creack/goselect v0.1.1/go.mod h1:a/NhLweNvqIYMuxcMOuWY516Cimucms3DglDzQP3hKY=
+github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d h1:WbFmX8L79E02PgDJYWINhWvceaMGUzgmrwdE5CuUBBk=
+github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d/go.mod h1:pfcwlN8XUYXVYAkPU2LrFZnXIS4EvpZaXh+qRKCN9Sg=
+github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8=
+github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/gorilla/websocket v1.4.2 h1:+/TMaTYc4QFitKJxsQ7Yye35DkWvkdLcvGKqM+x0Ufc=
+github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
+github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7 h1:T112CHmp+v1bh0W7sp49tZe8SUbw3viSGRTVLziZxfc=
+github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7/go.mod h1:FVoZAzJFrR5D6P8qd2rgpJAV/qF5oODtIT9YjVV+xzY=
+github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
+github.com/stretchr/testify v1.4.0 h1:2E4SXV/wtOkTonXsotYi4li6zVWxYlZuYNCXe9XRJyk=
+github.com/stretchr/testify v1.4.0/go.mod h1:j7eGeouHqKxXV5pUuKE4zz7dFj8WfuZ+81PSLYec5m4=
+github.com/tidwall/pretty v1.0.2 h1:Z7S3cePv9Jwm1KwS0513MRaoUe3S01WPbLNV40pwWZU=
+github.com/tidwall/pretty v1.0.2/go.mod h1:XNkn88O1ChpSDQmQeStsy+sBenx6DDtFZJxhVysOjyk=
+go.bug.st/serial v1.1.1 h1:5J1DpaIaSIruBi7jVnKXnhRS+YQ9+2PLJMtIZKoIgnc=
+go.bug.st/serial v1.1.1/go.mod h1:VmYBeyJWp5BnJ0tw2NUJHZdJTGl2ecBGABHlzRK1knY=
+golang.org/x/sys v0.0.0-20200909081042-eff7692f9009/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf h1:kt3wY1Lu5MJAnKTfoMR52Cu4gwvna4VTzNOiT8tY73s=
+golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
+gopkg.in/yaml.v2 v2.2.2 h1:ZCJp+EgiOT7lHqUV2J862kp8Qj64Jo6az82+3Td9dZw=
+gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
diff --git a/hyperimu.json b/hyperimu.json
new file mode 100644
index 0000000..e362639
--- /dev/null
+++ b/hyperimu.json
@@ -0,0 +1,65 @@
+{
+  "os": "hyperimu",
+  "pocket": [0, 0, 0],
+  "tmd3702_rgb rgb sensor": [3542, 344, 161],
+  "sns_tilt": [0, 0, 0],
+  "pickup": [0, 1, 0],
+  "game rotation vector": [
+    0.015651894733309746,
+    0.008504520170390606,
+    0.7119147181510925
+  ],
+  "lsm6ds3c accelerometer-uncalibrated": [
+    0.0958355963230133,
+    0.33526939153671265,
+    9.70869255065918
+  ],
+  "lsm6ds3c accelerometer": [
+    0.0958355963230133,
+    0.33526939153671265,
+    9.70869255065918
+  ],
+  "sns_smd": [0, 0, 0],
+  "motion_detect_": [0, 0, 0],
+  "pedometer": [0, 0, 0],
+  "sns_geomag_rv": [
+    0.011661887168884277,
+    -0.01352102030068636,
+    -0.5377604365348816
+  ],
+  "stationary_detect_": [0, 0, 0],
+  "op_motion_detect": [0, 0, 0],
+  "orientation": [71.09732055664062, -1.9538215398788452, 0.5922810435295105],
+  "dpc": [0, 0, 0],
+  "ak0991x magnetometer-uncalibrated": [
+    56.32729721069336,
+    -55.112823486328125,
+    -213.12313842773438
+  ],
+  "ak0991x magnetometer": [
+    -11.573108673095703,
+    6.1475372314453125,
+    -25.809066772460938
+  ],
+  "gravity": [0.10144591331481934, 0.3342645764350891, 9.800426483154297],
+  "rotation vector": [
+    0.01086709089577198,
+    -0.014117014594376087,
+    -0.581230103969574
+  ],
+  "sx9324_sar": [0, 0, 0],
+  "linear_acceleration_": [0, 0, 0],
+  "tmd3702_light ambient light sensor": [11, 0, 0],
+  "lsm6ds3c gyroscope": [
+    -7.216770900413394E-4,
+    4.0413951501250267E-4,
+    -1.3968441635370255E-5
+  ],
+  "device_orient": [0, 0, 0],
+  "lsm6ds3c gyroscope-uncalibrated": [
+    -0.0023666713386774063,
+    0.0014509651809930801,
+    -0.005396670661866665
+  ],
+  "tmd3702_proximity proximity sensor": [5, 0, 0]
+}
diff --git a/index.html b/index.html
index 5e5050e..fa99f9b 100644
--- a/index.html
+++ b/index.html
@@ -2,7 +2,10 @@
 <html>
 <head>
     <meta charset="utf-8">
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.9.4/Chart.bundle.js"></script>
     <script>
+        const GRAPH_RES = 100;
+        var dataSmartphone = [];
         window.addEventListener("load", function(evt) {
             var orientation = [0,0,0];
             var multiplier = 180/Math.PI/15
@@ -35,13 +38,30 @@
                 }
                 ws.onmessage = function(evt) {
                     //print2("RESPONSE: " + evt.data);
-                    let dat = JSON.parse(evt.data)["lsm6dsm gyroscope"]
+                    dataSmartphone.push(evt.data)
+                    // let dat = JSON.parse(evt.data)["bmi26x gyroscope"]
+                    // let dat = JSON.parse(evt.data)["lsm6dsm gyroscope"]
+                    //let dat = JSON.parse(evt.data)["lsm6ds3c gyroscope"]
+                    let dat = JSON.parse(evt.data)
                     //console.log(dat)
+                    //console.log(dat.orientation)
+                    document.getElementById("gyroscope").style.transform = `rotateX(${-((dat.orientation[1]+90)%360)}deg) rotateY(${dat.orientation[0]}deg) rotateZ(${-dat.orientation[2]}deg)`
+
+
+/*
+                    console.log(dat)
                     orientation[0] += dat[0] * multiplier
                     orientation[1] += dat[1] * multiplier
                     orientation[2] += dat[2] * multiplier
-                    //console.log(dat.orientation)
-                    document.getElementById("gyroscope").style.transform = `rotateX(${-orientation[0]}deg) rotateY(${orientation[1]}deg) rotateZ(${-orientation[2]}deg) translateZ(50px)`
+                    // dataset.push(orientation[0])
+                    // while (dataset.length >= 50) {
+                    //     dataset.shift();
+                    // }
+                    // addData(orientation[0] / multiplier)
+*/
+                    addData(dat.orientation[0])
+                    // addData(dat[0])
+                    //document.getElementById("gyroscope").style.transform = `rotateX(${-orientation[0]}deg) rotateY(${orientation[1]}deg) rotateZ(${-orientation[2]}deg) translateZ(50px)`
                 }
                 ws.onerror = function(evt) {
                     print("ERROR: " + evt.data);
@@ -64,6 +84,7 @@
                 return false;
             };
         });
+
     </script>
     <style>
         * { box-sizing: border-box; }
@@ -151,27 +172,54 @@
                     <div class="cube__face cube__face--bottom">bottom</div>
                 </div>
             </div>
-            <p class="radio-group" style="display: none">
-                <label>
-                    <input type="radio" name="rotate-cube-side" value="front" checked /> front
-                </label>
-                <label>
-                    <input type="radio" name="rotate-cube-side" value="right" /> right
-                </label>
-                <label>
-                    <input type="radio" name="rotate-cube-side" value="back" /> back
-                </label>
-                <label>
-                    <input type="radio" name="rotate-cube-side" value="left" /> left
-                </label>
-                <label>
-                    <input type="radio" name="rotate-cube-side" value="top" /> top
-                </label>
-                <label>
-                    <input type="radio" name="rotate-cube-side" value="bottom" /> bottom
-                </label>
-            </p>
-
+            <div style="width: 600px; height: 400px;">
+                <canvas id="myChart" width="400" height="200"></canvas>
+            </div>
+            <script>
+                var ctx = document.getElementById('myChart').getContext('2d');
+                var myChart = new Chart(ctx, {
+                    type: 'line',
+                    data: {
+                        labels: new Array(GRAPH_RES),
+                        datasets: [{
+                            label: 'Z',
+                            backgroundColor: 'rgba(255, 99, 132, 0.2)',
+                            borderColor: 'rgba(255, 99, 132, 1)',
+                            borderWidth: 1,
+                            pointRadius: 0,
+                            lineTension: 0.5,
+                            data: new Array(GRAPH_RES)
+                        }]
+                    },
+                    options: {
+                        scales: {
+                            yAxes: [{
+                                ticks: {
+                                    // beginAtZero: true
+                                    min: -100,
+                                    max: 100
+                                }
+                            }]
+                        },
+                        animation: {
+                            duration: 0
+                        }
+                    }
+                });
+                myChart.data.labels.fill("", 0, GRAPH_RES);
+                myChart.data.datasets.forEach((dataset) => dataset.data.fill(0, 0, GRAPH_RES))
+                function addData(data) {
+                    myChart.data.labels.push("");
+                    myChart.data.datasets.forEach((dataset) => {
+                        dataset.data.push(data);
+                    });
+                    while (myChart.data.labels.length >= GRAPH_RES) {
+                        myChart.data.labels.shift();
+                        myChart.data.datasets.forEach((dataset) => dataset.data.shift())
+                    }
+                    myChart.update();
+                };
+            </script>
         </td>
         <td valign="top" width="50%">
             <div id="output"></div>
diff --git a/serial/SparkFun_Ublox_Arduino_Library/.gitattributes b/serial/SparkFun_Ublox_Arduino_Library/.gitattributes
new file mode 100644
index 0000000..dfe0770
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/.gitattributes
@@ -0,0 +1,2 @@
+# Auto detect text files and perform LF normalization
+* text=auto
diff --git a/serial/SparkFun_Ublox_Arduino_Library/.gitignore b/serial/SparkFun_Ublox_Arduino_Library/.gitignore
new file mode 100644
index 0000000..484d3c2
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/.gitignore
@@ -0,0 +1,55 @@
+# Visual Studio Code files
+.vscode
+
+# Windows image file caches
+Thumbs.db
+ehthumbs.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+# =========================
+# Operating System Files
+# =========================
+
+# OSX
+# =========================
+
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+# VIM backup files
+*~
+[._]*.un~
+*.swp
diff --git a/serial/SparkFun_Ublox_Arduino_Library/CONTRIBUTING.md b/serial/SparkFun_Ublox_Arduino_Library/CONTRIBUTING.md
new file mode 100644
index 0000000..18414f0
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/CONTRIBUTING.md
@@ -0,0 +1,15 @@
+### How to Contribute
+
+Thank you so *much* for offering to help out. We truly appreciate it.
+
+If you'd like to contribute, start by searching through the [issues](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues) and [pull requests](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/pulls) to see whether someone else has raised a similar idea or question.
+
+If you decide to add a feature to this library, please create a PR and follow these best practices:
+
+* Change as little as possible. Do not sumbit a PR that changes 100 lines of whitespace. Break up into multiple PRs if necessary.
+* If you've added a new feature document it with a simple example sketch. This serves both as a test of your PR and as a quick way for users to quickly learn how to use your new feature.
+* If you add new functions also add them to keywords.txt so that they are properly highlighted in Arduino. [Read more](https://www.arduino.cc/en/Hacking/libraryTutorial).
+
+## Style guide
+
+Please read and follow the [Arduino API style guide](https://www.arduino.cc/en/Reference/APIStyleGuide). Also read and consider the [Arduino style guide](https://www.arduino.cc/en/Reference/StyleGuide).
diff --git a/serial/SparkFun_Ublox_Arduino_Library/ISSUE_TEMPLATE.md b/serial/SparkFun_Ublox_Arduino_Library/ISSUE_TEMPLATE.md
new file mode 100644
index 0000000..84ae55b
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/ISSUE_TEMPLATE.md
@@ -0,0 +1,18 @@
+### Subject of the issue
+Describe your issue here. If you reference a datasheet please specify which one and in which section (ie, the protocol manual, section 5.1.2). Additionally, screenshots are easy to paste into github.
+
+### Your workbench
+* What development board or microcontroller are you using?
+* What version of hardware or breakout board are you using? 
+* How is the breakout board wired to your microcontroller?
+* How is everything being powered?
+* Are there any additional details that may help us help you?
+
+### Steps to reproduce
+Tell us how to reproduce this issue. Please post stripped down example code demonstrating your issue.
+
+### Expected behavior
+Tell us what should happen
+
+### Actual behavior
+Tell us what happens instead
diff --git a/serial/SparkFun_Ublox_Arduino_Library/LICENSE.md b/serial/SparkFun_Ublox_Arduino_Library/LICENSE.md
new file mode 100644
index 0000000..e64bd4e
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/LICENSE.md
@@ -0,0 +1,55 @@
+SparkFun License Information
+============================
+
+SparkFun uses two different licenses for our files — one for hardware and one for code.
+
+Hardware
+---------
+
+**SparkFun hardware is released under [Creative Commons Share-alike 4.0 International](http://creativecommons.org/licenses/by-sa/4.0/).**
+
+Note: This is a human-readable summary of (and not a substitute for) the [license](http://creativecommons.org/licenses/by-sa/4.0/legalcode).
+
+You are free to:
+
+Share — copy and redistribute the material in any medium or format
+Adapt — remix, transform, and build upon the material
+for any purpose, even commercially.
+The licensor cannot revoke these freedoms as long as you follow the license terms.
+Under the following terms:
+
+Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
+ShareAlike — If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.
+No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
+Notices:
+
+You do not have to comply with the license for elements of the material in the public domain or where your use is permitted by an applicable exception or limitation.
+No warranties are given. The license may not give you all of the permissions necessary for your intended use. For example, other rights such as publicity, privacy, or moral rights may limit how you use the material.
+
+
+Code
+--------
+
+**SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).**
+
+The MIT License (MIT)
+
+Copyright (c) 2016 SparkFun Electronics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/serial/SparkFun_Ublox_Arduino_Library/README.md b/serial/SparkFun_Ublox_Arduino_Library/README.md
new file mode 100644
index 0000000..55fc8cb
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/README.md
@@ -0,0 +1,126 @@
+SparkFun u-blox Arduino Library
+===========================================================
+
+<table class="table table-hover table-striped table-bordered">
+  <tr align="center">
+   <td><a href="https://www.sparkfun.com/products/15136"><img src="https://cdn.sparkfun.com//assets/parts/1/3/5/1/4/15136-SparkFun_GPS-RTK2_Board_-_ZED-F9P__Qwiic_-03.jpg"></a></td>
+   <td><a href="https://www.sparkfun.com/products/15005"><img src="https://cdn.sparkfun.com//assets/parts/1/3/3/2/0/15005-SparkFun_GPS-RTK__Qwiic__-_NEO-M8P-2-00.jpg"></a></td>
+   <td><a href="https://www.sparkfun.com/products/15193"><img src="https://cdn.sparkfun.com//assets/parts/1/3/6/1/4/15193-SparkFun_GPS_Breakout_-_U.FL__ZOE-M8__Qwiic_-01.jpg"></a></td>
+   <td><a href="https://www.sparkfun.com/products/15210"><img src="https://cdn.sparkfun.com//assets/parts/1/3/6/4/8/15210-SparkFun_GPS_Breakout_-_Chip_Antenna__SAM-M8Q__Qwiic_-01.jpg"></a></td>
+    <td><a href="https://www.sparkfun.com/products/15733"><img src="https://cdn.sparkfun.com//assets/parts/1/4/3/2/2/15733-SparkFun_GPS_Breakout_-_NEO-M9N__Chip_Antenna__Qwiic_-01.jpg"></a></td>
+  </tr>
+  <tr align="center">
+    <td><a href="https://www.sparkfun.com/products/15136">SparkFun GPS-RTK2 - ZED-F9P (GPS-15136)</a></td>
+    <td><a href="https://www.sparkfun.com/products/15005">SparkFun GPS-RTK - NEO-M8P-2 (GPS-15005)</a></td>
+    <td><a href="https://www.sparkfun.com/products/15193">SparkFun ZOE-M8Q Breakout (GPS-15193)</a></td>
+    <td><a href="https://www.sparkfun.com/products/15210">SparkFun SAM-M8Q Breakout (GPS-15210)</a></td>
+    <td><a href="https://www.sparkfun.com/products/15733">SparkFun NEO-M9N Breakout (GPS-15733)</a></td>
+  </tr>
+</table>
+
+U-blox makes some incredible GPS receivers covering everything from low-cost, highly configurable modules such as the SAM-M8Q all the way up to the surveyor grade ZED-F9P with precision of the diameter of a dime. This library focuses on configuration and control of u-blox devices over I2C (called DDC by u-blox) and Serial. The UBX protocol is supported over both I2C and serial, and is a much easier and lighterweight interface to a GPS module. Stop parsing NMEA data! And simply ask for the datums you need.
+
+This library can be installed via the Arduino Library manager. Search for **SparkFun Ublox**.
+
+Although not an integrated part of the library, you will find an example of how to communicate with the older series 6 and 7 modules in the [examples folder](./examples/Series_6_7).
+
+Max (400kHz) I2C Support
+-------------------
+
+To achieve 400kHz I2C speed please be sure to remove all pull-ups on the I2C bus. Most, if not all, u-blox modules include pull ups on the I2C lines (sometimes called DDC in their manuals). Cut all I2C pull up jumpers and/or remove them from peripheral boards. Otherwise, various data glitches can occur. See issues [38](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/38) and [40](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40) for more information. If possible, run the I2C bus at 100kHz.
+
+-------------------
+
+Want to help? Please do! We are always looking for ways to improve and build out features of this library.
+
+* We are always interested in adding SPI support with a checkUbloxSPI() function
+
+Thanks to:
+
+* [trycoon](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/pull/7) for fixing the lack of I2C buffer length defines.
+* [tve](https://github.com/tve) for building out serial additions and examples.
+* [Redstoned](https://github.com/Redstoned) and [davidallenmann](https://github.com/davidallenmann) for adding PVT date and time.
+* [wittend](https://forum.sparkfun.com/viewtopic.php?t=49874) for pointing out the RTCM print bug.
+* Big thanks to [PaulZC](https://github.com/PaulZC) for implementing the combined key ValSet method, geofence functions, better saveConfig handling, as well as a bunch of small fixes.
+* [RollieRowland](https://github.com/RollieRowland) for adding HPPOSLLH (High Precision Geodetic Position).
+* [tedder](https://github.com/tedder) for moving iTOW to PVT instead of HPPOS and comment cleanup.
+* [grexjmo](https://github.com/grexjmo) for pushing for a better NMEA sentence configuration method.
+* [averywallis](https://github.com/averywallis) for adding good comments to the various constants.
+* [blazczak](https://github.com/blazczak) and [geeksville](https://github.com/geeksville) for adding support for the series 6 and 7 modules.
+* [bjorn@unsurv](https://github.com/unsurv) for adding powerOff and powerOffWithInterrupt.
+
+Need a Python version for Raspberry Pi? Checkout the [Qwiic Ublox GPS Py module](https://github.com/sparkfun/Qwiic_Ublox_Gps_Py).
+
+Need a library for the Ublox and Particle? Checkout the [Particle library](https://github.com/aseelye/SparkFun_Ublox_Particle_Library) fork.
+
+Repository Contents
+-------------------
+
+* **/examples** - Example sketches for the library (.ino). Run these from the Arduino IDE.
+* **/src** - Source files for the library (.cpp, .h).
+* **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE.
+* **library.properties** - General library properties for the Arduino package manager.
+
+Documentation
+--------------
+
+* **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library.
+
+Polling vs. Auto-Reporting
+--------------------------
+
+This library supports two modes of operation for getting navigation information with the `getPVT`
+function (based on the `UBX_NAV_PVT` protocol packet): polling and auto-reporting.
+
+The standard method is for the sketch to call `getPVT` (or one of the `getLatitude`, `getLongitude`,
+etc. methods) when it needs a fresh navigation solution. At that point the library sends a request
+to the GPS to produce a fresh solution. The GPS then waits until the next measurement occurs (e.g.
+once per second or as set using `setNavigationFrequency`) and then sends the fresh data.
+The advantage of this method is that the data received is always fresh, the downside is that getPVT
+can block until the next measurement is made by the GPS, e.g. up to 1 second if the nav frequency is
+set to one second.
+
+An alternate method can be chosen using `setAutoPVT(true)` which instructs the GPS to send the
+navigation information (`UBX_NAV_PVT` packet) as soon as it is produced. This is the way the older
+NMEA navigation data has been used for years. The sketch continues to call `getPVT` as before but
+under the hood the library returns the data of the last solution received from the GPS, which may be
+a bit out of date (how much depends on the `setNavigationFrequency` value).
+
+The advantage of this method is that getPVT does not block: it returns true if new data is available
+and false otherwise. The disadvantages are that the data may be a bit old and that buffering for
+these spontaneus `UBX_NAV_PVT` packets is required (100 bytes each). When using Serial the buffering
+is an issue because the std serial buffer is 32 or 64 bytes long depending on Arduino version. When
+using I2C the buffering is not an issue because the GPS device has at least 1KB of internal buffering
+(possibly as large as 4KB).
+
+As an example, assume that the GPS is set to produce 5 navigation
+solutions per second and that the sketch only calls getPVT once a second, then the GPS will queue 5
+packets in its internal buffer (about 500 bytes) and the library will read those when getPVT is
+called, update its internal copy of the nav data 5 times, and return `true` to the sketch. The
+sketch calls `getLatitude`, etc. and retrieve the data of the most recent of those 5 packets.
+
+Products That Use This Library
+---------------------------------
+* [GPS-16481](https://www.sparkfun.com/products/16481) - SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic)
+* [GPS-15136](https://www.sparkfun.com/products/15136) - SparkFun GPS-RTK2 Board - ZED-F9P (Qwiic)
+* [GPS-15005](https://www.sparkfun.com/products/15005) - SparkFun GPS-RTK Board - NEO-M8P-2 (Qwiic)
+* [GPS-15210](https://www.sparkfun.com/products/15210) - SparkFun GPS Breakout - Chip Antenna, SAM-M8Q (Qwiic)
+* [GPS-15193](https://www.sparkfun.com/products/15193) - SparkFun GPS Breakout - Chip Antenna, ZOE-M8Q (Qwiic)
+* [GPS-15733](https://www.sparkfun.com/products/15733) - SparkFun GPS Breakout - NEO-M9N, Chip Antenna (Qwiic)
+* [GPS-15712](https://www.sparkfun.com/products/15712) - SparkFun GPS Breakout - NEO-M9N, U.FL (Qwiic)
+* [GPS-16329](https://www.sparkfun.com/products/16329) - SparkFun GPS Dead Reckoning Breakout - NEO-M8U (Qwiic)
+* [SPX-14980](https://www.sparkfun.com/products/14980) - SparkX GPS-RTK Black
+* [SPX-15106](https://www.sparkfun.com/products/15106) - SparkX SAM-M8Q
+
+License Information
+-------------------
+
+This product is _**open source**_!
+
+Various bits of the code have different licenses applied. Anything SparkFun wrote is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round!
+
+Please use, reuse, and modify these files as you see fit. Please maintain attribution to SparkFun Electronics and release anything derivative under the same license.
+
+Distributed as-is; no warranty is given.
+
+- Your friends at SparkFun.
diff --git a/serial/SparkFun_Ublox_Arduino_Library/Theory.md b/serial/SparkFun_Ublox_Arduino_Library/Theory.md
new file mode 100644
index 0000000..2153f64
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/Theory.md
@@ -0,0 +1,32 @@
+How I2C (aka DDC) communication works with a uBlox module
+===========================================================
+
+When the user calls one of the methods the library will poll the Ublox module for new data.
+
+* Wait for a minimum of 25 ms between polls (configured dynamically when update rate is set)
+* Write 0xFD to module
+* Read two bytes (0xFD and 0xFE) for bytes available
+* If 0x7F or 0xFF then no bytes are available
+* Otherwise, read number of bytes and process into NMEA, UBX, or RTCM frame.
+* If checksum is valid, flag frame as complete.
+
+This library was originally written to use the I2C interface but Serial has been implemented as well.
+
+How data is processed by this library
+===========================================================
+
+A method will call **sendCommand()**. This will begin waiting for a response with either **waitForACKResponse()** or **waitForNoACKResponse()** depending on the command we have sent (CFG commands generate an ACK where others like PVT do not).
+
+Once **waitForACKResponse()** or **waitForNoACKResponse()** is called the library will start checking the ublox module for new bytes. These bytes may be part of a NMEA sentence, an RTCM sentence, or a UBX packet. The library will file each byte into the appropriate container. Once a given sentence or packet is complete, the appropriate processUBX(), processNMEA() will be called. These functions deal with specific processing for each type.
+
+Note: When interfacing to a ublox module over I2C **checkUbloxI2C()** will read all bytes currently sitting in the I2C buffer. This may pick up multiple UBX packets. For example, an ACK for a VALSET may be mixed in with an auto-PVT response. We cannot tell **checkUbloxI2C()** to stop once a given ACK is found because we run the risk of leaving bytes in the I2C buffer and losing them. We don't have this issue with **checkUbloxSerial()**.
+
+**processUBX()** will check the CRC of the UBX packet. If validated, the packet will be marked as valid. Once a packet is marked as valid then **processUBXpacket()** is called to extract the contents. This is most commonly used to get the position, velocity, and time (PVT) out of the packet but is also used to check the nature of an ACK packet.
+
+Once a packet has been processed, **waitForACKResponse()/waitForNoACKResponse()** makes the appropriate decision what to do with it. If a packet satisfies the CLS/ID and characteristics of what **waitForACKResponse()/waitForNoACKResponse()** is waiting for, then it returns back to sendCommand. If the packet didn't match or was invalid then **waitForACKResponse()/waitForNoACKResponse()** will continue to wait until the correct packet is received or we time out. **sendCommand()** then returns with a value from the **sfe_ublox_status_e** enum depending on the success of **waitForACKResponse()/waitForNoACKResponse()**.
+
+If we are getting / polling data from the module, **sendCommand()** will return **SFE_UBLOX_STATUS_DATA_RECEIVED** if the get was successful.
+
+If we are setting / writing data to the module, **sendCommand()** will return **SFE_UBLOX_STATUS_DATA_SENT** if the set was successful.
+
+There are circumstances where the library can get the data it is expecting from the module, but it is overwritten (e.g. by an auto-PVT packet) before **sendCommand()** is able to return. In this case, **sendCommand()** will return the error **SFE_UBLOX_STATUS_DATA_OVERWRITTEN**. We should simply call the library function again, but we will need to reset the packet contents first as they will indeed have been overwritten as the error implies.
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino
new file mode 100644
index 0000000..cb19a97
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino	
@@ -0,0 +1,66 @@
+/*
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: May, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the 
+  SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+
+  To take advantage of the internal IMU of either the Dead Reckoning GPS
+  boards (ZED-F9R, NEO-M8U), you must first calibrate it. This includes securing the GPS module
+  to your vehicle so that it is stable within 2 degrees and that the frame of
+  reference of the board is consistent with the picture outlined in the
+  Receiver-Description-Prot-Spec Datasheet under Automotive/Untethered Dead
+  Reckoning. You may also check either the ZED-F9R or NEO-M8U Hookup Guide for
+  more information. After the board is secure, you'll need to put the module
+  through certain conditions for proper calibration: acceleration, turning,
+  stopping for a few minutes, getting to a speed over 30km/h all under a clear sky 
+  with good GNSS signal. This example simply looks at the
+  "fusionMode" status which indicates whether the SparkFun Dead Reckoning is
+  not-calibrated - 0, or calibrated - 1.  
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+}
+
+void loop()
+{
+
+  if (myGPS.getEsfInfo()){
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+    if (myGPS.imuMeas.fusionMode == 1)
+      Serial.println(F("Sensor is calibrated!"));  
+  }
+
+  delay(250);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino
new file mode 100644
index 0000000..f7c62a0
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino	
@@ -0,0 +1,84 @@
+/*
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: May, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the 
+	SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+
+	After calibrating the module, also known as "Fusion Mode", you can get
+	data directly from the IMU. This data is integrated directly into the GNSS
+	output, but is provided by the module as well. 
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  if (myGPS.getEsfInfo()){
+
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+
+  if (myGPS.getEsfIns())
+  {
+    Serial.print(F("X: "));
+    Serial.println(myGPS.imuMeas.xAngRate);  
+    Serial.print(F("Y: "));
+    Serial.println(myGPS.imuMeas.yAngRate);  
+    Serial.print(F("Z: "));
+    Serial.println(myGPS.imuMeas.zAngRate);  
+    Serial.print(F("X Acceleration: "));
+    Serial.println(myGPS.imuMeas.xAccel);  
+    Serial.print(F("Y Acceleration: "));
+    Serial.println(myGPS.imuMeas.yAccel);  
+    Serial.print(F("Z Acceleration: "));
+    Serial.println(myGPS.imuMeas.zAccel);  
+		// These values also have "validity checks" that can be provided by the
+		// ublox library, add "Vald" to values: e.g. xAngRateVald or xAccelVald. 
+  }
+
+  delay(250);
+}
+
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino
new file mode 100644
index 0000000..ba89587
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino	
@@ -0,0 +1,97 @@
+/*
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: May, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the 
+	SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+
+	After calibrating the module, also known as "Fusion Mode", you can get
+	data directly from the IMU. This example code walks you through trouble
+  shooting or identifying the different states of any individual  
+  "external" (which include internal) sensors you've hooked up (vehicle speed
+  sensor) or the internal IMU used by the modules. You can see if the sensor is
+  being used, if it's calibrated, ready, what data type it returns, the state
+  of the measurement etc.
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+	// GetEsfInfo also gets the number of sensors used by the ublox module, this
+	// includes (in the case of the ZED-F9R) wheel tick input from the vehicle
+	// speed sensor attached to the module. 
+  if (myGPS.getEsfInfo()){
+
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+
+	for(int i=1; i<=myGPS.ubloxSen.numSens; i++){
+		myGPS.getSensState(i); // Give the sensor you want to check on. 
+		Serial.print(F("Sensor Data Type: ")); //See ublox receiver description
+                                       //or our hookup guide for information on the
+                                       //return value.
+		Serial.println(myGPS.ubloxSen.senType);
+		Serial.print(F("Being Used: ")); 
+    Serial.println(myGPS.ubloxSen.isUsed);
+		Serial.print(F("Is Ready: ")); 
+    Serial.println(myGPS.ubloxSen.isReady);
+		Serial.print(F("Calibration Status: ")); 
+    Serial.println(myGPS.ubloxSen.calibStatus);
+		Serial.print(F("Time Status: ")); 
+    Serial.println(myGPS.ubloxSen.timeStatus);
+		Serial.print(F("Bad Measure: ")); 
+    Serial.println(myGPS.ubloxSen.timeStatus);
+		Serial.print(F("Bad Time Tag: ")); 
+    Serial.println(myGPS.ubloxSen.badTag);
+		Serial.print(F("Missed Measure : ")); 
+    Serial.println(myGPS.ubloxSen.missMeas);
+		Serial.print(F("Noisy Measure: ")); 
+    Serial.println(myGPS.ubloxSen.noisyMeas);
+	}
+
+}
+
+
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino
new file mode 100644
index 0000000..562632c
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino	
@@ -0,0 +1,82 @@
+/*
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: May, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the 
+	SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+
+	After calibrating the module and securing it to your vehicle such that it's
+  stable within 2 degrees, and the board is oriented correctly with regards to
+  the vehicle's frame, you can now read the vehicle's "attitude". The attitude
+  includes the vehicle's heading, pitch, and roll. You can also check the
+  accuracy of those readings. 
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  if (myGPS.getEsfInfo()){
+
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+		myGPS.getVehAtt(); // Give the sensor you want to check on. 
+		Serial.print(F("Roll: ")); 
+		Serial.println(myGPS.vehAtt.roll);
+		Serial.print(F("Pitch: ")); 
+		Serial.println(myGPS.vehAtt.pitch);
+		Serial.print(F("Heading: ")); 
+		Serial.println(myGPS.vehAtt.heading);
+		Serial.print(F("Roll Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accRoll);
+		Serial.print(F("Pitch Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accPitch);
+		Serial.print(F("Heading Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accHeading);
+
+    delay(250);
+}
+
+
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example10_AltitudeMSL/Example10_AltitudeMSL.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example10_AltitudeMSL/Example10_AltitudeMSL.ino
new file mode 100644
index 0000000..fec2d09
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example10_AltitudeMSL/Example10_AltitudeMSL.ino
@@ -0,0 +1,82 @@
+/*
+  Reading two altitudes - Mean Sea Level and Ellipsode
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for its lat/long/altitude. 
+
+  getAltitude() reports mm above ellipsode model of the globe. There are some
+  instances where altitude above Mean Sea Level is better. This example shows how 
+  to use getAltitudeMSL(). The difference varies but is ~20m.
+  Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html
+  Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/
+  
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Tracks the passing of 2000ms (2 seconds)
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    long altitudeMSL = myGPS.getAltitudeMSL();
+    Serial.print(F(" AltMSL: "));
+    Serial.print(altitudeMSL);
+    Serial.print(F(" (mm)"));
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example1_FactoryDefaultviaI2C/Example1_FactoryDefaultviaI2C.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example1_FactoryDefaultviaI2C/Example1_FactoryDefaultviaI2C.ino
new file mode 100644
index 0000000..64d823d
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example1_FactoryDefaultviaI2C/Example1_FactoryDefaultviaI2C.ino
@@ -0,0 +1,58 @@
+/*
+  Send command to reset module over I2C
+  By: Nathan Seidle
+  Date: January 29rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to reset the U-Blox module to factory defaults over I2C.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Connect the U-Blox serial port to Serial1
+  If you're using an Uno or don't have a 2nd serial port (Serial1), consider using software serial
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  while (Serial.available()) Serial.read(); //Trash any incoming chars
+  Serial.println("Press a key to reset module to factory defaults");
+  while (Serial.available() == false) ; //Wait for user to send character
+
+  myGPS.factoryReset(); //Reset everything: baud rate, I2C address, update rate, everything.
+
+  if (myGPS.begin() == false) //Attempt to re-connect
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  Serial.println("Unit has now been factory reset. Freezing...");
+  while(1);
+}
+
+void loop()
+{
+
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example2_FactoryDefaultsviaSerial/Example2_FactoryDefaultsviaSerial.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example2_FactoryDefaultsviaSerial/Example2_FactoryDefaultsviaSerial.ino
new file mode 100644
index 0000000..7314124
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example11_ResetModule/Example2_FactoryDefaultsviaSerial/Example2_FactoryDefaultsviaSerial.ino
@@ -0,0 +1,95 @@
+/*
+  Test baud rate changes on serial, factory reset, and hard reset.
+  By: Thorsten von Eicken
+  Date: January 29rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to reset the U-Blox module to factory defaults over serial.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Connect the U-Blox serial port to Serial1
+  If you're using an Uno or don't have a 2nd serial port (Serial1), consider using software serial
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+int state = 0; // steps through auto-baud, reset, etc states
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+}
+
+void loop()
+{
+    Serial.print("===== STATE ");
+    Serial.println(state);
+    switch (state) {
+    case 0: // auto-baud connection, then switch to 38400 and save config
+        do {
+            Serial.println("GPS: trying 38400 baud");
+            Serial1.begin(38400);
+            if (myGPS.begin(Serial1)) break;
+
+            delay(100);
+            Serial.println("GPS: trying 9600 baud");
+            Serial1.begin(9600);
+            if (myGPS.begin(Serial1)) {
+                Serial.println("GPS: connected at 9600 baud, switching to 38400");
+                myGPS.setSerialRate(38400);
+                delay(100);
+            } else {
+                delay(2000); //Wait a bit before trying again to limit the Serial output flood
+            }
+        } while(1);
+        myGPS.setUART1Output(COM_TYPE_UBX); //Set the UART port to output UBX only
+        myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+        Serial.println("GPS serial connected, saved config");
+        state++;
+        break;
+    case 1: // hardReset, expect to see GPS back at 38400 baud
+        Serial.println("Issuing hardReset (cold start)");
+        myGPS.hardReset();
+        delay(1000);
+        Serial1.begin(38400);
+        if (myGPS.begin(Serial1)) {
+            Serial.println("Success.");
+            state++;
+        } else {
+            Serial.println("*** GPS did not respond at 38400 baud, starting over.");
+            state = 0;
+        }
+        break;
+    case 2: // factoryReset, expect to see GPS back at 9600 baud
+        Serial.println("Issuing factoryReset");
+        myGPS.factoryReset();
+        delay(2000); // takes more than one second... a loop to resync would be best
+        Serial1.begin(9600);
+        if (myGPS.begin(Serial1)) {
+            Serial.println("Success.");
+            state++;
+        } else {
+            Serial.println("*** GPS did not come back at 9600 baud, starting over.");
+            state = 0;
+        }
+        break;
+    case 3: // print version info
+        Serial.print("GPS protocol version: ");
+        Serial.print(myGPS.getProtocolVersionHigh());
+        Serial.print('.');
+        Serial.print(myGPS.getProtocolVersionLow());
+        state = 0;
+    }
+    delay(1000);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example12_UseUart/Example12_UseUart.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example12_UseUart/Example12_UseUart.ino
new file mode 100644
index 0000000..af8ad74
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example12_UseUart/Example12_UseUart.ino
@@ -0,0 +1,98 @@
+/*
+  Reading lat and long via UBX binary commands using UART @38400 baud - free from I2C
+  By: Nathan Seidle, Adapted from Example3_GetPosition by Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 28rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the library and U-Blox for serial port use as well as
+  switching the module from the default 9600 baud to 38400.
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We 
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Connect the U-Blox serial TX pin to Uno pin 10
+  Connect the U-Blox serial RX pin to Uno pin 11
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+#include <SoftwareSerial.h>
+SoftwareSerial mySerial(10, 11); // RX, TX. Pin 10 on Uno goes to TX pin on GPS module.
+
+long lastTime = 0; //Simple local timer. Limits amount of I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  //Assume that the U-Blox GPS is running at 9600 baud (the default) or at 38400 baud.
+  //Loop until we're in sync and then ensure it's at 38400 baud.
+  do {
+    Serial.println("GPS: trying 38400 baud");
+    mySerial.begin(38400);
+    if (myGPS.begin(mySerial) == true) break;
+
+    delay(100);
+    Serial.println("GPS: trying 9600 baud");
+    mySerial.begin(9600);
+    if (myGPS.begin(mySerial) == true) {
+        Serial.println("GPS: connected at 9600 baud, switching to 38400");
+        myGPS.setSerialRate(38400);
+        delay(100);
+    } else {
+        //myGPS.factoryReset();
+        delay(2000); //Wait a bit before trying again to limit the Serial output
+    }
+  } while(1);
+  Serial.println("GPS serial connected");
+
+  myGPS.setUART1Output(COM_TYPE_UBX); //Set the UART port to output UBX only
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino
new file mode 100644
index 0000000..28ffa26
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino
@@ -0,0 +1,88 @@
+/*
+  Configuring the GPS to automatically send position reports over I2C
+  By: Nathan Seidle and Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the U-Blox GPS the send navigation reports automatically
+  and retrieving the latest one via getPVT. This eliminates the blocking in getPVT while the GPS
+  produces a fresh navigation solution at the expense of returning a slighly old solution.
+
+  This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+  simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
+  size?) where it can be retrieved in the next I2C poll.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.setNavigationFrequency(2); //Produce two solutions per second
+  myGPS.setAutoPVT(true); //Tell the GPS to "send" each solution
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGPS.getPVT())
+  {
+    Serial.println();
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    int PDOP = myGPS.getPDOP();
+    Serial.print(F(" PDOP: "));
+    Serial.print(PDOP);
+    Serial.print(F(" (10^-2)"));    
+
+    Serial.println();
+  } else {
+    Serial.print(".");
+    delay(50);
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example2_AutoPVT_ExplicitUpdate/Example2_AutoPVT_ExplicitUpdate.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example2_AutoPVT_ExplicitUpdate/Example2_AutoPVT_ExplicitUpdate.ino
new file mode 100644
index 0000000..5b5fb32
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example2_AutoPVT_ExplicitUpdate/Example2_AutoPVT_ExplicitUpdate.ino
@@ -0,0 +1,103 @@
+/*
+  Configuring the GPS to automatically send position reports over I2C, with explicit data parsing calls
+  By: Nathan Seidle Thorsten von Eicken and Felix Jirka
+  SparkFun Electronics
+  Date: July 1st, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the U-Blox GPS the send navigation reports automatically
+  and retrieving the latest one via checkUblox when available.
+  This eliminates the implicit update in getPVT when accessing data fields twice.
+  Also this reduces the memory overhead of a separate buffer while introducing a slight error by inconsistencies because of the unsynchronized updates (on a multi core system).
+
+  This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+  simply outputs the UBX_NAV_PVT packet. With I2C it queues it into its internal I2C buffer (4KB in
+  size?) where it can be retrieved in the next I2C poll.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.setNavigationFrequency(2);  //Produce two solutions per second
+  myGPS.setAutoPVT(true, false);    //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+}
+
+/*
+     Calling getPVT would return false now (compare to previous example where it would return true), so we just use the data provided
+     If you are using a threaded OS eg. FreeRTOS on an ESP32, the explicit mode of autoPVT allows you to use the data provided on both cores and inside multiple threads
+     The data update in background creates an inconsistent state, but that should not cause issues for most applications as they usually won't change the GPS location significantly within a 2Hz - 5Hz update rate.
+     Also you could oversample (10Hz - 20Hz) the data to smooth out such issues...
+*/
+void loop()
+{
+  static uint16_t counter = 0;
+
+  if (counter % 10 == 0)
+  {
+    // update your AHRS filter here for a ~100Hz update rate
+    // GPS data will be quasi static but data from your IMU will be changing
+  }
+  // debug output each half second
+  if (counter % 500 == 0)
+  {
+    Serial.println();
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+  }
+  // call checkUblox all 50ms to capture the gps data
+  if (counter % 50 == 0)
+  {
+    myGPS.checkUblox();
+  }
+  delay(1);
+  counter++;
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example3_AssumeAutoPVTviaUart/Example3_AssumeAutoPVTviaUart.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example3_AssumeAutoPVTviaUart/Example3_AssumeAutoPVTviaUart.ino
new file mode 100644
index 0000000..ce9a74b
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example13_PVT/Example3_AssumeAutoPVTviaUart/Example3_AssumeAutoPVTviaUart.ino
@@ -0,0 +1,79 @@
+/*
+  Reading lat and long via UBX binary commands using an RX-only UART
+  By: Nathan Seidle, Adapted from Example11 by Felix Jirka
+  SparkFun Electronics
+  Date: July 2nd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the library for serial port use with a single wire connection using the assumeAutoPVT method.
+  Saving your pins for other stuff :-)
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Preconditions:
+  U-Blox module is configured to send cyclical PVT message
+  Hardware Connections:
+  Connect the U-Blox serial TX pin to Rx of Serial2 (default: GPIO16) on your ESP32
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example 17");
+
+  //Use any Serial port with at least a Rx Pin connected or a receive only version of SoftwareSerial here
+  //Assume that the U-Blox GPS is running at 9600 baud (the default)
+  Serial2.begin(9600);
+  // no need to check return value as internal call to isConnected() will not succeed
+  myGPS.begin(Serial2);
+
+  // tell lib, we are expecting the module to send PVT messages by itself to our Rx pin
+  // you can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call checkUblox cyclically)
+  myGPS.assumeAutoPVT(true, true);
+
+}
+
+void loop()
+{
+  // if implicit updates are allowed, this will trigger parsing the incoming messages
+  // and be true once a PVT message has been parsed
+  // In case you want to use explicit updates, wrap this in a timer and call checkUblox as often as needed, not to overflow your UART buffers
+  if (myGPS.getPVT())
+  {
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+  }
+  else {
+    Serial.println(F("Wait for GPS data"));
+    delay(500);
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example14_DebugOutput/Example14_DebugOutput.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example14_DebugOutput/Example14_DebugOutput.ino
new file mode 100644
index 0000000..b35ed53
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example14_DebugOutput/Example14_DebugOutput.ino
@@ -0,0 +1,93 @@
+/*
+  Reading lat and long via UBX binary commands using UART @38400 baud - free from I2C
+  By: Nathan Seidle, Adapted from Example3_GetPosition by Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 28rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the debug output from the library.
+  Debug shows various packet and status outputs. These prints can be directed
+  towards Serial (as in Serial.print) or any other port (Serial1, SerialUSB, etc).
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Connect the U-Blox serial TX pin to Uno pin 10
+  Connect the U-Blox serial RX pin to Uno pin 11
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+  //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
+
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.println(myGPS.getSecond());
+    
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example15_GetDateTime/Example15_GetDateTime.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example15_GetDateTime/Example15_GetDateTime.ino
new file mode 100644
index 0000000..096d9bb
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example15_GetDateTime/Example15_GetDateTime.ino
@@ -0,0 +1,107 @@
+/*
+  Getting time and date using Ublox commands
+  By: davidallenmann
+  SparkFun Electronics
+  Date: April 16th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for the current time and date. We also
+  turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
+  dramatically.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.print(myGPS.getSecond());
+
+    Serial.print("  Time is ");
+    if (myGPS.getTimeValid() == false)
+    {
+      Serial.print("not ");
+    }
+    Serial.print("valid  Date is ");
+    if (myGPS.getDateValid() == false)
+    {
+      Serial.print("not ");
+    }
+    Serial.print("valid");
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino
new file mode 100644
index 0000000..3862c6d
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino
@@ -0,0 +1,106 @@
+/*
+  Getting time and date using Ublox commands
+  By: davidallenmann
+  SparkFun Electronics
+  Date: April 16th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for the current time and date. We also
+  turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic
+  dramatically.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(500000); //Increase serial speed to maximize
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000);
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+
+  //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+
+  myGPS.setNavigationFrequency(10);           //Set output to 10 times a second
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate:");
+  Serial.println(rate);
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGPS.getPVT())
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print(" ");
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.print(myGPS.getSecond());
+    Serial.print(".");
+    Serial.print(myGPS.getNanosecond());
+
+    myGPS.flushPVT();
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino
new file mode 100644
index 0000000..45c226f
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino
@@ -0,0 +1,116 @@
+/*
+  Getting time and date using Ublox commands
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: April 16th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to use the Millisecond and Nanosecond output as well as increase the
+  I2C speed (100 to 400kHz), and serial output (115200 to 500kbps).
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(500000); //Increase serial speed to maximize
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000);
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+
+  myGPS.setNavigationFrequency(10);           //Set output to 10 times a second
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate:");
+  Serial.println(rate);
+
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  pinMode(2, OUTPUT); //For debug capture
+  digitalWrite(2, HIGH);
+}
+
+void loop()
+{
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGPS.getPVT())
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.print(" ");
+    Serial.print(myGPS.getYear());
+    Serial.print("-");
+    Serial.print(myGPS.getMonth());
+    Serial.print("-");
+    Serial.print(myGPS.getDay());
+    Serial.print(" ");
+    Serial.print(myGPS.getHour());
+    Serial.print(":");
+    Serial.print(myGPS.getMinute());
+    Serial.print(":");
+    Serial.print(myGPS.getSecond());
+    Serial.print(".");
+    //Pretty print leading zeros
+    int mseconds = myGPS.getMillisecond();
+    if (mseconds < 100)
+      Serial.print("0");
+    if (mseconds < 10)
+      Serial.print("0");
+    Serial.print(mseconds);
+
+    Serial.print(" nanoSeconds: ");
+    Serial.print(myGPS.getNanosecond());
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example17_Geofence/Example17_Geofence.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example17_Geofence/Example17_Geofence.ino
new file mode 100644
index 0000000..619b3e4
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example17_Geofence/Example17_Geofence.ino
@@ -0,0 +1,169 @@
+/*
+  u-blox M8 geofence example
+
+  Written by Paul Clark (PaulZC)
+  10th December 2019
+
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example demonstrates how to use the addGeofence and getGeofenceState functions
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15210
+  ZOE-M8Q: https://www.sparkfun.com/products/15193
+
+  This example powers up the GPS and reads the fix.
+  Once a valid 3D fix has been found, the code reads the latitude and longitude.
+  The code then sets four geofences around that position with a radii of 5m, 10m, 15m and 20m with 95% confidence.
+  The code then monitors the geofence status.
+  The LED will be illuminated if you are inside the _combined_ geofence (i.e. within the 20m radius).
+
+  This code has been tested on the ZOE-M8Q.
+*/
+
+#define LED LED_BUILTIN // Change this if your LED is on a different pin
+
+#include <Wire.h> // Needed for I2C
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  pinMode(LED, OUTPUT);
+
+  // Set up the I2C pins
+  Wire.begin();
+
+  // Start the console serial port
+  Serial.begin(115200);
+  while (!Serial); // Wait for the user to open the serial monitor
+  delay(100);
+  Serial.println();
+  Serial.println();
+  Serial.println(F("u-blox M8 geofence example"));
+  Serial.println();
+  Serial.println();
+
+  delay(1000); // Let the GPS power up
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  //myGPS.enableDebugging(); // Enable debug messages
+  myGPS.setI2COutput(COM_TYPE_UBX); // Limit I2C output to UBX (disable the NMEA noise)
+
+  Serial.println(F("Waiting for a 3D fix..."));
+
+  byte fixType = 0;
+
+  while (fixType < 3)
+  {
+    fixType = myGPS.getFixType(); // Get the fix type
+    Serial.print(F("Fix: ")); // Print it
+    Serial.print(fixType);
+    if(fixType == 0) Serial.print(F(" = No fix"));
+    else if(fixType == 1) Serial.print(F(" = Dead reckoning"));
+    else if(fixType == 2) Serial.print(F(" = 2D"));
+    else if(fixType == 3) Serial.print(F(" = 3D"));
+    else if(fixType == 4) Serial.print(F(" = GNSS + Dead reckoning"));
+    else if(fixType == 5) Serial.print(F(" = Time only"));
+    Serial.println();
+    delay(1000);
+  }
+
+  Serial.println(F("3D fix found!"));
+
+  long latitude = myGPS.getLatitude(); // Get the latitude in degrees * 10^-7
+  Serial.print(F("Lat: "));
+  Serial.print(latitude);
+
+  long longitude = myGPS.getLongitude(); // Get the longitude in degrees * 10^-7
+  Serial.print(F("   Long: "));
+  Serial.println(longitude);
+
+  uint32_t radius = 500; // Set the radius to 5m (radius is in m * 10^-2 i.e. cm)
+
+  byte confidence = 2; // Set the confidence level: 0=none, 1=68%, 2=95%, 3=99.7%, 4=99.99%
+
+  // Call clearGeofences() to clear all existing geofences.
+  Serial.print(F("Clearing any existing geofences. clearGeofences returned: "));
+  Serial.println(myGPS.clearGeofences());
+
+  // It is possible to define up to four geofences.
+  // Call addGeofence up to four times to define them.
+  Serial.println(F("Setting the geofences:"));
+
+  Serial.print(F("addGeofence for geofence 1 returned: "));
+  Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
+
+  radius = 1000; // 10m
+  Serial.print(F("addGeofence for geofence 2 returned: "));
+  Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
+
+  radius = 1500; // 15m
+  Serial.print(F("addGeofence for geofence 3 returned: "));
+  Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
+
+  radius = 2000; // 20m
+  Serial.print(F("addGeofence for geofence 4 returned: "));
+  Serial.println(myGPS.addGeofence(latitude, longitude, radius, confidence));
+}
+
+void loop()
+{
+  geofenceState currentGeofenceState; // Create storage for the geofence state
+
+  boolean result = myGPS.getGeofenceState(currentGeofenceState);
+
+  Serial.print(F("getGeofenceState returned: ")); // Print the combined state
+  Serial.print(result); // Get the geofence state
+
+  if (!result) // If getGeofenceState did not return true
+  {
+    Serial.println(F(".")); // Tidy up
+    return; // and go round the loop again
+  }
+
+  Serial.print(F(". status is: ")); // Print the status
+  Serial.print(currentGeofenceState.status);
+
+  Serial.print(F(". numFences is: ")); // Print the numFences
+  Serial.print(currentGeofenceState.numFences);
+
+  Serial.print(F(". combState is: ")); // Print the combined state
+  Serial.print(currentGeofenceState.combState);
+
+  if (currentGeofenceState.combState == 0)
+  {
+    Serial.print(F(" = Unknown"));
+    digitalWrite(LED, LOW);
+  }
+  if (currentGeofenceState.combState == 1)
+  {
+    Serial.print(F(" = Inside"));
+    digitalWrite(LED, HIGH);
+  }
+  else if (currentGeofenceState.combState == 2)
+  {
+    Serial.print(F(" = Outside"));
+    digitalWrite(LED, LOW);
+  }
+
+  Serial.print(F(". The individual states are: ")); // Print the state of each geofence
+  for(int i = 0; i < currentGeofenceState.numFences; i++)
+  {
+    if (i > 0) Serial.print(F(","));
+    Serial.print(currentGeofenceState.states[i]);
+  }
+  Serial.println();
+
+  delay(1000);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino
new file mode 100644
index 0000000..49a479d
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino
@@ -0,0 +1,163 @@
+/*
+  Power Save Mode
+  By: Paul Clark (PaulZC)
+  Date: April 22nd, 2020
+
+  Based extensively on Example3_GetPosition
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to put the Ublox module into power save mode and then
+  query its lat/long/altitude. We also turn off the NMEA output on the I2C port.
+  This decreases the amount of I2C traffic dramatically.
+
+  ** When it is able to ** the module will reduce its current draw.
+  For the ZOE-M8Q with a passive antenna, you should see the current drop
+  from (approx.) 25-28mA to (approx.) 9mA when power save mode kicks in.
+
+  Note: this will fail on the ZED (protocol version >= 27) as UBX-CFG-RXM is not supported
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  //myGPS.saveConfiguration(); //Uncomment this line to save the current settings to flash and BBR
+
+  Serial.println("Power save example.");
+  Serial.println("1) Enable power saving");
+  Serial.println("2) Disable power saving");
+}
+
+void loop()
+{
+  if (Serial.available())
+  {
+    byte incoming = Serial.read();
+
+    if (incoming == '1')
+    {
+      // Put the GNSS into power save mode
+      // (If you want to disable power save mode, call myGPS.powerSaveMode(false) instead)
+      // This will fail on the ZED (protocol version >= 27) as UBX-CFG-RXM is not supported
+      if (myGPS.powerSaveMode()) // Defaults to true
+        Serial.println(F("Power Save Mode enabled."));
+      else
+        Serial.println(F("***!!! Power Save Mode FAILED !!!***"));
+    }
+    else if (incoming == '2')
+    {
+      //Go to normal power mode (not power saving mode)
+      if (myGPS.powerSaveMode(false))
+        Serial.println(F("Power Save Mode disabled."));
+      else
+        Serial.println(F("***!!! Power Save Disable FAILED !!!***"));
+    }
+
+    // Read and print the new low power mode
+    uint8_t lowPowerMode = myGPS.getPowerSaveMode();
+    if (lowPowerMode == 255)
+    {
+      Serial.println(F("***!!! getPowerSaveMode FAILED !!!***"));
+    }
+    else
+    {
+      Serial.print(F("The low power mode is: "));
+      Serial.print(lowPowerMode);
+      if (lowPowerMode == 0)
+      {
+        Serial.println(F(" (Continuous)"));
+      }
+      else if (lowPowerMode == 1)
+      {
+        Serial.println(F(" (Power Save)"));
+      }
+      else if (lowPowerMode == 4)
+      {
+        Serial.println(F(" (Continuous)"));
+      }
+      else
+      {
+        Serial.println(F(" (Unknown!)"));
+      }
+    }
+  }
+
+  //Query module every 10 seconds so it is easier to monitor the current draw
+  if (millis() - lastTime > 10000)
+  {
+    lastTime = millis(); //Update the timer
+
+    byte fixType = myGPS.getFixType(); // Get the fix type
+    Serial.print(F("Fix: "));
+    Serial.print(fixType);
+    if (fixType == 0)
+      Serial.print(F("(No fix)"));
+    else if (fixType == 1)
+      Serial.print(F("(Dead reckoning)"));
+    else if (fixType == 2)
+      Serial.print(F("(2D)"));
+    else if (fixType == 3)
+      Serial.print(F("(3D)"));
+    else if (fixType == 4)
+      Serial.print(F("(GNSS + Dead reckoning)"));
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F(" Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example19_DynamicModel/Example19_DynamicModel.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example19_DynamicModel/Example19_DynamicModel.ino
new file mode 100644
index 0000000..de8a1df
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example19_DynamicModel/Example19_DynamicModel.ino
@@ -0,0 +1,117 @@
+/*
+  Set Dynamic Model
+  By: Paul Clark (PaulZC)
+  Date: April 22nd, 2020
+
+  Based extensively on Example3_GetPosition
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to change the Ublox module's dynamic platform model and then
+  query its lat/long/altitude. We also turn off the NMEA output on the I2C port.
+  This decreases the amount of I2C traffic dramatically.
+
+  Possible values for the dynamic model are: PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE,
+  SEA, AIRBORNE1g, AIRBORNE2g, AIRBORNE4g, WRIST, BIKE
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  // If we are going to change the dynamic platform model, let's do it here.
+  // Possible values are:
+  // PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE, SEA, AIRBORNE1g, AIRBORNE2g, AIRBORNE4g, WRIST, BIKE
+
+  if (myGPS.setDynamicModel(DYN_MODEL_PORTABLE) == false) // Set the dynamic model to PORTABLE
+  {
+    Serial.println(F("***!!! Warning: setDynamicModel failed !!!***"));
+  }
+  else
+  {
+    Serial.println(F("Dynamic platform model changed successfully!"));
+  }
+
+  // Let's read the new dynamic model to see if it worked
+  uint8_t newDynamicModel = myGPS.getDynamicModel();
+  if (newDynamicModel == 255)
+  {
+    Serial.println(F("***!!! Warning: getDynamicModel failed !!!***"));
+  }
+  else
+  {
+    Serial.print(F("The new dynamic model is: "));
+    Serial.println(newDynamicModel);
+  }
+
+  //myGPS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); //Uncomment this line to save only the NAV settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino
new file mode 100644
index 0000000..dd2c96c
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino
@@ -0,0 +1,51 @@
+/*
+  Read NMEA sentences over I2C using Ublox module SAM-M8Q, NEO-M8P, ZED-F9P, etc
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: August 22nd, 2018
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example reads the NMEA setences from the Ublox module over I2c and outputs
+  them to the serial port
+  
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  //This will pipe all NMEA sentences to the serial port so we can see them
+  myGPS.setNMEAOutputPort(Serial);
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  delay(250); //Don't pound too hard on the I2C bus
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino
new file mode 100644
index 0000000..d00e5d5
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino
@@ -0,0 +1,161 @@
+/*
+  Send Custom Command
+  By: Paul Clark (PaulZC)
+  Date: April 20th, 2020
+
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how you can create and send a custom UBX packet
+  using the SparkFun u-blox library.
+
+  Previously it was possible to create and send a custom packet
+  through the library but it would always appear to timeout as
+  some of the internal functions referred to the internal private
+  struct packetCfg.
+  The most recent version of the library allows sendCommand to
+  use a custom packet as if it were packetCfg and so:
+  - sendCommand will return a sfe_ublox_status_e enum as if
+    it had been called from within the library
+  - the custom packet will be updated with data returned by the module
+    (previously this was not possible from outside the library)
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#define NAV_RATE 20 // The new navigation rate in Hz (measurements per second)
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200); // You may need to increase this for high navigation rates!
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  // Let's configure the module's navigation rate as if we were using setNavigationFrequency
+
+  // Let's create our custom packet
+  uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
+  // The next line creates and initialises the packet information which wraps around the payload
+  ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+
+  // The structure of ubxPacket is:
+  // uint8_t cls           : The message Class
+  // uint8_t id            : The message ID
+  // uint16_t len          : Length of the payload. Does not include cls, id, or checksum bytes
+  // uint16_t counter      : Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
+  // uint16_t startingSpot : The counter value needed to go past before we begin recording into payload array
+  // uint8_t *payload      : The payload
+  // uint8_t checksumA     : Given to us by the module. Checked against the rolling calculated A/B checksums.
+  // uint8_t checksumB
+  // sfe_ublox_packet_validity_e valid            : Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
+  // sfe_ublox_packet_validity_e classAndIDmatch  : Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
+
+  // sendCommand will return:
+  // SFE_UBLOX_STATUS_DATA_RECEIVED if the data we requested was read / polled successfully
+  // SFE_UBLOX_STATUS_DATA_SENT     if the data we sent was writted successfully (ACK'd)
+  // Other values indicate errors. Please see the sfe_ublox_status_e enum for further details.
+
+  // Referring to the u-blox M8 Receiver Description and Protocol Specification we see that
+  // the navigation rate is configured using the UBX-CFG-RATE message. So let's load our
+  // custom packet with the correct information so we can read (poll / get) the current settings.
+
+  customCfg.cls = UBX_CLASS_CFG; // This is the message Class
+  customCfg.id = UBX_CFG_RATE; // This is the message ID
+  customCfg.len = 0; // Setting the len (length) to zero let's us poll the current settings
+  customCfg.startingSpot = 0; // Always set the startingSpot to zero (unless you really know what you are doing)
+
+  // We also need to tell sendCommand how long it should wait for a reply
+  uint16_t maxWait = 250; // Wait for up to 250ms (Serial may need a lot longer e.g. 1100)
+
+  // Now let's read the current navigation rate. The results will be loaded into customCfg.
+  if (myGPS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+  {
+    Serial.println(F("sendCommand (poll / get) failed! Freezing..."));
+    while (1)
+      ;
+  }
+
+  // Referring to the message definition for UBX-CFG-RATE we see that the measurement rate
+  // is stored in payload bytes 0 and 1 as a uint16_t in LSB-first (little endian) format
+
+  uint16_t rate = (customPayload[1] << 8) | customPayload[0]; // Extract the current rate (ms)
+  float f_rate = 1000.0 / ((float)rate); // Convert the navigation rate to Hz (measurements per second)
+
+  // Print the current measurement rate
+  Serial.print(F("The current measurement rate is: "));
+  Serial.println(f_rate, 1);
+
+  // Let's change it
+  rate = 1000 / NAV_RATE; // Load the new value into rate
+  customPayload[0] = rate & 0xFF; // Store it in the payload
+  customPayload[1] = rate >> 8;
+
+  // Print the new measurement rate
+  Serial.print(F("The new measurement rate will be: "));
+  Serial.println(NAV_RATE);
+
+  // We don't need to update customCfg.len as it will have been set to 6
+  // when sendCommand read the data
+
+  // Now we write the custom packet back again to change the setting
+  if (myGPS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
+  {
+    Serial.println(F("sendCommand (set) failed! Freezing."));
+    while (1)
+      ;
+  }
+  else
+  {
+    Serial.println(F("Navigation rate updated. Here we go..."));
+  }
+
+  myGPS.setAutoPVT(true); // Enable AutoPVT. The module will generate measurements automatically without being polled.
+
+  //myGPS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); //Uncomment this line to save only the NAV settings to flash and BBR
+}
+
+void loop()
+{
+  //Query the module as fast as possible
+    int32_t latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    int32_t longitude = myGPS.getLongitude();
+    Serial.print(F(" Lon: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    int32_t altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.println(F(" (mm)"));
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example21_ModuleInfo/Example21_ModuleInfo.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example21_ModuleInfo/Example21_ModuleInfo.ino
new file mode 100644
index 0000000..0526386
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example21_ModuleInfo/Example21_ModuleInfo.ino
@@ -0,0 +1,183 @@
+/*
+  Module Info - extracts and prints the full module information from UBX_MON_VER
+  using a custom command.
+  By: @mayopan
+  Date: May 9th, 2020
+
+  Based on:
+  Send Custom Command
+  By: Paul Clark (PaulZC)
+  Date: April 20th, 2020
+
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Previously it was possible to create and send a custom packet
+  through the library but it would always appear to timeout as
+  some of the internal functions referred to the internal private
+  struct packetCfg.
+  The most recent version of the library allows sendCommand to
+  use a custom packet as if it were packetCfg and so:
+  - sendCommand will return a sfe_ublox_status_e enum as if
+    it had been called from within the library
+  - the custom packet will be updated with data returned by the module
+    (previously this was not possible from outside the library)
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#define MAX_PAYLOAD_SIZE 384 // Override MAX_PAYLOAD_SIZE for getModuleInfo which can return up to 348 bytes
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+
+// Extend the class for getModuleInfo
+class SFE_UBLOX_GPS_ADD : public SFE_UBLOX_GPS
+{
+public:
+    boolean getModuleInfo(uint16_t maxWait = 1100); //Queries module, texts
+
+    struct minfoStructure // Structure to hold the module info (uses 341 bytes of RAM)
+    {
+        char swVersion[30];
+        char hwVersion[10];
+        uint8_t extensionNo = 0;
+        char extension[10][30];
+    } minfo;
+};
+
+SFE_UBLOX_GPS_ADD myGPS;
+
+void setup()
+{
+    Serial.begin(115200); // You may need to increase this for high navigation rates!
+    while (!Serial)
+        ; //Wait for user to open terminal
+    Serial.println(F("SparkFun Ublox Example"));
+
+    Wire.begin();
+
+    //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+    if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+    {
+        Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+        while (1)
+            ;
+    }
+
+    myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+    Serial.print(F("Polling module info"));
+    if (myGPS.getModuleInfo(1100) == false) // Try to get the module info
+    {
+        Serial.print(F("getModuleInfo failed! Freezing..."));
+        while (1)
+            ;
+    }
+
+    Serial.println();
+    Serial.println();
+    Serial.println(F("Module Info : "));
+    Serial.print(F("Soft version: "));
+    Serial.println(myGPS.minfo.swVersion);
+    Serial.print(F("Hard version: "));
+    Serial.println(myGPS.minfo.hwVersion);
+    Serial.print(F("Extensions:"));
+    Serial.println(myGPS.minfo.extensionNo);
+    for (int i = 0; i < myGPS.minfo.extensionNo; i++)
+    {
+        Serial.print("  ");
+        Serial.println(myGPS.minfo.extension[i]);
+    }
+    Serial.println();
+    Serial.println(F("Done!"));
+}
+
+void loop()
+{
+}
+
+boolean SFE_UBLOX_GPS_ADD::getModuleInfo(uint16_t maxWait)
+{
+    myGPS.minfo.hwVersion[0] = 0;
+    myGPS.minfo.swVersion[0] = 0;
+    for (int i = 0; i < 10; i++)
+        myGPS.minfo.extension[i][0] = 0;
+    myGPS.minfo.extensionNo = 0;
+
+    // Let's create our custom packet
+    uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
+
+    // The next line creates and initialises the packet information which wraps around the payload
+    ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+
+    // The structure of ubxPacket is:
+    // uint8_t cls           : The message Class
+    // uint8_t id            : The message ID
+    // uint16_t len          : Length of the payload. Does not include cls, id, or checksum bytes
+    // uint16_t counter      : Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
+    // uint16_t startingSpot : The counter value needed to go past before we begin recording into payload array
+    // uint8_t *payload      : The payload
+    // uint8_t checksumA     : Given to us by the module. Checked against the rolling calculated A/B checksums.
+    // uint8_t checksumB
+    // sfe_ublox_packet_validity_e valid            : Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
+    // sfe_ublox_packet_validity_e classAndIDmatch  : Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
+
+    // sendCommand will return:
+    // SFE_UBLOX_STATUS_DATA_RECEIVED if the data we requested was read / polled successfully
+    // SFE_UBLOX_STATUS_DATA_SENT     if the data we sent was writted successfully (ACK'd)
+    // Other values indicate errors. Please see the sfe_ublox_status_e enum for further details.
+
+    // Referring to the u-blox M8 Receiver Description and Protocol Specification we see that
+    // the module information can be read using the UBX-MON-VER message. So let's load our
+    // custom packet with the correct information so we can read (poll / get) the module information.
+
+    customCfg.cls = UBX_CLASS_MON; // This is the message Class
+    customCfg.id = UBX_MON_VER;    // This is the message ID
+    customCfg.len = 0;             // Setting the len (length) to zero let's us poll the current settings
+    customCfg.startingSpot = 0;    // Always set the startingSpot to zero (unless you really know what you are doing)
+
+    // Now let's send the command. The module info is returned in customPayload
+
+    if (sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+        return (false); //If command send fails then bail
+
+    // Now let's extract the module info from customPayload
+
+    uint16_t position = 0;
+    for (int i = 0; i < 30; i++)
+    {
+        minfo.swVersion[i] = customPayload[position];
+        position++;
+    }
+    for (int i = 0; i < 10; i++)
+    {
+        minfo.hwVersion[i] = customPayload[position];
+        position++;
+    }
+
+    while (customCfg.len >= position + 30)
+    {
+        for (int i = 0; i < 30; i++)
+        {
+            minfo.extension[minfo.extensionNo][i] = customPayload[position];
+            position++;
+        }
+        minfo.extensionNo++;
+        if (minfo.extensionNo > 9)
+            break;
+    }
+
+    return (true); //Success!
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example22_PowerOff/Example22_PowerOff.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example22_PowerOff/Example22_PowerOff.ino
new file mode 100644
index 0000000..90ae355
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example22_PowerOff/Example22_PowerOff.ino
@@ -0,0 +1,88 @@
+/*
+  Powering off a ublox GPS module
+  By: bjorn
+  unsurv.org
+  Date: July 20th, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows you how to turn off the ublox module to lower the power consumption.
+  There are two functions: one just specifies a duration in milliseconds the other also specifies a pin on the GPS device to wake it up with.
+  By driving a voltage from LOW to HIGH or HIGH to LOW on the chosen module pin you wake the device back up.
+  Note: Doing so on the INT0 pin when using the regular powerOff(durationInMs) function will wake the device anyway. (tested on SAM-M8Q)
+  Note: While powered off, you should not query the device for data or it might wake up. This can be used to wake the device but is not recommended.
+        Works best when also putting your microcontroller to sleep.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard.
+  To force the device to wake up you need to connect to a pin (for example INT0) seperately on the module.
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+// define a digital pin capable of driving HIGH and LOW
+#define WAKEUP_PIN 5
+
+// Possible GNSS interrupt pins for powerOffWithInterrupt are:
+// VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX  = uartrx
+// VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = extint0 (default)
+// VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = extint1
+// VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS   = spics
+// These values can be or'd (|) together to enable interrupts on multiple pins
+
+void wakeUp() {
+
+  Serial.print("-- waking up module via pin " + String(WAKEUP_PIN));
+  Serial.println(" on your microcontroller --");
+
+  digitalWrite(WAKEUP_PIN, LOW);
+  delay(1000);
+  digitalWrite(WAKEUP_PIN, HIGH);
+  delay(1000);
+  digitalWrite(WAKEUP_PIN, LOW);
+}
+
+
+void setup() {
+
+  pinMode(WAKEUP_PIN, OUTPUT);
+  digitalWrite(WAKEUP_PIN, LOW);
+
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Enable debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  // Powering off for 20s, you should see the power consumption drop.
+  Serial.println("-- Powering off module for 20s --");
+
+  myGPS.powerOff(20000);
+  //myGPS.powerOffWithInterrupt(20000, VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0);
+
+  delay(10000);
+
+  // After 10 seconds wake the device via the specified pin on your microcontroller and module.
+  wakeUp();
+}
+
+void loop() {
+  //Do nothing
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example2_NMEAParsing/Example2_NMEAParsing.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example2_NMEAParsing/Example2_NMEAParsing.ino
new file mode 100644
index 0000000..2ec4274
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example2_NMEAParsing/Example2_NMEAParsing.ino
@@ -0,0 +1,83 @@
+/*
+  Read NMEA sentences over I2C using Ublox module SAM-M8Q, NEO-M8P, etc
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: August 22nd, 2018
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example reads the NMEA characters over I2C and pipes them to MicroNMEA
+  This example will output your current long/lat and satellites in view
+ 
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  For more MicroNMEA info see https://github.com/stevemarple/MicroNMEA
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+  Go outside! Wait ~25 seconds and you should see your lat/long
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+#include <MicroNMEA.h> //http://librarymanager/All#MicroNMEA
+char nmeaBuffer[100];
+MicroNMEA nmea(nmeaBuffer, sizeof(nmeaBuffer));
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  if(nmea.isValid() == true)
+  {
+    long latitude_mdeg = nmea.getLatitude();
+    long longitude_mdeg = nmea.getLongitude();
+
+    Serial.print("Latitude (deg): ");
+    Serial.println(latitude_mdeg / 1000000., 6);
+    Serial.print("Longitude (deg): ");
+    Serial.println(longitude_mdeg / 1000000., 6);
+  }
+  else
+  {
+    Serial.print("No Fix - ");
+    Serial.print("Num. satellites: ");
+    Serial.println(nmea.getNumSatellites());
+  }
+
+  delay(250); //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun Ublox Arduino Library
+//As each NMEA character comes in you can specify what to do with it
+//Useful for passing to other libraries like tinyGPS, MicroNMEA, or even
+//a buffer, radio, etc.
+void SFE_UBLOX_GPS::processNMEA(char incoming)
+{
+  //Take the incoming char from the Ublox I2C port and pass it on to the MicroNMEA lib
+  //for sentence cracking
+  nmea.process(incoming);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example3_GetPosition/Example3_GetPosition.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example3_GetPosition/Example3_GetPosition.ino
new file mode 100644
index 0000000..79ebc4b
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example3_GetPosition/Example3_GetPosition.ino
@@ -0,0 +1,84 @@
+/*
+  Reading lat and long via UBX binary commands - no more NMEA parsing!
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for its lat/long/altitude. We also
+  turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic 
+  dramatically.
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We 
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example4_FixType/Example4_FixType.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example4_FixType/Example4_FixType.ino
new file mode 100644
index 0000000..ec5038b
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example4_FixType/Example4_FixType.ino
@@ -0,0 +1,94 @@
+/*
+  Get fix type and RTK fix type if available
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for fix type and RTK fix type.
+  The fix type is as follows:
+    0 = no fix
+    1 = dead reckoning (requires external sensors)
+    2 = 2D (not quite enough satellites in view)
+    3 = 3D (the standard fix)
+    4 = GNSS + dead reckoning (requires external sensors)
+    5 = Time fix only
+
+  Additionally, if we are doing RTK, we can figure out if we have a floating 
+  RTK solution or if we have been able to resolve a fixec solution (better precision).
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Optional. Increase I2C clock speed to 400kHz.
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+
+    byte fixType = myGPS.getFixType();
+    Serial.print(F(" Fix: "));
+    if(fixType == 0) Serial.print(F("No fix"));
+    else if(fixType == 1) Serial.print(F("Dead reckoning"));
+    else if(fixType == 2) Serial.print(F("2D"));
+    else if(fixType == 3) Serial.print(F("3D"));
+    else if(fixType == 4) Serial.print(F("GNSS+Dead reckoning"));
+
+    byte RTK = myGPS.getCarrierSolutionType();
+    Serial.print(" RTK: ");
+    Serial.print(RTK);
+    if (RTK == 1) Serial.print(F("High precision float fix!"));
+    if (RTK == 2) Serial.print(F("High precision fix!"));
+
+    Serial.println();
+  }
+
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example5_SpeedHeadingPrecision/Example5_SpeedHeadingPrecision.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example5_SpeedHeadingPrecision/Example5_SpeedHeadingPrecision.ino
new file mode 100644
index 0000000..5cd17b6
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example5_SpeedHeadingPrecision/Example5_SpeedHeadingPrecision.ino
@@ -0,0 +1,83 @@
+/*
+  Get Speed/Heading and dilution of precision via UBX binary commands - no more NMEA parsing!
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for its lat/long/altitude.
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 1,000,000. We
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+
+    long speed = myGPS.getGroundSpeed();
+    Serial.print(F(" Speed: "));
+    Serial.print(speed);
+    Serial.print(F(" (mm/s)"));
+
+    long heading = myGPS.getHeading();
+    Serial.print(F(" Heading: "));
+    Serial.print(heading);
+    Serial.print(F(" (degrees * 10^-5)"));
+
+    int pDOP = myGPS.getPDOP();
+    Serial.print(F(" pDOP: "));
+    Serial.print(pDOP / 100.0, 2);
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example6_EnableNMEASentences/Example6_EnableNMEASentences.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example6_EnableNMEASentences/Example6_EnableNMEASentences.ino
new file mode 100644
index 0000000..46edd6b
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example6_EnableNMEASentences/Example6_EnableNMEASentences.ino
@@ -0,0 +1,79 @@
+/*
+  Turn on/off various NMEA sentences.
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to turn on/off the NMEA sentences being output
+  over UART1. We use the I2C interface on the Ublox module for configuration
+  but you won't see any output from this sketch. You'll need to hook up
+  a Serial Basic or other USB to Serial device to UART1 on your Ublox module
+  to see the output.
+
+  This example turns off all sentences except for the GPGGA and GPVTG sentences.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+  Hookup a Serial Basic (https://www.sparkfun.com/products/15096) to UART1 on the Ublox module. Open a terminal at 57600bps
+  and see GPGGA and GPVTG sentences.
+*/
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+unsigned long lastGPSSend = 0;
+
+void setup()
+{
+  Serial.begin(115200); // Serial debug output over USB visible from Arduino IDE
+  Serial.println("Example showing how to enable/disable certain NMEA sentences");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  //Disable or enable various NMEA sentences over the UART1 interface
+  myGPS.disableNMEAMessage(UBX_NMEA_GLL, COM_PORT_UART1); //Several of these are on by default on virgin ublox board so let's disable them
+  myGPS.disableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
+  myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
+  myGPS.disableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
+  myGPS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1); //Only leaving GGA/VTG enabled at current navigation rate
+  myGPS.enableNMEAMessage(UBX_NMEA_VTG, COM_PORT_UART1);
+
+  //Here's the advanced configure method
+  //Some of the other examples in this library enable the PVT message so let's disable it
+  myGPS.configureMessage(UBX_CLASS_NAV, UBX_NAV_PVT, COM_PORT_UART1, 0); //Message Class, ID, and port we want to configure, sendRate of 0 (disable).
+
+  myGPS.setUART1Output(COM_TYPE_NMEA); //Turn off UBX and RTCM sentences on the UART1 interface
+
+  myGPS.setSerialRate(57600); //Set UART1 to 57600bps.
+
+  myGPS.saveConfiguration(); //Save these settings to NVM
+
+  Serial.println(F("Messages configured. NMEA now being output over the UART1 port on the Ublox module at 57600bps."));
+}
+
+void loop()
+{
+  if (millis() - lastGPSSend > 200)
+  {
+    myGPS.checkUblox(); //See if new data is available, but we don't want to get NMEA here. Go check UART1.
+    lastGPSSend = millis();
+  }
+}
\ No newline at end of file
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example7_OutputRate/Example7_OutputRate.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example7_OutputRate/Example7_OutputRate.ino
new file mode 100644
index 0000000..464a25a
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example7_OutputRate/Example7_OutputRate.ino
@@ -0,0 +1,91 @@
+/*
+  Set update rate to 10Hz
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to increase the output of the module from 1Hz to 4Hz.
+  The max output rate various from model to model. RTFM! But you cannot do harm
+  to the module.
+
+  We also disable NMEA output on the I2C bus and use only UBX. This dramatically 
+  decreases the amount of data that needs to be transmitted.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+long startTime = 0; //Used to calc the actual update rate.
+long updateCount = 0; //Used to calc the actual update rate.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+  Wire.setClock(400000);
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate:");
+  Serial.println(rate);
+
+  startTime = millis();
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available. This is defined
+  //by the update freq.
+  if (millis() - lastTime > 25)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+
+    updateCount++;
+
+    //Calculate the actual update rate based on the sketch start time and the 
+    //number of updates we've received.
+    Serial.print(F(" Rate: "));
+    Serial.print( updateCount / ((millis() - startTime) / 1000.0), 2);
+    Serial.print(F("Hz"));
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example8_GetProtocolVersion/Example8_GetProtocolVersion.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example8_GetProtocolVersion/Example8_GetProtocolVersion.ino
new file mode 100644
index 0000000..38d1718
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example8_GetProtocolVersion/Example8_GetProtocolVersion.ino
@@ -0,0 +1,61 @@
+/*
+  Reading the protocol version of a Ublox module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for its protocol version.
+
+  Various modules have various protocol version. We've seen v18 up to v27. Depending
+  on the protocol version there are different commands available. This is a handy
+  way to predict which commands will or won't work.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  Serial.print(F("Version: "));
+  byte versionHigh = myGPS.getProtocolVersionHigh();
+  Serial.print(versionHigh);
+  Serial.print(".");
+  byte versionLow = myGPS.getProtocolVersionLow();
+  Serial.print(versionLow);
+}
+
+void loop()
+{
+  //Do nothing
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Example9_ChangeI2CAddress/Example9_ChangeI2CAddress.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Example9_ChangeI2CAddress/Example9_ChangeI2CAddress.ino
new file mode 100644
index 0000000..7756971
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Example9_ChangeI2CAddress/Example9_ChangeI2CAddress.ino
@@ -0,0 +1,112 @@
+/*
+  Change the I2C address of a Ublox module using I2C
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to change the I2C address of a Ublox module
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Tracks the passing of 2000ms (2 seconds)
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  byte oldAddress = 0x42; //The default address for Ublox modules is 0x42
+  byte newAddress = 0x3F; //Address you want to change to. Valid is 0x08 to 0x77.
+
+  while (Serial.available()) Serial.read(); //Trash any incoming chars
+  Serial.print("Press a key to change address to 0x");
+  Serial.println(newAddress, HEX);
+  while (Serial.available() == false) ; //Wait for user to send character
+  
+  if (myGPS.begin(Wire, oldAddress) == true) //Connect to the Ublox module using Wire port and the old address
+  {
+    Serial.print("GPS found at address 0x");
+    Serial.println(oldAddress, HEX);
+
+    myGPS.setI2CAddress(newAddress); //Change I2C address of this device
+    //Device's I2C address is stored to memory and loaded on each power-on
+
+    if (myGPS.begin(Wire, newAddress) == true)
+    {
+      myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+      
+      Serial.print("Address successfully changed to 0x");
+      Serial.println(newAddress, HEX);
+      Serial.print("Now load another example sketch using .begin(Wire, 0x");
+      Serial.print(newAddress, HEX);
+      Serial.println(") to use this GPS module");
+      Serial.println("Freezing...");
+      while (1);
+    }
+  }
+
+  //Something went wrong, begin looking for the I2C device
+  Serial.println("Address change failed. Beginning an I2C scan.");
+
+  Wire.begin();
+}
+
+void loop() {
+
+  byte address;
+  int nDevices;
+
+  Serial.println("Scanning...");
+
+  nDevices = 0;
+  for (address = 1; address < 127; address++ )
+  {
+    Wire.beginTransmission(address);
+    byte error = Wire.endTransmission();
+
+    if (error == 0)
+    {
+      Serial.print("I2C device found at address 0x");
+      if (address < 16)
+        Serial.print("0");
+      Serial.print(address, HEX);
+      Serial.println("  !");
+
+      nDevices++;
+    }
+    else if (error == 4)
+    {
+      Serial.print("Unknown error at address 0x");
+      if (address < 16)
+        Serial.print("0");
+      Serial.println(address, HEX);
+    }
+  }
+
+  if (nDevices == 0)
+    Serial.println("No I2C devices found\n");
+  else
+    Serial.println("done\n");
+
+  delay(5000);           // wait 5 seconds for next scan
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example1_EnableRTCM/Example1_EnableRTCM.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example1_EnableRTCM/Example1_EnableRTCM.ino
new file mode 100644
index 0000000..5bc257d
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example1_EnableRTCM/Example1_EnableRTCM.ino
@@ -0,0 +1,77 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox NEO-M8P module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: September 7th, 2018
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example sends the command to enable the four RTCM messages needed for RTK. This 
+  is the first part of a larger tutorial and example to setup an RTK base station.
+  These commands are only accepted by the NEO-M8P module.
+ 
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while(!Serial); //Wait for user to open terminal
+  Serial.println("Ublox RTCM Enable Example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  while(Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
+  Serial.println("Press any key to send commands to enable RTCM 3.x");
+  while(Serial.available() == 0) ; //Wait for user to press a key
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  boolean response = true;
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
+
+  if (response == true)
+  {
+    Serial.println("RTCM messages enabled");
+  }
+  else
+  {
+    Serial.println("RTCM failed to enable. Are you sure you have an NEO-M8P?");
+    while(1); //Freeze
+  }
+
+  //RTCM is now enabled but we haven't done a 'survey-in'
+  //See example 4 for the full Base RTK setup
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  delay(250); //Don't pound too hard on the I2C bus
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example2_StartRTCMBase/Example2_StartRTCMBase.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example2_StartRTCMBase/Example2_StartRTCMBase.ino
new file mode 100644
index 0000000..366a4d0
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example2_StartRTCMBase/Example2_StartRTCMBase.ino
@@ -0,0 +1,153 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox NEO-M8P-2 module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: September 7th, 2018
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example does all steps to configure and enable a NEO-M8P-2 as a base station:
+    Begin Survey-In
+    Once we've achieved 2m accuracy and 300s have passed, survey is complete
+    Enable four RTCM messages
+    Begin outputting RTCM bytes
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Ublox NEO-M8P-2 base station example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
+  Serial.println("Press any key to send commands to begin Survey-In");
+  while (Serial.available() == 0) ; //Wait for user to press a key
+
+  boolean response;
+
+  //Check if Survey is in Progress before initiating one
+  response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
+  if (response == false)
+  {
+    Serial.println("Failed to get Survey In status");
+    while (1); //Freeze
+  }
+
+  if (myGPS.svin.active == true)
+  {
+    Serial.print("Survey already in progress.");
+  }
+  else
+  {
+    //Start survey
+    response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
+    if (response == false)
+    {
+      Serial.println("Survey start failed");
+      while (1);
+    }
+    Serial.println("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved.");
+  }
+
+  while(Serial.available()) Serial.read(); //Clear buffer
+  
+  //Begin waiting for survey to complete
+  while (myGPS.svin.valid == false)
+  {
+    if(Serial.available())
+    {
+      byte incoming = Serial.read();
+      if(incoming == 'x')
+      {
+        //Stop survey mode
+        response = myGPS.disableSurveyMode(); //Disable survey
+        Serial.println("Survey stopped");
+        break;
+      }
+    }
+    
+    response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+    if (response == true)
+    {
+      Serial.print("Press x to end survey - ");
+      Serial.print("Time elapsed: ");
+      Serial.print((String)myGPS.svin.observationTime);
+
+      Serial.print(" Accuracy: ");
+      Serial.print((String)myGPS.svin.meanAccuracy);
+      Serial.println();
+    }
+    else
+    {
+      Serial.println("SVIN request failed");
+    }
+
+    delay(1000);
+  }
+  Serial.println("Survey valid!");
+
+  response = true;
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
+
+  if (response == true)
+  {
+    Serial.println("RTCM messages enabled");
+  }
+  else
+  {
+    Serial.println("RTCM failed to enable. Are you sure you have an NEO-M8P?");
+    while (1); //Freeze
+  }
+
+  Serial.println("Base survey complete! RTCM now broadcasting.");
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  delay(250); //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun Ublox Arduino Library.
+//As each RTCM byte comes in you can specify what to do with it
+//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Let's just pretty-print the HEX values for now
+  if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
+  Serial.print(" ");
+  if (incoming < 0x10) Serial.print("0");
+  Serial.print(incoming, HEX);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example3_BaseWithLCD/Example3_BaseWithLCD.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example3_BaseWithLCD/Example3_BaseWithLCD.ino
new file mode 100644
index 0000000..c498530
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/NEO-M8P-2/Example3_BaseWithLCD/Example3_BaseWithLCD.ino
@@ -0,0 +1,185 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox NEO-M8P-2 module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: September 7th, 2018
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example does all steps to configure and enable a NEO-M8P-2 as a base station:
+    Begin Survey-In
+    Once we've achieved 2m accuracy and 300s have passed, survey is complete
+    Enable four RTCM messages
+    Begin outputting RTCM bytes
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  Plug a SerLCD onto the Qwiic bus
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
+*/
+
+#define STAT_LED 13
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+#include <SerLCD.h> //Click here to get the library: http://librarymanager/All#SparkFun_SerLCD
+SerLCD lcd; // Initialize the library with default I2C address 0x72
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Ublox GPS I2C Test");
+
+  Wire.begin();
+
+  pinMode(STAT_LED, OUTPUT);
+  digitalWrite(STAT_LED, LOW);
+
+  lcd.begin(Wire); //Set up the LCD for Serial communication at 9600bps
+  lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
+  lcd.clear();
+  lcd.print(F("LCD Ready"));
+
+  myGPS.begin(Wire);
+  if (myGPS.isConnected() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    lcd.setCursor(0, 1);
+    lcd.print(F("No GPS detected"));
+    while (1);
+  }
+
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  lcd.setCursor(0, 1);
+  lcd.print("GPS Detected");
+
+  //Check if Survey is in Progress before initiating one
+  boolean response;
+  response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
+  if (response == false)
+  {
+    Serial.println(F("Failed to get Survey In status"));
+    while (1); //Freeze
+  }
+
+  if (myGPS.svin.active == true)
+  {
+    Serial.print(F("Survey already in progress."));
+    lcd.setCursor(0, 2);
+    lcd.print(F("Survey already going"));
+  }
+  else
+  {
+    //Start survey
+    response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in, 300 seconds, 2.0m
+    if (response == false)
+    {
+      Serial.println(F("Survey start failed"));
+      lcd.setCursor(0, 3);
+      lcd.print(F("Survey start failed"));
+      while (1);
+    }
+    Serial.println(F("Survey started. This will run until 300s has passed and less than 2m accuracy is achieved."));
+  }
+
+  while (Serial.available()) Serial.read(); //Clear buffer
+
+  lcd.clear();
+  lcd.print(F("Survey in progress"));
+
+  //Begin waiting for survey to complete
+  while (myGPS.svin.valid == false)
+  {
+    if (Serial.available())
+    {
+      byte incoming = Serial.read();
+      if (incoming == 'x')
+      {
+        //Stop survey mode
+        response = myGPS.disableSurveyMode(); //Disable survey
+        Serial.println(F("Survey stopped"));
+        break;
+      }
+    }
+
+    response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+    if (response == true)
+    {
+      Serial.print(F("Press x to end survey - "));
+      Serial.print(F("Time elapsed: "));
+      Serial.print((String)myGPS.svin.observationTime);
+
+      lcd.setCursor(0, 1);
+      lcd.print(F("Elapsed: "));
+      lcd.print((String)myGPS.svin.observationTime);
+
+      Serial.print(F(" Accuracy: "));
+      Serial.print((String)myGPS.svin.meanAccuracy);
+      Serial.println();
+
+      lcd.setCursor(0, 2);
+      lcd.print(F("Accuracy: "));
+      lcd.print((String)myGPS.svin.meanAccuracy);
+    }
+    else
+    {
+      Serial.println(F("SVIN request failed"));
+    }
+
+    delay(1000);
+  }
+  Serial.println(F("Survey valid!"));
+
+  response = true;
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, UBX_RTCM_I2C_PORT, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1077, UBX_RTCM_I2C_PORT, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1087, UBX_RTCM_I2C_PORT, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, UBX_RTCM_I2C_PORT, 10); //Enable message every 10 seconds
+
+  if (response == true)
+  {
+    Serial.println(F("RTCM messages enabled"));
+  }
+  else
+  {
+    Serial.println(F("RTCM failed to enable. Are you sure you have an NEO-M8P?"));
+    while (1); //Freeze
+  }
+
+  Serial.println(F("Base survey complete! RTCM now broadcasting."));
+  lcd.clear();
+  lcd.print(F("Transmitting RTCM"));
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  //Do anything you want. Call checkUblox() every second. NEO-M8P-2 has TX buffer of 4k bytes.
+  
+  delay(250); //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun Ublox Arduino Library.
+//As each RTCM byte comes in you can specify what to do with it
+//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Let's just pretty-print the HEX values for now
+  if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
+  Serial.print(" ");
+  if (incoming < 0x10) Serial.print("0");
+  Serial.print(incoming, HEX);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/Example1_GetPositionAndTime_Series_6_7.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/Example1_GetPositionAndTime_Series_6_7.ino
new file mode 100644
index 0000000..158e57d
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/Example1_GetPositionAndTime_Series_6_7.ino
@@ -0,0 +1,109 @@
+/*
+  Reading lat, long and UTC time via UBX binary commands - no more NMEA parsing!
+  By: Paul Clark and Nathan Seidle
+  Using the library modifications provided by @blazczak and @geeksville
+  
+  SparkFun Electronics
+  Date: June 16th, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a Ublox module for its lat/long/altitude. We also
+  turn off the NMEA output on the I2C port. This decreases the amount of I2C traffic 
+  dramatically.
+
+  Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We 
+  do this so that we don't have to use floating point numbers.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library_Series_6_7.h"
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    Serial.print(F(" Time: "));
+
+    byte Hour = myGPS.getHour();
+    if (Hour < 10)
+    {
+      Serial.print(F("0"));
+    }
+    Serial.print(Hour);
+    Serial.print(F(":"));
+
+    byte Minute = myGPS.getMinute();
+    if (Minute < 10)
+    {
+      Serial.print(F("0"));
+    }
+    Serial.print(Minute);
+    Serial.print(F(":"));
+
+    byte Second = myGPS.getSecond();
+    if (Second < 10)
+    {
+      Serial.print(F("0"));
+    }
+    Serial.print(Second);
+
+    Serial.println();
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.cpp b/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.cpp
new file mode 100644
index 0000000..dca258c
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.cpp
@@ -0,0 +1,3474 @@
+/*
+  This is a library written for the Ublox ZED-F9P and NEO-M8P-2
+
+  Updated: June 16th, 2020
+
+  This copy includes changes by @blazczak and @geeksville to
+  provide support for the older series 6 and 7 modules.
+
+  Disclaimer: SparkFun has not verified this copy of the library on either series 6 or 7.
+  It should work, it looks like it will work, but we have no way of confirming this.
+  We cannot guarantee that it will work reliably in your application.
+
+  Do you like this library? Help support SparkFun. Buy a board!
+  https://www.sparkfun.com/products/15136
+  https://www.sparkfun.com/products/15005
+  https://www.sparkfun.com/products/15733
+  https://www.sparkfun.com/products/15193
+  https://www.sparkfun.com/products/15210
+
+  Original library written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
+
+  This library handles configuring and handling the responses
+  from a Ublox GPS module. Works with most modules from Ublox including
+  the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
+
+  https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
+
+  Development environment specifics:
+  Arduino IDE 1.8.5
+
+  SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
+  The MIT License (MIT)
+  Copyright (c) 2016 SparkFun Electronics
+  Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+  associated documentation files (the "Software"), to deal in the Software without restriction,
+  including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+  and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
+  do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in all copies or substantial
+  portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
+  NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+  WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "SparkFun_Ublox_Arduino_Library_Series_6_7.h"
+
+SFE_UBLOX_GPS::SFE_UBLOX_GPS(void)
+{
+  // Constructor
+  currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
+  moduleQueried.versionNumber = false;
+
+  if (checksumFailurePin >= 0)
+  {
+    pinMode((uint8_t)checksumFailurePin, OUTPUT);
+    digitalWrite((uint8_t)checksumFailurePin, HIGH);
+  }
+}
+
+//Initialize the Serial port
+boolean SFE_UBLOX_GPS::begin(TwoWire &wirePort, uint8_t deviceAddress)
+{
+  commType = COMM_TYPE_I2C;
+  _i2cPort = &wirePort; //Grab which port the user wants us to use
+
+  //We expect caller to begin their I2C port, with the speed of their choice external to the library
+  //But if they forget, we start the hardware here.
+
+  //We're moving away from the practice of starting Wire hardware in a library. This is to avoid cross platform issues.
+  //ie, there are some platforms that don't handle multiple starts to the wire hardware. Also, every time you start the wire
+  //hardware the clock speed reverts back to 100kHz regardless of previous Wire.setClocks().
+  //_i2cPort->begin();
+
+  _gpsI2Caddress = deviceAddress; //Store the I2C address from user
+
+  return (isConnected());
+}
+
+//Initialize the Serial port
+boolean SFE_UBLOX_GPS::begin(Stream &serialPort)
+{
+  commType = COMM_TYPE_SERIAL;
+  _serialPort = &serialPort; //Grab which port the user wants us to use
+
+  return (isConnected());
+}
+
+//Enable or disable the printing of sent/response HEX values.
+//Use this in conjunction with 'Transport Logging' from the Universal Reader Assistant to see what they're doing that we're not
+void SFE_UBLOX_GPS::enableDebugging(Stream &debugPort, boolean printLimitedDebug)
+{
+  _debugSerial = &debugPort; //Grab which port the user wants us to use for debugging
+  if (printLimitedDebug == false)
+  {
+    _printDebug = true; //Should we print the commands we send? Good for debugging
+  }
+  else
+  {
+    _printLimitedDebug = true; //Should we print limited debug messages? Good for debugging high navigation rates
+  }
+}
+void SFE_UBLOX_GPS::disableDebugging(void)
+{
+  _printDebug = false; //Turn off extra print statements
+  _printLimitedDebug = false;
+}
+
+//Safely print messages
+void SFE_UBLOX_GPS::debugPrint(char *message)
+{
+  if (_printDebug == true)
+  {
+    _debugSerial->print(message);
+  }
+}
+//Safely print messages
+void SFE_UBLOX_GPS::debugPrintln(char *message)
+{
+  if (_printDebug == true)
+  {
+    _debugSerial->println(message);
+  }
+}
+
+const char *SFE_UBLOX_GPS::statusString(sfe_ublox_status_e stat)
+{
+  switch (stat)
+  {
+  case SFE_UBLOX_STATUS_SUCCESS:
+    return "Success";
+    break;
+  case SFE_UBLOX_STATUS_FAIL:
+    return "General Failure";
+    break;
+  case SFE_UBLOX_STATUS_CRC_FAIL:
+    return "CRC Fail";
+    break;
+  case SFE_UBLOX_STATUS_TIMEOUT:
+    return "Timeout";
+    break;
+  case SFE_UBLOX_STATUS_COMMAND_NACK:
+    return "Command not acknowledged (NACK)";
+    break;
+  case SFE_UBLOX_STATUS_OUT_OF_RANGE:
+    return "Out of range";
+    break;
+  case SFE_UBLOX_STATUS_INVALID_ARG:
+    return "Invalid Arg";
+    break;
+  case SFE_UBLOX_STATUS_INVALID_OPERATION:
+    return "Invalid operation";
+    break;
+  case SFE_UBLOX_STATUS_MEM_ERR:
+    return "Memory Error";
+    break;
+  case SFE_UBLOX_STATUS_HW_ERR:
+    return "Hardware Error";
+    break;
+  case SFE_UBLOX_STATUS_DATA_SENT:
+    return "Data Sent";
+    break;
+  case SFE_UBLOX_STATUS_DATA_RECEIVED:
+    return "Data Received";
+    break;
+  case SFE_UBLOX_STATUS_I2C_COMM_FAILURE:
+    return "I2C Comm Failure";
+    break;
+  case SFE_UBLOX_STATUS_DATA_OVERWRITTEN:
+    return "Data Packet Overwritten";
+    break;
+  default:
+    return "Unknown Status";
+    break;
+  }
+  return "None";
+}
+
+void SFE_UBLOX_GPS::factoryReset()
+{
+  // Copy default settings to permanent
+  // Note: this does not load the permanent configuration into the current configuration. Calling factoryDefault() will do that.
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 13;
+  packetCfg.startingSpot = 0;
+  for (uint8_t i = 0; i < 4; i++)
+  {
+    payloadCfg[0 + i] = 0xff; // clear mask: copy default config to permanent config
+    payloadCfg[4 + i] = 0x00; // save mask: don't save current to permanent
+    payloadCfg[8 + i] = 0x00; // load mask: don't copy permanent config to current
+  }
+  payloadCfg[12] = 0xff;      // all forms of permanent memory
+  sendCommand(&packetCfg, 0); // don't expect ACK
+  hardReset();                // cause factory default config to actually be loaded and used cleanly
+}
+
+void SFE_UBLOX_GPS::hardReset()
+{
+  // Issue hard reset
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RST;
+  packetCfg.len = 4;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = 0xff;       // cold start
+  payloadCfg[1] = 0xff;       // cold start
+  payloadCfg[2] = 0;          // 0=HW reset
+  payloadCfg[3] = 0;          // reserved
+  sendCommand(&packetCfg, 0); // don't expect ACK
+}
+
+//Changes the serial baud rate of the Ublox module, can't return success/fail 'cause ACK from modem
+//is lost due to baud rate change
+void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t maxWait)
+{
+  //Get the current config values for the UART port
+  getPortSettings(uartPort, maxWait); //This will load the payloadCfg array with current port settings
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Current baud rate: "));
+    _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
+  }
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[8] = baudrate;
+  payloadCfg[9] = baudrate >> 8;
+  payloadCfg[10] = baudrate >> 16;
+  payloadCfg[11] = baudrate >> 24;
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("New baud rate:"));
+    _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
+  }
+
+  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("setSerialRate: sendCommand returned: "));
+    _debugSerial->println(statusString(retVal));
+  }
+}
+
+//Changes the I2C address that the Ublox module responds to
+//0x42 is the default but can be changed with this command
+boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait)
+{
+  //Get the current config values for the I2C port
+  getPortSettings(COM_PORT_I2C, maxWait); //This will load the payloadCfg array with current port settings
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[4] = deviceAddress << 1; //DDC mode LSB
+
+  if (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT) // We are only expecting an ACK
+  {
+    //Success! Now change our internal global.
+    _gpsI2Caddress = deviceAddress; //Store the I2C address from user
+    return (true);
+  }
+  return (false);
+}
+
+//Want to see the NMEA messages on the Serial port? Here's how
+void SFE_UBLOX_GPS::setNMEAOutputPort(Stream &nmeaOutputPort)
+{
+  _nmeaOutputPort = &nmeaOutputPort; //Store the port from user
+}
+
+//Called regularly to check for available bytes on the user' specified port
+boolean SFE_UBLOX_GPS::checkUblox(uint8_t requestedClass, uint8_t requestedID)
+{
+  return checkUbloxInternal(&packetCfg, requestedClass, requestedID);
+}
+
+//Called regularly to check for available bytes on the user' specified port
+boolean SFE_UBLOX_GPS::checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  if (commType == COMM_TYPE_I2C)
+    return (checkUbloxI2C(incomingUBX, requestedClass, requestedID));
+  else if (commType == COMM_TYPE_SERIAL)
+    return (checkUbloxSerial(incomingUBX, requestedClass, requestedID));
+  return false;
+}
+
+//Polls I2C for data, passing any new bytes to process()
+//Returns true if new bytes are available
+boolean SFE_UBLOX_GPS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  if (millis() - lastCheck >= i2cPollingWait)
+  {
+    //Get the number of bytes available from the module
+    uint16_t bytesAvailable = 0;
+    _i2cPort->beginTransmission(_gpsI2Caddress);
+    _i2cPort->write(0xFD);                     //0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available
+    if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
+      return (false);                          //Sensor did not ACK
+
+    _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
+    if (_i2cPort->available())
+    {
+      uint8_t msb = _i2cPort->read();
+      uint8_t lsb = _i2cPort->read();
+      if (lsb == 0xFF)
+      {
+        //I believe this is a Ublox bug. Device should never present an 0xFF.
+        if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+        {
+          _debugSerial->println(F("checkUbloxI2C: Ublox bug, length lsb is 0xFF"));
+        }
+        if (checksumFailurePin >= 0)
+        {
+          digitalWrite((uint8_t)checksumFailurePin, LOW);
+          delay(10);
+          digitalWrite((uint8_t)checksumFailurePin, HIGH);
+        }
+        lastCheck = millis(); //Put off checking to avoid I2C bus traffic
+        return (false);
+      }
+      bytesAvailable = (uint16_t)msb << 8 | lsb;
+    }
+
+    if (bytesAvailable == 0)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("checkUbloxI2C: OK, zero bytes available"));
+      }
+      lastCheck = millis(); //Put off checking to avoid I2C bus traffic
+      return (false);
+    }
+
+    //Check for undocumented bit error. We found this doing logic scans.
+    //This error is rare but if we incorrectly interpret the first bit of the two 'data available' bytes as 1
+    //then we have far too many bytes to check. May be related to I2C setup time violations: https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40
+    if (bytesAvailable & ((uint16_t)1 << 15))
+    {
+      //Clear the MSbit
+      bytesAvailable &= ~((uint16_t)1 << 15);
+
+      if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+      {
+        _debugSerial->print(F("checkUbloxI2C: Bytes available error:"));
+        _debugSerial->println(bytesAvailable);
+        if (checksumFailurePin >= 0)
+        {
+          digitalWrite((uint8_t)checksumFailurePin, LOW);
+          delay(10);
+          digitalWrite((uint8_t)checksumFailurePin, HIGH);
+        }
+      }
+    }
+
+    if (bytesAvailable > 100)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("checkUbloxI2C: Large packet of "));
+        _debugSerial->print(bytesAvailable);
+        _debugSerial->println(F(" bytes received"));
+      }
+    }
+    else
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("checkUbloxI2C: Reading "));
+        _debugSerial->print(bytesAvailable);
+        _debugSerial->println(F(" bytes"));
+      }
+    }
+
+    while (bytesAvailable)
+    {
+      _i2cPort->beginTransmission(_gpsI2Caddress);
+      _i2cPort->write(0xFF);                     //0xFF is the register to read data from
+      if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
+        return (false);                          //Sensor did not ACK
+
+      //Limit to 32 bytes or whatever the buffer limit is for given platform
+      uint16_t bytesToRead = bytesAvailable;
+      if (bytesToRead > I2C_BUFFER_LENGTH)
+        bytesToRead = I2C_BUFFER_LENGTH;
+
+    TRY_AGAIN:
+
+      _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)bytesToRead);
+      if (_i2cPort->available())
+      {
+        for (uint16_t x = 0; x < bytesToRead; x++)
+        {
+          uint8_t incoming = _i2cPort->read(); //Grab the actual character
+
+          //Check to see if the first read is 0x7F. If it is, the module is not ready
+          //to respond. Stop, wait, and try again
+          if (x == 0)
+          {
+            if (incoming == 0x7F)
+            {
+              if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+              {
+                _debugSerial->println(F("checkUbloxU2C: Ublox error, module not ready with data"));
+              }
+              delay(5); //In logic analyzation, the module starting responding after 1.48ms
+              if (checksumFailurePin >= 0)
+              {
+                digitalWrite((uint8_t)checksumFailurePin, LOW);
+                delay(10);
+                digitalWrite((uint8_t)checksumFailurePin, HIGH);
+              }
+              goto TRY_AGAIN;
+            }
+          }
+
+          process(incoming, incomingUBX, requestedClass, requestedID); //Process this valid character
+        }
+      }
+      else
+        return (false); //Sensor did not respond
+
+      bytesAvailable -= bytesToRead;
+    }
+  }
+
+  return (true);
+
+} //end checkUbloxI2C()
+
+//Checks Serial for data, passing any new bytes to process()
+boolean SFE_UBLOX_GPS::checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  while (_serialPort->available())
+  {
+    process(_serialPort->read(), incomingUBX, requestedClass, requestedID);
+  }
+  return (true);
+
+} //end checkUbloxSerial()
+
+//Processes NMEA and UBX binary sentences one byte at a time
+//Take a given byte and file it into the proper array
+void SFE_UBLOX_GPS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  if ((currentSentence == NONE) || (currentSentence == NMEA))
+  {
+    if (incoming == 0xB5) //UBX binary frames start with 0xB5, aka μ
+    {
+      //This is the start of a binary sentence. Reset flags.
+      //We still don't know the response class
+      ubxFrameCounter = 0;
+      currentSentence = UBX;
+      //Reset the packetBuf.counter even though we will need to reset it again when ubxFrameCounter == 2
+      packetBuf.counter = 0;
+      ignoreThisPayload = false; //We should not ignore this payload - yet
+      //Store data in packetBuf until we know if we have a requested class and ID match
+      activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
+    }
+    else if (incoming == '$')
+    {
+      currentSentence = NMEA;
+    }
+    else if (incoming == 0xD3) //RTCM frames start with 0xD3
+    {
+      rtcmFrameCounter = 0;
+      currentSentence = RTCM;
+    }
+    else
+    {
+      //This character is unknown or we missed the previous start of a sentence
+    }
+  }
+
+  //Depending on the sentence, pass the character to the individual processor
+  if (currentSentence == UBX)
+  {
+    //Decide what type of response this is
+    if ((ubxFrameCounter == 0) && (incoming != 0xB5))      //ISO 'μ'
+      currentSentence = NONE;                              //Something went wrong. Reset.
+    else if ((ubxFrameCounter == 1) && (incoming != 0x62)) //ASCII 'b'
+      currentSentence = NONE;                              //Something went wrong. Reset.
+    // Note to future self:
+    // There may be some duplication / redundancy in the next few lines as processUBX will also
+    // load information into packetBuf, but we'll do it here too for clarity
+    else if (ubxFrameCounter == 2) //Class
+    {
+      // Record the class in packetBuf until we know what to do with it
+      packetBuf.cls = incoming; // (Duplication)
+      rollingChecksumA = 0;     //Reset our rolling checksums here (not when we receive the 0xB5)
+      rollingChecksumB = 0;
+      packetBuf.counter = 0;                                   //Reset the packetBuf.counter (again)
+      packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // Reset the packet validity (redundant?)
+      packetBuf.startingSpot = incomingUBX->startingSpot;      //Copy the startingSpot
+    }
+    else if (ubxFrameCounter == 3) //ID
+    {
+      // Record the ID in packetBuf until we know what to do with it
+      packetBuf.id = incoming; // (Duplication)
+      //We can now identify the type of response
+      //If the packet we are receiving is not an ACK then check for a class and ID match
+      if (packetBuf.cls != UBX_CLASS_ACK)
+      {
+        //This is not an ACK so check for a class and ID match
+        if ((packetBuf.cls == requestedClass) && (packetBuf.id == requestedID))
+        {
+          //This is not an ACK and we have a class and ID match
+          //So start diverting data into incomingUBX (usually packetCfg)
+          activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG;
+          incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg)
+          incomingUBX->id = packetBuf.id;
+          incomingUBX->counter = packetBuf.counter; //Copy over the .counter too
+        }
+        else
+        {
+          //This is not an ACK and we do not have a class and ID match
+          //so we should keep diverting data into packetBuf and ignore the payload
+          ignoreThisPayload = true;
+        }
+      }
+      else
+      {
+        // This is an ACK so it is to early to do anything with it
+        // We need to wait until we have received the length and data bytes
+        // So we should keep diverting data into packetBuf
+      }
+    }
+    else if (ubxFrameCounter == 4) //Length LSB
+    {
+      //We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG
+      packetBuf.len = incoming; // (Duplication)
+    }
+    else if (ubxFrameCounter == 5) //Length MSB
+    {
+      //We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG
+      packetBuf.len |= incoming << 8; // (Duplication)
+    }
+    else if (ubxFrameCounter == 6) //This should be the first byte of the payload unless .len is zero
+    {
+      if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!)
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("process: ZERO LENGTH packet received: Class: 0x"));
+          _debugSerial->print(packetBuf.cls, HEX);
+          _debugSerial->print(F(" ID: 0x"));
+          _debugSerial->println(packetBuf.id, HEX);
+        }
+        //If length is zero (!) this will be the first byte of the checksum so record it
+        packetBuf.checksumA = incoming;
+      }
+      else
+      {
+        //The length is not zero so record this byte in the payload
+        packetBuf.payload[0] = incoming;
+      }
+    }
+    else if (ubxFrameCounter == 7) //This should be the second byte of the payload unless .len is zero or one
+    {
+      if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!)
+      {
+        //If length is zero (!) this will be the second byte of the checksum so record it
+        packetBuf.checksumB = incoming;
+      }
+      else if (packetBuf.len == 1) // Check if length is one
+      {
+        //The length is one so this is the first byte of the checksum
+        packetBuf.checksumA = incoming;
+      }
+      else // Length is >= 2 so this must be a payload byte
+      {
+        packetBuf.payload[1] = incoming;
+      }
+      // Now that we have received two payload bytes, we can check for a matching ACK/NACK
+      if ((activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF) // If we are not already processing a data packet
+          && (packetBuf.cls == UBX_CLASS_ACK)                // and if this is an ACK/NACK
+          && (packetBuf.payload[0] == requestedClass)        // and if the class matches
+          && (packetBuf.payload[1] == requestedID))          // and if the ID matches
+      {
+        if (packetBuf.len == 2) // Check if .len is 2
+        {
+          // Then this is a matching ACK so copy it into packetAck
+          activePacketBuffer = SFE_UBLOX_PACKET_PACKETACK;
+          packetAck.cls = packetBuf.cls;
+          packetAck.id = packetBuf.id;
+          packetAck.len = packetBuf.len;
+          packetAck.counter = packetBuf.counter;
+          packetAck.payload[0] = packetBuf.payload[0];
+          packetAck.payload[1] = packetBuf.payload[1];
+        }
+        else // Length is not 2 (hopefully this is impossible!)
+        {
+          if (_printDebug == true)
+          {
+            _debugSerial->print(F("process: ACK received with .len != 2: Class: 0x"));
+            _debugSerial->print(packetBuf.payload[0], HEX);
+            _debugSerial->print(F(" ID: 0x"));
+            _debugSerial->print(packetBuf.payload[1], HEX);
+            _debugSerial->print(F(" len: "));
+            _debugSerial->println(packetBuf.len);
+          }
+        }
+      }
+    }
+
+    //Divert incoming into the correct buffer
+    if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETACK)
+      processUBX(incoming, &packetAck, requestedClass, requestedID);
+    else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG)
+      processUBX(incoming, incomingUBX, requestedClass, requestedID);
+    else // if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF)
+      processUBX(incoming, &packetBuf, requestedClass, requestedID);
+
+    //Finally, increment the frame counter
+    ubxFrameCounter++;
+  }
+  else if (currentSentence == NMEA)
+  {
+    processNMEA(incoming); //Process each NMEA character
+  }
+  else if (currentSentence == RTCM)
+  {
+    processRTCMframe(incoming); //Deal with RTCM bytes
+  }
+}
+
+//This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it.
+//User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA
+//Or user could pipe each character to a buffer, radio, etc.
+void SFE_UBLOX_GPS::processNMEA(char incoming)
+{
+  //If user has assigned an output port then pipe the characters there
+  if (_nmeaOutputPort != NULL)
+    _nmeaOutputPort->write(incoming); //Echo this byte to the serial port
+}
+
+//We need to be able to identify an RTCM packet and then the length
+//so that we know when the RTCM message is completely received and we then start
+//listening for other sentences (like NMEA or UBX)
+//RTCM packet structure is very odd. I never found RTCM STANDARD 10403.2 but
+//http://d1.amobbs.com/bbs_upload782111/files_39/ourdev_635123CK0HJT.pdf is good
+//https://dspace.cvut.cz/bitstream/handle/10467/65205/F3-BP-2016-Shkalikava-Anastasiya-Prenos%20polohove%20informace%20prostrednictvim%20datove%20site.pdf?sequence=-1
+//Lead me to: https://forum.u-blox.com/index.php/4348/how-to-read-rtcm-messages-from-neo-m8p
+//RTCM 3.2 bytes look like this:
+//Byte 0: Always 0xD3
+//Byte 1: 6-bits of zero
+//Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6.
+//byte 3 + 4 bits: Msg type 12 bits
+//Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087
+void SFE_UBLOX_GPS::processRTCMframe(uint8_t incoming)
+{
+  if (rtcmFrameCounter == 1)
+  {
+    rtcmLen = (incoming & 0x03) << 8; //Get the last two bits of this byte. Bits 8&9 of 10-bit length
+  }
+  else if (rtcmFrameCounter == 2)
+  {
+    rtcmLen |= incoming; //Bits 0-7 of packet length
+    rtcmLen += 6;        //There are 6 additional bytes of what we presume is header, msgType, CRC, and stuff
+  }
+  /*else if (rtcmFrameCounter == 3)
+  {
+    rtcmMsgType = incoming << 4; //Message Type, MS 4 bits
+  }
+  else if (rtcmFrameCounter == 4)
+  {
+    rtcmMsgType |= (incoming >> 4); //Message Type, bits 0-7
+  }*/
+
+  rtcmFrameCounter++;
+
+  processRTCM(incoming); //Here is where we expose this byte to the user
+
+  if (rtcmFrameCounter == rtcmLen)
+  {
+    //We're done!
+    currentSentence = NONE; //Reset and start looking for next sentence type
+  }
+}
+
+//This function is called for each byte of an RTCM frame
+//Ths user can overwrite this function and process the RTCM frame as they please
+//Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Radio.sendReliable((String)incoming); //An example of passing this byte to a radio
+
+  //_debugSerial->write(incoming); //An example of passing this byte out the serial port
+
+  //Debug printing
+  //  _debugSerial->print(F(" "));
+  //  if(incoming < 0x10) _debugSerial->print(F("0"));
+  //  if(incoming < 0x10) _debugSerial->print(F("0"));
+  //  _debugSerial->print(incoming, HEX);
+  //  if(rtcmFrameCounter % 16 == 0) _debugSerial->println();
+}
+
+//Given a character, file it away into the uxb packet structure
+//Set valid to VALID or NOT_VALID once sentence is completely received and passes or fails CRC
+//The payload portion of the packet can be 100s of bytes but the max array
+//size is MAX_PAYLOAD_SIZE bytes. startingSpot can be set so we only record
+//a subset of bytes within a larger packet.
+void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  //Add all incoming bytes to the rolling checksum
+  //Stop at len+4 as this is the checksum bytes to that should not be added to the rolling checksum
+  if (incomingUBX->counter < incomingUBX->len + 4)
+    addToChecksum(incoming);
+
+  if (incomingUBX->counter == 0)
+  {
+    incomingUBX->cls = incoming;
+  }
+  else if (incomingUBX->counter == 1)
+  {
+    incomingUBX->id = incoming;
+  }
+  else if (incomingUBX->counter == 2) //Len LSB
+  {
+    incomingUBX->len = incoming;
+  }
+  else if (incomingUBX->counter == 3) //Len MSB
+  {
+    incomingUBX->len |= incoming << 8;
+  }
+  else if (incomingUBX->counter == incomingUBX->len + 4) //ChecksumA
+  {
+    incomingUBX->checksumA = incoming;
+  }
+  else if (incomingUBX->counter == incomingUBX->len + 5) //ChecksumB
+  {
+    incomingUBX->checksumB = incoming;
+
+    currentSentence = NONE; //We're done! Reset the sentence to being looking for a new start char
+
+    //Validate this sentence
+    if ((incomingUBX->checksumA == rollingChecksumA) && (incomingUBX->checksumB == rollingChecksumB))
+    {
+      incomingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_VALID; // Flag the packet as valid
+
+      // Let's check if the class and ID match the requestedClass and requestedID
+      // Remember - this could be a data packet or an ACK packet
+      if ((incomingUBX->cls == requestedClass) && (incomingUBX->id == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_VALID; // If we have a match, set the classAndIDmatch flag to valid
+      }
+
+      // If this is an ACK then let's check if the class and ID match the requestedClass and requestedID
+      else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_ACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_VALID; // If we have a match, set the classAndIDmatch flag to valid
+      }
+
+      // If this is a NACK then let's check if the class and ID match the requestedClass and requestedID
+      else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_NACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_NOTACKNOWLEDGED; // If we have a match, set the classAndIDmatch flag to NOTACKNOWLEDGED
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("processUBX: NACK received: Requested Class: 0x"));
+          _debugSerial->print(incomingUBX->payload[0], HEX);
+          _debugSerial->print(F(" Requested ID: 0x"));
+          _debugSerial->println(incomingUBX->payload[1], HEX);
+        }
+      }
+
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Incoming: Size: "));
+        _debugSerial->print(incomingUBX->len);
+        _debugSerial->print(F(" Received: "));
+        printPacket(incomingUBX);
+
+        if (incomingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetCfg now valid"));
+        }
+        if (packetAck.valid == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetAck now valid"));
+        }
+        if (incomingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetCfg classAndIDmatch"));
+        }
+        if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetAck classAndIDmatch"));
+        }
+      }
+
+      //We've got a valid packet, now do something with it but only if ignoreThisPayload is false
+      if (ignoreThisPayload == false)
+      {
+        processUBXpacket(incomingUBX);
+      }
+    }
+    else // Checksum failure
+    {
+      incomingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID;
+
+      // Let's check if the class and ID match the requestedClass and requestedID.
+      // This is potentially risky as we are saying that we saw the requested Class and ID
+      // but that the packet checksum failed. Potentially it could be the class or ID bytes
+      // that caused the checksum error!
+      if ((incomingUBX->cls == requestedClass) && (incomingUBX->id == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; // If we have a match, set the classAndIDmatch flag to not valid
+      }
+      // If this is an ACK then let's check if the class and ID match the requestedClass and requestedID
+      else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; // If we have a match, set the classAndIDmatch flag to not valid
+      }
+
+      if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+      {
+        //Drive an external pin to allow for easier logic analyzation
+        if (checksumFailurePin >= 0)
+        {
+          digitalWrite((uint8_t)checksumFailurePin, LOW);
+          delay(10);
+          digitalWrite((uint8_t)checksumFailurePin, HIGH);
+        }
+
+        _debugSerial->print(F("Checksum failed:"));
+        _debugSerial->print(F(" checksumA: "));
+        _debugSerial->print(incomingUBX->checksumA);
+        _debugSerial->print(F(" checksumB: "));
+        _debugSerial->print(incomingUBX->checksumB);
+
+        _debugSerial->print(F(" rollingChecksumA: "));
+        _debugSerial->print(rollingChecksumA);
+        _debugSerial->print(F(" rollingChecksumB: "));
+        _debugSerial->print(rollingChecksumB);
+        _debugSerial->println();
+
+        _debugSerial->print(F("Failed  : "));
+        _debugSerial->print(F("Size: "));
+        _debugSerial->print(incomingUBX->len);
+        _debugSerial->print(F(" Received: "));
+        printPacket(incomingUBX);
+      }
+    }
+  }
+  else //Load this byte into the payload array
+  {
+    //If a UBX_NAV_PVT packet comes in asynchronously, we need to fudge the startingSpot
+    uint16_t startingSpot = incomingUBX->startingSpot;
+    if (incomingUBX->cls == UBX_CLASS_NAV && incomingUBX->id == UBX_NAV_PVT)
+      startingSpot = 0;
+    //Begin recording if counter goes past startingSpot
+    if ((incomingUBX->counter - 4) >= startingSpot)
+    {
+      //Check to see if we have room for this byte
+      if (((incomingUBX->counter - 4) - startingSpot) < MAX_PAYLOAD_SIZE) //If counter = 208, starting spot = 200, we're good to record.
+      {
+        // Check if this is payload data which should be ignored
+        if (ignoreThisPayload == false)
+        {
+          incomingUBX->payload[incomingUBX->counter - 4 - startingSpot] = incoming; //Store this byte into payload array
+        }
+      }
+    }
+  }
+
+  //Increment the counter
+  incomingUBX->counter++;
+
+  if (incomingUBX->counter == MAX_PAYLOAD_SIZE)
+  {
+    //Something has gone very wrong
+    currentSentence = NONE; //Reset the sentence to being looking for a new start char
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("processUBX: counter hit MAX_PAYLOAD_SIZE"));
+    }
+  }
+}
+
+//Once a packet has been received and validated, identify this packet's class/id and update internal flags
+//Note: if the user requests a PVT or a HPPOSLLH message using a custom packet, the data extraction will
+//      not work as expected beacuse extractLong etc are hardwired to packetCfg payloadCfg. Ideally
+//      extractLong etc should be updated so they receive a pointer to the packet buffer.
+void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
+{
+  switch (msg->cls)
+  {
+  case UBX_CLASS_NAV:
+    if (msg->id == UBX_NAV_PVT && msg->len == 92)
+    {
+      //Parse various byte fields into global vars
+      constexpr int startingSpot = 0; //fixed value used in processUBX
+
+      timeOfWeek = extractLong(0);
+      gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW
+      gpsYear = extractInt(4);
+      gpsMonth = extractByte(6);
+      gpsDay = extractByte(7);
+      gpsHour = extractByte(8);
+      gpsMinute = extractByte(9);
+      gpsSecond = extractByte(10);
+      gpsNanosecond = extractLong(16); //Includes milliseconds
+
+      fixType = extractByte(20 - startingSpot);
+      carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
+      SIV = extractByte(23 - startingSpot);
+      longitude = extractLong(24 - startingSpot);
+      latitude = extractLong(28 - startingSpot);
+      altitude = extractLong(32 - startingSpot);
+      altitudeMSL = extractLong(36 - startingSpot);
+      groundSpeed = extractLong(60 - startingSpot);
+      headingOfMotion = extractLong(64 - startingSpot);
+      pDOP = extractInt(76 - startingSpot);
+
+      //Mark all datums as fresh (not read before)
+      moduleQueried.gpsiTOW = true;
+      moduleQueried.gpsYear = true;
+      moduleQueried.gpsMonth = true;
+      moduleQueried.gpsDay = true;
+      moduleQueried.gpsHour = true;
+      moduleQueried.gpsMinute = true;
+      moduleQueried.gpsSecond = true;
+      moduleQueried.gpsNanosecond = true;
+
+      moduleQueried.all = true;
+      moduleQueried.longitude = true;
+      moduleQueried.latitude = true;
+      moduleQueried.altitude = true;
+      moduleQueried.altitudeMSL = true;
+      moduleQueried.SIV = true;
+      moduleQueried.fixType = true;
+      moduleQueried.carrierSolution = true;
+      moduleQueried.groundSpeed = true;
+      moduleQueried.headingOfMotion = true;
+      moduleQueried.pDOP = true;
+    }
+    else if (msg->id == UBX_NAV_TIMEUTC && msg->len == 20)
+    {
+      timeOfWeek = extractLong(0);
+      gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW
+      // extractLong(4); // time accuracy estimate
+      gpsYear = extractInt(12);
+      gpsMonth = extractByte(14);
+      gpsDay = extractByte(15);
+      gpsHour = extractByte(16);
+      gpsMinute = extractByte(17);
+      gpsSecond = extractByte(18);
+      gpsNanosecond = extractLong(8); //Includes milliseconds
+      uint8_t valid = extractByte(19);
+      bool gotTime = (valid & 4) ? true : false; // assume all other fields filled once we have TUTC
+
+      //Mark all datums as fresh (not read before)
+      moduleQueried.gpsiTOW = gotTime; // valid tow
+      moduleQueried.gpsYear = gotTime; // valid week num
+      moduleQueried.gpsMonth = gotTime;
+      moduleQueried.gpsDay = gotTime; // valid UTC
+      moduleQueried.gpsHour = gotTime;
+      moduleQueried.gpsMinute = gotTime;
+      moduleQueried.gpsSecond = gotTime;
+      moduleQueried.gpsNanosecond = gotTime;
+    }
+    else if (msg->id == UBX_NAV_POSLLH && msg->len == 28)
+    {
+      timeOfWeek = extractLong(0);
+      longitude = extractLong(4);
+      latitude = extractLong(8);
+      altitude = extractLong(12);
+      altitudeMSL = extractLong(16);
+      horizontalAccuracy = extractLong(20);
+      verticalAccuracy = extractLong(24);
+
+      moduleQueried.gpsiTOW = true;
+      moduleQueried.longitude = true;
+      moduleQueried.latitude = true;
+      moduleQueried.altitude = true;
+      moduleQueried.altitudeMSL = true;
+      highResModuleQueried.horizontalAccuracy = true;
+      highResModuleQueried.verticalAccuracy = true;
+    }
+    else if (msg->id == UBX_NAV_HPPOSLLH && msg->len == 36)
+    {
+      timeOfWeek = extractLong(4);
+      highResLongitude = extractLong(8);
+      highResLatitude = extractLong(12);
+      elipsoid = extractLong(16);
+      meanSeaLevel = extractLong(20);
+      highResLongitudeHp = extractSignedChar(24);
+      highResLatitudeHp = extractSignedChar(25);
+      elipsoidHp = extractSignedChar(26);
+      meanSeaLevelHp = extractSignedChar(27);
+      horizontalAccuracy = extractLong(28);
+      verticalAccuracy = extractLong(32);
+
+      highResModuleQueried.all = true;
+      highResModuleQueried.highResLatitude = true;
+      highResModuleQueried.highResLatitudeHp = true;
+      highResModuleQueried.highResLongitude = true;
+      highResModuleQueried.highResLongitudeHp = true;
+      highResModuleQueried.elipsoid = true;
+      highResModuleQueried.elipsoidHp = true;
+      highResModuleQueried.meanSeaLevel = true;
+      highResModuleQueried.meanSeaLevelHp = true;
+      highResModuleQueried.geoidSeparation = true;
+      highResModuleQueried.horizontalAccuracy = true;
+      highResModuleQueried.verticalAccuracy = true;
+      moduleQueried.gpsiTOW = true; // this can arrive via HPPOS too.
+
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Sec: "));
+        _debugSerial->print(((float)extractLong(4)) / 1000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LON: "));
+        _debugSerial->print(((float)(int32_t)extractLong(8)) / 10000000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LAT: "));
+        _debugSerial->print(((float)(int32_t)extractLong(12)) / 10000000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("ELI M: "));
+        _debugSerial->print(((float)(int32_t)extractLong(16)) / 1000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("MSL M: "));
+        _debugSerial->print(((float)(int32_t)extractLong(20)) / 1000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LON HP: "));
+        _debugSerial->print(extractSignedChar(24));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LAT HP: "));
+        _debugSerial->print(extractSignedChar(25));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("ELI HP: "));
+        _debugSerial->print(extractSignedChar(26));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("MSL HP: "));
+        _debugSerial->print(extractSignedChar(27));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("HA 2D M: "));
+        _debugSerial->print(((float)(int32_t)extractLong(28)) / 10000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("VERT M: "));
+        _debugSerial->println(((float)(int32_t)extractLong(32)) / 10000.0f);
+      }
+    }
+    else {
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Unexpected nav packet "));
+        _debugSerial->println(msg->id);
+      }
+    }
+    break;
+  }
+}
+
+//Given a packet and payload, send everything including CRC bytes via I2C port
+sfe_ublox_status_e SFE_UBLOX_GPS::sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait)
+{
+  sfe_ublox_status_e retVal = SFE_UBLOX_STATUS_SUCCESS;
+
+  calcChecksum(outgoingUBX); //Sets checksum A and B bytes of the packet
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("\nSending: "));
+    printPacket(outgoingUBX);
+  }
+
+  if (commType == COMM_TYPE_I2C)
+  {
+    retVal = sendI2cCommand(outgoingUBX, maxWait);
+    if (retVal != SFE_UBLOX_STATUS_SUCCESS)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("Send I2C Command failed"));
+      }
+      return retVal;
+    }
+  }
+  else if (commType == COMM_TYPE_SERIAL)
+  {
+    sendSerialCommand(outgoingUBX);
+  }
+
+  if (maxWait > 0)
+  {
+    //Depending on what we just sent, either we need to look for an ACK or not
+    if (outgoingUBX->cls == UBX_CLASS_CFG)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("sendCommand: Waiting for ACK response"));
+      }
+      retVal = waitForACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response
+    }
+    else
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("sendCommand: Waiting for No ACK response"));
+      }
+      retVal = waitForNoACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response
+    }
+  }
+  return retVal;
+}
+
+//Returns false if sensor fails to respond to I2C traffic
+sfe_ublox_status_e SFE_UBLOX_GPS::sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait)
+{
+  //Point at 0xFF data register
+  _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); //There is no register to write to, we just begin writing data bytes
+  _i2cPort->write(0xFF);
+  if (_i2cPort->endTransmission() != 0)         //Don't release bus
+    return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+
+  //Write header bytes
+  _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); //There is no register to write to, we just begin writing data bytes
+  _i2cPort->write(UBX_SYNCH_1);                         //μ - oh ublox, you're funny. I will call you micro-blox from now on.
+  _i2cPort->write(UBX_SYNCH_2);                         //b
+  _i2cPort->write(outgoingUBX->cls);
+  _i2cPort->write(outgoingUBX->id);
+  _i2cPort->write(outgoingUBX->len & 0xFF);     //LSB
+  _i2cPort->write(outgoingUBX->len >> 8);       //MSB
+  if (_i2cPort->endTransmission(false) != 0)    //Do not release bus
+    return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+
+  //Write payload. Limit the sends into 32 byte chunks
+  //This code based on ublox: https://forum.u-blox.com/index.php/20528/how-to-use-i2c-to-get-the-nmea-frames
+  uint16_t bytesToSend = outgoingUBX->len;
+
+  //"The number of data bytes must be at least 2 to properly distinguish
+  //from the write access to set the address counter in random read accesses."
+  uint16_t startSpot = 0;
+  while (bytesToSend > 1)
+  {
+    uint8_t len = bytesToSend;
+    if (len > I2C_BUFFER_LENGTH)
+      len = I2C_BUFFER_LENGTH;
+
+    _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
+    //_i2cPort->write(outgoingUBX->payload, len); //Write a portion of the payload to the bus
+
+    for (uint16_t x = 0; x < len; x++)
+      _i2cPort->write(outgoingUBX->payload[startSpot + x]); //Write a portion of the payload to the bus
+
+    if (_i2cPort->endTransmission(false) != 0)    //Don't release bus
+      return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+
+    //*outgoingUBX->payload += len; //Move the pointer forward
+    startSpot += len; //Move the pointer forward
+    bytesToSend -= len;
+  }
+
+  //Write checksum
+  _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
+  if (bytesToSend == 1)
+    _i2cPort->write(outgoingUBX->payload, 1);
+  _i2cPort->write(outgoingUBX->checksumA);
+  _i2cPort->write(outgoingUBX->checksumB);
+
+  //All done transmitting bytes. Release bus.
+  if (_i2cPort->endTransmission() != 0)
+    return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+  return (SFE_UBLOX_STATUS_SUCCESS);
+}
+
+//Given a packet and payload, send everything including CRC bytesA via Serial port
+void SFE_UBLOX_GPS::sendSerialCommand(ubxPacket *outgoingUBX)
+{
+  //Write header bytes
+  _serialPort->write(UBX_SYNCH_1); //μ - oh ublox, you're funny. I will call you micro-blox from now on.
+  _serialPort->write(UBX_SYNCH_2); //b
+  _serialPort->write(outgoingUBX->cls);
+  _serialPort->write(outgoingUBX->id);
+  _serialPort->write(outgoingUBX->len & 0xFF); //LSB
+  _serialPort->write(outgoingUBX->len >> 8);   //MSB
+
+  //Write payload.
+  for (int i = 0; i < outgoingUBX->len; i++)
+  {
+    _serialPort->write(outgoingUBX->payload[i]);
+  }
+
+  //Write checksum
+  _serialPort->write(outgoingUBX->checksumA);
+  _serialPort->write(outgoingUBX->checksumB);
+}
+
+//Returns true if I2C device ack's
+boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait)
+{
+  if (commType == COMM_TYPE_I2C)
+  {
+    _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
+    if (_i2cPort->endTransmission() != 0)
+      return false; //Sensor did not ack
+  }
+
+  // Query navigation rate to see whether we get a meaningful response
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
+}
+
+//Given a message, calc and store the two byte "8-Bit Fletcher" checksum over the entirety of the message
+//This is called before we send a command message
+void SFE_UBLOX_GPS::calcChecksum(ubxPacket *msg)
+{
+  msg->checksumA = 0;
+  msg->checksumB = 0;
+
+  msg->checksumA += msg->cls;
+  msg->checksumB += msg->checksumA;
+
+  msg->checksumA += msg->id;
+  msg->checksumB += msg->checksumA;
+
+  msg->checksumA += (msg->len & 0xFF);
+  msg->checksumB += msg->checksumA;
+
+  msg->checksumA += (msg->len >> 8);
+  msg->checksumB += msg->checksumA;
+
+  for (uint16_t i = 0; i < msg->len; i++)
+  {
+    msg->checksumA += msg->payload[i];
+    msg->checksumB += msg->checksumA;
+  }
+}
+
+//Given a message and a byte, add to rolling "8-Bit Fletcher" checksum
+//This is used when receiving messages from module
+void SFE_UBLOX_GPS::addToChecksum(uint8_t incoming)
+{
+  rollingChecksumA += incoming;
+  rollingChecksumB += rollingChecksumA;
+}
+
+//Pretty prints the current ubxPacket
+void SFE_UBLOX_GPS::printPacket(ubxPacket *packet)
+{
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("CLS:"));
+    if (packet->cls == UBX_CLASS_NAV) //1
+      _debugSerial->print(F("NAV"));
+    else if (packet->cls == UBX_CLASS_ACK) //5
+      _debugSerial->print(F("ACK"));
+    else if (packet->cls == UBX_CLASS_CFG) //6
+      _debugSerial->print(F("CFG"));
+    else if (packet->cls == UBX_CLASS_MON) //0x0A
+      _debugSerial->print(F("MON"));
+    else
+    {
+      _debugSerial->print(F("0x"));
+      _debugSerial->print(packet->cls, HEX);
+    }
+
+    _debugSerial->print(F(" ID:"));
+    if (packet->cls == UBX_CLASS_NAV && packet->id == UBX_NAV_PVT)
+      _debugSerial->print(F("PVT"));
+    else if (packet->cls == UBX_CLASS_CFG && packet->id == UBX_CFG_RATE)
+      _debugSerial->print(F("RATE"));
+    else if (packet->cls == UBX_CLASS_CFG && packet->id == UBX_CFG_CFG)
+      _debugSerial->print(F("SAVE"));
+    else
+    {
+      _debugSerial->print(F("0x"));
+      _debugSerial->print(packet->id, HEX);
+    }
+
+    _debugSerial->print(F(" Len: 0x"));
+    _debugSerial->print(packet->len, HEX);
+
+    // Only print the payload is ignoreThisPayload is false otherwise
+    // we could be printing gibberish from beyond the end of packetBuf
+    if (ignoreThisPayload == false)
+    {
+      _debugSerial->print(F(" Payload:"));
+
+      for (int x = 0; x < packet->len; x++)
+      {
+        _debugSerial->print(F(" "));
+        _debugSerial->print(packet->payload[x], HEX);
+      }
+    }
+    else
+    {
+      _debugSerial->print(F(" Payload: IGNORED"));
+    }
+    _debugSerial->println();
+  }
+}
+
+//=-=-=-=-=-=-=-= Specific commands =-=-=-=-=-=-=-==-=-=-=-=-=-=-=
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge"(UBX - ACK - ACK) or a
+//"not acknowledge"(UBX-ACK-NAK) message back to the sender, depending on whether or not the message was processed correctly.
+//Some messages from other classes also use the same acknowledgement mechanism.
+
+//When we poll or get a setting, we will receive _both_ a config packet and an ACK
+//If the poll or get request is not valid, we will receive _only_ a NACK
+
+//If we are trying to get or poll a setting, then packetCfg.len will be 0 or 1 when the packetCfg is _sent_.
+//If we poll the setting for a particular port using UBX-CFG-PRT then .len will be 1 initially
+//For all other gets or polls, .len will be 0 initially
+//(It would be possible for .len to be 2 _if_ we were using UBX-CFG-MSG to poll the settings for a particular message - but we don't use that (currently))
+
+//If the get or poll _fails_, i.e. is NACK'd, then packetCfg.len could still be 0 or 1 after the NACK is received
+//But if the get or poll is ACK'd, then packetCfg.len will have been updated by the incoming data and will always be at least 2
+
+//If we are going to set the value for a setting, then packetCfg.len will be at least 3 when the packetCfg is _sent_.
+//(UBX-CFG-MSG appears to have the shortest set length of 3 bytes)
+
+//We need to think carefully about how interleaved PVT packets affect things.
+//It is entirely possible that our packetCfg and packetAck were received successfully
+//but while we are still in the "if (checkUblox() == true)" loop a PVT packet is processed
+//or _starts_ to arrive (remember that Serial data can arrive very slowly).
+
+//Returns SFE_UBLOX_STATUS_DATA_RECEIVED if we got an ACK and a valid packetCfg (module is responding with register content)
+//Returns SFE_UBLOX_STATUS_DATA_SENT if we got an ACK and no packetCfg (no valid packetCfg needed, module absorbs new register data)
+//Returns SFE_UBLOX_STATUS_FAIL if something very bad happens (e.g. a double checksum failure)
+//Returns SFE_UBLOX_STATUS_COMMAND_NACK if the packet was not-acknowledged (NACK)
+//Returns SFE_UBLOX_STATUS_CRC_FAIL if we had a checksum failure
+//Returns SFE_UBLOX_STATUS_TIMEOUT if we timed out
+//Returns SFE_UBLOX_STATUS_DATA_OVERWRITTEN if we got an ACK and a valid packetCfg but that the packetCfg has been
+// or is currently being overwritten (remember that Serial data can arrive very slowly)
+sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime)
+{
+  outgoingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; //This will go VALID (or NOT_VALID) when we receive a response to the packet we sent
+  packetAck.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  outgoingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // This will go VALID (or NOT_VALID) when we receive a packet that matches the requested class and ID
+  packetAck.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+
+  unsigned long startTime = millis();
+  while (millis() - startTime < maxTime)
+  {
+    if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in.
+    {
+      // If both the outgoingUBX->classAndIDmatch and packetAck.classAndIDmatch are VALID
+      // and outgoingUBX->valid is _still_ VALID and the class and ID _still_ match
+      // then we can be confident that the data in outgoingUBX is valid
+      if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: valid data and valid ACK received after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and a correct ACK!
+      }
+
+      // We can be confident that the data packet (if we are going to get one) will always arrive
+      // before the matching ACK. So if we sent a config packet which only produces an ACK
+      // then outgoingUBX->classAndIDmatch will be NOT_DEFINED and the packetAck.classAndIDmatch will VALID.
+      // We should not check outgoingUBX->valid, outgoingUBX->cls or outgoingUBX->id
+      // as these may have been changed by a PVT packet.
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: no data and valid ACK after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_SENT); //We got an ACK but no data...
+      }
+
+      // If both the outgoingUBX->classAndIDmatch and packetAck.classAndIDmatch are VALID
+      // but the outgoingUBX->cls or ID no longer match then we can be confident that we had
+      // valid data but it has been or is currently being overwritten by another packet (e.g. PVT).
+      // If (e.g.) a PVT packet is _being_ received: outgoingUBX->valid will be NOT_DEFINED
+      // If (e.g.) a PVT packet _has been_ received: outgoingUBX->valid will be VALID (or just possibly NOT_VALID)
+      // So we cannot use outgoingUBX->valid as part of this check.
+      // Note: the addition of packetBuf should make this check redundant!
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && !((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID)))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: data being OVERWRITTEN after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten
+      }
+
+      // If packetAck.classAndIDmatch is VALID but both outgoingUBX->valid and outgoingUBX->classAndIDmatch
+      // are NOT_VALID then we can be confident we have had a checksum failure on the data packet
+      else if ((packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: CRC failed after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_CRC_FAIL); //Checksum fail
+      }
+
+      // If our packet was not-acknowledged (NACK) we do not receive a data packet - we only get the NACK.
+      // So you would expect outgoingUBX->valid and outgoingUBX->classAndIDmatch to still be NOT_DEFINED
+      // But if a full PVT packet arrives afterwards outgoingUBX->valid could be VALID (or just possibly NOT_VALID)
+      // but outgoingUBX->cls and outgoingUBX->id would not match...
+      // So I think this is telling us we need a special state for packetAck.classAndIDmatch to tell us
+      // the packet was definitely NACK'd otherwise we are possibly just guessing...
+      // Note: the addition of packetBuf changes the logic of this, but we'll leave the code as is for now.
+      else if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_NOTACKNOWLEDGED)
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: data was NOTACKNOWLEDGED (NACK) after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_COMMAND_NACK); //We received a NACK!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is VALID but the packetAck.classAndIDmatch is NOT_VALID
+      // then the ack probably had a checksum error. We will take a gamble and return DATA_RECEIVED.
+      // If we were playing safe, we should return FAIL instead
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: VALID data and INVALID ACK received after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and an invalid ACK!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is NOT_VALID and the packetAck.classAndIDmatch is NOT_VALID
+      // then we return a FAIL. This must be a double checksum failure?
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: INVALID data and INVALID ACK received after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_FAIL); //We received invalid data and an invalid ACK!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is VALID and the packetAck.classAndIDmatch is NOT_DEFINED
+      // then the ACK has not yet been received and we should keep waiting for it
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: valid data after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec. Waiting for ACK."));
+        }
+      }
+
+    } //checkUbloxInternal == true
+
+    delayMicroseconds(500);
+  } //while (millis() - startTime < maxTime)
+
+  // We have timed out...
+  // If the outgoingUBX->classAndIDmatch is VALID then we can take a gamble and return DATA_RECEIVED
+  // even though we did not get an ACK
+  if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->print(F("waitForACKResponse: TIMEOUT with valid data after "));
+      _debugSerial->print(millis() - startTime);
+      _debugSerial->println(F(" msec. "));
+    }
+    return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data... But no ACK!
+  }
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("waitForACKResponse: TIMEOUT after "));
+    _debugSerial->print(millis() - startTime);
+    _debugSerial->println(F(" msec."));
+  }
+
+  return (SFE_UBLOX_STATUS_TIMEOUT);
+}
+
+//For non-CFG queries no ACK is sent so we use this function
+//Returns SFE_UBLOX_STATUS_DATA_RECEIVED if we got a config packet full of response data that has CLS/ID match to our query packet
+//Returns SFE_UBLOX_STATUS_CRC_FAIL if we got a corrupt config packet that has CLS/ID match to our query packet
+//Returns SFE_UBLOX_STATUS_TIMEOUT if we timed out
+//Returns SFE_UBLOX_STATUS_DATA_OVERWRITTEN if we got an a valid packetCfg but that the packetCfg has been
+// or is currently being overwritten (remember that Serial data can arrive very slowly)
+sfe_ublox_status_e SFE_UBLOX_GPS::waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime)
+{
+  outgoingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; //This will go VALID (or NOT_VALID) when we receive a response to the packet we sent
+  packetAck.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  outgoingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // This will go VALID (or NOT_VALID) when we receive a packet that matches the requested class and ID
+  packetAck.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+
+  unsigned long startTime = millis();
+  while (millis() - startTime < maxTime)
+  {
+    if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in.
+    {
+
+      // If outgoingUBX->classAndIDmatch is VALID
+      // and outgoingUBX->valid is _still_ VALID and the class and ID _still_ match
+      // then we can be confident that the data in outgoingUBX is valid
+      if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: valid data with CLS/ID match after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is VALID
+      // but the outgoingUBX->cls or ID no longer match then we can be confident that we had
+      // valid data but it has been or is currently being overwritten by another packet (e.g. PVT).
+      // If (e.g.) a PVT packet is _being_ received: outgoingUBX->valid will be NOT_DEFINED
+      // If (e.g.) a PVT packet _has been_ received: outgoingUBX->valid will be VALID (or just possibly NOT_VALID)
+      // So we cannot use outgoingUBX->valid as part of this check.
+      // Note: the addition of packetBuf should make this check redundant!
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && !((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID)))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: data being OVERWRITTEN after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten
+      }
+
+      // If outgoingUBX->classAndIDmatch is NOT_DEFINED
+      // and outgoingUBX->valid is VALID then this must be (e.g.) a PVT packet
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: valid but UNWANTED data after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->print(F(" msec. Class: "));
+          _debugSerial->print(outgoingUBX->cls);
+          _debugSerial->print(F(" ID: "));
+          _debugSerial->print(outgoingUBX->id);
+        }
+      }
+
+      // If the outgoingUBX->classAndIDmatch is NOT_VALID then we return CRC failure
+      else if (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: CLS/ID match but failed CRC after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_CRC_FAIL); //We received invalid data
+      }
+    }
+
+    delayMicroseconds(500);
+  }
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("waitForNoACKResponse: TIMEOUT after "));
+    _debugSerial->print(millis() - startTime);
+    _debugSerial->println(F(" msec. No packet received."));
+  }
+
+  return (SFE_UBLOX_STATUS_TIMEOUT);
+}
+
+//Save current configuration to flash and BBR (battery backed RAM)
+//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
+boolean SFE_UBLOX_GPS::saveConfiguration(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 12;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[4] = 0xFF; //Set any bit in the saveMask field to save current config to Flash and BBR
+  packetCfg.payload[5] = 0xFF;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
+//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
+boolean SFE_UBLOX_GPS::saveConfigSelective(uint32_t configMask, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 12;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[4] = configMask & 0xFF; //Set the appropriate bits in the saveMask field to save current config to Flash and BBR
+  packetCfg.payload[5] = (configMask >> 8) & 0xFF;
+  packetCfg.payload[6] = (configMask >> 16) & 0xFF;
+  packetCfg.payload[7] = (configMask >> 24) & 0xFF;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Reset module to factory defaults
+//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
+boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 12;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[0] = 0xFF; //Set any bit in the clearMask field to clear saved config
+  packetCfg.payload[1] = 0xFF;
+  packetCfg.payload[8] = 0xFF; //Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
+  packetCfg.payload[9] = 0xFF;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Given a group, ID and size, return the value of this config spot
+//The 32-bit key is put together from group/ID/size. See other getVal to send key directly.
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait)
+{
+  //Create key
+  uint32_t key = 0;
+  key |= (uint32_t)id;
+  key |= (uint32_t)group << 16;
+  key |= (uint32_t)size << 28;
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("key: 0x"));
+    _debugSerial->print(key, HEX);
+    _debugSerial->println();
+  }
+
+  return getVal8(key, layer, maxWait);
+}
+
+//Given a key, return its value
+//This function takes a full 32-bit key
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALGET;
+  packetCfg.len = 4 + 4 * 1; //While multiple keys are allowed, we will send only one key at a time
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  //VALGET uses different memory layer definitions to VALSET
+  //because it can only return the value for one layer.
+  //So we need to fiddle the layer here.
+  //And just to complicate things further, the ZED-F9P only responds
+  //correctly to layer 0 (RAM) and layer 7 (Default)!
+  uint8_t getLayer = 7;                         // 7 is the "Default Layer"
+  if ((layer & VAL_LAYER_RAM) == VAL_LAYER_RAM) // Did the user request the RAM layer?
+  {
+    getLayer = 0; // Layer 0 is RAM
+  }
+
+  payloadCfg[0] = 0;        //Message Version - set to 0
+  payloadCfg[1] = getLayer; //Layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("key: 0x"));
+    _debugSerial->print(key, HEX);
+    _debugSerial->println();
+  }
+
+  //Send VALGET command with this key
+
+  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("getVal8: sendCommand returned: "));
+    _debugSerial->println(statusString(retVal));
+  }
+  if (retVal != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (0);                                 //If command send fails then bail
+
+  //Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
+  //Response is 8 bytes plus cfg data
+  //if(packet->len > 8+1)
+
+  //Pull the requested value from the response
+  //Response starts at 4+1*N with the 32-bit key so the actual data we're looking for is at 8+1*N
+  return (extractByte(8));
+}
+
+//Given a key, set a 16-bit value
+//This function takes a full 32-bit key
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal(uint32_t key, uint16_t value, uint8_t layer, uint16_t maxWait)
+{
+  return setVal16(key, value, layer, maxWait);
+}
+
+//Given a key, set a 16-bit value
+//This function takes a full 32-bit key
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal16(uint32_t key, uint16_t value, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 2; //4 byte header, 4 byte key ID, 2 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Given a key, set an 8-bit value
+//This function takes a full 32-bit key
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal8(uint32_t key, uint8_t value, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 1; //4 byte header, 4 byte key ID, 1 byte value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value; //Value
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Given a key, set a 32-bit value
+//This function takes a full 32-bit key
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal32(uint32_t key, uint32_t value, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 4; //4 byte header, 4 byte key ID, 4 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+  payloadCfg[10] = value >> 8 * 2;
+  payloadCfg[11] = value >> 8 * 3;
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Start defining a new UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 32-bit value
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::newCfgValset32(uint32_t key, uint32_t value, uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 4; //4 byte header, 4 byte key ID, 4 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+  payloadCfg[10] = value >> 8 * 2;
+  payloadCfg[11] = value >> 8 * 3;
+
+  //All done
+  return (true);
+}
+
+//Start defining a new UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 16-bit value
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::newCfgValset16(uint32_t key, uint16_t value, uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 2; //4 byte header, 4 byte key ID, 2 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+
+  //All done
+  return (true);
+}
+
+//Start defining a new UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 8-bit value
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::newCfgValset8(uint32_t key, uint8_t value, uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 1; //4 byte header, 4 byte key ID, 1 byte value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value; //Value
+
+  //All done
+  return (true);
+}
+
+//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 32-bit value
+uint8_t SFE_UBLOX_GPS::addCfgValset32(uint32_t key, uint32_t value)
+{
+  //Load key into outgoing payload
+  payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB
+  payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
+  payloadCfg[packetCfg.len + 2] = key >> 8 * 2;
+  payloadCfg[packetCfg.len + 3] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[packetCfg.len + 4] = value >> 8 * 0; //Value LSB
+  payloadCfg[packetCfg.len + 5] = value >> 8 * 1;
+  payloadCfg[packetCfg.len + 6] = value >> 8 * 2;
+  payloadCfg[packetCfg.len + 7] = value >> 8 * 3;
+
+  //Update packet length: 4 byte key ID, 4 bytes of value
+  packetCfg.len = packetCfg.len + 4 + 4;
+
+  //All done
+  return (true);
+}
+
+//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 16-bit value
+uint8_t SFE_UBLOX_GPS::addCfgValset16(uint32_t key, uint16_t value)
+{
+  //Load key into outgoing payload
+  payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB
+  payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
+  payloadCfg[packetCfg.len + 2] = key >> 8 * 2;
+  payloadCfg[packetCfg.len + 3] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[packetCfg.len + 4] = value >> 8 * 0; //Value LSB
+  payloadCfg[packetCfg.len + 5] = value >> 8 * 1;
+
+  //Update packet length: 4 byte key ID, 2 bytes of value
+  packetCfg.len = packetCfg.len + 4 + 2;
+
+  //All done
+  return (true);
+}
+
+//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 8-bit value
+uint8_t SFE_UBLOX_GPS::addCfgValset8(uint32_t key, uint8_t value)
+{
+  //Load key into outgoing payload
+  payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB
+  payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
+  payloadCfg[packetCfg.len + 2] = key >> 8 * 2;
+  payloadCfg[packetCfg.len + 3] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[packetCfg.len + 4] = value; //Value
+
+  //Update packet length: 4 byte key ID, 1 byte value
+  packetCfg.len = packetCfg.len + 4 + 1;
+
+  //All done
+  return (true);
+}
+
+//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
+//This function takes a full 32-bit key and 32-bit value
+uint8_t SFE_UBLOX_GPS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t maxWait)
+{
+  //Load keyID and value into outgoing payload
+  addCfgValset32(key, value);
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
+//This function takes a full 32-bit key and 16-bit value
+uint8_t SFE_UBLOX_GPS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t maxWait)
+{
+  //Load keyID and value into outgoing payload
+  addCfgValset16(key, value);
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
+//This function takes a full 32-bit key and 8-bit value
+uint8_t SFE_UBLOX_GPS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxWait)
+{
+  //Load keyID and value into outgoing payload
+  addCfgValset8(key, value);
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Get the current TimeMode3 settings - these contain survey in statuses
+boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TMODE3;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
+}
+
+//Control Survey-In for NEO-M8P
+boolean SFE_UBLOX_GPS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  if (getSurveyMode(maxWait) == false) //Ask module for the current TimeMode3 settings. Loads into payloadCfg.
+    return (false);
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TMODE3;
+  packetCfg.len = 40;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  //payloadCfg should be loaded with poll response. Now modify only the bits we care about
+  payloadCfg[2] = mode; //Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT).
+
+  //svinMinDur is U4 (uint32_t) but we'll only use a uint16_t (waiting more than 65535 seconds seems excessive!)
+  payloadCfg[24] = observationTime & 0xFF; //svinMinDur in seconds
+  payloadCfg[25] = observationTime >> 8;   //svinMinDur in seconds
+  payloadCfg[26] = 0;                      //Truncate to 16 bits
+  payloadCfg[27] = 0;                      //Truncate to 16 bits
+
+  //svinAccLimit is U4 (uint32_t) in 0.1mm.
+  uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); //Convert m to 0.1mm
+  payloadCfg[28] = svinAccLimit & 0xFF;                           //svinAccLimit in 0.1mm increments
+  payloadCfg[29] = svinAccLimit >> 8;
+  payloadCfg[30] = svinAccLimit >> 16;
+  payloadCfg[31] = svinAccLimit >> 24;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Begin Survey-In for NEO-M8P
+boolean SFE_UBLOX_GPS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
+}
+
+//Stop Survey-In for NEO-M8P
+boolean SFE_UBLOX_GPS::disableSurveyMode(uint16_t maxWait)
+{
+  return (setSurveyMode(SVIN_MODE_DISABLE, 0, 0, maxWait));
+}
+
+//Reads survey in status and sets the global variables
+//for status, position valid, observation time, and mean 3D StdDev
+//Returns true if commands was successful
+boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
+{
+  //Reset variables
+  svin.active = false;
+  svin.valid = false;
+  svin.observationTime = 0;
+  svin.meanAccuracy = 0;
+
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_SVIN;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if ((sendCommand(&packetCfg, maxWait)) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                         //If command send fails then bail
+
+  //We got a response, now parse the bits into the svin structure
+
+  //dur (Passed survey-in observation time) is U4 (uint32_t) seconds. We truncate to 16 bits
+  //(waiting more than 65535 seconds (18.2 hours) seems excessive!)
+  uint32_t tmpObsTime = extractLong(8);
+  if (tmpObsTime <= 0xFFFF)
+  {
+    svin.observationTime = (uint16_t)tmpObsTime;
+  }
+  else
+  {
+    svin.observationTime = 0xFFFF;
+  }
+
+  // meanAcc is U4 (uint32_t) in 0.1mm. We convert this to float.
+  uint32_t tempFloat = extractLong(28);
+  svin.meanAccuracy = ((float)tempFloat) / 10000.0; //Convert 0.1mm to m
+
+  svin.valid = payloadCfg[36];  //1 if survey-in position is valid, 0 otherwise
+  svin.active = payloadCfg[37]; //1 if survey-in in progress, 0 otherwise
+
+  return (true);
+}
+
+//Loads the payloadCfg array with the current protocol bits located the UBX-CFG-PRT register for a given port
+boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 1;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = portID;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
+}
+
+//Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
+//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI
+//Bit:0 = UBX, :1=NMEA, :5=RTCM3
+boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings, uint16_t maxWait)
+{
+  //Get the current config values for this port ID
+  if (getPortSettings(portID, maxWait) == false)
+    return (false); //Something went wrong. Bail.
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
+//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI
+//Bit:0 = UBX, :1=NMEA, :5=RTCM3
+boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, uint16_t maxWait)
+{
+  //Get the current config values for this port ID
+  //This will load the payloadCfg array with current port settings
+  if (getPortSettings(portID, maxWait) == false)
+    return (false); //Something went wrong. Bail.
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
+boolean SFE_UBLOX_GPS::setI2COutput(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_I2C, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUART1Output(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_UART1, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUART2Output(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_UART2, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUSBOutput(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_USB, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setSPIOutput(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_SPI, comSettings, maxWait));
+}
+
+//Set the rate at which the module will give us an updated navigation solution
+//Expects a number that is the updates per second. For example 1 = 1Hz, 2 = 2Hz, etc.
+//Max is 40Hz(?!)
+boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
+{
+  //if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values
+
+  //Adjust the I2C polling timeout based on update rate
+  i2cPollingWait = 1000 / (navFreq * 4); //This is the number of ms to wait between checks for new I2C data
+
+  //Query the module for the latest lat/long
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  uint16_t measurementRate = 1000 / navFreq;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
+  payloadCfg[1] = measurementRate >> 8;   //measRate MSB
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Get the rate at which the module is outputting nav solutions
+uint8_t SFE_UBLOX_GPS::getNavigationFrequency(uint16_t maxWait)
+{
+  //Query the module for the latest lat/long
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  uint16_t measurementRate = 0;
+
+  //payloadCfg is now loaded with current bytes. Get what we need
+  measurementRate = extractInt(0); //Pull from payloadCfg at measRate LSB
+
+  measurementRate = 1000 / measurementRate; //This may return an int when it's a float, but I'd rather not return 4 bytes
+  return (measurementRate);
+}
+
+//In case no config access to the GPS is possible and PVT is send cyclically already
+//set config to suitable parameters
+boolean SFE_UBLOX_GPS::assumeAutoPVT(boolean enabled, boolean implicitUpdate)
+{
+  boolean changes = autoPVT != enabled || autoPVTImplicitUpdate != implicitUpdate;
+  if (changes)
+  {
+    autoPVT = enabled;
+    autoPVTImplicitUpdate = implicitUpdate;
+  }
+  return changes;
+}
+
+//Enable or disable automatic navigation message generation by the GPS. This changes the way getPVT
+//works.
+boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, uint16_t maxWait)
+{
+  return setAutoPVT(enable, true, maxWait);
+}
+
+//Enable or disable automatic navigation message generation by the GPS. This changes the way getPVT
+//works.
+boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 3;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = UBX_CLASS_NAV;
+  payloadCfg[1] = UBX_NAV_PVT;
+  payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
+
+  boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  if (ok)
+  {
+    autoPVT = enable;
+    autoPVTImplicitUpdate = implicitUpdate;
+  }
+  moduleQueried.all = false;
+  return ok;
+}
+
+//Configure a given message type for a given port (UART1, I2C, SPI, etc)
+boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
+{
+  //Poll for the current settings for a given message
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 2;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = msgClass;
+  payloadCfg[1] = msgID;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  //Now send it back with new mods
+  packetCfg.len = 8;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Enable a given message type, default of 1 per update rate (usually 1 per second)
+boolean SFE_UBLOX_GPS::enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait)
+{
+  return (configureMessage(msgClass, msgID, portID, rate, maxWait));
+}
+//Disable a given message type on a given port
+boolean SFE_UBLOX_GPS::disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait)
+{
+  return (configureMessage(msgClass, msgID, portID, 0, maxWait));
+}
+
+boolean SFE_UBLOX_GPS::enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait)
+{
+  return (configureMessage(UBX_CLASS_NMEA, msgID, portID, rate, maxWait));
+}
+boolean SFE_UBLOX_GPS::disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait)
+{
+  return (enableNMEAMessage(msgID, portID, 0, maxWait));
+}
+
+//Given a message number turns on a message ID for output over a given portID (UART, I2C, SPI, USB, etc)
+//To disable a message, set secondsBetween messages to 0
+//Note: This function will return false if the message is already enabled
+//For base station RTK output we need to enable various sentences
+
+//NEO-M8P has four:
+//1005 = 0xF5 0x05 - Stationary RTK reference ARP
+//1077 = 0xF5 0x4D - GPS MSM7
+//1087 = 0xF5 0x57 - GLONASS MSM7
+//1230 = 0xF5 0xE6 - GLONASS code-phase biases, set to once every 10 seconds
+
+//ZED-F9P has six:
+//1005, 1074, 1084, 1094, 1124, 1230
+
+//Much of this configuration is not documented and instead discerned from u-center binary console
+boolean SFE_UBLOX_GPS::enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
+{
+  return (configureMessage(UBX_RTCM_MSB, messageNumber, portID, sendRate, maxWait));
+}
+
+//Disable a given message on a given port by setting secondsBetweenMessages to zero
+boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait)
+{
+  return (enableRTCMmessage(messageNumber, portID, 0, maxWait));
+}
+
+//Add a new geofence using UBX-CFG-GEOFENCE
+boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence, byte pinPolarity, byte pin, uint16_t maxWait)
+{
+  if (currentGeofenceParams.numFences >= 4)
+    return (false); // Quit if we already have four geofences defined
+
+  // Store the new geofence parameters
+  currentGeofenceParams.lats[currentGeofenceParams.numFences] = latitude;
+  currentGeofenceParams.longs[currentGeofenceParams.numFences] = longitude;
+  currentGeofenceParams.rads[currentGeofenceParams.numFences] = radius;
+  currentGeofenceParams.numFences = currentGeofenceParams.numFences + 1; // Increment the number of fences
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_GEOFENCE;
+  packetCfg.len = (currentGeofenceParams.numFences * 12) + 8;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0;                               // Message version = 0x00
+  payloadCfg[1] = currentGeofenceParams.numFences; // numFences
+  payloadCfg[2] = confidence;                      // confLvl = Confidence level 0-4 (none, 68%, 95%, 99.7%, 99.99%)
+  payloadCfg[3] = 0;                               // reserved1
+  if (pin > 0)
+  {
+    payloadCfg[4] = 1; // enable PIO combined fence state
+  }
+  else
+  {
+    payloadCfg[4] = 0; // disable PIO combined fence state
+  }
+  payloadCfg[5] = pinPolarity; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown))
+  payloadCfg[6] = pin;         // PIO pin
+  payloadCfg[7] = 0;           //reserved2
+  payloadCfg[8] = currentGeofenceParams.lats[0] & 0xFF;
+  payloadCfg[9] = currentGeofenceParams.lats[0] >> 8;
+  payloadCfg[10] = currentGeofenceParams.lats[0] >> 16;
+  payloadCfg[11] = currentGeofenceParams.lats[0] >> 24;
+  payloadCfg[12] = currentGeofenceParams.longs[0] & 0xFF;
+  payloadCfg[13] = currentGeofenceParams.longs[0] >> 8;
+  payloadCfg[14] = currentGeofenceParams.longs[0] >> 16;
+  payloadCfg[15] = currentGeofenceParams.longs[0] >> 24;
+  payloadCfg[16] = currentGeofenceParams.rads[0] & 0xFF;
+  payloadCfg[17] = currentGeofenceParams.rads[0] >> 8;
+  payloadCfg[18] = currentGeofenceParams.rads[0] >> 16;
+  payloadCfg[19] = currentGeofenceParams.rads[0] >> 24;
+  if (currentGeofenceParams.numFences >= 2)
+  {
+    payloadCfg[20] = currentGeofenceParams.lats[1] & 0xFF;
+    payloadCfg[21] = currentGeofenceParams.lats[1] >> 8;
+    payloadCfg[22] = currentGeofenceParams.lats[1] >> 16;
+    payloadCfg[23] = currentGeofenceParams.lats[1] >> 24;
+    payloadCfg[24] = currentGeofenceParams.longs[1] & 0xFF;
+    payloadCfg[25] = currentGeofenceParams.longs[1] >> 8;
+    payloadCfg[26] = currentGeofenceParams.longs[1] >> 16;
+    payloadCfg[27] = currentGeofenceParams.longs[1] >> 24;
+    payloadCfg[28] = currentGeofenceParams.rads[1] & 0xFF;
+    payloadCfg[29] = currentGeofenceParams.rads[1] >> 8;
+    payloadCfg[30] = currentGeofenceParams.rads[1] >> 16;
+    payloadCfg[31] = currentGeofenceParams.rads[1] >> 24;
+  }
+  if (currentGeofenceParams.numFences >= 3)
+  {
+    payloadCfg[32] = currentGeofenceParams.lats[2] & 0xFF;
+    payloadCfg[33] = currentGeofenceParams.lats[2] >> 8;
+    payloadCfg[34] = currentGeofenceParams.lats[2] >> 16;
+    payloadCfg[35] = currentGeofenceParams.lats[2] >> 24;
+    payloadCfg[36] = currentGeofenceParams.longs[2] & 0xFF;
+    payloadCfg[37] = currentGeofenceParams.longs[2] >> 8;
+    payloadCfg[38] = currentGeofenceParams.longs[2] >> 16;
+    payloadCfg[39] = currentGeofenceParams.longs[2] >> 24;
+    payloadCfg[40] = currentGeofenceParams.rads[2] & 0xFF;
+    payloadCfg[41] = currentGeofenceParams.rads[2] >> 8;
+    payloadCfg[42] = currentGeofenceParams.rads[2] >> 16;
+    payloadCfg[43] = currentGeofenceParams.rads[2] >> 24;
+  }
+  if (currentGeofenceParams.numFences >= 4)
+  {
+    payloadCfg[44] = currentGeofenceParams.lats[3] & 0xFF;
+    payloadCfg[45] = currentGeofenceParams.lats[3] >> 8;
+    payloadCfg[46] = currentGeofenceParams.lats[3] >> 16;
+    payloadCfg[47] = currentGeofenceParams.lats[3] >> 24;
+    payloadCfg[48] = currentGeofenceParams.longs[3] & 0xFF;
+    payloadCfg[49] = currentGeofenceParams.longs[3] >> 8;
+    payloadCfg[50] = currentGeofenceParams.longs[3] >> 16;
+    payloadCfg[51] = currentGeofenceParams.longs[3] >> 24;
+    payloadCfg[52] = currentGeofenceParams.rads[3] & 0xFF;
+    payloadCfg[53] = currentGeofenceParams.rads[3] >> 8;
+    payloadCfg[54] = currentGeofenceParams.rads[3] >> 16;
+    payloadCfg[55] = currentGeofenceParams.rads[3] >> 24;
+  }
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Clear all geofences using UBX-CFG-GEOFENCE
+boolean SFE_UBLOX_GPS::clearGeofences(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_GEOFENCE;
+  packetCfg.len = 8;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0; // Message version = 0x00
+  payloadCfg[1] = 0; // numFences
+  payloadCfg[2] = 0; // confLvl
+  payloadCfg[3] = 0; // reserved1
+  payloadCfg[4] = 0; // disable PIO combined fence state
+  payloadCfg[5] = 0; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown))
+  payloadCfg[6] = 0; // PIO pin
+  payloadCfg[7] = 0; //reserved2
+
+  currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Clear the antenna control settings using UBX-CFG-ANT
+//This function is hopefully redundant but may be needed to release
+//any PIO pins pre-allocated for antenna functions
+boolean SFE_UBLOX_GPS::clearAntPIO(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ANT;
+  packetCfg.len = 4;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0x10; // Antenna flag mask: set the recovery bit
+  payloadCfg[1] = 0;
+  payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31
+  payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Returns the combined geofence state using UBX-NAV-GEOFENCE
+boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_GEOFENCE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the geofence status. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  currentGeofenceState.status = payloadCfg[5];    // Extract the status
+  currentGeofenceState.numFences = payloadCfg[6]; // Extract the number of geofences
+  currentGeofenceState.combState = payloadCfg[7]; // Extract the combined state of all geofences
+  if (currentGeofenceState.numFences > 0)
+    currentGeofenceState.states[0] = payloadCfg[8]; // Extract geofence 1 state
+  if (currentGeofenceState.numFences > 1)
+    currentGeofenceState.states[1] = payloadCfg[10]; // Extract geofence 2 state
+  if (currentGeofenceState.numFences > 2)
+    currentGeofenceState.states[2] = payloadCfg[12]; // Extract geofence 3 state
+  if (currentGeofenceState.numFences > 3)
+    currentGeofenceState.states[3] = payloadCfg[14]; // Extract geofence 4 state
+
+  return (true);
+}
+
+//Power Save Mode
+//Enables/Disables Low Power Mode using UBX-CFG-RXM
+boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
+{
+  // Let's begin by checking the Protocol Version as UBX_CFG_RXM is not supported on the ZED (protocol >= 27)
+  uint8_t protVer = getProtocolVersionHigh(maxWait);
+  /*
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Protocol version is "));
+    _debugSerial->println(protVer);
+  }
+  */
+  if (protVer >= 27)
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version"));
+    }
+    return (false);
+  }
+
+  // Now let's change the power setting using UBX-CFG-RXM
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RXM;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current power management settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  if (power_save)
+  {
+    payloadCfg[1] = 1; // Power Save Mode
+  }
+  else
+  {
+    payloadCfg[1] = 0; // Continuous Mode
+  }
+
+  packetCfg.len = 2;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+// Get Power Save Mode
+// Returns the current Low Power Mode using UBX-CFG-RXM
+// Returns 255 if the sendCommand fails
+uint8_t SFE_UBLOX_GPS::getPowerSaveMode(uint16_t maxWait)
+{
+  // Let's begin by checking the Protocol Version as UBX_CFG_RXM is not supported on the ZED (protocol >= 27)
+  uint8_t protVer = getProtocolVersionHigh(maxWait);
+  /*
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Protocol version is "));
+    _debugSerial->println(protVer);
+  }
+  */
+  if (protVer >= 27)
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version"));
+    }
+    return (255);
+  }
+
+  // Now let's read the power setting using UBX-CFG-RXM
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RXM;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current power management settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (255);
+
+  return (payloadCfg[1]); // Return the low power mode
+}
+
+//Change the dynamic platform model using UBX-CFG-NAV5
+//Possible values are:
+//PORTABLE,STATIONARY,PEDESTRIAN,AUTOMOTIVE,SEA,
+//AIRBORNE1g,AIRBORNE2g,AIRBORNE4g,WRIST,BIKE
+//WRIST is not supported in protocol versions less than 18
+//BIKE is supported in protocol versions 19.2
+boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAV5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  payloadCfg[0] = 0x01;            // mask: set only the dyn bit (0)
+  payloadCfg[1] = 0x00;            // mask
+  payloadCfg[2] = newDynamicModel; // dynModel
+
+  packetCfg.len = 36;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Get the dynamic platform model using UBX-CFG-NAV5
+//Returns 255 if the sendCommand fails
+uint8_t SFE_UBLOX_GPS::getDynamicModel(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAV5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (255);
+
+  return (payloadCfg[2]); // Return the dynamic model
+}
+
+//Given a spot in the payload array, extract four bytes and build a long
+uint32_t SFE_UBLOX_GPS::extractLong(uint8_t spotToStart)
+{
+  uint32_t val = 0;
+  val |= (uint32_t)payloadCfg[spotToStart + 0] << 8 * 0;
+  val |= (uint32_t)payloadCfg[spotToStart + 1] << 8 * 1;
+  val |= (uint32_t)payloadCfg[spotToStart + 2] << 8 * 2;
+  val |= (uint32_t)payloadCfg[spotToStart + 3] << 8 * 3;
+  return (val);
+}
+
+//Given a spot in the payload array, extract two bytes and build an int
+uint16_t SFE_UBLOX_GPS::extractInt(uint8_t spotToStart)
+{
+  uint16_t val = 0;
+  val |= (uint16_t)payloadCfg[spotToStart + 0] << 8 * 0;
+  val |= (uint16_t)payloadCfg[spotToStart + 1] << 8 * 1;
+  return (val);
+}
+
+//Given a spot, extract a byte from the payload
+uint8_t SFE_UBLOX_GPS::extractByte(uint8_t spotToStart)
+{
+  return (payloadCfg[spotToStart]);
+}
+
+//Given a spot, extract a signed 8-bit value from the payload
+int8_t SFE_UBLOX_GPS::extractSignedChar(uint8_t spotToStart)
+{
+  return ((int8_t)payloadCfg[spotToStart]);
+}
+
+//Get the current year
+uint16_t SFE_UBLOX_GPS::getYear(uint16_t maxWait)
+{
+  if (moduleQueried.gpsYear == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsYear = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsYear);
+}
+
+//Get the current month
+uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait)
+{
+  if (moduleQueried.gpsMonth == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsMonth = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMonth);
+}
+
+//Get the current day
+uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
+{
+  if (moduleQueried.gpsDay == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsDay = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsDay);
+}
+
+//Get the current hour
+uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
+{
+  if (moduleQueried.gpsHour == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsHour = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsHour);
+}
+
+//Get the current minute
+uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
+{
+  if (moduleQueried.gpsMinute == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsMinute = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMinute);
+}
+
+//Get the current second
+uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsSecond == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsSecond = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsSecond);
+}
+
+//Get the current millisecond
+uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsiTOW == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMillisecond);
+}
+
+//Get the current nanoseconds - includes milliseconds
+int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsNanosecond == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsNanosecond = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsNanosecond);
+}
+
+//Get the latest Position/Velocity/Time solution and fill all global variables
+boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
+{
+  if (autoPVT && autoPVTImplicitUpdate)
+  {
+    //The GPS is automatically reporting, we just check whether we got unread data
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getPVT: Autoreporting"));
+    }
+    checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_PVT);
+    return moduleQueried.all;
+  }
+  else if (autoPVT && !autoPVTImplicitUpdate)
+  {
+    //Someone else has to call checkUblox for us...
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getPVT: Exit immediately"));
+    }
+    return (false);
+  }
+  else
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getPVT: Polling"));
+    }
+
+    //The GPS is not automatically reporting navigation position so we have to poll explicitly
+    packetCfg.cls = UBX_CLASS_NAV;
+    packetCfg.id = UBX_NAV_PVT;
+    packetCfg.len = 0;
+    //packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX
+
+    //The data is parsed as part of processing the response
+    sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+
+    if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
+      return (true);
+
+    if (_printDebug == true)
+    {
+      _debugSerial->print(F("getPVT retVal: "));
+      _debugSerial->println(statusString(retVal));
+    }
+    return (false);
+  }
+}
+
+// Update time info (using appropriate call for the chip series)
+boolean SFE_UBLOX_GPS::getTimeData(uint16_t maxWait)
+{
+  return getProtocolVersionHigh(maxWait) < 15 ? getTIMEUTC(maxWait) : getPVT(maxWait);
+}
+
+// Update position info (using appropriate call for the chip series)
+boolean SFE_UBLOX_GPS::getPositionData(uint16_t maxWait)
+{
+  return getProtocolVersionHigh(maxWait) < 20 ? getPOSLLH(maxWait) : getPVT(maxWait);
+}
+
+//Get time (for use on chips with protocol version 14 and earlier)
+boolean SFE_UBLOX_GPS::getTIMEUTC(uint16_t maxWait)
+{
+  debugPrintln((char *)F("getTIMEUTC: Polling"));
+
+  //The GPS is not automatically reporting navigation position so we have to poll explicitly
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_TIMEUTC;
+  packetCfg.len = 0;
+  //packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX
+
+  //The data is parsed as part of processing the response
+  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+
+  if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (true);
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("getTIMEUTC retVal: "));
+    _debugSerial->println(statusString(retVal));
+  }
+  return (false);
+}
+
+//Get posllh (fos use on chips with protocol version 19 and earlier)
+boolean SFE_UBLOX_GPS::getPOSLLH(uint16_t maxWait)
+{
+  debugPrintln((char *)F("getPOSLLH: Polling"));
+
+  //The GPS is not automatically reporting navigation position so we have to poll explicitly
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_POSLLH;
+  packetCfg.len = 0;
+  //packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX
+
+  //The data is parsed as part of processing the response
+  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+
+  if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (true);
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("getPOSLLH retVal: "));
+    _debugSerial->println(statusString(retVal));
+  }
+  return (false);
+}
+
+uint32_t SFE_UBLOX_GPS::getTimeOfWeek(uint16_t maxWait /* = 250*/)
+{
+  if (moduleQueried.gpsiTOW == false)
+    getTimeData(maxWait);
+  moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
+  return (timeOfWeek);
+}
+
+int32_t SFE_UBLOX_GPS::getHighResLatitude(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLatitude == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLatitude = false; //Since we are about to give this to user, mark this data as stale
+  return (highResLatitude);
+}
+
+int8_t SFE_UBLOX_GPS::getHighResLatitudeHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLatitudeHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLatitudeHp = false; //Since we are about to give this to user, mark this data as stale
+  return (highResLatitudeHp);
+}
+
+int32_t SFE_UBLOX_GPS::getHighResLongitude(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLongitude == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLongitude = false; //Since we are about to give this to user, mark this data as stale
+  return (highResLongitude);
+}
+
+int8_t SFE_UBLOX_GPS::getHighResLongitudeHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLongitudeHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLongitudeHp = false; //Since we are about to give this to user, mark this data as stale
+  return (highResLongitudeHp);
+}
+
+int32_t SFE_UBLOX_GPS::getElipsoid(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.elipsoid == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.elipsoid = false; //Since we are about to give this to user, mark this data as stale
+  return (elipsoid);
+}
+
+int8_t SFE_UBLOX_GPS::getElipsoidHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.elipsoidHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.elipsoidHp = false; //Since we are about to give this to user, mark this data as stale
+  return (elipsoidHp);
+}
+
+int32_t SFE_UBLOX_GPS::getMeanSeaLevel(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.meanSeaLevel == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.meanSeaLevel = false; //Since we are about to give this to user, mark this data as stale
+  return (meanSeaLevel);
+}
+
+int8_t SFE_UBLOX_GPS::getMeanSeaLevelHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.meanSeaLevelHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.meanSeaLevelHp = false; //Since we are about to give this to user, mark this data as stale
+  return (meanSeaLevelHp);
+}
+
+// getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages.
+int32_t SFE_UBLOX_GPS::getGeoidSeparation(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.geoidSeparation == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.geoidSeparation = false; //Since we are about to give this to user, mark this data as stale
+  return (geoidSeparation);
+}
+
+uint32_t SFE_UBLOX_GPS::getHorizontalAccuracy(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.horizontalAccuracy == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.horizontalAccuracy = false; //Since we are about to give this to user, mark this data as stale
+  return (horizontalAccuracy);
+}
+
+uint32_t SFE_UBLOX_GPS::getVerticalAccuracy(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.verticalAccuracy == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.verticalAccuracy = false; //Since we are about to give this to user, mark this data as stale
+  return (verticalAccuracy);
+}
+
+boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
+{
+  //The GPS is not automatically reporting navigation position so we have to poll explicitly
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_HPPOSLLH;
+  packetCfg.len = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are only expecting data (no ACK)
+}
+
+//Get the current 3D high precision positional accuracy - a fun thing to watch
+//Returns a long representing the 3D accuracy in millimeters
+uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_HPPOSECEF;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
+    return (0);                                                           //If command send fails then bail
+
+  uint32_t tempAccuracy = extractLong(24); //We got a response, now extract a long beginning at a given position
+
+  if ((tempAccuracy % 10) >= 5)
+    tempAccuracy += 5; //Round fraction of mm up to next mm if .5 or above
+  tempAccuracy /= 10;  //Convert 0.1mm units to mm
+
+  return (tempAccuracy);
+}
+
+//Get the current latitude in degrees
+//Returns a long representing the number of degrees *10^-7
+int32_t SFE_UBLOX_GPS::getLatitude(uint16_t maxWait)
+{
+  if (moduleQueried.latitude == false)
+    getPositionData(maxWait);
+  moduleQueried.latitude = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (latitude);
+}
+
+//Get the current longitude in degrees
+//Returns a long representing the number of degrees *10^-7
+int32_t SFE_UBLOX_GPS::getLongitude(uint16_t maxWait)
+{
+  if (moduleQueried.longitude == false)
+    getPositionData(maxWait);
+  moduleQueried.longitude = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (longitude);
+}
+
+//Get the current altitude in mm according to ellipsoid model
+int32_t SFE_UBLOX_GPS::getAltitude(uint16_t maxWait)
+{
+  if (moduleQueried.altitude == false)
+    getPositionData(maxWait);
+  moduleQueried.altitude = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (altitude);
+}
+
+//Get the current altitude in mm according to mean sea level
+//Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html
+//Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/
+int32_t SFE_UBLOX_GPS::getAltitudeMSL(uint16_t maxWait)
+{
+  if (moduleQueried.altitudeMSL == false)
+    getPositionData(maxWait);
+  moduleQueried.altitudeMSL = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (altitudeMSL);
+}
+
+//Get the number of satellites used in fix
+uint8_t SFE_UBLOX_GPS::getSIV(uint16_t maxWait)
+{
+  if (moduleQueried.SIV == false)
+    getPVT(maxWait);
+  moduleQueried.SIV = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (SIV);
+}
+
+//Get the current fix type
+//0=no fix, 1=dead reckoning, 2=2D, 3=3D, 4=GNSS, 5=Time fix
+uint8_t SFE_UBLOX_GPS::getFixType(uint16_t maxWait)
+{
+  if (moduleQueried.fixType == false)
+  {
+    getPVT(maxWait);
+  }
+  moduleQueried.fixType = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (fixType);
+}
+
+//Get the carrier phase range solution status
+//Useful when querying module to see if it has high-precision RTK fix
+//0=No solution, 1=Float solution, 2=Fixed solution
+uint8_t SFE_UBLOX_GPS::getCarrierSolutionType(uint16_t maxWait)
+{
+  if (moduleQueried.carrierSolution == false)
+    getPVT(maxWait);
+  moduleQueried.carrierSolution = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (carrierSolution);
+}
+
+//Get the ground speed in mm/s
+int32_t SFE_UBLOX_GPS::getGroundSpeed(uint16_t maxWait)
+{
+  if (moduleQueried.groundSpeed == false)
+    getPVT(maxWait);
+  moduleQueried.groundSpeed = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (groundSpeed);
+}
+
+//Get the heading of motion (as opposed to heading of car) in degrees * 10^-5
+int32_t SFE_UBLOX_GPS::getHeading(uint16_t maxWait)
+{
+  if (moduleQueried.headingOfMotion == false)
+    getPVT(maxWait);
+  moduleQueried.headingOfMotion = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (headingOfMotion);
+}
+
+//Get the positional dillution of precision * 10^-2 (dimensionless)
+uint16_t SFE_UBLOX_GPS::getPDOP(uint16_t maxWait)
+{
+  if (moduleQueried.pDOP == false)
+    getPVT(maxWait);
+  moduleQueried.pDOP = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (pDOP);
+}
+
+//Get the current protocol version of the Ublox module we're communicating with
+//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+uint8_t SFE_UBLOX_GPS::getProtocolVersionHigh(uint16_t maxWait)
+{
+  if (moduleQueried.versionNumber == false)
+    getProtocolVersion(maxWait);
+  return (versionHigh);
+}
+
+//Get the current protocol version of the Ublox module we're communicating with
+//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+uint8_t SFE_UBLOX_GPS::getProtocolVersionLow(uint16_t maxWait)
+{
+  if (moduleQueried.versionNumber == false)
+    getProtocolVersion(maxWait);
+  return (versionLow);
+}
+
+//Get the current protocol version of the Ublox module we're communicating with
+//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
+{
+  //Send packet with only CLS and ID, length of zero. This will cause the module to respond with the contents of that CLS/ID.
+  packetCfg.cls = UBX_CLASS_MON;
+  packetCfg.id = UBX_MON_VER;
+
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 40; //Start at first "extended software information" string
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
+    return (false);                                                       //If command send fails then bail
+
+  //Payload should now contain ~220 characters (depends on module type)
+
+  // if (_printDebug == true)
+  // {
+  //   _debugSerial->print(F("MON VER Payload:"));
+  //   for (int location = 0; location < packetCfg.len; location++)
+  //   {
+  //     if (location % 30 == 0)
+  //       _debugSerial->println();
+  //     _debugSerial->write(payloadCfg[location]);
+  //   }
+  //   _debugSerial->println();
+  // }
+
+  //We will step through the payload looking at each extension field of 30 bytes
+  for (uint8_t extensionNumber = 0; extensionNumber < 10; extensionNumber++)
+  {
+    //Now we need to find "PROTVER=18.00" in the incoming byte stream
+    if (payloadCfg[(30 * extensionNumber) + 0] == 'P' && payloadCfg[(30 * extensionNumber) + 6] == 'R')
+    {
+      versionHigh = (payloadCfg[(30 * extensionNumber) + 8] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 9] - '0');  //Convert '18' to 18
+      versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00
+      moduleQueried.versionNumber = true;                                                                                  //Mark this data as new
+
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Protocol version: "));
+        _debugSerial->print(versionHigh);
+        _debugSerial->print(F("."));
+        _debugSerial->println(versionLow);
+      }
+      return (true); //Success!
+    }
+  }
+
+  return (false); //We failed
+}
+
+//Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
+void SFE_UBLOX_GPS::flushPVT()
+{
+  //Mark all datums as stale (read before)
+  moduleQueried.gpsiTOW = false;
+  moduleQueried.gpsYear = false;
+  moduleQueried.gpsMonth = false;
+  moduleQueried.gpsDay = false;
+  moduleQueried.gpsHour = false;
+  moduleQueried.gpsMinute = false;
+  moduleQueried.gpsSecond = false;
+  moduleQueried.gpsNanosecond = false;
+
+  moduleQueried.all = false;
+  moduleQueried.longitude = false;
+  moduleQueried.latitude = false;
+  moduleQueried.altitude = false;
+  moduleQueried.altitudeMSL = false;
+  moduleQueried.SIV = false;
+  moduleQueried.fixType = false;
+  moduleQueried.carrierSolution = false;
+  moduleQueried.groundSpeed = false;
+  moduleQueried.headingOfMotion = false;
+  moduleQueried.pDOP = false;
+}
+
+//Relative Positioning Information in NED frame
+//Returns true if commands was successful
+boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_RELPOSNED;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
+    return (false);                                                       //If command send fails then bail
+
+  //We got a response, now parse the bits
+
+  uint16_t refStationID = extractInt(2);
+  //_debugSerial->print(F("refStationID: "));
+  //_debugSerial->println(refStationID));
+
+  int32_t tempRelPos;
+
+  tempRelPos = extractLong(8);
+  relPosInfo.relPosN = tempRelPos / 100.0; //Convert cm to m
+
+  tempRelPos = extractLong(12);
+  relPosInfo.relPosE = tempRelPos / 100.0; //Convert cm to m
+
+  tempRelPos = extractLong(16);
+  relPosInfo.relPosD = tempRelPos / 100.0; //Convert cm to m
+
+  relPosInfo.relPosLength = extractLong(20);
+  relPosInfo.relPosHeading = extractLong(24);
+
+  relPosInfo.relPosHPN = payloadCfg[32];
+  relPosInfo.relPosHPE = payloadCfg[33];
+  relPosInfo.relPosHPD = payloadCfg[34];
+  relPosInfo.relPosHPLength = payloadCfg[35];
+
+  uint32_t tempAcc;
+
+  tempAcc = extractLong(36);
+  relPosInfo.accN = tempAcc / 10000.0; //Convert 0.1 mm to m
+
+  tempAcc = extractLong(40);
+  relPosInfo.accE = tempAcc / 10000.0; //Convert 0.1 mm to m
+
+  tempAcc = extractLong(44);
+  relPosInfo.accD = tempAcc / 10000.0; //Convert 0.1 mm to m
+
+  uint8_t flags = payloadCfg[60];
+
+  relPosInfo.gnssFixOk = flags & (1 << 0);
+  relPosInfo.diffSoln = flags & (1 << 1);
+  relPosInfo.relPosValid = flags & (1 << 2);
+  relPosInfo.carrSoln = (flags & (0b11 << 3)) >> 3;
+  relPosInfo.isMoving = flags & (1 << 5);
+  relPosInfo.refPosMiss = flags & (1 << 6);
+  relPosInfo.refObsMiss = flags & (1 << 7);
+
+  return (true);
+}
+boolean SFE_UBLOX_GPS::getEsfInfo(uint16_t maxWait)
+{
+  // Requesting Data from the receiver
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_STATUS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  // payload should be loaded.
+  imuMeas.version = extractByte(4);
+  imuMeas.fusionMode = extractByte(12);
+  ubloxSen.numSens = extractByte(15);
+
+  // Individual Status Sensor in different function
+  return (true);
+}
+
+//
+boolean SFE_UBLOX_GPS::getEsfIns(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_INS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  // Validity of each sensor value below
+  uint32_t validity = extractLong(0);
+
+  imuMeas.xAngRateVald = (validity && 0x0080) >> 8;
+  imuMeas.yAngRateVald = (validity && 0x0100) >> 9;
+  imuMeas.zAngRateVald = (validity && 0x0200) >> 10;
+  imuMeas.xAccelVald = (validity && 0x0400) >> 11;
+  imuMeas.yAccelVald = (validity && 0x0800) >> 12;
+  imuMeas.zAccelVald = (validity && 0x1000) >> 13;
+
+  imuMeas.xAngRate = extractLong(12); // deg/s
+  imuMeas.yAngRate = extractLong(16); // deg/s
+  imuMeas.zAngRate = extractLong(20); // deg/s
+
+  imuMeas.xAccel = extractLong(24); // m/s
+  imuMeas.yAccel = extractLong(28); // m/s
+  imuMeas.zAccel = extractLong(32); // m/s
+
+  return (true);
+}
+
+//
+boolean SFE_UBLOX_GPS::getEsfDataInfo(uint16_t maxWait)
+{
+
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_MEAS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  uint32_t timeStamp = extractLong(0);
+  uint32_t flags = extractInt(4);
+
+  uint8_t timeSent = (flags && 0x01) >> 1;
+  uint8_t timeEdge = (flags && 0x02) >> 2;
+  uint8_t tagValid = (flags && 0x04) >> 3;
+  uint8_t numMeas = (flags && 0x1000) >> 15;
+
+  if (numMeas > DEF_NUM_SENS)
+    numMeas = DEF_NUM_SENS;
+
+  uint8_t byteOffset = 4;
+
+  for (uint8_t i = 0; i < numMeas; i++)
+  {
+
+    uint32_t bitField = extractLong(4 + byteOffset * i);
+    imuMeas.dataType[i] = (bitField && 0xFF000000) >> 23;
+    imuMeas.data[i] = (bitField && 0xFFFFFF);
+    imuMeas.dataTStamp[i] = extractLong(8 + byteOffset * i);
+  }
+
+  return (true);
+}
+
+boolean SFE_UBLOX_GPS::getEsfRawDataInfo(uint16_t maxWait)
+{
+
+  // Need to know the number of sensor to get the correct data
+  // Rate selected in UBX-CFG-MSG is not respected
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_RAW;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  uint32_t bitField = extractLong(4);
+  imuMeas.rawDataType = (bitField && 0xFF000000) >> 23;
+  imuMeas.rawData = (bitField && 0xFFFFFF);
+  imuMeas.rawTStamp = extractLong(8);
+
+  return (true);
+}
+
+sfe_ublox_status_e SFE_UBLOX_GPS::getSensState(uint8_t sensor, uint16_t maxWait)
+{
+
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_STATUS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (SFE_UBLOX_STATUS_FAIL); //If command send fails then bail
+
+  ubloxSen.numSens = extractByte(15);
+
+  if (sensor > ubloxSen.numSens)
+    return (SFE_UBLOX_STATUS_OUT_OF_RANGE);
+
+  checkUblox();
+
+  uint8_t offset = 4;
+
+  // Only the last sensor value checked will remain.
+  for (uint8_t i = 0; i < sensor; i++)
+  {
+
+    uint8_t sensorFieldOne = extractByte(16 + offset * i);
+    uint8_t sensorFieldTwo = extractByte(17 + offset * i);
+    ubloxSen.freq = extractByte(18 + offset * i);
+    uint8_t sensorFieldThr = extractByte(19 + offset * i);
+
+    ubloxSen.senType = (sensorFieldOne && 0x10) >> 5;
+    ubloxSen.isUsed = (sensorFieldOne && 0x20) >> 6;
+    ubloxSen.isReady = (sensorFieldOne && 0x30) >> 7;
+
+    ubloxSen.calibStatus = sensorFieldTwo && 0x03;
+    ubloxSen.timeStatus = (sensorFieldTwo && 0xC) >> 2;
+
+    ubloxSen.badMeas = (sensorFieldThr && 0x01);
+    ubloxSen.badTag = (sensorFieldThr && 0x02) >> 1;
+    ubloxSen.missMeas = (sensorFieldThr && 0x04) >> 2;
+    ubloxSen.noisyMeas = (sensorFieldThr && 0x08) >> 3;
+  }
+
+  return (SFE_UBLOX_STATUS_SUCCESS);
+}
+
+boolean SFE_UBLOX_GPS::getVehAtt(uint16_t maxWait)
+{
+
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_ATT;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (SFE_UBLOX_STATUS_FAIL); //If command send fails then bail
+
+  checkUblox();
+
+  vehAtt.roll = extractLong(8);
+  vehAtt.pitch = extractLong(12);
+  vehAtt.heading = extractLong(16);
+
+  vehAtt.accRoll = extractLong(20);
+  vehAtt.accPitch = extractLong(24);
+  vehAtt.accHeading = extractLong(28);
+
+  return (true);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.h b/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.h
new file mode 100644
index 0000000..159ea46
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7/SparkFun_Ublox_Arduino_Library_Series_6_7.h
@@ -0,0 +1,932 @@
+/*
+  This is a library written for the Ublox ZED-F9P and NEO-M8P-2
+
+  Updated: June 16th, 2020
+
+  This copy includes changes by @blazczak and @geeksville to
+  provide support for the older series 6 and 7 modules.
+
+  Disclaimer: SparkFun has not verified this copy of the library on either series 6 or 7.
+  It should work, it looks like it will work, but we have no way of confirming this.
+  We cannot guarantee that it will work reliably in your application.
+
+  Do you like this library? Help support SparkFun. Buy a board!
+  https://www.sparkfun.com/products/15136
+  https://www.sparkfun.com/products/15005
+  https://www.sparkfun.com/products/15733
+  https://www.sparkfun.com/products/15193
+  https://www.sparkfun.com/products/15210
+
+  Original library written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
+
+  This library handles configuring and handling the responses
+  from a Ublox GPS module. Works with most modules from Ublox including
+  the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
+
+  https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
+
+  Development environment specifics:
+  Arduino IDE 1.8.5
+
+  SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
+  The MIT License (MIT)
+  Copyright (c) 2016 SparkFun Electronics
+  Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+  associated documentation files (the "Software"), to deal in the Software without restriction,
+  including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+  and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
+  do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in all copies or substantial
+  portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
+  NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+  WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
+#define SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
+
+#if (ARDUINO >= 100)
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include <Wire.h>
+
+//Platform specific configurations
+
+//Define the size of the I2C buffer based on the platform the user has
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
+
+//I2C_BUFFER_LENGTH is defined in Wire.H
+#define I2C_BUFFER_LENGTH BUFFER_LENGTH
+
+#elif defined(__SAMD21G18A__)
+
+//SAMD21 uses RingBuffer.h
+#define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE
+
+//#elif __MK20DX256__
+//Teensy
+
+#endif
+
+#ifndef I2C_BUFFER_LENGTH
+
+//The catch-all default is 32
+#define I2C_BUFFER_LENGTH 32
+//#define I2C_BUFFER_LENGTH 16 //For testing on Artemis
+
+#endif
+
+// Define Serial for SparkFun SAMD based boards.
+// Boards like the RedBoard Turbo use SerialUSB (not Serial).
+// But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
+// The next nine lines let the code compile cleanly on as many SAMD boards as possible.
+#if defined(ARDUINO_ARCH_SAMD) // Is this a SAMD board?
+	#if defined(USB_VID) // Is the USB Vendor ID defined?
+		#if (USB_VID == 0x1B4F) // Is this a SparkFun board?
+			#if !defined(ARDUINO_SAMD51_THING_PLUS) // If it is not a SAMD51 Thing Plus
+				#define Serial SerialUSB // Define Serial as SerialUSB
+			#endif
+		#endif
+	#endif
+#endif
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//Define a digital pin to aid checksum failure capture and analysis
+//Leave set to -1 if not needed
+const int checksumFailurePin = -1;
+
+// Global Status Returns
+typedef enum
+{
+	SFE_UBLOX_STATUS_SUCCESS,
+	SFE_UBLOX_STATUS_FAIL,
+	SFE_UBLOX_STATUS_CRC_FAIL,
+	SFE_UBLOX_STATUS_TIMEOUT,
+	SFE_UBLOX_STATUS_COMMAND_NACK, // Indicates that the command was unrecognised, invalid or that the module is too busy to respond
+	SFE_UBLOX_STATUS_OUT_OF_RANGE,
+	SFE_UBLOX_STATUS_INVALID_ARG,
+	SFE_UBLOX_STATUS_INVALID_OPERATION,
+	SFE_UBLOX_STATUS_MEM_ERR,
+	SFE_UBLOX_STATUS_HW_ERR,
+	SFE_UBLOX_STATUS_DATA_SENT,		// This indicates that a 'set' was successful
+	SFE_UBLOX_STATUS_DATA_RECEIVED, // This indicates that a 'get' (poll) was successful
+	SFE_UBLOX_STATUS_I2C_COMM_FAILURE,
+	SFE_UBLOX_STATUS_DATA_OVERWRITTEN // This is an error - the data was valid but has been or _is being_ overwritten by another packet
+} sfe_ublox_status_e;
+
+// ubxPacket validity
+typedef enum
+{
+	SFE_UBLOX_PACKET_VALIDITY_NOT_VALID,
+	SFE_UBLOX_PACKET_VALIDITY_VALID,
+	SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,
+	SFE_UBLOX_PACKET_NOTACKNOWLEDGED // This indicates that we received a NACK
+} sfe_ublox_packet_validity_e;
+
+// Identify which packet buffer is in use:
+// packetCfg (or a custom packet), packetAck or packetBuf
+typedef enum
+{
+	SFE_UBLOX_PACKET_PACKETCFG,
+	SFE_UBLOX_PACKET_PACKETACK,
+	SFE_UBLOX_PACKET_PACKETBUF
+} sfe_ublox_packet_buffer_e;
+
+//Registers
+const uint8_t UBX_SYNCH_1 = 0xB5;
+const uint8_t UBX_SYNCH_2 = 0x62;
+
+//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145
+const uint8_t UBX_CLASS_NAV = 0x01;	 //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
+const uint8_t UBX_CLASS_RXM = 0x02;	 //Receiver Manager Messages: Satellite Status, RTC Status
+const uint8_t UBX_CLASS_INF = 0x04;	 //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
+const uint8_t UBX_CLASS_ACK = 0x05;	 //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
+const uint8_t UBX_CLASS_CFG = 0x06;	 //Configuration Input Messages: Configure the receiver.
+const uint8_t UBX_CLASS_UPD = 0x09;	 //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
+const uint8_t UBX_CLASS_MON = 0x0A;	 //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
+const uint8_t UBX_CLASS_AID = 0x0B;	 //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
+const uint8_t UBX_CLASS_TIM = 0x0D;	 //Timing Messages: Time Pulse Output, Time Mark Results
+const uint8_t UBX_CLASS_ESF = 0x10;	 //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information
+const uint8_t UBX_CLASS_MGA = 0x13;	 //Multiple GNSS Assistance Messages: Assistance data for various GNSS
+const uint8_t UBX_CLASS_LOG = 0x21;	 //Logging Messages: Log creation, deletion, info and retrieval
+const uint8_t UBX_CLASS_SEC = 0x27;	 //Security Feature Messages
+const uint8_t UBX_CLASS_HNR = 0x28;	 //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading
+const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings
+
+//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48
+const uint8_t UBX_CFG_ANT = 0x13;		//Antenna Control Settings. Used to configure the antenna control settings
+const uint8_t UBX_CFG_BATCH = 0x93;		//Get/set data batching configuration.
+const uint8_t UBX_CFG_CFG = 0x09;		//Clear, Save, and Load Configurations. Used to save current configuration
+const uint8_t UBX_CFG_DAT = 0x06;		//Set User-defined Datum or The currently defined Datum
+const uint8_t UBX_CFG_DGNSS = 0x70;		//DGNSS configuration
+const uint8_t UBX_CFG_GEOFENCE = 0x69;	//Geofencing configuration. Used to configure a geofence
+const uint8_t UBX_CFG_GNSS = 0x3E;		//GNSS system configuration
+const uint8_t UBX_CFG_INF = 0x02;		//Depending on packet length, either: poll configuration for one protocol, or information message configuration
+const uint8_t UBX_CFG_ITFM = 0x39;		//Jamming/Interference Monitor configuration
+const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration
+const uint8_t UBX_CFG_MSG = 0x01;		//Poll a message configuration, or Set Message Rate(s), or Set Message Rate
+const uint8_t UBX_CFG_NAV5 = 0x24;		//Navigation Engine Settings. Used to configure the navigation engine including the dynamic model.
+const uint8_t UBX_CFG_NAVX5 = 0x23;		//Navigation Engine Expert Settings
+const uint8_t UBX_CFG_NMEA = 0x17;		//Extended NMEA protocol configuration V1
+const uint8_t UBX_CFG_ODO = 0x1E;		//Odometer, Low-speed COG Engine Settings
+const uint8_t UBX_CFG_PM2 = 0x3B;		//Extended power management configuration
+const uint8_t UBX_CFG_PMS = 0x86;		//Power mode setup
+const uint8_t UBX_CFG_PRT = 0x00;		//Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port
+const uint8_t UBX_CFG_PWR = 0x57;		//Put receiver in a defined power state
+const uint8_t UBX_CFG_RATE = 0x08;		//Navigation/Measurement Rate Settings. Used to set port baud rates.
+const uint8_t UBX_CFG_RINV = 0x34;		//Contents of Remote Inventory
+const uint8_t UBX_CFG_RST = 0x04;		//Reset Receiver / Clear Backup Data Structures. Used to reset device.
+const uint8_t UBX_CFG_RXM = 0x11;		//RXM configuration
+const uint8_t UBX_CFG_SBAS = 0x16;		//SBAS configuration
+const uint8_t UBX_CFG_TMODE3 = 0x71;	//Time Mode Settings 3. Used to enable Survey In Mode
+const uint8_t UBX_CFG_TP5 = 0x31;		//Time Pulse Parameters
+const uint8_t UBX_CFG_USB = 0x1B;		//USB Configuration
+const uint8_t UBX_CFG_VALDEL = 0x8C;	//Used for config of higher version Ublox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction
+const uint8_t UBX_CFG_VALGET = 0x8B;	//Used for config of higher version Ublox modules (ie protocol v27 and above). Configuration Items
+const uint8_t UBX_CFG_VALSET = 0x8A;	//Used for config of higher version Ublox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction.
+
+//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description
+const uint8_t UBX_NMEA_MSB = 0xF0;	//All NMEA enable commands have 0xF0 as MSB
+const uint8_t UBX_NMEA_DTM = 0x0A;	//GxDTM (datum reference)
+const uint8_t UBX_NMEA_GAQ = 0x45;	//GxGAQ (poll a standard message (if the current talker ID is GA))
+const uint8_t UBX_NMEA_GBQ = 0x44;	//GxGBQ (poll a standard message (if the current Talker ID is GB))
+const uint8_t UBX_NMEA_GBS = 0x09;	//GxGBS (GNSS satellite fault detection)
+const uint8_t UBX_NMEA_GGA = 0x00;	//GxGGA (Global positioning system fix data)
+const uint8_t UBX_NMEA_GLL = 0x01;	//GxGLL (latitude and long, whith time of position fix and status)
+const uint8_t UBX_NMEA_GLQ = 0x43;	//GxGLQ (poll a standard message (if the current Talker ID is GL))
+const uint8_t UBX_NMEA_GNQ = 0x42;	//GxGNQ (poll a standard message (if the current Talker ID is GN))
+const uint8_t UBX_NMEA_GNS = 0x0D;	//GxGNS (GNSS fix data)
+const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP))
+const uint8_t UBX_NMEA_GRS = 0x06;	//GxGRS (GNSS range residuals)
+const uint8_t UBX_NMEA_GSA = 0x02;	//GxGSA (GNSS DOP and Active satellites)
+const uint8_t UBX_NMEA_GST = 0x07;	//GxGST (GNSS Pseudo Range Error Statistics)
+const uint8_t UBX_NMEA_GSV = 0x03;	//GxGSV (GNSS satellites in view)
+const uint8_t UBX_NMEA_RMC = 0x04;	//GxRMC (Recommended minimum data)
+const uint8_t UBX_NMEA_TXT = 0x41;	//GxTXT (text transmission)
+const uint8_t UBX_NMEA_VLW = 0x0F;	//GxVLW (dual ground/water distance)
+const uint8_t UBX_NMEA_VTG = 0x05;	//GxVTG (course over ground and Ground speed)
+const uint8_t UBX_NMEA_ZDA = 0x08;	//GxZDA (Time and Date)
+
+//The following are used to configure the NMEA protocol main talker ID and GSV talker ID
+const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent
+const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01;			  //main talker ID is GPS
+const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02;			  //main talker ID is GLONASS
+const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03;			  //main talker ID is combined receiver
+const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04;			  //main talker ID is Galileo
+const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05;			  //main talker ID is BeiDou
+const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00;			  //GNSS specific Talker ID (as defined by NMEA)
+const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01;			  //use the main Talker ID
+
+//The following are used to configure INF UBX messages (information messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
+const uint8_t UBX_INF_CLASS = 0x04;	  //All INF messages have 0x04 as the class
+const uint8_t UBX_INF_DEBUG = 0x04;	  //ASCII output with debug contents
+const uint8_t UBX_INF_ERROR = 0x00;	  //ASCII output with error contents
+const uint8_t UBX_INF_NOTICE = 0x02;  //ASCII output with informational contents
+const uint8_t UBX_INF_TEST = 0x03;	  //ASCII output with test contents
+const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents
+
+//The following are used to configure LOG UBX messages (loggings messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
+const uint8_t UBX_LOG_CREATE = 0x07;		   //Create Log File
+const uint8_t UBX_LOG_ERASE = 0x03;			   //Erase Logged Data
+const uint8_t UBX_LOG_FINDTIME = 0x0E;		   //Find index of a log entry based on a given time, or response to FINDTIME requested
+const uint8_t UBX_LOG_INFO = 0x08;			   //Poll for log information, or Log information
+const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry
+const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B;	   //Position fix log entry
+const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D;   //Byte string log entry
+const uint8_t UBX_LOG_RETRIEVE = 0x09;		   //Request log data
+const uint8_t UBX_LOG_STRING = 0x04;		   //Store arbitrary string on on-board flash
+
+//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
+const uint8_t UBX_MGA_ACK_DATA0 = 0x60;		 //Multiple GNSS Acknowledge message
+const uint8_t UBX_MGA_BDS_EPH = 0x03;		 //BDS Ephemeris Assistance
+const uint8_t UBX_MGA_BDS_ALM = 0x03;		 //BDS Almanac Assistance
+const uint8_t UBX_MGA_BDS_HEALTH = 0x03;	 //BDS Health Assistance
+const uint8_t UBX_MGA_BDS_UTC = 0x03;		 //BDS UTC Assistance
+const uint8_t UBX_MGA_BDS_IONO = 0x03;		 //BDS Ionospheric Assistance
+const uint8_t UBX_MGA_DBD = 0x80;			 //Either: Poll the Navigation Database, or Navigation Database Dump Entry
+const uint8_t UBX_MGA_GAL_EPH = 0x02;		 //Galileo Ephemeris Assistance
+const uint8_t UBX_MGA_GAL_ALM = 0x02;		 //Galileo Almanac Assitance
+const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02;	 //Galileo GPS time offset assistance
+const uint8_t UBX_MGA_GAL_UTC = 0x02;		 //Galileo UTC Assistance
+const uint8_t UBX_MGA_GLO_EPH = 0x06;		 //GLONASS Ephemeris Assistance
+const uint8_t UBX_MGA_GLO_ALM = 0x06;		 //GLONASS Almanac Assistance
+const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance
+const uint8_t UBX_MGA_GPS_EPH = 0x00;		 //GPS Ephemeris Assistance
+const uint8_t UBX_MGA_GPS_ALM = 0x00;		 //GPS Almanac Assistance
+const uint8_t UBX_MGA_GPS_HEALTH = 0x00;	 //GPS Health Assistance
+const uint8_t UBX_MGA_GPS_UTC = 0x00;		 //GPS UTC Assistance
+const uint8_t UBX_MGA_GPS_IONO = 0x00;		 //GPS Ionosphere Assistance
+const uint8_t UBX_MGA_INI_POS_XYZ = 0x40;	 //Initial Position Assistance
+const uint8_t UBX_MGA_INI_POS_LLH = 0x40;	 //Initial Position Assitance
+const uint8_t UBX_MGA_INI_TIME_UTC = 0x40;	 //Initial Time Assistance
+const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40;	 //Initial Time Assistance
+const uint8_t UBX_MGA_INI_CLKD = 0x40;		 //Initial Clock Drift Assitance
+const uint8_t UBX_MGA_INI_FREQ = 0x40;		 //Initial Frequency Assistance
+const uint8_t UBX_MGA_INI_EOP = 0x40;		 //Earth Orientation Parameters Assistance
+const uint8_t UBX_MGA_QZSS_EPH = 0x05;		 //QZSS Ephemeris Assistance
+const uint8_t UBX_MGA_QZSS_ALM = 0x05;		 //QZSS Almanac Assistance
+const uint8_t UBX_MGA_QZAA_HEALTH = 0x05;	 //QZSS Health Assistance
+
+//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35)
+const uint8_t UBX_MON_COMMS = 0x36; //Comm port information
+const uint8_t UBX_MON_GNSS = 0x28;	//Information message major GNSS selection
+const uint8_t UBX_MON_HW2 = 0x0B;	//Extended Hardware Status
+const uint8_t UBX_MON_HW3 = 0x37;	//HW I/O pin information
+const uint8_t UBX_MON_HW = 0x09;	//Hardware Status
+const uint8_t UBX_MON_IO = 0x02;	//I/O Subsystem Status
+const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status
+const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches
+const uint8_t UBX_MON_RF = 0x38;	//RF information
+const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status
+const uint8_t UBX_MON_RXR = 0x21;	//Receiver Status Information
+const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state.
+const uint8_t UBX_MON_VER = 0x04;	//Receiver/Software Version. Used for obtaining Protocol Version.
+
+//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
+const uint8_t UBX_NAV_ATT = 0x05;		//Vehicle "Attitude" Solution
+const uint8_t UBX_NAV_CLOCK = 0x22;		//Clock Solution
+const uint8_t UBX_NAV_DOP = 0x04;		//Dilution of precision
+const uint8_t UBX_NAV_EOE = 0x61;		//End of Epoch
+const uint8_t UBX_NAV_GEOFENCE = 0x39;	//Geofencing status. Used to poll the geofence status
+const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
+const uint8_t UBX_NAV_HPPOSLLH = 0x14;	//High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision
+const uint8_t UBX_NAV_ODO = 0x09;		//Odometer Solution
+const uint8_t UBX_NAV_ORB = 0x34;		//GNSS Orbit Database Info
+const uint8_t UBX_NAV_POSECEF = 0x01;	//Position Solution in ECEF
+const uint8_t UBX_NAV_POSLLH = 0x02;	//Geodetic Position Solution
+const uint8_t UBX_NAV_PVT = 0x07;		//All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
+const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
+const uint8_t UBX_NAV_RESETODO = 0x10;	//Reset odometer
+const uint8_t UBX_NAV_SAT = 0x35;		//Satellite Information
+const uint8_t UBX_NAV_SIG = 0x43;		//Signal Information
+const uint8_t UBX_NAV_STATUS = 0x03;	//Receiver Navigation Status
+const uint8_t UBX_NAV_SVIN = 0x3B;		//Survey-in data. Used for checking Survey In status
+const uint8_t UBX_NAV_TIMEBDS = 0x24;	//BDS Time Solution
+const uint8_t UBX_NAV_TIMEGAL = 0x25;	//Galileo Time Solution
+const uint8_t UBX_NAV_TIMEGLO = 0x23;	//GLO Time Solution
+const uint8_t UBX_NAV_TIMEGPS = 0x20;	//GPS Time Solution
+const uint8_t UBX_NAV_TIMELS = 0x26;	//Leap second event information
+const uint8_t UBX_NAV_TIMEUTC = 0x21;	//UTC Time Solution
+const uint8_t UBX_NAV_VELECEF = 0x11;	//Velocity Solution in ECEF
+const uint8_t UBX_NAV_VELNED = 0x12;	//Velocity Solution in NED
+
+//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
+const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes)
+const uint8_t UBX_RXM_RAWX = 0x15;	//Multi-GNSS Raw Measurement Data
+const uint8_t UBX_RXM_RLM = 0x59;	//Galileo SAR Short-RLM report (two different packet sizes)
+const uint8_t UBX_RXM_RTCM = 0x32;	//RTCM input status
+const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe
+
+//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID
+
+//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_TIM_TM2 = 0x03;  //Time mark data
+const uint8_t UBX_TIM_TP = 0x01;   //Time Pulse Timedata
+const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification
+
+//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36)
+const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup
+
+//The following are used to enable RTCM messages
+const uint8_t UBX_RTCM_MSB = 0xF5;	  //All RTCM enable commands have 0xF5 as MSB
+const uint8_t UBX_RTCM_1005 = 0x05;	  //Stationary RTK reference ARP
+const uint8_t UBX_RTCM_1074 = 0x4A;	  //GPS MSM4
+const uint8_t UBX_RTCM_1077 = 0x4D;	  //GPS MSM7
+const uint8_t UBX_RTCM_1084 = 0x54;	  //GLONASS MSM4
+const uint8_t UBX_RTCM_1087 = 0x57;	  //GLONASS MSM7
+const uint8_t UBX_RTCM_1094 = 0x5E;	  //Galileo MSM4
+const uint8_t UBX_RTCM_1097 = 0x61;	  //Galileo MSM7
+const uint8_t UBX_RTCM_1124 = 0x7C;	  //BeiDou MSM4
+const uint8_t UBX_RTCM_1127 = 0x7F;	  //BeiDou MSM7
+const uint8_t UBX_RTCM_1230 = 0xE6;	  //GLONASS code-phase biases, set to once every 10 seconds
+const uint8_t UBX_RTCM_4072_0 = 0xFE; //Reference station PVT (ublox proprietary RTCM message)
+const uint8_t UBX_RTCM_4072_1 = 0xFD; //Additional reference station information (ublox proprietary RTCM message)
+
+const uint8_t UBX_ACK_NACK = 0x00;
+const uint8_t UBX_ACK_ACK = 0x01;
+const uint8_t UBX_ACK_NONE = 0x02; //Not a real value
+
+// The following constants are used to get External Sensor Measurements and Status
+// Information.
+const uint8_t UBX_ESF_MEAS = 0x02;
+const uint8_t UBX_ESF_RAW = 0x03;
+const uint8_t UBX_ESF_STATUS = 0x10;
+const uint8_t UBX_ESF_INS = 0x15; //36 bytes
+
+const uint8_t SVIN_MODE_DISABLE = 0x00;
+const uint8_t SVIN_MODE_ENABLE = 0x01;
+
+//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
+const uint8_t COM_PORT_I2C = 0;
+const uint8_t COM_PORT_UART1 = 1;
+const uint8_t COM_PORT_UART2 = 2;
+const uint8_t COM_PORT_USB = 3;
+const uint8_t COM_PORT_SPI = 4;
+
+const uint8_t COM_TYPE_UBX = (1 << 0);
+const uint8_t COM_TYPE_NMEA = (1 << 1);
+const uint8_t COM_TYPE_RTCM3 = (1 << 5);
+
+//The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL
+const uint8_t VAL_SIZE_1 = 0x01;  //One bit
+const uint8_t VAL_SIZE_8 = 0x02;  //One byte
+const uint8_t VAL_SIZE_16 = 0x03; //Two bytes
+const uint8_t VAL_SIZE_32 = 0x04; //Four bytes
+const uint8_t VAL_SIZE_64 = 0x05; //Eight bytes
+
+//These are the Bitfield layers definitions for the UBX-CFG-VALSET message (not to be confused with Bitfield deviceMask in UBX-CFG-CFG)
+const uint8_t VAL_LAYER_RAM = (1 << 0);
+const uint8_t VAL_LAYER_BBR = (1 << 1);
+const uint8_t VAL_LAYER_FLASH = (1 << 2);
+
+//Below are various Groups, IDs, and sizes for various settings
+//These can be used to call getVal/setVal/delVal
+const uint8_t VAL_GROUP_I2COUTPROT = 0x72;
+const uint8_t VAL_GROUP_I2COUTPROT_SIZE = VAL_SIZE_1; //All fields in I2C group are currently 1 bit
+
+const uint8_t VAL_ID_I2COUTPROT_UBX = 0x01;
+const uint8_t VAL_ID_I2COUTPROT_NMEA = 0x02;
+const uint8_t VAL_ID_I2COUTPROT_RTCM3 = 0x03;
+
+const uint8_t VAL_GROUP_I2C = 0x51;
+const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8; //All fields in I2C group are currently 1 byte
+
+const uint8_t VAL_ID_I2C_ADDRESS = 0x01;
+
+// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
+const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001;	 // ioPort - communications port settings (causes IO system reset!)
+const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002;	 // msgConf - message configuration
+const uint32_t VAL_CFG_SUBSEC_INFMSG = 0x00000004;	 // infMsg - INF message configuration
+const uint32_t VAL_CFG_SUBSEC_NAVCONF = 0x00000008;	 // navConf - navigation configuration
+const uint32_t VAL_CFG_SUBSEC_RXMCONF = 0x00000010;	 // rxmConf - receiver manager configuration
+const uint32_t VAL_CFG_SUBSEC_SENCONF = 0x00000100;	 // senConf - sensor interface configuration (requires protocol 19+)
+const uint32_t VAL_CFG_SUBSEC_RINVCONF = 0x00000200; // rinvConf - remove inventory configuration
+const uint32_t VAL_CFG_SUBSEC_ANTCONF = 0x00000400;	 // antConf - antenna configuration
+const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800;	 // logConf - logging configuration
+const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000;	 // ftsConf - FTS configuration (FTS products only)
+
+enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual
+{
+	DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations.
+	// 1 is not defined
+	DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed.
+	DYN_MODEL_PEDESTRIAN,	  //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed.
+	DYN_MODEL_AUTOMOTIVE,	  //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed
+	DYN_MODEL_SEA,			  //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed.
+	DYN_MODEL_AIRBORNE1g,	  //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported.
+	DYN_MODEL_AIRBORNE2g,	  //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported.
+	DYN_MODEL_AIRBORNE4g,	  //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported.
+	DYN_MODEL_WRIST,		  // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion.
+	DYN_MODEL_BIKE,			  // Supported in protocol versions 19.2
+};
+
+#ifndef MAX_PAYLOAD_SIZE
+
+#define MAX_PAYLOAD_SIZE 256 //We need ~220 bytes for getProtocolVersion on most ublox modules
+//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values
+
+#endif
+
+//-=-=-=-=- UBX binary specific variables
+typedef struct
+{
+	uint8_t cls;
+	uint8_t id;
+	uint16_t len;		   //Length of the payload. Does not include cls, id, or checksum bytes
+	uint16_t counter;	   //Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
+	uint16_t startingSpot; //The counter value needed to go past before we begin recording into payload array
+	uint8_t *payload;
+	uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
+	uint8_t checksumB;
+	sfe_ublox_packet_validity_e valid;			 //Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
+	sfe_ublox_packet_validity_e classAndIDmatch; // Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
+} ubxPacket;
+
+// Struct to hold the results returned by getGeofenceState (returned by UBX-NAV-GEOFENCE)
+typedef struct
+{
+	uint8_t status;	   // Geofencing status: 0 - Geofencing not available or not reliable; 1 - Geofencing active
+	uint8_t numFences; // Number of geofences
+	uint8_t combState; // Combined (logical OR) state of all geofences: 0 - Unknown; 1 - Inside; 2 - Outside
+	uint8_t states[4]; // Geofence states: 0 - Unknown; 1 - Inside; 2 - Outside
+} geofenceState;
+
+// Struct to hold the current geofence parameters
+typedef struct
+{
+	uint8_t numFences; // Number of active geofences
+	int32_t lats[4];   // Latitudes of geofences (in degrees * 10^-7)
+	int32_t longs[4];  // Longitudes of geofences (in degrees * 10^-7)
+	uint32_t rads[4];  // Radii of geofences (in m * 10^-2)
+} geofenceParams;
+
+class SFE_UBLOX_GPS
+{
+public:
+	SFE_UBLOX_GPS(void);
+
+// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
+// If you know you are only going to be using I2C / Qwiic communication, you can
+// safely reduce defaultMaxWait to 250.
+#ifndef defaultMaxWait // Let's allow the user to define their own value if they want to
+#define defaultMaxWait 1100
+#endif
+
+	//By default use the default I2C address, and use Wire port
+	boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
+	//serialPort needs to be perviously initialized to correct baud rate
+	boolean begin(Stream &serialPort); //Returns true if module is detected
+
+	//Returns true if device answers on _gpsI2Caddress address or via Serial
+	//maxWait is only used for Serial
+	boolean isConnected(uint16_t maxWait = 1100);
+
+	//Changed in V1.8.1: provides backward compatibility for the examples that call checkUblox directly
+	//Will default to using packetCfg to look for explicit autoPVT packets so they get processed correctly by processUBX
+	boolean checkUblox(uint8_t requestedClass = UBX_CLASS_NAV, uint8_t requestedID = UBX_NAV_PVT); //Checks module with user selected commType
+
+	boolean checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);	   //Method for I2C polling of data, passing any new bytes to process()
+	boolean checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for serial polling of data, passing any new bytes to process()
+
+	void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);	//Processes NMEA and UBX binary sentences one byte at a time
+	void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Given a character, file it away into the uxb packet structure
+	void processRTCMframe(uint8_t incoming);																//Monitor the incoming bytes for start and length bytes
+	void processRTCM(uint8_t incoming) __attribute__((weak));												//Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
+
+	void processUBXpacket(ubxPacket *msg);				   //Once a packet has been received and validated, identify this packet's class/id and update internal flags
+	void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
+
+	void calcChecksum(ubxPacket *msg);														   //Sets the checksumA and checksumB of a given messages
+	sfe_ublox_status_e sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
+	sfe_ublox_status_e sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait = 250);
+	void sendSerialCommand(ubxPacket *outgoingUBX);
+
+	void printPacket(ubxPacket *packet); //Useful for debugging
+
+	void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
+	void hardReset();	 //Perform a reset leading to a cold start (zero info start-up)
+
+	boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250);										 //Changes the I2C address of the Ublox module
+	void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the Ublox module, uartPort should be COM_PORT_UART1/2
+	void setNMEAOutputPort(Stream &nmeaOutputPort);																 //Sets the internal variable for the port to direct NMEA characters to
+
+	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait);	 //Set the number of nav solutions sent per second
+	uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait);					 //Get the number of nav solutions sent per second currently being output by module
+	boolean saveConfiguration(uint16_t maxWait = defaultMaxWait);						 //Save current configuration to flash and BBR (battery backed RAM)
+	boolean factoryDefault(uint16_t maxWait = defaultMaxWait);							 //Reset module to factory defaults
+	boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
+
+	sfe_ublox_status_e waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait);	 //Poll the module until a config packet and an ACK is received
+	sfe_ublox_status_e waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received
+
+// getPVT will only return data once in each navigation cycle. By default, that is once per second.
+// Therefore we should set getPVTmaxWait to slightly longer than that.
+// If you change the navigation frequency to (e.g.) 4Hz using setNavigationFrequency(4)
+// then you should use a shorter maxWait for getPVT. 300msec would be about right: getPVT(300)
+// The same is true for getHPPOSLLH.
+#define getPVTmaxWait 1100		// Default maxWait for getPVT and all functions which call it
+#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it
+
+	boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true);							//In case no config access to the GPS is possible and PVT is send cyclically already
+	boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait);							//Enable/disable automatic PVT reports at the navigation frequency
+	boolean getPVT(uint16_t maxWait = getPVTmaxWait);												//Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
+	boolean getTimeData(uint16_t maxWait = getPVTmaxWait);                  //Query module for latest time data. Calls getPVT or getTIMEUTC depending on which module is attached.
+	boolean getPositionData(uint16_t maxWait = getPVTmaxWait);              //Query module for latest position data. Calls getPVT or getPOSLLH depending on which module is attached.
+	boolean getTIMEUTC(uint16_t maxWait = getPVTmaxWait);                   //Query module for current time (for use with older chip series). Returns true if new data is available.
+	boolean getPOSLLH(uint16_t maxWait = getPVTmaxWait);                    //Query module for current position (for use with older chip series). Returns true if new data is available.
+
+	boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
+	boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait);										//Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
+	void flushPVT();																				//Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
+
+	int32_t getLatitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	int32_t getLongitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	int32_t getAltitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current altitude in mm above ellipsoid
+	int32_t getAltitudeMSL(uint16_t maxWait = getPVTmaxWait);		  //Returns the current altitude in mm above mean sea level
+	uint8_t getSIV(uint16_t maxWait = getPVTmaxWait);				  //Returns number of sats used in fix
+	uint8_t getFixType(uint16_t maxWait = getPVTmaxWait);			  //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
+	uint8_t getCarrierSolutionType(uint16_t maxWait = getPVTmaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
+	int32_t getGroundSpeed(uint16_t maxWait = getPVTmaxWait);		  //Returns speed in mm/s
+	int32_t getHeading(uint16_t maxWait = getPVTmaxWait);			  //Returns heading in degrees * 10^-7
+	uint16_t getPDOP(uint16_t maxWait = getPVTmaxWait);				  //Returns positional dillution of precision * 10^-2 (dimensionless)
+	uint16_t getYear(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getMonth(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getDay(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getHour(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getMinute(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getSecond(uint16_t maxWait = getPVTmaxWait);
+	uint16_t getMillisecond(uint16_t maxWait = getPVTmaxWait);
+	int32_t getNanosecond(uint16_t maxWait = getPVTmaxWait);
+	uint32_t getTimeOfWeek(uint16_t maxWait = getPVTmaxWait);
+
+	int32_t getHighResLatitude(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getHighResLatitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getHighResLongitude(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getHighResLongitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getElipsoid(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getElipsoidHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getMeanSeaLevel(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getMeanSeaLevelHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getGeoidSeparation(uint16_t maxWait = getHPPOSLLHmaxWait);
+	uint32_t getHorizontalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
+	uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
+
+	//Port configurations
+	boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait);  //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
+	boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait);					   //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
+
+	boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250);				//Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250);				//Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250);				//Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
+
+	//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
+	boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
+	boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
+	boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
+	boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
+	boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
+	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
+	boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait);				   //Turn off given RTCM message from a given port
+
+	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
+	//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
+	//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
+	uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
+	uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);							   //Returns the value at a given group/id/size location
+	uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);			   //Sets the 16-bit value at a given group/id/size location
+	uint8_t setVal8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);			   //Sets the 8-bit value at a given group/id/size location
+	uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);		   //Sets the 16-bit value at a given group/id/size location
+	uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);		   //Sets the 32-bit value at a given group/id/size location
+	uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_BBR);							   //Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value
+	uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR);							   //Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value
+	uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_BBR);							   //Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value
+	uint8_t addCfgValset8(uint32_t keyID, uint8_t value);															   //Add a new KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket
+	uint8_t addCfgValset16(uint32_t keyID, uint16_t value);															   //Add a new KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket
+	uint8_t addCfgValset32(uint32_t keyID, uint32_t value);															   //Add a new KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket
+	uint8_t sendCfgValset8(uint32_t keyID, uint8_t value, uint16_t maxWait = 250);									   //Add the final KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+	uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = 250);								   //Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+	uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250);								   //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+
+	//Functions used for RTK and base station setup
+	//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
+	boolean getSurveyMode(uint16_t maxWait = 250);																   //Get the current TimeMode3 settings
+	boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
+	boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);			   //Begin Survey-In for NEO-M8P
+	boolean disableSurveyMode(uint16_t maxWait = 250);															   //Stop Survey-In mode
+
+	boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables
+
+	uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
+
+	uint8_t getProtocolVersionHigh(uint16_t maxWait = 500); //Returns the PROTVER XX.00 from UBX-MON-VER register
+	uint8_t getProtocolVersionLow(uint16_t maxWait = 500);	//Returns the PROTVER 00.XX from UBX-MON-VER register
+	boolean getProtocolVersion(uint16_t maxWait = 500);		//Queries module, loads low/high bytes
+
+	boolean getRELPOSNED(uint16_t maxWait = 1100); //Get Relative Positioning Information of the NED frame
+
+	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false);  //Given a port to print to, enable debug messages. Default to all, not limited.
+	void disableDebugging(void);					   //Turn off debug statements
+	void debugPrint(char *message);					   //Safely print debug statements
+	void debugPrintln(char *message);				   //Safely print debug statements
+	const char *statusString(sfe_ublox_status_e stat); //Pretty print the return value
+
+	//Support for geofences
+	boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = 1100); // Add a new geofence
+	boolean clearGeofences(uint16_t maxWait = 1100);																											 //Clears all geofences
+	boolean getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait = 1100);																		 //Returns the combined geofence state
+	boolean clearAntPIO(uint16_t maxWait = 1100);																												 //Clears the antenna control pin settings to release the PIOs
+	geofenceParams currentGeofenceParams;																														 // Global to store the geofence parameters
+
+	boolean powerSaveMode(bool power_save = true, uint16_t maxWait = 1100);
+	uint8_t getPowerSaveMode(uint16_t maxWait = 1100); // Returns 255 if the sendCommand fails
+
+	//Change the dynamic platform model using UBX-CFG-NAV5
+	boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100);
+	uint8_t getDynamicModel(uint16_t maxWait = 1100); // Get the dynamic model - returns 255 if the sendCommand fails
+
+	boolean getEsfInfo(uint16_t maxWait = 1100);
+	boolean getEsfIns(uint16_t maxWait = 1100);
+	boolean getEsfDataInfo(uint16_t maxWait = 1100);
+	boolean getEsfRawDataInfo(uint16_t maxWait = 1100);
+	sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
+	boolean getVehAtt(uint16_t maxWait = 1100);
+
+	//Survey-in specific controls
+	struct svinStructure
+	{
+		boolean active;
+		boolean valid;
+		uint16_t observationTime;
+		float meanAccuracy;
+	} svin;
+
+	//Relative Positioning Info in NED frame specific controls
+	struct frelPosInfoStructure
+	{
+		uint16_t refStationID;
+
+		float relPosN;
+		float relPosE;
+		float relPosD;
+
+		long relPosLength;
+		long relPosHeading;
+
+		int8_t relPosHPN;
+		int8_t relPosHPE;
+		int8_t relPosHPD;
+		int8_t relPosHPLength;
+
+		float accN;
+		float accE;
+		float accD;
+
+		bool gnssFixOk;
+		bool diffSoln;
+		bool relPosValid;
+		uint8_t carrSoln;
+		bool isMoving;
+		bool refPosMiss;
+		bool refObsMiss;
+	} relPosInfo;
+
+	//The major datums we want to globally store
+	uint16_t gpsYear;
+	uint8_t gpsMonth;
+	uint8_t gpsDay;
+	uint8_t gpsHour;
+	uint8_t gpsMinute;
+	uint8_t gpsSecond;
+	uint16_t gpsMillisecond;
+	int32_t gpsNanosecond;
+
+	int32_t latitude;		 //Degrees * 10^-7 (more accurate than floats)
+	int32_t longitude;		 //Degrees * 10^-7 (more accurate than floats)
+	int32_t altitude;		 //Number of mm above ellipsoid
+	int32_t altitudeMSL;	 //Number of mm above Mean Sea Level
+	uint8_t SIV;			 //Number of satellites used in position solution
+	uint8_t fixType;		 //Tells us when we have a solution aka lock
+	uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution
+	int32_t groundSpeed;	 //mm/s
+	int32_t headingOfMotion; //degrees * 10^-5
+	uint16_t pDOP;			 //Positional dilution of precision * 10^-2 (dimensionless)
+	uint8_t versionLow;		 //Loaded from getProtocolVersion().
+	uint8_t versionHigh;
+
+	uint32_t timeOfWeek;		 // ms
+	int32_t highResLatitude;	 // Degrees * 10^-7
+	int32_t highResLongitude;	 // Degrees * 10^-7
+	int32_t elipsoid;			 // Height above ellipsoid in mm (Typo! Should be eLLipsoid! **Uncorrected for backward-compatibility.**)
+	int32_t meanSeaLevel;		 // Height above mean sea level in mm
+	int32_t geoidSeparation;	 // This seems to only be provided in NMEA GGA and GNS messages
+	uint32_t horizontalAccuracy; // mm * 10^-1 (i.e. 0.1mm)
+	uint32_t verticalAccuracy;	 // mm * 10^-1 (i.e. 0.1mm)
+	int8_t elipsoidHp;			 // High precision component of the height above ellipsoid in mm * 10^-1 (Deliberate typo! Should be eLLipsoidHp!)
+	int8_t meanSeaLevelHp;		 // High precision component of Height above mean sea level in mm * 10^-1
+	int8_t highResLatitudeHp;	 // High precision component of latitude: Degrees * 10^-9
+	int8_t highResLongitudeHp;	 // High precision component of longitude: Degrees * 10^-9
+
+	uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame
+
+#define DEF_NUM_SENS 7
+	struct deadReckData
+	{
+		uint8_t version;
+		uint8_t fusionMode;
+
+		uint8_t xAngRateVald;
+		uint8_t yAngRateVald;
+		uint8_t zAngRateVald;
+		uint8_t xAccelVald;
+		uint8_t yAccelVald;
+		uint8_t zAccelVald;
+
+		int32_t xAngRate;
+		int32_t yAngRate;
+		int32_t zAngRate;
+
+		int32_t xAccel;
+		int32_t yAccel;
+		int32_t zAccel;
+
+		// The array size is based on testing directly on M8U and F9R
+		uint32_t rawData;
+		uint32_t rawDataType;
+		uint32_t rawTStamp;
+
+		uint32_t data[DEF_NUM_SENS];
+		uint32_t dataType[DEF_NUM_SENS];
+		uint32_t dataTStamp[DEF_NUM_SENS];
+	} imuMeas;
+
+	struct indivImuData
+	{
+
+		uint8_t numSens;
+
+		uint8_t senType;
+		boolean isUsed;
+		boolean isReady;
+		uint8_t calibStatus;
+		uint8_t timeStatus;
+
+		uint8_t freq; // Hz
+
+		boolean badMeas;
+		boolean badTag;
+		boolean missMeas;
+		boolean noisyMeas;
+	} ubloxSen;
+
+	struct vehicleAttitude
+	{
+		// All values in degrees
+		int32_t roll;
+		int32_t pitch;
+		int32_t heading;
+		uint32_t accRoll;
+		uint32_t accPitch;
+		uint32_t accHeading;
+	} vehAtt;
+
+private:
+	//Depending on the sentence type the processor will load characters into different arrays
+	enum SentenceTypes
+	{
+		NONE = 0,
+		NMEA,
+		UBX,
+		RTCM
+	} currentSentence = NONE;
+
+	//Depending on the ubx binary response class, store binary responses into different places
+	enum classTypes
+	{
+		CLASS_NONE = 0,
+		CLASS_ACK,
+		CLASS_NOT_AN_ACK
+	} ubxFrameClass = CLASS_NONE;
+
+	enum commTypes
+	{
+		COMM_TYPE_I2C = 0,
+		COMM_TYPE_SERIAL,
+		COMM_TYPE_SPI
+	} commType = COMM_TYPE_I2C; //Controls which port we look to for incoming bytes
+
+	//Functions
+	boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
+	uint32_t extractLong(uint8_t spotToStart);																	 //Combine four bytes from payload into long
+	uint16_t extractInt(uint8_t spotToStart);																	 //Combine two bytes from payload into int
+	uint8_t extractByte(uint8_t spotToStart);																	 //Get byte from payload
+	int8_t extractSignedChar(uint8_t spotToStart);																 //Get signed 8-bit value from payload
+	void addToChecksum(uint8_t incoming);																		 //Given an incoming byte, adjust rollingChecksumA/B
+
+	//Variables
+	TwoWire *_i2cPort;				//The generic connection to user's chosen I2C hardware
+	Stream *_serialPort;			//The generic connection to user's chosen Serial hardware
+	Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
+	Stream *_debugSerial;			//The stream to send debug messages to if enabled
+
+	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
+	//This can be changed using the ublox configuration software
+
+	boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
+	boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates
+
+	//The packet buffers
+	//These are pointed at from within the ubxPacket
+	uint8_t payloadAck[2];				  // Holds the requested ACK/NACK
+	uint8_t payloadCfg[MAX_PAYLOAD_SIZE]; // Holds the requested data packet
+	uint8_t payloadBuf[2];				  // Temporary buffer used to screen incoming packets or dump unrequested packets
+
+	//Init the packet structures and init them with pointers to the payloadAck, payloadCfg and payloadBuf arrays
+	ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+	ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+	ubxPacket packetBuf = {0, 0, 0, 0, 0, payloadBuf, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+
+	//Flag if this packet is unrequested (and so should be ignored and not copied into packetCfg or packetAck)
+	boolean ignoreThisPayload = false;
+
+	//Identify which buffer is in use
+	//Data is stored in packetBuf until the requested class and ID can be validated
+	//If a match is seen, data is diverted into packetAck or packetCfg
+	sfe_ublox_packet_buffer_e activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
+
+	//Limit checking of new data to every X ms
+	//If we are expecting an update every X Hz then we should check every half that amount of time
+	//Otherwise we may block ourselves from seeing new data
+	uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency()
+
+	unsigned long lastCheck = 0;
+	boolean autoPVT = false;			  //Whether autoPVT is enabled or not
+	boolean autoPVTImplicitUpdate = true; // Whether autoPVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
+	uint16_t ubxFrameCounter;			  //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
+
+	uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
+	uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
+
+	//Create bit field for staleness of each datum in PVT we want to monitor
+	//moduleQueried.latitude goes true each time we call getPVT()
+	//This reduces the number of times we have to call getPVT as this can take up to ~1s per read
+	//depending on update rate
+	struct
+	{
+		uint32_t gpsiTOW : 1;
+		uint32_t gpsYear : 1;
+		uint32_t gpsMonth : 1;
+		uint32_t gpsDay : 1;
+		uint32_t gpsHour : 1;
+		uint32_t gpsMinute : 1;
+		uint32_t gpsSecond : 1;
+		uint32_t gpsNanosecond : 1;
+
+		uint32_t all : 1;
+		uint32_t longitude : 1;
+		uint32_t latitude : 1;
+		uint32_t altitude : 1;
+		uint32_t altitudeMSL : 1;
+		uint32_t SIV : 1;
+		uint32_t fixType : 1;
+		uint32_t carrierSolution : 1;
+		uint32_t groundSpeed : 1;
+		uint32_t headingOfMotion : 1;
+		uint32_t pDOP : 1;
+		uint32_t versionNumber : 1;
+	} moduleQueried;
+
+	struct
+	{
+		uint16_t all : 1;
+		uint16_t timeOfWeek : 1;
+		uint16_t highResLatitude : 1;
+		uint16_t highResLongitude : 1;
+		uint16_t elipsoid : 1;
+		uint16_t meanSeaLevel : 1;
+		uint16_t geoidSeparation : 1; // Redundant but kept for backward-compatibility
+		uint16_t horizontalAccuracy : 1;
+		uint16_t verticalAccuracy : 1;
+		uint16_t elipsoidHp : 1;
+		uint16_t meanSeaLevelHp : 1;
+		uint16_t highResLatitudeHp : 1;
+		uint16_t highResLongitudeHp : 1;
+	} highResModuleQueried;
+
+	uint16_t rtcmLen = 0;
+};
+
+#endif
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example10_GetHighPrecisionPositionAndAccuracy/Example10_GetHighPrecisionPositionAndAccuracy.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example10_GetHighPrecisionPositionAndAccuracy/Example10_GetHighPrecisionPositionAndAccuracy.ino
new file mode 100644
index 0000000..b5e482b
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example10_GetHighPrecisionPositionAndAccuracy/Example10_GetHighPrecisionPositionAndAccuracy.ino
@@ -0,0 +1,154 @@
+/*
+  Get the high precision geodetic solution for latitude and longitude
+  By: Nathan Seidle
+  Modified by: Steven Rowland and Paul Clark
+  SparkFun Electronics
+  Date: April 17th, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to inspect the accuracy of the high-precision
+  positional solution. Please see below for information about the units.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(Serial);
+
+  if (myGPS.begin(Wire) == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.setNavigationFrequency(20); //Set output to 20 times a second
+
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate: ");
+  Serial.println(rate);
+
+  //myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    // getHighResLatitude: returns the latitude from HPPOSLLH as an int32_t in degrees * 10^-7
+    // getHighResLatitudeHp: returns the high resolution component of latitude from HPPOSLLH as an int8_t in degrees * 10^-9
+    // getHighResLongitude: returns the longitude from HPPOSLLH as an int32_t in degrees * 10^-7
+    // getHighResLongitudeHp: returns the high resolution component of longitude from HPPOSLLH as an int8_t in degrees * 10^-9
+    // getElipsoid: returns the height above ellipsoid as an int32_t in mm
+    // getElipsoidHp: returns the high resolution component of the height above ellipsoid as an int8_t in mm * 10^-1
+    // getMeanSeaLevel: returns the height above mean sea level as an int32_t in mm
+    // getMeanSeaLevelHp: returns the high resolution component of the height above mean sea level as an int8_t in mm * 10^-1
+    // getHorizontalAccuracy: returns the horizontal accuracy estimate from HPPOSLLH as an uint32_t in mm * 10^-1
+
+    // If you want to use the high precision latitude and longitude with the full 9 decimal places
+    // you will need to use a 64-bit double - which is not supported on all platforms
+
+    // To allow this example to run on standard platforms, we cheat by converting lat and lon to integer and fractional degrees
+
+    // The high resolution altitudes can be converted into standard 32-bit float
+
+    // First, let's collect the position data
+    int32_t latitude = myGPS.getHighResLatitude();
+    int8_t latitudeHp = myGPS.getHighResLatitudeHp();
+    int32_t longitude = myGPS.getHighResLongitude();
+    int8_t longitudeHp = myGPS.getHighResLongitudeHp();
+    int32_t ellipsoid = myGPS.getElipsoid();
+    int8_t ellipsoidHp = myGPS.getElipsoidHp();
+    int32_t msl = myGPS.getMeanSeaLevel();
+    int8_t mslHp = myGPS.getMeanSeaLevelHp();
+    uint32_t accuracy = myGPS.getHorizontalAccuracy();
+
+    // Defines storage for the lat and lon units integer and fractional parts
+    int32_t lat_int; // Integer part of the latitude in degrees
+    int32_t lat_frac; // Fractional part of the latitude
+    int32_t lon_int; // Integer part of the longitude in degrees
+    int32_t lon_frac; // Fractional part of the longitude
+
+    // Calculate the latitude and longitude integer and fractional parts
+    lat_int = latitude / 10000000; // Convert latitude from degrees * 10^-7 to Degrees
+    lat_frac = latitude - (lat_int * 10000000); // Calculate the fractional part of the latitude
+    lat_frac = (lat_frac * 100) + latitudeHp; // Now add the high resolution component
+    if (lat_frac < 0) // If the fractional part is negative, remove the minus sign
+    {
+      lat_frac = 0 - lat_frac;
+    }
+    lon_int = longitude / 10000000; // Convert latitude from degrees * 10^-7 to Degrees
+    lon_frac = longitude - (lon_int * 10000000); // Calculate the fractional part of the longitude
+    lon_frac = (lon_frac * 100) + longitudeHp; // Now add the high resolution component
+    if (lon_frac < 0) // If the fractional part is negative, remove the minus sign
+    {
+      lon_frac = 0 - lon_frac;
+    }
+
+    // Print the lat and lon
+    Serial.print("Lat (deg): ");
+    Serial.print(lat_int); // Print the integer part of the latitude
+    Serial.print(".");
+    Serial.print(lat_frac); // Print the fractional part of the latitude
+    Serial.print(", Lon (deg): ");
+    Serial.print(lon_int); // Print the integer part of the latitude
+    Serial.print(".");
+    Serial.println(lon_frac); // Print the fractional part of the latitude
+
+    // Now define float storage for the heights and accuracy
+    float f_ellipsoid;
+    float f_msl;
+    float f_accuracy;
+
+    // Calculate the height above ellipsoid in mm * 10^-1
+    f_ellipsoid = (ellipsoid * 10) + ellipsoidHp;
+    // Now convert to m
+    f_ellipsoid = f_ellipsoid / 10000.0; // Convert from mm * 10^-1 to m
+
+    // Calculate the height above mean sea level in mm * 10^-1
+    f_msl = (msl * 10) + mslHp;
+    // Now convert to m
+    f_msl = f_msl / 10000.0; // Convert from mm * 10^-1 to m
+
+    // Convert the horizontal accuracy (mm * 10^-1) to a float
+    f_accuracy = accuracy;
+    // Now convert to m
+    f_accuracy = f_accuracy / 10000.0; // Convert from mm * 10^-1 to m
+
+    // Finally, do the printing
+    Serial.print("Ellipsoid (m): ");
+    Serial.print(f_ellipsoid, 4); // Print the ellipsoid with 4 decimal places
+
+    Serial.print(", Mean Sea Level(m): ");
+    Serial.print(f_msl, 4); // Print the mean sea level with 4 decimal places
+
+    Serial.print(", Accuracy (m): ");
+    Serial.println(f_accuracy, 4); // Print the accuracy with 4 decimal places
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_GetHighPrecisionPositionUsingDouble/Example11_GetHighPrecisionPositionUsingDouble.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_GetHighPrecisionPositionUsingDouble/Example11_GetHighPrecisionPositionUsingDouble.ino
new file mode 100644
index 0000000..4fe7905
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_GetHighPrecisionPositionUsingDouble/Example11_GetHighPrecisionPositionUsingDouble.ino
@@ -0,0 +1,146 @@
+/*
+  Get the high precision geodetic solution for latitude and longitude using double
+  By: Nathan Seidle
+  Modified by: Paul Clark (PaulZC)
+  SparkFun Electronics
+  Date: April 17th, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to inspect the accuracy of the high-precision
+  positional solution. Please see below for information about the units.
+
+  ** This example will only work correctly on platforms which support 64-bit double **
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and (e.g.) a Redboard Artemis https://www.sparkfun.com/products/15444
+  or an Artemis Thing Plus https://www.sparkfun.com/products/15574
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> // Needed for I2C to GPS
+
+#define myWire Wire // This will work on the Redboard Artemis and the Artemis Thing Plus using Qwiic
+//#define myWire Wire1 // Uncomment this line if you are using the extra SCL1/SDA1 pins (D17 and D16) on the Thing Plus
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+
+  myWire.begin();
+
+  //myGPS.enableDebugging(Serial); // Uncomment this line to enable debug messages
+
+  if (myGPS.begin(myWire) == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  // Check that this platform supports 64-bit (8 byte) double
+  if (sizeof(double) < 8)
+  {
+    Serial.println(F("Warning! Your platform does not support 64-bit double."));
+    Serial.println(F("The latitude and longitude will be inaccurate."));
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  //myGPS.setNavigationFrequency(20); //Set output to 20 times a second
+
+  byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
+  Serial.print("Current update rate: ");
+  Serial.println(rate);
+
+  //myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second.
+  //The module only responds when a new position is available.
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    // getHighResLatitude: returns the latitude from HPPOSLLH as an int32_t in degrees * 10^-7
+    // getHighResLatitudeHp: returns the high resolution component of latitude from HPPOSLLH as an int8_t in degrees * 10^-9
+    // getHighResLongitude: returns the longitude from HPPOSLLH as an int32_t in degrees * 10^-7
+    // getHighResLongitudeHp: returns the high resolution component of longitude from HPPOSLLH as an int8_t in degrees * 10^-9
+    // getElipsoid: returns the height above ellipsoid as an int32_t in mm
+    // getElipsoidHp: returns the high resolution component of the height above ellipsoid as an int8_t in mm * 10^-1
+    // getMeanSeaLevel: returns the height above mean sea level as an int32_t in mm
+    // getMeanSeaLevelHp: returns the high resolution component of the height above mean sea level as an int8_t in mm * 10^-1
+    // getHorizontalAccuracy: returns the horizontal accuracy estimate from HPPOSLLH as an uint32_t in mm * 10^-1
+
+    // First, let's collect the position data
+    int32_t latitude = myGPS.getHighResLatitude();
+    int8_t latitudeHp = myGPS.getHighResLatitudeHp();
+    int32_t longitude = myGPS.getHighResLongitude();
+    int8_t longitudeHp = myGPS.getHighResLongitudeHp();
+    int32_t ellipsoid = myGPS.getElipsoid();
+    int8_t ellipsoidHp = myGPS.getElipsoidHp();
+    int32_t msl = myGPS.getMeanSeaLevel();
+    int8_t mslHp = myGPS.getMeanSeaLevelHp();
+    uint32_t accuracy = myGPS.getHorizontalAccuracy();
+
+    // Defines storage for the lat and lon as double
+    double d_lat; // latitude
+    double d_lon; // longitude
+
+    // Assemble the high precision latitude and longitude
+    d_lat = ((double)latitude) / 10000000.0; // Convert latitude from degrees * 10^-7 to degrees
+    d_lat += ((double)latitudeHp) / 1000000000.0; // Now add the high resolution component (degrees * 10^-9 )
+    d_lon = ((double)longitude) / 10000000.0; // Convert longitude from degrees * 10^-7 to degrees
+    d_lon += ((double)longitudeHp) / 1000000000.0; // Now add the high resolution component (degrees * 10^-9 )
+
+   // Print the lat and lon
+    Serial.print("Lat (deg): ");
+    Serial.print(d_lat, 9);
+    Serial.print(", Lon (deg): ");
+    Serial.print(d_lon, 9);
+
+    // Now define float storage for the heights and accuracy
+    float f_ellipsoid;
+    float f_msl;
+    float f_accuracy;
+
+    // Calculate the height above ellipsoid in mm * 10^-1
+    f_ellipsoid = (ellipsoid * 10) + ellipsoidHp;
+    // Now convert to m
+    f_ellipsoid = f_ellipsoid / 10000.0; // Convert from mm * 10^-1 to m
+
+    // Calculate the height above mean sea level in mm * 10^-1
+    f_msl = (msl * 10) + mslHp;
+    // Now convert to m
+    f_msl = f_msl / 10000.0; // Convert from mm * 10^-1 to m
+
+    // Convert the horizontal accuracy (mm * 10^-1) to a float
+    f_accuracy = accuracy;
+    // Now convert to m
+    f_accuracy = f_accuracy / 10000.0; // Convert from mm * 10^-1 to m
+
+    // Finally, do the printing
+    Serial.print(", Ellipsoid (m): ");
+    Serial.print(f_ellipsoid, 4); // Print the ellipsoid with 4 decimal places
+
+    Serial.print(", Mean Sea Level (m): ");
+    Serial.print(f_msl, 4); // Print the mean sea level with 4 decimal places
+
+    Serial.print(", Accuracy (m): ");
+    Serial.println(f_accuracy, 4); // Print the accuracy with 4 decimal places
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino
new file mode 100644
index 0000000..a07827f
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino
@@ -0,0 +1,118 @@
+/*
+  Configuring the GPS to automatically send HPPOSLLH position reports over I2C
+  By: Paul Clark
+  Date: October 27th 2020
+
+  Based on an earlier example:
+  By: Nathan Seidle and Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the U-Blox GPS the send navigation reports automatically
+  and retrieving the latest one via getHPPOSLLH. This eliminates the blocking in getHPPOSLLH while the GPS
+  produces a fresh navigation solution at the expense of returning a slighly old solution.
+
+  This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+  simply outputs the UBX_NAV_HPPOSLLH packet. With I2C it queues it into its internal I2C buffer (4KB in
+  size?) where it can be retrieved in the next I2C poll.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGPS.factoryDefault(); delay(5000);
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+  
+  myGPS.setNavigationFrequency(1); //Produce one solution per second
+  
+
+  // The acid test: all four of these combinations should work seamlessly :-)
+  
+  //myGPS.setAutoPVT(false); // Library will poll each reading
+  //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+  
+  //myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+  //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+
+  //myGPS.setAutoPVT(false); // Library will poll each reading
+  //myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+  
+  myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+  myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+}
+
+void loop()
+{
+  // Calling getHPPOSLLH returns true if there actually is a fresh navigation solution available.
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if ((myGPS.getHPPOSLLH()) || (myGPS.getPVT()))
+  {
+    Serial.println();
+      
+    long highResLatitude = myGPS.getHighResLatitude();
+    Serial.print(F("Hi Res Lat: "));
+    Serial.print(highResLatitude);
+  
+    int highResLatitudeHp = myGPS.getHighResLatitudeHp();
+    Serial.print(F(" "));
+    Serial.print(highResLatitudeHp);
+  
+    long highResLongitude = myGPS.getHighResLongitude();
+    Serial.print(F(" Hi Res Long: "));
+    Serial.print(highResLongitude);
+  
+    int highResLongitudeHp = myGPS.getHighResLongitudeHp();
+    Serial.print(F(" "));
+    Serial.print(highResLongitudeHp);
+  
+    unsigned long horizAccuracy = myGPS.getHorizontalAccuracy();
+    Serial.print(F(" Horiz accuracy: "));
+    Serial.print(horizAccuracy);
+  
+    long latitude = myGPS.getLatitude();
+    Serial.print(F(" Lat: "));
+    Serial.print(latitude);
+  
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.println(longitude);
+  }
+  else
+  {
+    Serial.print(".");
+    delay(50);
+  }
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino
new file mode 100644
index 0000000..51a7e89
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino
@@ -0,0 +1,73 @@
+/*
+  Set the static position of the receiver.
+  By: SparkFun Electronics / Nathan Seidle
+  Date: September 26th, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to set the static position of a receiver
+  using an Earth-Centered, Earth-Fixed (ECEF) location. This is the
+  output from a long (24 hour+) survey-in. Setting the static position
+  immediately causes the receiver to begin outputting RTCM data (if
+  enabled), perfect for setting up your own RTCM NTRIP caster or CORS.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200); // You may need to increase this for high navigation rates!
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages
+
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
+
+  //Units are cm so 1234 = 12.34m
+  //myGPS.setStaticPosition(-128020831, -471680385, 408666581);
+
+  //Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
+  myGPS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10); //With high precision 0.1mm parts
+
+  //We can also set via lat/long
+  //40.09029751,-105.18507900,1560.238
+  //myGPS.setStaticPosition(400902975, -1051850790, 156024, true); //True at end enables lat/long input
+  //myGPS.setStaticPosition(400902975, 10, -1051850790, 0, 156023, 80, true);
+
+  //Now let's use getVals to read back the data
+  //long ecefX = myGPS.getVal32(0x40030003);
+  //Serial.print("ecefX: ");
+  //Serial.println(ecefX);
+
+  Serial.println(F("Done!"));
+}
+
+void loop()
+{
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example1_GetPositionAccuracy/Example1_GetPositionAccuracy.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example1_GetPositionAccuracy/Example1_GetPositionAccuracy.ino
new file mode 100644
index 0000000..b752d43
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example1_GetPositionAccuracy/Example1_GetPositionAccuracy.ino
@@ -0,0 +1,77 @@
+/*
+  Get the high position accuracy of the RTK enhanced position
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to inspect the accuracy of the high-precision
+  positional solution.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    long accuracy = myGPS.getPositionAccuracy();
+    Serial.print(F(" 3D Positional Accuracy: "));
+    Serial.print(accuracy);
+    Serial.println(F("mm"));
+  }
+
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example2_ValConfigurationMethod/Example2_ValConfigurationMethod.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example2_ValConfigurationMethod/Example2_ValConfigurationMethod.ino
new file mode 100644
index 0000000..58eb487
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example2_ValConfigurationMethod/Example2_ValConfigurationMethod.ino
@@ -0,0 +1,60 @@
+/*
+  Configuring Ublox Module using new VALGET / VALSET / VALDEL methods
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Ublox depricated many -CFG messages and replaced them with new
+  VALGET, VALSET, VALDEL methods. This shows the basics of how to use
+  these methods.
+
+  Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  byte response;
+  response = myGPS.getVal8(VAL_GROUP_I2C, VAL_ID_I2C_ADDRESS, VAL_GROUP_I2C_SIZE, VAL_LAYER_RAM);
+  Serial.print(F("I2C Address: 0x"));
+  Serial.println(response >> 1, HEX); //We have to shift by 1 to get the common '7-bit' I2C address format
+
+  response = myGPS.getVal8(VAL_GROUP_I2COUTPROT, VAL_ID_I2COUTPROT_NMEA, VAL_GROUP_I2COUTPROT_SIZE, VAL_LAYER_RAM);
+  Serial.print(F("Output NMEA over I2C port: 0x"));
+  Serial.print(response, HEX);
+}
+
+void loop()
+{
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino
new file mode 100644
index 0000000..ddff4c2
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example3_StartRTCMBase/Example3_StartRTCMBase.ino
@@ -0,0 +1,161 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 9th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example does all steps to configure and enable a ZED-F9P as a base station:
+    Begin Survey-In
+    Once we've achieved 2m accuracy and 300s have passed, survey is complete
+    Enable six RTCM messages
+    Begin outputting RTCM bytes
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Ublox Base station example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+
+  while (Serial.available()) Serial.read(); //Clear any latent chars in serial buffer
+  Serial.println("Press any key to send commands to begin Survey-In");
+  while (Serial.available() == 0) ; //Wait for user to press a key
+
+  boolean response = true;
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
+
+  //Use COM_PORT_UART1 for the above six messages to direct RTCM messages out UART1
+  //COM_PORT_UART2, COM_PORT_USB, COM_PORT_SPI are also available
+  //For example: response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART1, 10);
+
+  if (response == true)
+  {
+    Serial.println("RTCM messages enabled");
+  }
+  else
+  {
+    Serial.println("RTCM failed to enable. Are you sure you have an ZED-F9P?");
+    while (1); //Freeze
+  }
+
+  //Check if Survey is in Progress before initiating one
+  response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
+  if (response == false)
+  {
+    Serial.println("Failed to get Survey In status");
+    while (1); //Freeze
+  }
+
+  if (myGPS.svin.active == true)
+  {
+    Serial.print("Survey already in progress.");
+  }
+  else
+  {
+    //Start survey
+    //The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
+    //response = myGPS.enableSurveyMode(300, 2.000); //Enable Survey in on NEO-M8P, 300 seconds, 2.0m
+    response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+    if (response == false)
+    {
+      Serial.println("Survey start failed");
+      while (1);
+    }
+    Serial.println("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved.");
+  }
+
+  while(Serial.available()) Serial.read(); //Clear buffer
+  
+  //Begin waiting for survey to complete
+  while (myGPS.svin.valid == false)
+  {
+    if(Serial.available())
+    {
+      byte incoming = Serial.read();
+      if(incoming == 'x')
+      {
+        //Stop survey mode
+        response = myGPS.disableSurveyMode(); //Disable survey
+        Serial.println("Survey stopped");
+        break;
+      }
+    }
+    
+    response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+    if (response == true)
+    {
+      Serial.print("Press x to end survey - ");
+      Serial.print("Time elapsed: ");
+      Serial.print((String)myGPS.svin.observationTime);
+
+      Serial.print(" Accuracy: ");
+      Serial.print((String)myGPS.svin.meanAccuracy);
+      Serial.println();
+    }
+    else
+    {
+      Serial.println("SVIN request failed");
+    }
+
+    delay(1000);
+  }
+  Serial.println("Survey valid!");
+
+  Serial.println("Base survey complete! RTCM now broadcasting.");
+
+  myGPS.setI2COutput(COM_TYPE_UBX | COM_TYPE_RTCM3); //Set the I2C port to output UBX and RTCM sentences (not really an option, turns on NMEA as well)
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  delay(250); //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun Ublox Arduino Library.
+//As each RTCM byte comes in you can specify what to do with it
+//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Let's just pretty-print the HEX values for now
+  if (myGPS.rtcmFrameCounter % 16 == 0) Serial.println();
+  Serial.print(" ");
+  if (incoming < 0x10) Serial.print("0");
+  Serial.print(incoming, HEX);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example4_BaseWithLCD/Example4_BaseWithLCD.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example4_BaseWithLCD/Example4_BaseWithLCD.ino
new file mode 100644
index 0000000..40224f9
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example4_BaseWithLCD/Example4_BaseWithLCD.ino
@@ -0,0 +1,200 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 9th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example does all steps to configure and enable a ZED-F9P as a base station:
+    Begin Survey-In
+    Once we've achieved 2m accuracy and 300s have passed, survey is complete
+    Enable six RTCM messages
+    Begin outputting RTCM bytes
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  Plug a SerLCD onto the Qwiic bus
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Watch the output on the LCD or open the serial monitor at 115200 baud to see the output
+*/
+
+#define STAT_LED 13
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+#include <SerLCD.h> //Click here to get the library: http://librarymanager/All#SparkFun_SerLCD
+SerLCD lcd;         // Initialize the library with default I2C address 0x72
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("Ublox GPS I2C Test");
+
+  Wire.begin();
+
+  pinMode(STAT_LED, OUTPUT);
+  digitalWrite(STAT_LED, LOW);
+
+  lcd.begin(Wire);            //Set up the LCD for Serial communication at 9600bps
+  lcd.setBacklight(0x4B0082); //indigo, a kind of dark purplish blue
+  lcd.clear();
+  lcd.print(F("LCD Ready"));
+
+  myGPS.begin(Wire);
+  if (myGPS.isConnected() == false)
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    lcd.setCursor(0, 1);
+    lcd.print(F("No GPS detected"));
+    while (1)
+      ;
+  }
+
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  lcd.setCursor(0, 1);
+  lcd.print("GPS Detected");
+
+  //myGPS.setI2COutput(COM_TYPE_RTCM3); //Set the I2C port to output RTCM3 sentences (turn off NMEA noise)
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX sentences (turn off NMEA noise)
+  myGPS.saveConfiguration();                         //Save the current settings to flash and BBR
+
+  boolean response = true;
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_I2C, 1);
+  response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_I2C, 10); //Enable message every 10 seconds
+  if (response == true)
+  {
+    Serial.println(F("RTCM messages enabled"));
+  }
+  else
+  {
+    Serial.println(F("RTCM failed to enable. Are you sure you have an ZED-F9P? Freezing."));
+    while (1)
+      ; //Freeze
+  }
+
+  //Check if Survey is in Progress before initiating one
+  response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (request can take a long time)
+  if (response == false)
+  {
+    Serial.println(F("Failed to get Survey In status. Freezing."));
+    while (1)
+      ; //Freeze
+  }
+
+  if (myGPS.svin.active == true)
+  {
+    Serial.print(F("Survey already in progress."));
+    lcd.setCursor(0, 2);
+    lcd.print(F("Survey already going"));
+  }
+  else
+  {
+    //Start survey
+    response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+    if (response == false)
+    {
+      Serial.println(F("Survey start failed"));
+      lcd.setCursor(0, 3);
+      lcd.print(F("Survey start failed. Freezing."));
+      while (1)
+        ;
+    }
+    Serial.println(F("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved."));
+  }
+
+  while (Serial.available())
+    Serial.read(); //Clear buffer
+
+  lcd.clear();
+  lcd.print(F("Survey in progress"));
+
+  //Begin waiting for survey to complete
+  while (myGPS.svin.valid == false)
+  {
+    if (Serial.available())
+    {
+      byte incoming = Serial.read();
+      if (incoming == 'x')
+      {
+        //Stop survey mode
+        response = myGPS.disableSurveyMode(); //Disable survey
+        Serial.println(F("Survey stopped"));
+        break;
+      }
+    }
+
+    response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+    if (response == true)
+    {
+      Serial.print(F("Press x to end survey - "));
+      Serial.print(F("Time elapsed: "));
+      Serial.print((String)myGPS.svin.observationTime);
+
+      lcd.setCursor(0, 1);
+      lcd.print(F("Elapsed: "));
+      lcd.print((String)myGPS.svin.observationTime);
+
+      Serial.print(F(" Accuracy: "));
+      Serial.print((String)myGPS.svin.meanAccuracy);
+      Serial.println();
+
+      lcd.setCursor(0, 2);
+      lcd.print(F("Accuracy: "));
+      lcd.print((String)myGPS.svin.meanAccuracy);
+    }
+    else
+    {
+      Serial.println(F("SVIN request failed"));
+    }
+
+    delay(1000);
+  }
+  Serial.println(F("Survey valid!"));
+
+  Serial.println(F("Base survey complete! RTCM now broadcasting."));
+  lcd.clear();
+  lcd.print(F("Transmitting RTCM"));
+
+  myGPS.setI2COutput(COM_TYPE_UBX | COM_TYPE_RTCM3); //Set the I2C port to output UBX and RTCM sentences (not really an option, turns on NMEA as well)
+  
+}
+
+void loop()
+{
+  myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
+
+  //Do anything you want. Call checkUblox() every second. ZED-F9P has TX buffer of 4k bytes.
+
+  delay(250); //Don't pound too hard on the I2C bus
+}
+
+//This function gets called from the SparkFun Ublox Arduino Library.
+//As each RTCM byte comes in you can specify what to do with it
+//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Let's just pretty-print the HEX values for now
+  if (myGPS.rtcmFrameCounter % 16 == 0)
+    Serial.println();
+  Serial.print(" ");
+  if (incoming < 0x10)
+    Serial.print("0");
+  Serial.print(incoming, HEX);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino
new file mode 100644
index 0000000..82b0525
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino
@@ -0,0 +1,125 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on Ublox ZED-F9P module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 9th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query the module for RELPOS information in the NED frame.
+  It assumes you already have RTCM correction data being fed to the receiver.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard Qwiic or BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("Ublox Base station example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+}
+
+void loop()
+{
+  if (myGPS.getRELPOSNED() == true)
+  {
+    Serial.print("relPosN: ");
+    Serial.println(myGPS.relPosInfo.relPosN, 4);
+    Serial.print("relPosE: ");
+    Serial.println(myGPS.relPosInfo.relPosE, 4);
+    Serial.print("relPosD: ");
+    Serial.println(myGPS.relPosInfo.relPosD, 4);
+
+    Serial.print("relPosLength: ");
+    Serial.println(myGPS.relPosInfo.relPosLength);
+    Serial.print("relPosHeading: ");
+    Serial.println(myGPS.relPosInfo.relPosHeading);
+
+    Serial.print("relPosHPN: ");
+    Serial.println(myGPS.relPosInfo.relPosHPN);
+    Serial.print("relPosHPE: ");
+    Serial.println(myGPS.relPosInfo.relPosHPE);
+    Serial.print("relPosHPD: ");
+    Serial.println(myGPS.relPosInfo.relPosHPD);
+    Serial.print("relPosHPLength: ");
+    Serial.println(myGPS.relPosInfo.relPosHPLength);
+
+    Serial.print("accN: ");
+    Serial.println(myGPS.relPosInfo.accN, 4);
+    Serial.print("accE: ");
+    Serial.println(myGPS.relPosInfo.accE, 4);
+    Serial.print("accD: ");
+    Serial.println(myGPS.relPosInfo.accD, 4);
+
+    Serial.print("gnssFixOk: ");
+    if (myGPS.relPosInfo.gnssFixOk == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("diffSolution: ");
+    if (myGPS.relPosInfo.diffSoln == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("relPosValid: ");
+    if (myGPS.relPosInfo.relPosValid == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("carrier Solution Type: ");
+    if (myGPS.relPosInfo.carrSoln == 0)
+      Serial.println("None");
+    else if (myGPS.relPosInfo.carrSoln == 1)
+      Serial.println("Float");
+    else if (myGPS.relPosInfo.carrSoln == 2)
+      Serial.println("Fixed");
+
+    Serial.print("isMoving: ");
+    if (myGPS.relPosInfo.isMoving == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("refPosMiss: ");
+    if (myGPS.relPosInfo.refPosMiss == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+
+    Serial.print("refObsMiss: ");
+    if (myGPS.relPosInfo.refObsMiss == true)
+      Serial.println("x");
+    else
+      Serial.println("");
+  }
+  else
+    Serial.println("RELPOS request failed");
+
+  delay(4000);
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example6_GetVal/Example6_GetVal.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example6_GetVal/Example6_GetVal.ino
new file mode 100644
index 0000000..4763a83
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example6_GetVal/Example6_GetVal.ino
@@ -0,0 +1,88 @@
+/*
+  Get a device's I2C address using advanced getVal method
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 9th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
+  commands instead. This example shows how to use this new command structure.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard Qwiic or BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox getVal example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+  //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
+
+  uint8_t currentI2Caddress = myGPS.getVal8(UBLOX_CFG_I2C_ADDRESS);
+  Serial.print("Current I2C address (should be 0x42): 0x");
+  Serial.println(currentI2Caddress >> 1, HEX); //Ublox module returns a shifted 8-bit address. Make it 7-bit unshifted.
+
+  while (1)
+    ;
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+
+    long latitude = myGPS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGPS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.print(F(" (degrees * 10^-7)"));
+
+    long altitude = myGPS.getAltitude();
+    Serial.print(F(" Alt: "));
+    Serial.print(altitude);
+    Serial.print(F(" (mm)"));
+
+    byte SIV = myGPS.getSIV();
+    Serial.print(F(" SIV: "));
+    Serial.print(SIV);
+
+    Serial.println();
+  }
+}
\ No newline at end of file
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino
new file mode 100644
index 0000000..a425ef9
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino
@@ -0,0 +1,76 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: January 9th, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
+  commands instead. This example shows how to use this new command structure.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard Qwiic or BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox getVal example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+  //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
+
+  bool setValueSuccess;
+
+  //These key values are hard coded and defined in u-blox_config_keys.h.
+  //You can obtain them from the ZED-F9P interface description doc
+  //or from u-center's Messages->CFG->VALSET window. Keys must be 32-bit.
+  //setValueSuccess = myGPS.setVal(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA
+  setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 100); //Set measurement rate to 100ms (10Hz update rate)
+  //setValueSuccess = myGPS.setVal(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate)
+
+  //Below is the original way we enabled the RTCM message on the I2C port. After that, we show how to do the same
+  //but with setVal().
+  //Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  //setValueSuccess = myGPS.setVal(0x209102bd, 1); //Set output rate of msg 1005 over the I2C port to once per second
+
+  if (setValueSuccess == true)
+  {
+    Serial.println("Value was successfully set");
+  }
+  else
+    Serial.println("Value set failed");
+}
+
+void loop()
+{
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example8_GetSetPortSettings/Example8_GetSetPortSettings.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example8_GetSetPortSettings/Example8_GetSetPortSettings.ino
new file mode 100644
index 0000000..1ade20a
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example8_GetSetPortSettings/Example8_GetSetPortSettings.ino
@@ -0,0 +1,98 @@
+/*
+  Configuring port settings using the newer getVal/setVal methods
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: October 23rd, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a u-blox module for its UART1 settings and
+  then change them if the settings aren't what we want.
+
+  Note: getVal/setVal/delVal are only support in u-blox protocol versions 27 and higher.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  bool response = true;
+
+  //Read the settings from RAM (what the module is running right now, not BBR, Flash, or default)
+  uint8_t currentUART1Setting_ubx = myGPS.getVal8(UBLOX_CFG_UART1INPROT_UBX);
+  uint8_t currentUART1Setting_nmea = myGPS.getVal8(UBLOX_CFG_UART1INPROT_NMEA);
+  uint8_t currentUART1Setting_rtcm3 = myGPS.getVal8(UBLOX_CFG_UART1INPROT_RTCM3X);
+
+  Serial.print("currentUART1Setting_ubx: ");
+  Serial.println(currentUART1Setting_ubx);
+  Serial.print("currentUART1Setting_nmea: ");
+  Serial.println(currentUART1Setting_nmea);
+  Serial.print("currentUART1Setting_rtcm3: ");
+  Serial.println(currentUART1Setting_rtcm3);
+
+  //Check if NMEA and RTCM are enabled for UART1
+  if (currentUART1Setting_ubx == 0 || currentUART1Setting_nmea == 0)
+  {
+    Serial.println("Updating UART1 configuration");
+
+    //setVal sets the values for RAM, BBR, and Flash automatically so no .saveConfiguration() is needed
+    response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_UBX, 1);    //Enable UBX on UART1 Input
+    response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_NMEA, 1);   //Enable NMEA on UART1 Input
+    response &= myGPS.setVal8(UBLOX_CFG_UART1INPROT_RTCM3X, 0); //Disable RTCM on UART1 Input
+
+    if (response == false)
+      Serial.println("SetVal failed");
+    else
+      Serial.println("SetVal succeeded");
+  }
+  else
+    Serial.println("No port change needed");
+
+  //Change speed of UART2
+  uint32_t currentUART2Baud = myGPS.getVal32(UBLOX_CFG_UART2_BAUDRATE);
+  Serial.print("currentUART2Baud: ");
+  Serial.println(currentUART2Baud);
+
+  if (currentUART2Baud != 57600)
+  {
+    response &= myGPS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 57600);
+    if (response == false)
+      Serial.println("SetVal failed");
+    else
+      Serial.println("SetVal succeeded");
+  }
+  else
+    Serial.println("No baud change needed");
+
+  Serial.println("Done");
+}
+
+void loop()
+{
+}
\ No newline at end of file
diff --git a/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example9_multiSetVal/Example9_multiSetVal.ino b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example9_multiSetVal/Example9_multiSetVal.ino
new file mode 100644
index 0000000..ed1b471
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/examples/ZED-F9P/Example9_multiSetVal/Example9_multiSetVal.ino
@@ -0,0 +1,90 @@
+/*
+  Send UBX binary commands to enable RTCM sentences on u-blox ZED-F9P module
+  Based on Example7 By: Nathan Seidle
+  SparkFun Electronics
+  Updated by Paul Clark to demonstrate setVal8/16/32, newCfgValset8/16/32, addCfgValset8/16/32 and sendCfgValset8/16/32
+  Date: July 1st, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  u-blox changed how to configure their modules in 2019. As of version 23 of the UBX protocol the
+  UBX-CFG commands are deprecated; they still work, they just recommend using VALSET, VALGET, and VALDEL
+  commands instead. This example shows how to use this new command structure.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a RedBoard Qwiic or BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial)
+    ; //Wait for user to open terminal
+  Serial.println("u-blox multi setVal example");
+
+  Wire.begin();
+  Wire.setClock(400000); //Increase I2C clock speed to 400kHz
+
+  if (myGPS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1)
+      ;
+  }
+
+  myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+  //myGPS.enableDebugging(SerialUSB); //Enable debug messages over Serial USB
+
+  bool setValueSuccess = true;
+
+  //These key values are hard coded. You can obtain them from the ZED-F9P interface description doc
+  //or from u-center's Messages->CFG->VALSET window. Keys must be 32-bit.
+  //Choose setVal8, setVal16 or setVal32 depending on the required value data width (1, 2 or 4 bytes)
+  //L, U1, I1, E1 and X1 values are 8-bit
+  //U2, I2, E2 and X2 values are 16-bit
+  //U4, I4, R4, E4, X4 values are 32-bit
+
+  setValueSuccess &= myGPS.setVal8(UBLOX_CFG_NMEA_HIGHPREC, 0); //Enable high precision NMEA (value is 8-bit (L / U1))
+  //setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 200); //Set measurement rate to 100ms (10Hz update rate) (value is 16-bit (U2))
+  //setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 200, 1); //Set rate setting in RAM instead of BBR
+  setValueSuccess &= myGPS.setVal16(UBLOX_CFG_RATE_MEAS, 1000); //Set measurement rate to 1000ms (1Hz update rate) (value is 16-bit (U2))
+
+  //Below is the original way we enabled a single RTCM message on the I2C port. After that, we show how to do the same
+  //but with multiple messages all in one go using newCfgValset, addCfgValset and sendCfgValset.
+  //Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+
+  //Begin with newCfgValset8/16/32
+  setValueSuccess &= myGPS.newCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1); //Set output rate of msg 1005 over the I2C port to once per measurement (value is 8-bit (U1))
+  //setValueSuccess &= myGPS.newCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1, 7); //Set this and the following settings into Flash/RAM/BBR instead of BBR
+  //Add extra keyIDs and values using addCfgValset8/16/32
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1077_I2C, 1); //Set output rate of msg 1077 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1087_I2C, 1); //Set output rate of msg 1087 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1127_I2C, 1); //Set output rate of msg 1127 over the I2C port to once per measurement (value is 8-bit (U1))
+  setValueSuccess &= myGPS.addCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1097_I2C, 1); //Set output rate of msg 1097 over the I2C port to once per measurement (value is 8-bit (U1))
+  // Add the final value and send the packet using sendCfgValset8/16/32
+  setValueSuccess &= myGPS.sendCfgValset8(CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 10); //Set output rate of msg 1230 over the I2C port to once every 10 measurements (value is 8-bit (U1))
+
+  if (setValueSuccess == true)
+  {
+    Serial.println("Values were successfully set");
+  }
+  else
+    Serial.println("Value set failed");
+}
+
+void loop()
+{
+}
diff --git a/serial/SparkFun_Ublox_Arduino_Library/keywords.txt b/serial/SparkFun_Ublox_Arduino_Library/keywords.txt
new file mode 100644
index 0000000..08b919c
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/keywords.txt
@@ -0,0 +1,246 @@
+#######################################
+# Syntax Coloring Map
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+SFE_UBLOX_GPS	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+begin	KEYWORD2
+isConnected	KEYWORD2
+checkUblox	KEYWORD2
+checkUbloxI2C	KEYWORD2
+checkUbloxSerial	KEYWORD2
+
+process	KEYWORD2
+processUBX	KEYWORD2
+processRTCMframe	KEYWORD2
+processRTCM	KEYWORD2
+processUBXpacket	KEYWORD2
+processNMEA	KEYWORD2
+
+calcChecksum	KEYWORD2
+sendCommand	KEYWORD2
+printPacket	KEYWORD2
+setI2CAddress	KEYWORD2
+setSerialRate	KEYWORD2
+setNMEAOutputPort	KEYWORD2
+
+setNavigationFrequency	KEYWORD2
+getNavigationFrequency	KEYWORD2
+
+saveConfiguration	KEYWORD2
+factoryDefault	KEYWORD2
+saveConfigSelective	KEYWORD2
+
+waitForResponse	KEYWORD2
+
+getPVT	KEYWORD2
+getLatitude	KEYWORD2
+getLongitude	KEYWORD2
+getAltitude	KEYWORD2
+getAltitudeMSL	KEYWORD2
+getSIV	KEYWORD2
+getFixType	KEYWORD2
+getCarrierSolutionType	KEYWORD2
+getGroundSpeed	KEYWORD2
+getHeading	KEYWORD2
+getPDOP	KEYWORD2
+getTimeOfWeek	KEYWORD2
+
+setPortOutput	KEYWORD2
+setPortInput	KEYWORD2
+getPortSettings	KEYWORD2
+
+setI2COutput	KEYWORD2
+setUART1Output	KEYWORD2
+setUART2Output	KEYWORD2
+setUSBOutput	KEYWORD2
+setSPIOutput	KEYWORD2
+
+getVal	KEYWORD2
+getVal8	KEYWORD2
+getVal16	KEYWORD2
+getVal32	KEYWORD2
+setVal	KEYWORD2
+setVal8	KEYWORD2
+setVal16	KEYWORD2
+setVal32	KEYWORD2
+newCfgValset8	KEYWORD2
+newCfgValset16	KEYWORD2
+newCfgValset32	KEYWORD2
+addCfgValset8	KEYWORD2
+addCfgValset16	KEYWORD2
+addCfgValset32	KEYWORD2
+sendCfgValset8	KEYWORD2
+sendCfgValset16	KEYWORD2
+sendCfgValset32	KEYWORD2
+
+getSurveyMode	KEYWORD2
+setSurveyMode	KEYWORD2
+enableSurveyMode	KEYWORD2
+disableSurveyMode	KEYWORD2
+getSurveyStatus	KEYWORD2
+
+enableRTCMmessage	KEYWORD2
+disableRTCMmessage	KEYWORD2
+
+getPositionAccuracy	KEYWORD2
+
+getProtocolVersionHigh	KEYWORD2
+getProtocolVersionLow	KEYWORD2
+getProtocolVersion	KEYWORD2
+
+getRELPOSNED	KEYWORD2
+
+enableDebugging	KEYWORD2
+disableDebugging	KEYWORD2
+debugPrint	KEYWORD2
+debugPrintln	KEYWORD2
+
+factoryReset	KEYWORD2
+setAutoPVT	KEYWORD2
+assumeAutoPVT	KEYWORD2
+flushPVT	KEYWORD2
+
+getYear	KEYWORD2
+getMonth	KEYWORD2
+getDay	KEYWORD2
+getHour	KEYWORD2
+getMinute	KEYWORD2
+getSecond	KEYWORD2
+getMillisecond	KEYWORD2
+getNanosecond	KEYWORD2
+getDateValid	KEYWORD2
+getTimeValid	KEYWORD2
+
+getHPPOSLLH	KEYWORD2
+assumeAutoHPPOSLLH	KEYWORD2
+setAutoHPPOSLLH	KEYWORD2
+flushHPPOSLLH	KEYWORD2
+
+getTimeOfWeek	KEYWORD2
+getHighResLatitude	KEYWORD2
+getHighResLatitudeHp	KEYWORD2
+getHighResLongitude	KEYWORD2
+getHighResLongitudeHp	KEYWORD2
+getElipsoid	KEYWORD2
+getElipsoidHp	KEYWORD2
+getMeanSeaLevel	KEYWORD2
+getMeanSeaLevelHp	KEYWORD2
+getGeoidSeparation	KEYWORD2
+getHorizontalAccuracy	KEYWORD2
+getVerticalAccuracy	KEYWORD2
+
+addGeofence	KEYWORD2
+clearGeofences	KEYWORD2
+getGeofenceState	KEYWORD2
+
+setDynamicModel	KEYWORD2
+getDynamicModel	KEYWORD2
+powerSaveMode	KEYWORD2
+getPowerSaveMode	KEYWORD2
+powerOff	KEYWORD2
+powerOffWithInterrupt	KEYWORD2
+
+configureMessage	KEYWORD2
+enableMessage	KEYWORD2
+disableMessage	KEYWORD2
+enableNMEAMessage	KEYWORD2
+disableNMEAMessage	KEYWORD2
+
+getEsfInfo	KEYWORD2
+getEsfIns	KEYWORD2
+getEsfDataInfo	KEYWORD2
+getEsfRawDataInfo	KEYWORD2
+
+getSensState	KEYWORD2
+getVehAtt	KEYWORD2
+
+setI2CTransactionSize	KEYWORD2
+getI2CTransactionSize	KEYWORD2
+
+setStaticPosition   KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
+COM_TYPE_UBX	LITERAL1
+COM_TYPE_NMEA	LITERAL1
+COM_TYPE_RTCM3	LITERAL1
+
+COM_PORT_I2C	LITERAL1
+COM_PORT_UART1	LITERAL1
+COM_PORT_UART2	LITERAL1
+COM_PORT_USB	LITERAL1
+COM_PORT_SPI	LITERAL1
+
+UBX_CLASS_NAV	LITERAL1
+UBX_CLASS_RXM	LITERAL1
+UBX_CLASS_INF	LITERAL1
+UBX_CLASS_ACK	LITERAL1
+UBX_CLASS_CFG	LITERAL1
+UBX_CLASS_UPD	LITERAL1
+UBX_CLASS_MON	LITERAL1
+UBX_CLASS_AID	LITERAL1
+UBX_CLASS_TIM	LITERAL1
+UBX_CLASS_ESF	LITERAL1
+UBX_CLASS_MGA	LITERAL1
+UBX_CLASS_LOG	LITERAL1
+UBX_CLASS_SEC	LITERAL1
+UBX_CLASS_HNR	LITERAL1
+UBX_CLASS_NMEA	LITERAL1
+
+UBX_NMEA_GGA	LITERAL1
+UBX_NMEA_GLL	LITERAL1
+UBX_NMEA_GNS	LITERAL1
+UBX_NMEA_GRS	LITERAL1
+UBX_NMEA_GSA	LITERAL1
+UBX_NMEA_GST	LITERAL1
+UBX_NMEA_GSV	LITERAL1
+UBX_NMEA_RMC	LITERAL1
+UBX_NMEA_VTG	LITERAL1
+UBX_NMEA_ZDA	LITERAL1
+
+UBX_NAV_PVT	LITERAL1
+UBX_NAV_HPPOSECEF	LITERAL1
+UBX_NAV_HPPOSLLH	LITERAL1
+UBX_NAV_SVIN	LITERAL1
+UBX_NAV_RELPOSNED	LITERAL1
+
+UBX_RTCM_MSB	LITERAL1
+UBX_RTCM_1005	LITERAL1
+UBX_RTCM_1074	LITERAL1
+UBX_RTCM_1077	LITERAL1
+UBX_RTCM_1084	LITERAL1
+UBX_RTCM_1087	LITERAL1
+UBX_RTCM_1094	LITERAL1
+UBX_RTCM_1097	LITERAL1
+UBX_RTCM_1124	LITERAL1
+UBX_RTCM_1127	LITERAL1
+UBX_RTCM_1230	LITERAL1
+UBX_RTCM_4072_0	LITERAL1
+UBX_RTCM_4072_1	LITERAL1
+
+DYN_MODEL_PORTABLE	LITERAL1
+DYN_MODEL_STATIONARY	LITERAL1
+DYN_MODEL_PEDESTRIAN	LITERAL1
+DYN_MODEL_AUTOMOTIVE	LITERAL1
+DYN_MODEL_SEA	LITERAL1
+DYN_MODEL_AIRBORNE1g	LITERAL1
+DYN_MODEL_AIRBORNE2g	LITERAL1
+DYN_MODEL_AIRBORNE4g	LITERAL1
+DYN_MODEL_WRIST	LITERAL1
+DYN_MODEL_BIKE	LITERAL1
+
+UBX_ESF_STATUS	LITERAL1
+UBX_ESF_RAW	LITERAL1
+UBX_ESF_MEAS	LITERAL1
+UBX_ESF_INS	LITERAL1
diff --git a/serial/SparkFun_Ublox_Arduino_Library/library.properties b/serial/SparkFun_Ublox_Arduino_Library/library.properties
new file mode 100644
index 0000000..9c2a287
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/library.properties
@@ -0,0 +1,9 @@
+name=SparkFun u-blox Arduino Library
+version=1.8.7
+author=SparkFun Electronics <techsupport@sparkfun.com>
+maintainer=SparkFun Electronics <sparkfun.com>
+sentence=Library for I2C and Serial Communication with u-blox modules
+paragraph=An Arduino Library to enable both I2C and Serial communication for both NMEA reception and binary UBX sending to u-blox modules. Useful for interfacing to the <a href="https://www.sparkfun.com/products/15136">SparkFun GPS-RTK2</a> ZED-F9P, <a href="https://www.sparkfun.com/products/14980">SparkFun GPS-RTK</a> NEO-M8P-2, the <a href="https://www.sparkfun.com/products/15210">SparkFun SAM-M8Q</a>, and the <a href="https://www.sparkfun.com/products/15193">SparkFun ZEO-M8Q</a>. Library also works with other u-blox based boards. <br><br>The ZED-F9P and NEO-M8P-2 modules are top-of-the-line modules for high accuracy GNSS and GPS location solutions including RTK. The ZED-F9P is unique in that it is capable of both rover and base station operations allowing the module to become a base station and produce RTCM 3.x correction data.
+category=Sensors
+url=https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
+architectures=*
diff --git a/serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.cpp b/serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.cpp
new file mode 100644
index 0000000..81994a1
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.cpp
@@ -0,0 +1,3803 @@
+/*
+	This is a library written for the u-blox ZED-F9P and NEO-M8P-2
+	SparkFun sells these at its website: www.sparkfun.com
+	Do you like this library? Help support SparkFun. Buy a board!
+	https://www.sparkfun.com/products/16481
+	https://www.sparkfun.com/products/15136
+	https://www.sparkfun.com/products/15005
+	https://www.sparkfun.com/products/15733
+	https://www.sparkfun.com/products/15193
+	https://www.sparkfun.com/products/15210
+
+	Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
+
+	This library handles configuring and handling the responses
+	from a u-blox GPS module. Works with most modules from u-blox including
+	the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
+
+	https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
+
+	Development environment specifics:
+	Arduino IDE 1.8.5
+
+	SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
+	The MIT License (MIT)
+	Copyright (c) 2016 SparkFun Electronics
+	Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+	associated documentation files (the "Software"), to deal in the Software without restriction,
+	including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+	and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
+	do so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all copies or substantial
+	portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
+	NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+	IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+	WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+	SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "SparkFun_Ublox_Arduino_Library.h"
+
+SFE_UBLOX_GPS::SFE_UBLOX_GPS(void)
+{
+  // Constructor
+  currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
+  moduleQueried.versionNumber = false;
+
+  if (checksumFailurePin >= 0)
+  {
+    pinMode((uint8_t)checksumFailurePin, OUTPUT);
+    digitalWrite((uint8_t)checksumFailurePin, HIGH);
+  }
+
+  //Define the size of the I2C buffer based on the platform the user has
+  //In general we found that most platforms use 32 bytes as the I2C buffer size. We could
+  //implement platform gaurds here but as you can see, none currently benefit from >32
+  //so we'll leave it up to the user to set it using setI2CTransactionSize if they will benefit from it
+  // //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
+
+  // i2cTransactionSize = 32;
+
+  // #elif defined(__SAMD21G18A__)
+
+  // i2cTransactionSize = 32;
+
+  //#elif __MK20DX256__
+  //Teensy
+
+  // #elif defined(ARDUINO_ARCH_ESP32)
+
+  // i2cTransactionSize = 32; //The ESP32 has an I2C buffer length of 128. We reduce it to 32 bytes to increase stability with the module
+
+  // #endif
+}
+
+//Initialize the Serial port
+boolean SFE_UBLOX_GPS::begin(TwoWire &wirePort, uint8_t deviceAddress)
+{
+  commType = COMM_TYPE_I2C;
+  _i2cPort = &wirePort; //Grab which port the user wants us to use
+
+  //We expect caller to begin their I2C port, with the speed of their choice external to the library
+  //But if they forget, we start the hardware here.
+
+  //We're moving away from the practice of starting Wire hardware in a library. This is to avoid cross platform issues.
+  //ie, there are some platforms that don't handle multiple starts to the wire hardware. Also, every time you start the wire
+  //hardware the clock speed reverts back to 100kHz regardless of previous Wire.setClocks().
+  //_i2cPort->begin();
+
+  _gpsI2Caddress = deviceAddress; //Store the I2C address from user
+
+  return (isConnected());
+}
+
+//Initialize the Serial port
+boolean SFE_UBLOX_GPS::begin(Stream &serialPort)
+{
+  commType = COMM_TYPE_SERIAL;
+  _serialPort = &serialPort; //Grab which port the user wants us to use
+
+  return (isConnected());
+}
+
+//Sets the global size for I2C transactions
+//Most platforms use 32 bytes (the default) but this allows users to increase the transaction
+//size if the platform supports it
+//Note: If the transaction size is set larger than the platforms buffer size, bad things will happen.
+void SFE_UBLOX_GPS::setI2CTransactionSize(uint8_t transactionSize)
+{
+  i2cTransactionSize = transactionSize;
+}
+uint8_t SFE_UBLOX_GPS::getI2CTransactionSize(void)
+{
+  return (i2cTransactionSize);
+}
+
+//Enable or disable the printing of sent/response HEX values.
+//Use this in conjunction with 'Transport Logging' from the Universal Reader Assistant to see what they're doing that we're not
+void SFE_UBLOX_GPS::enableDebugging(Stream &debugPort, boolean printLimitedDebug)
+{
+  _debugSerial = &debugPort; //Grab which port the user wants us to use for debugging
+  if (printLimitedDebug == false)
+  {
+    _printDebug = true; //Should we print the commands we send? Good for debugging
+  }
+  else
+  {
+    _printLimitedDebug = true; //Should we print limited debug messages? Good for debugging high navigation rates
+  }
+}
+void SFE_UBLOX_GPS::disableDebugging(void)
+{
+  _printDebug = false; //Turn off extra print statements
+  _printLimitedDebug = false;
+}
+
+//Safely print messages
+void SFE_UBLOX_GPS::debugPrint(char *message)
+{
+  if (_printDebug == true)
+  {
+    _debugSerial->print(message);
+  }
+}
+//Safely print messages
+void SFE_UBLOX_GPS::debugPrintln(char *message)
+{
+  if (_printDebug == true)
+  {
+    _debugSerial->println(message);
+  }
+}
+
+const char *SFE_UBLOX_GPS::statusString(sfe_ublox_status_e stat)
+{
+  switch (stat)
+  {
+  case SFE_UBLOX_STATUS_SUCCESS:
+    return "Success";
+    break;
+  case SFE_UBLOX_STATUS_FAIL:
+    return "General Failure";
+    break;
+  case SFE_UBLOX_STATUS_CRC_FAIL:
+    return "CRC Fail";
+    break;
+  case SFE_UBLOX_STATUS_TIMEOUT:
+    return "Timeout";
+    break;
+  case SFE_UBLOX_STATUS_COMMAND_NACK:
+    return "Command not acknowledged (NACK)";
+    break;
+  case SFE_UBLOX_STATUS_OUT_OF_RANGE:
+    return "Out of range";
+    break;
+  case SFE_UBLOX_STATUS_INVALID_ARG:
+    return "Invalid Arg";
+    break;
+  case SFE_UBLOX_STATUS_INVALID_OPERATION:
+    return "Invalid operation";
+    break;
+  case SFE_UBLOX_STATUS_MEM_ERR:
+    return "Memory Error";
+    break;
+  case SFE_UBLOX_STATUS_HW_ERR:
+    return "Hardware Error";
+    break;
+  case SFE_UBLOX_STATUS_DATA_SENT:
+    return "Data Sent";
+    break;
+  case SFE_UBLOX_STATUS_DATA_RECEIVED:
+    return "Data Received";
+    break;
+  case SFE_UBLOX_STATUS_I2C_COMM_FAILURE:
+    return "I2C Comm Failure";
+    break;
+  case SFE_UBLOX_STATUS_DATA_OVERWRITTEN:
+    return "Data Packet Overwritten";
+    break;
+  default:
+    return "Unknown Status";
+    break;
+  }
+  return "None";
+}
+
+void SFE_UBLOX_GPS::factoryReset()
+{
+  // Copy default settings to permanent
+  // Note: this does not load the permanent configuration into the current configuration. Calling factoryDefault() will do that.
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 13;
+  packetCfg.startingSpot = 0;
+  for (uint8_t i = 0; i < 4; i++)
+  {
+    payloadCfg[0 + i] = 0xff; // clear mask: copy default config to permanent config
+    payloadCfg[4 + i] = 0x00; // save mask: don't save current to permanent
+    payloadCfg[8 + i] = 0x00; // load mask: don't copy permanent config to current
+  }
+  payloadCfg[12] = 0xff;      // all forms of permanent memory
+  sendCommand(&packetCfg, 0); // don't expect ACK
+  hardReset();                // cause factory default config to actually be loaded and used cleanly
+}
+
+void SFE_UBLOX_GPS::hardReset()
+{
+  // Issue hard reset
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RST;
+  packetCfg.len = 4;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = 0xff;       // cold start
+  payloadCfg[1] = 0xff;       // cold start
+  payloadCfg[2] = 0;          // 0=HW reset
+  payloadCfg[3] = 0;          // reserved
+  sendCommand(&packetCfg, 0); // don't expect ACK
+}
+
+//Changes the serial baud rate of the u-blox module, can't return success/fail 'cause ACK from modem
+//is lost due to baud rate change
+void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t maxWait)
+{
+  //Get the current config values for the UART port
+  getPortSettings(uartPort, maxWait); //This will load the payloadCfg array with current port settings
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Current baud rate: "));
+    _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
+  }
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[8] = baudrate;
+  payloadCfg[9] = baudrate >> 8;
+  payloadCfg[10] = baudrate >> 16;
+  payloadCfg[11] = baudrate >> 24;
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("New baud rate:"));
+    _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
+  }
+
+  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("setSerialRate: sendCommand returned: "));
+    _debugSerial->println(statusString(retVal));
+  }
+}
+
+//Changes the I2C address that the u-blox module responds to
+//0x42 is the default but can be changed with this command
+boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait)
+{
+  //Get the current config values for the I2C port
+  getPortSettings(COM_PORT_I2C, maxWait); //This will load the payloadCfg array with current port settings
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[4] = deviceAddress << 1; //DDC mode LSB
+
+  if (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT) // We are only expecting an ACK
+  {
+    //Success! Now change our internal global.
+    _gpsI2Caddress = deviceAddress; //Store the I2C address from user
+    return (true);
+  }
+  return (false);
+}
+
+//Want to see the NMEA messages on the Serial port? Here's how
+void SFE_UBLOX_GPS::setNMEAOutputPort(Stream &nmeaOutputPort)
+{
+  _nmeaOutputPort = &nmeaOutputPort; //Store the port from user
+}
+
+//Called regularly to check for available bytes on the user' specified port
+boolean SFE_UBLOX_GPS::checkUblox(uint8_t requestedClass, uint8_t requestedID)
+{
+  return checkUbloxInternal(&packetCfg, requestedClass, requestedID);
+}
+
+//Called regularly to check for available bytes on the user' specified port
+boolean SFE_UBLOX_GPS::checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  if (commType == COMM_TYPE_I2C)
+    return (checkUbloxI2C(incomingUBX, requestedClass, requestedID));
+  else if (commType == COMM_TYPE_SERIAL)
+    return (checkUbloxSerial(incomingUBX, requestedClass, requestedID));
+  return false;
+}
+
+//Polls I2C for data, passing any new bytes to process()
+//Returns true if new bytes are available
+boolean SFE_UBLOX_GPS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  if (millis() - lastCheck >= i2cPollingWait)
+  {
+    //Get the number of bytes available from the module
+    uint16_t bytesAvailable = 0;
+    _i2cPort->beginTransmission(_gpsI2Caddress);
+    _i2cPort->write(0xFD);                     //0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available
+    if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
+      return (false);                          //Sensor did not ACK
+
+    _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2);
+    if (_i2cPort->available())
+    {
+      uint8_t msb = _i2cPort->read();
+      uint8_t lsb = _i2cPort->read();
+      if (lsb == 0xFF)
+      {
+        //I believe this is a u-blox bug. Device should never present an 0xFF.
+        if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+        {
+          _debugSerial->println(F("checkUbloxI2C: u-blox bug, length lsb is 0xFF"));
+        }
+        if (checksumFailurePin >= 0)
+        {
+          digitalWrite((uint8_t)checksumFailurePin, LOW);
+          delay(10);
+          digitalWrite((uint8_t)checksumFailurePin, HIGH);
+        }
+        lastCheck = millis(); //Put off checking to avoid I2C bus traffic
+        return (false);
+      }
+      bytesAvailable = (uint16_t)msb << 8 | lsb;
+    }
+
+    if (bytesAvailable == 0)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("checkUbloxI2C: OK, zero bytes available"));
+      }
+      lastCheck = millis(); //Put off checking to avoid I2C bus traffic
+      return (false);
+    }
+
+    //Check for undocumented bit error. We found this doing logic scans.
+    //This error is rare but if we incorrectly interpret the first bit of the two 'data available' bytes as 1
+    //then we have far too many bytes to check. May be related to I2C setup time violations: https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40
+    if (bytesAvailable & ((uint16_t)1 << 15))
+    {
+      //Clear the MSbit
+      bytesAvailable &= ~((uint16_t)1 << 15);
+
+      if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+      {
+        _debugSerial->print(F("checkUbloxI2C: Bytes available error:"));
+        _debugSerial->println(bytesAvailable);
+        if (checksumFailurePin >= 0)
+        {
+          digitalWrite((uint8_t)checksumFailurePin, LOW);
+          delay(10);
+          digitalWrite((uint8_t)checksumFailurePin, HIGH);
+        }
+      }
+    }
+
+    if (bytesAvailable > 100)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("checkUbloxI2C: Large packet of "));
+        _debugSerial->print(bytesAvailable);
+        _debugSerial->println(F(" bytes received"));
+      }
+    }
+    else
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("checkUbloxI2C: Reading "));
+        _debugSerial->print(bytesAvailable);
+        _debugSerial->println(F(" bytes"));
+      }
+    }
+
+    while (bytesAvailable)
+    {
+      _i2cPort->beginTransmission(_gpsI2Caddress);
+      _i2cPort->write(0xFF);                     //0xFF is the register to read data from
+      if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
+        return (false);                          //Sensor did not ACK
+
+      //Limit to 32 bytes or whatever the buffer limit is for given platform
+      uint16_t bytesToRead = bytesAvailable;
+      if (bytesToRead > i2cTransactionSize)
+        bytesToRead = i2cTransactionSize;
+
+    TRY_AGAIN:
+
+      _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)bytesToRead);
+      if (_i2cPort->available())
+      {
+        for (uint16_t x = 0; x < bytesToRead; x++)
+        {
+          uint8_t incoming = _i2cPort->read(); //Grab the actual character
+
+          //Check to see if the first read is 0x7F. If it is, the module is not ready
+          //to respond. Stop, wait, and try again
+          if (x == 0)
+          {
+            if (incoming == 0x7F)
+            {
+              if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+              {
+                _debugSerial->println(F("checkUbloxU2C: u-blox error, module not ready with data"));
+              }
+              delay(5); //In logic analyzation, the module starting responding after 1.48ms
+              if (checksumFailurePin >= 0)
+              {
+                digitalWrite((uint8_t)checksumFailurePin, LOW);
+                delay(10);
+                digitalWrite((uint8_t)checksumFailurePin, HIGH);
+              }
+              goto TRY_AGAIN;
+            }
+          }
+
+          process(incoming, incomingUBX, requestedClass, requestedID); //Process this valid character
+        }
+      }
+      else
+        return (false); //Sensor did not respond
+
+      bytesAvailable -= bytesToRead;
+    }
+  }
+
+  return (true);
+
+} //end checkUbloxI2C()
+
+//Checks Serial for data, passing any new bytes to process()
+boolean SFE_UBLOX_GPS::checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  while (_serialPort->available())
+  {
+    process(_serialPort->read(), incomingUBX, requestedClass, requestedID);
+  }
+  return (true);
+
+} //end checkUbloxSerial()
+
+//Processes NMEA and UBX binary sentences one byte at a time
+//Take a given byte and file it into the proper array
+void SFE_UBLOX_GPS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  if ((currentSentence == NONE) || (currentSentence == NMEA))
+  {
+    if (incoming == 0xB5) //UBX binary frames start with 0xB5, aka μ
+    {
+      //This is the start of a binary sentence. Reset flags.
+      //We still don't know the response class
+      ubxFrameCounter = 0;
+      currentSentence = UBX;
+      //Reset the packetBuf.counter even though we will need to reset it again when ubxFrameCounter == 2
+      packetBuf.counter = 0;
+      ignoreThisPayload = false; //We should not ignore this payload - yet
+      //Store data in packetBuf until we know if we have a requested class and ID match
+      activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
+    }
+    else if (incoming == '$')
+    {
+      currentSentence = NMEA;
+    }
+    else if (incoming == 0xD3) //RTCM frames start with 0xD3
+    {
+      rtcmFrameCounter = 0;
+      currentSentence = RTCM;
+    }
+    else
+    {
+      //This character is unknown or we missed the previous start of a sentence
+    }
+  }
+
+  //Depending on the sentence, pass the character to the individual processor
+  if (currentSentence == UBX)
+  {
+    //Decide what type of response this is
+    if ((ubxFrameCounter == 0) && (incoming != 0xB5))      //ISO 'μ'
+      currentSentence = NONE;                              //Something went wrong. Reset.
+    else if ((ubxFrameCounter == 1) && (incoming != 0x62)) //ASCII 'b'
+      currentSentence = NONE;                              //Something went wrong. Reset.
+    // Note to future self:
+    // There may be some duplication / redundancy in the next few lines as processUBX will also
+    // load information into packetBuf, but we'll do it here too for clarity
+    else if (ubxFrameCounter == 2) //Class
+    {
+      // Record the class in packetBuf until we know what to do with it
+      packetBuf.cls = incoming; // (Duplication)
+      rollingChecksumA = 0;     //Reset our rolling checksums here (not when we receive the 0xB5)
+      rollingChecksumB = 0;
+      packetBuf.counter = 0;                                   //Reset the packetBuf.counter (again)
+      packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // Reset the packet validity (redundant?)
+      packetBuf.startingSpot = incomingUBX->startingSpot;      //Copy the startingSpot
+    }
+    else if (ubxFrameCounter == 3) //ID
+    {
+      // Record the ID in packetBuf until we know what to do with it
+      packetBuf.id = incoming; // (Duplication)
+      //We can now identify the type of response
+      //If the packet we are receiving is not an ACK then check for a class and ID match
+      if (packetBuf.cls != UBX_CLASS_ACK)
+      {
+        //This is not an ACK so check for a class and ID match
+        if ((packetBuf.cls == requestedClass) && (packetBuf.id == requestedID))
+        {
+          //This is not an ACK and we have a class and ID match
+          //So start diverting data into incomingUBX (usually packetCfg)
+          activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG;
+          incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg)
+          incomingUBX->id = packetBuf.id;
+          incomingUBX->counter = packetBuf.counter; //Copy over the .counter too
+        }
+        //This is not an ACK and we do not have a complete class and ID match
+        //So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa
+        else if ((packetBuf.cls == requestedClass) &&
+          (((packetBuf.id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH)) ||
+          ((packetBuf.id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT))))
+        {
+          //This is not the message we were expecting but we start diverting data into incomingUBX (usually packetCfg) and process it anyway
+          activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG;
+          incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg)
+          incomingUBX->id = packetBuf.id;
+          incomingUBX->counter = packetBuf.counter; //Copy over the .counter too
+          if (_printDebug == true)
+          {
+            _debugSerial->print(F("process: auto PVT/HPPOSLLH collision: Requested ID: 0x"));
+            _debugSerial->print(requestedID, HEX);
+            _debugSerial->print(F(" Message ID: 0x"));
+            _debugSerial->println(packetBuf.id, HEX);
+          }
+        }
+        else
+        {
+          //This is not an ACK and we do not have a class and ID match
+          //so we should keep diverting data into packetBuf and ignore the payload
+          ignoreThisPayload = true;
+        }
+      }
+      else
+      {
+        // This is an ACK so it is to early to do anything with it
+        // We need to wait until we have received the length and data bytes
+        // So we should keep diverting data into packetBuf
+      }
+    }
+    else if (ubxFrameCounter == 4) //Length LSB
+    {
+      //We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG
+      packetBuf.len = incoming; // (Duplication)
+    }
+    else if (ubxFrameCounter == 5) //Length MSB
+    {
+      //We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG
+      packetBuf.len |= incoming << 8; // (Duplication)
+    }
+    else if (ubxFrameCounter == 6) //This should be the first byte of the payload unless .len is zero
+    {
+      if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!)
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("process: ZERO LENGTH packet received: Class: 0x"));
+          _debugSerial->print(packetBuf.cls, HEX);
+          _debugSerial->print(F(" ID: 0x"));
+          _debugSerial->println(packetBuf.id, HEX);
+        }
+        //If length is zero (!) this will be the first byte of the checksum so record it
+        packetBuf.checksumA = incoming;
+      }
+      else
+      {
+        //The length is not zero so record this byte in the payload
+        packetBuf.payload[0] = incoming;
+      }
+    }
+    else if (ubxFrameCounter == 7) //This should be the second byte of the payload unless .len is zero or one
+    {
+      if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!)
+      {
+        //If length is zero (!) this will be the second byte of the checksum so record it
+        packetBuf.checksumB = incoming;
+      }
+      else if (packetBuf.len == 1) // Check if length is one
+      {
+        //The length is one so this is the first byte of the checksum
+        packetBuf.checksumA = incoming;
+      }
+      else // Length is >= 2 so this must be a payload byte
+      {
+        packetBuf.payload[1] = incoming;
+      }
+      // Now that we have received two payload bytes, we can check for a matching ACK/NACK
+      if ((activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF) // If we are not already processing a data packet
+          && (packetBuf.cls == UBX_CLASS_ACK)                // and if this is an ACK/NACK
+          && (packetBuf.payload[0] == requestedClass)        // and if the class matches
+          && (packetBuf.payload[1] == requestedID))          // and if the ID matches
+      {
+        if (packetBuf.len == 2) // Check if .len is 2
+        {
+          // Then this is a matching ACK so copy it into packetAck
+          activePacketBuffer = SFE_UBLOX_PACKET_PACKETACK;
+          packetAck.cls = packetBuf.cls;
+          packetAck.id = packetBuf.id;
+          packetAck.len = packetBuf.len;
+          packetAck.counter = packetBuf.counter;
+          packetAck.payload[0] = packetBuf.payload[0];
+          packetAck.payload[1] = packetBuf.payload[1];
+        }
+        else // Length is not 2 (hopefully this is impossible!)
+        {
+          if (_printDebug == true)
+          {
+            _debugSerial->print(F("process: ACK received with .len != 2: Class: 0x"));
+            _debugSerial->print(packetBuf.payload[0], HEX);
+            _debugSerial->print(F(" ID: 0x"));
+            _debugSerial->print(packetBuf.payload[1], HEX);
+            _debugSerial->print(F(" len: "));
+            _debugSerial->println(packetBuf.len);
+          }
+        }
+      }
+    }
+
+    //Divert incoming into the correct buffer
+    if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETACK)
+      processUBX(incoming, &packetAck, requestedClass, requestedID);
+    else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG)
+      processUBX(incoming, incomingUBX, requestedClass, requestedID);
+    else // if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF)
+      processUBX(incoming, &packetBuf, requestedClass, requestedID);
+
+    //Finally, increment the frame counter
+    ubxFrameCounter++;
+  }
+  else if (currentSentence == NMEA)
+  {
+    processNMEA(incoming); //Process each NMEA character
+  }
+  else if (currentSentence == RTCM)
+  {
+    processRTCMframe(incoming); //Deal with RTCM bytes
+  }
+}
+
+//This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it.
+//User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA
+//Or user could pipe each character to a buffer, radio, etc.
+void SFE_UBLOX_GPS::processNMEA(char incoming)
+{
+  //If user has assigned an output port then pipe the characters there
+  if (_nmeaOutputPort != NULL)
+    _nmeaOutputPort->write(incoming); //Echo this byte to the serial port
+}
+
+//We need to be able to identify an RTCM packet and then the length
+//so that we know when the RTCM message is completely received and we then start
+//listening for other sentences (like NMEA or UBX)
+//RTCM packet structure is very odd. I never found RTCM STANDARD 10403.2 but
+//http://d1.amobbs.com/bbs_upload782111/files_39/ourdev_635123CK0HJT.pdf is good
+//https://dspace.cvut.cz/bitstream/handle/10467/65205/F3-BP-2016-Shkalikava-Anastasiya-Prenos%20polohove%20informace%20prostrednictvim%20datove%20site.pdf?sequence=-1
+//Lead me to: https://forum.u-blox.com/index.php/4348/how-to-read-rtcm-messages-from-neo-m8p
+//RTCM 3.2 bytes look like this:
+//Byte 0: Always 0xD3
+//Byte 1: 6-bits of zero
+//Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6.
+//byte 3 + 4 bits: Msg type 12 bits
+//Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087
+void SFE_UBLOX_GPS::processRTCMframe(uint8_t incoming)
+{
+  if (rtcmFrameCounter == 1)
+  {
+    rtcmLen = (incoming & 0x03) << 8; //Get the last two bits of this byte. Bits 8&9 of 10-bit length
+  }
+  else if (rtcmFrameCounter == 2)
+  {
+    rtcmLen |= incoming; //Bits 0-7 of packet length
+    rtcmLen += 6;        //There are 6 additional bytes of what we presume is header, msgType, CRC, and stuff
+  }
+  /*else if (rtcmFrameCounter == 3)
+  {
+    rtcmMsgType = incoming << 4; //Message Type, MS 4 bits
+  }
+  else if (rtcmFrameCounter == 4)
+  {
+    rtcmMsgType |= (incoming >> 4); //Message Type, bits 0-7
+  }*/
+
+  rtcmFrameCounter++;
+
+  processRTCM(incoming); //Here is where we expose this byte to the user
+
+  if (rtcmFrameCounter == rtcmLen)
+  {
+    //We're done!
+    currentSentence = NONE; //Reset and start looking for next sentence type
+  }
+}
+
+//This function is called for each byte of an RTCM frame
+//Ths user can overwrite this function and process the RTCM frame as they please
+//Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)
+void SFE_UBLOX_GPS::processRTCM(uint8_t incoming)
+{
+  //Radio.sendReliable((String)incoming); //An example of passing this byte to a radio
+
+  //_debugSerial->write(incoming); //An example of passing this byte out the serial port
+
+  //Debug printing
+  //  _debugSerial->print(F(" "));
+  //  if(incoming < 0x10) _debugSerial->print(F("0"));
+  //  if(incoming < 0x10) _debugSerial->print(F("0"));
+  //  _debugSerial->print(incoming, HEX);
+  //  if(rtcmFrameCounter % 16 == 0) _debugSerial->println();
+}
+
+//Given a character, file it away into the uxb packet structure
+//Set valid to VALID or NOT_VALID once sentence is completely received and passes or fails CRC
+//The payload portion of the packet can be 100s of bytes but the max array
+//size is MAX_PAYLOAD_SIZE bytes. startingSpot can be set so we only record
+//a subset of bytes within a larger packet.
+void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID)
+{
+  //Add all incoming bytes to the rolling checksum
+  //Stop at len+4 as this is the checksum bytes to that should not be added to the rolling checksum
+  if (incomingUBX->counter < incomingUBX->len + 4)
+    addToChecksum(incoming);
+
+  if (incomingUBX->counter == 0)
+  {
+    incomingUBX->cls = incoming;
+  }
+  else if (incomingUBX->counter == 1)
+  {
+    incomingUBX->id = incoming;
+  }
+  else if (incomingUBX->counter == 2) //Len LSB
+  {
+    incomingUBX->len = incoming;
+  }
+  else if (incomingUBX->counter == 3) //Len MSB
+  {
+    incomingUBX->len |= incoming << 8;
+  }
+  else if (incomingUBX->counter == incomingUBX->len + 4) //ChecksumA
+  {
+    incomingUBX->checksumA = incoming;
+  }
+  else if (incomingUBX->counter == incomingUBX->len + 5) //ChecksumB
+  {
+    incomingUBX->checksumB = incoming;
+
+    currentSentence = NONE; //We're done! Reset the sentence to being looking for a new start char
+
+    //Validate this sentence
+    if ((incomingUBX->checksumA == rollingChecksumA) && (incomingUBX->checksumB == rollingChecksumB))
+    {
+      incomingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_VALID; // Flag the packet as valid
+
+      // Let's check if the class and ID match the requestedClass and requestedID
+      // Remember - this could be a data packet or an ACK packet
+      if ((incomingUBX->cls == requestedClass) && (incomingUBX->id == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_VALID; // If we have a match, set the classAndIDmatch flag to valid
+      }
+
+      // If this is an ACK then let's check if the class and ID match the requestedClass and requestedID
+      else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_ACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_VALID; // If we have a match, set the classAndIDmatch flag to valid
+      }
+
+      // If this is a NACK then let's check if the class and ID match the requestedClass and requestedID
+      else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_NACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_NOTACKNOWLEDGED; // If we have a match, set the classAndIDmatch flag to NOTACKNOWLEDGED
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("processUBX: NACK received: Requested Class: 0x"));
+          _debugSerial->print(incomingUBX->payload[0], HEX);
+          _debugSerial->print(F(" Requested ID: 0x"));
+          _debugSerial->println(incomingUBX->payload[1], HEX);
+        }
+      }
+
+      //This is not an ACK and we do not have a complete class and ID match
+      //So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa
+      else if ((incomingUBX->cls == requestedClass) &&
+        (((incomingUBX->id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH)) ||
+        ((incomingUBX->id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT))))
+      {
+        // This isn't the message we are looking for...
+        // Let's say so and leave incomingUBX->classAndIDmatch _unchanged_
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("processUBX: auto PVT/HPPOSLLH collision: Requested ID: 0x"));
+          _debugSerial->print(requestedID, HEX);
+          _debugSerial->print(F(" Message ID: 0x"));
+          _debugSerial->println(incomingUBX->id, HEX);
+        }
+      }
+
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Incoming: Size: "));
+        _debugSerial->print(incomingUBX->len);
+        _debugSerial->print(F(" Received: "));
+        printPacket(incomingUBX);
+
+        if (incomingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetCfg now valid"));
+        }
+        if (packetAck.valid == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetAck now valid"));
+        }
+        if (incomingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetCfg classAndIDmatch"));
+        }
+        if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID)
+        {
+          _debugSerial->println(F("packetAck classAndIDmatch"));
+        }
+      }
+
+      //We've got a valid packet, now do something with it but only if ignoreThisPayload is false
+      if (ignoreThisPayload == false)
+      {
+        processUBXpacket(incomingUBX);
+      }
+    }
+    else // Checksum failure
+    {
+      incomingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID;
+
+      // Let's check if the class and ID match the requestedClass and requestedID.
+      // This is potentially risky as we are saying that we saw the requested Class and ID
+      // but that the packet checksum failed. Potentially it could be the class or ID bytes
+      // that caused the checksum error!
+      if ((incomingUBX->cls == requestedClass) && (incomingUBX->id == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; // If we have a match, set the classAndIDmatch flag to not valid
+      }
+      // If this is an ACK then let's check if the class and ID match the requestedClass and requestedID
+      else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID))
+      {
+        incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; // If we have a match, set the classAndIDmatch flag to not valid
+      }
+
+      if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging
+      {
+        //Drive an external pin to allow for easier logic analyzation
+        if (checksumFailurePin >= 0)
+        {
+          digitalWrite((uint8_t)checksumFailurePin, LOW);
+          delay(10);
+          digitalWrite((uint8_t)checksumFailurePin, HIGH);
+        }
+
+        _debugSerial->print(F("Checksum failed:"));
+        _debugSerial->print(F(" checksumA: "));
+        _debugSerial->print(incomingUBX->checksumA);
+        _debugSerial->print(F(" checksumB: "));
+        _debugSerial->print(incomingUBX->checksumB);
+
+        _debugSerial->print(F(" rollingChecksumA: "));
+        _debugSerial->print(rollingChecksumA);
+        _debugSerial->print(F(" rollingChecksumB: "));
+        _debugSerial->print(rollingChecksumB);
+        _debugSerial->println();
+
+        _debugSerial->print(F("Failed  : "));
+        _debugSerial->print(F("Size: "));
+        _debugSerial->print(incomingUBX->len);
+        _debugSerial->print(F(" Received: "));
+        printPacket(incomingUBX);
+      }
+    }
+  }
+  else //Load this byte into the payload array
+  {
+    //If a UBX_NAV_PVT packet comes in asynchronously, we need to fudge the startingSpot
+    uint16_t startingSpot = incomingUBX->startingSpot;
+    if (incomingUBX->cls == UBX_CLASS_NAV && incomingUBX->id == UBX_NAV_PVT)
+      startingSpot = 0;
+    //Begin recording if counter goes past startingSpot
+    if ((incomingUBX->counter - 4) >= startingSpot)
+    {
+      //Check to see if we have room for this byte
+      if (((incomingUBX->counter - 4) - startingSpot) < MAX_PAYLOAD_SIZE) //If counter = 208, starting spot = 200, we're good to record.
+      {
+        // Check if this is payload data which should be ignored
+        if (ignoreThisPayload == false)
+        {
+          incomingUBX->payload[incomingUBX->counter - 4 - startingSpot] = incoming; //Store this byte into payload array
+        }
+      }
+    }
+  }
+
+  //Increment the counter
+  incomingUBX->counter++;
+
+  if (incomingUBX->counter == MAX_PAYLOAD_SIZE)
+  {
+    //Something has gone very wrong
+    currentSentence = NONE; //Reset the sentence to being looking for a new start char
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("processUBX: counter hit MAX_PAYLOAD_SIZE"));
+    }
+  }
+}
+
+//Once a packet has been received and validated, identify this packet's class/id and update internal flags
+//Note: if the user requests a PVT or a HPPOSLLH message using a custom packet, the data extraction will
+//      not work as expected beacuse extractLong etc are hardwired to packetCfg payloadCfg. Ideally
+//      extractLong etc should be updated so they receive a pointer to the packet buffer.
+void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
+{
+  switch (msg->cls)
+  {
+  case UBX_CLASS_NAV:
+    if (msg->id == UBX_NAV_PVT && msg->len == 92)
+    {
+      //Parse various byte fields into global vars
+      constexpr int startingSpot = 0; //fixed value used in processUBX
+
+      timeOfWeek = extractLong(0);
+      gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW
+      gpsYear = extractInt(4);
+      gpsMonth = extractByte(6);
+      gpsDay = extractByte(7);
+      gpsHour = extractByte(8);
+      gpsMinute = extractByte(9);
+      gpsSecond = extractByte(10);
+      gpsDateValid = extractByte(11) & 0x01;
+      gpsTimeValid = (extractByte(11) & 0x02) >> 1;
+      gpsNanosecond = extractLong(16); //Includes milliseconds
+
+      fixType = extractByte(20 - startingSpot);
+      carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
+      SIV = extractByte(23 - startingSpot);
+      longitude = extractLong(24 - startingSpot);
+      latitude = extractLong(28 - startingSpot);
+      altitude = extractLong(32 - startingSpot);
+      altitudeMSL = extractLong(36 - startingSpot);
+      groundSpeed = extractLong(60 - startingSpot);
+      headingOfMotion = extractLong(64 - startingSpot);
+      pDOP = extractInt(76 - startingSpot);
+
+      //Mark all datums as fresh (not read before)
+      moduleQueried.gpsiTOW = true;
+      moduleQueried.gpsYear = true;
+      moduleQueried.gpsMonth = true;
+      moduleQueried.gpsDay = true;
+      moduleQueried.gpsHour = true;
+      moduleQueried.gpsMinute = true;
+      moduleQueried.gpsSecond = true;
+      moduleQueried.gpsDateValid = true;
+      moduleQueried.gpsTimeValid = true;
+      moduleQueried.gpsNanosecond = true;
+
+      moduleQueried.all = true;
+      moduleQueried.longitude = true;
+      moduleQueried.latitude = true;
+      moduleQueried.altitude = true;
+      moduleQueried.altitudeMSL = true;
+      moduleQueried.SIV = true;
+      moduleQueried.fixType = true;
+      moduleQueried.carrierSolution = true;
+      moduleQueried.groundSpeed = true;
+      moduleQueried.headingOfMotion = true;
+      moduleQueried.pDOP = true;
+    }
+    else if (msg->id == UBX_NAV_HPPOSLLH && msg->len == 36)
+    {
+      timeOfWeek = extractLong(4);
+      highResLongitude = extractLong(8);
+      highResLatitude = extractLong(12);
+      elipsoid = extractLong(16);
+      meanSeaLevel = extractLong(20);
+      highResLongitudeHp = extractSignedChar(24);
+      highResLatitudeHp = extractSignedChar(25);
+      elipsoidHp = extractSignedChar(26);
+      meanSeaLevelHp = extractSignedChar(27);
+      horizontalAccuracy = extractLong(28);
+      verticalAccuracy = extractLong(32);
+
+      highResModuleQueried.all = true;
+      highResModuleQueried.highResLatitude = true;
+      highResModuleQueried.highResLatitudeHp = true;
+      highResModuleQueried.highResLongitude = true;
+      highResModuleQueried.highResLongitudeHp = true;
+      highResModuleQueried.elipsoid = true;
+      highResModuleQueried.elipsoidHp = true;
+      highResModuleQueried.meanSeaLevel = true;
+      highResModuleQueried.meanSeaLevelHp = true;
+      highResModuleQueried.geoidSeparation = true;
+      highResModuleQueried.horizontalAccuracy = true;
+      highResModuleQueried.verticalAccuracy = true;
+      moduleQueried.gpsiTOW = true; // this can arrive via HPPOS too.
+
+/*
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Sec: "));
+        _debugSerial->print(((float)extractLong(4)) / 1000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LON: "));
+        _debugSerial->print(((float)(int32_t)extractLong(8)) / 10000000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LAT: "));
+        _debugSerial->print(((float)(int32_t)extractLong(12)) / 10000000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("ELI M: "));
+        _debugSerial->print(((float)(int32_t)extractLong(16)) / 1000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("MSL M: "));
+        _debugSerial->print(((float)(int32_t)extractLong(20)) / 1000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LON HP: "));
+        _debugSerial->print(extractSignedChar(24));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("LAT HP: "));
+        _debugSerial->print(extractSignedChar(25));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("ELI HP: "));
+        _debugSerial->print(extractSignedChar(26));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("MSL HP: "));
+        _debugSerial->print(extractSignedChar(27));
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("HA 2D M: "));
+        _debugSerial->print(((float)(int32_t)extractLong(28)) / 10000.0f);
+        _debugSerial->print(F(" "));
+        _debugSerial->print(F("VERT M: "));
+        _debugSerial->println(((float)(int32_t)extractLong(32)) / 10000.0f);
+      }
+*/
+    }
+    break;
+  }
+}
+
+//Given a packet and payload, send everything including CRC bytes via I2C port
+sfe_ublox_status_e SFE_UBLOX_GPS::sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait)
+{
+  sfe_ublox_status_e retVal = SFE_UBLOX_STATUS_SUCCESS;
+
+  calcChecksum(outgoingUBX); //Sets checksum A and B bytes of the packet
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("\nSending: "));
+    printPacket(outgoingUBX);
+  }
+
+  if (commType == COMM_TYPE_I2C)
+  {
+    retVal = sendI2cCommand(outgoingUBX, maxWait);
+    if (retVal != SFE_UBLOX_STATUS_SUCCESS)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("Send I2C Command failed"));
+      }
+      return retVal;
+    }
+  }
+  else if (commType == COMM_TYPE_SERIAL)
+  {
+    sendSerialCommand(outgoingUBX);
+  }
+
+  if (maxWait > 0)
+  {
+    //Depending on what we just sent, either we need to look for an ACK or not
+    if (outgoingUBX->cls == UBX_CLASS_CFG)
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("sendCommand: Waiting for ACK response"));
+      }
+      retVal = waitForACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response
+    }
+    else
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("sendCommand: Waiting for No ACK response"));
+      }
+      retVal = waitForNoACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response
+    }
+  }
+  return retVal;
+}
+
+//Returns false if sensor fails to respond to I2C traffic
+sfe_ublox_status_e SFE_UBLOX_GPS::sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait)
+{
+  //Point at 0xFF data register
+  _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); //There is no register to write to, we just begin writing data bytes
+  _i2cPort->write(0xFF);
+  if (_i2cPort->endTransmission() != 0)         //Don't release bus
+    return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+
+  //Write header bytes
+  _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); //There is no register to write to, we just begin writing data bytes
+  _i2cPort->write(UBX_SYNCH_1);                         //μ - oh ublox, you're funny. I will call you micro-blox from now on.
+  _i2cPort->write(UBX_SYNCH_2);                         //b
+  _i2cPort->write(outgoingUBX->cls);
+  _i2cPort->write(outgoingUBX->id);
+  _i2cPort->write(outgoingUBX->len & 0xFF);     //LSB
+  _i2cPort->write(outgoingUBX->len >> 8);       //MSB
+  if (_i2cPort->endTransmission(false) != 0)    //Do not release bus
+    return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+
+  //Write payload. Limit the sends into 32 byte chunks
+  //This code based on ublox: https://forum.u-blox.com/index.php/20528/how-to-use-i2c-to-get-the-nmea-frames
+  uint16_t bytesToSend = outgoingUBX->len;
+
+  //"The number of data bytes must be at least 2 to properly distinguish
+  //from the write access to set the address counter in random read accesses."
+  uint16_t startSpot = 0;
+  while (bytesToSend > 1)
+  {
+    uint8_t len = bytesToSend;
+    if (len > i2cTransactionSize)
+      len = i2cTransactionSize;
+
+    _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
+    //_i2cPort->write(outgoingUBX->payload, len); //Write a portion of the payload to the bus
+
+    for (uint16_t x = 0; x < len; x++)
+      _i2cPort->write(outgoingUBX->payload[startSpot + x]); //Write a portion of the payload to the bus
+
+    if (_i2cPort->endTransmission(false) != 0)    //Don't release bus
+      return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+
+    //*outgoingUBX->payload += len; //Move the pointer forward
+    startSpot += len; //Move the pointer forward
+    bytesToSend -= len;
+  }
+
+  //Write checksum
+  _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
+  if (bytesToSend == 1)
+    _i2cPort->write(outgoingUBX->payload, 1);
+  _i2cPort->write(outgoingUBX->checksumA);
+  _i2cPort->write(outgoingUBX->checksumB);
+
+  //All done transmitting bytes. Release bus.
+  if (_i2cPort->endTransmission() != 0)
+    return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK
+  return (SFE_UBLOX_STATUS_SUCCESS);
+}
+
+//Given a packet and payload, send everything including CRC bytesA via Serial port
+void SFE_UBLOX_GPS::sendSerialCommand(ubxPacket *outgoingUBX)
+{
+  //Write header bytes
+  _serialPort->write(UBX_SYNCH_1); //μ - oh ublox, you're funny. I will call you micro-blox from now on.
+  _serialPort->write(UBX_SYNCH_2); //b
+  _serialPort->write(outgoingUBX->cls);
+  _serialPort->write(outgoingUBX->id);
+  _serialPort->write(outgoingUBX->len & 0xFF); //LSB
+  _serialPort->write(outgoingUBX->len >> 8);   //MSB
+
+  //Write payload.
+  for (int i = 0; i < outgoingUBX->len; i++)
+  {
+    _serialPort->write(outgoingUBX->payload[i]);
+  }
+
+  //Write checksum
+  _serialPort->write(outgoingUBX->checksumA);
+  _serialPort->write(outgoingUBX->checksumB);
+}
+
+//Returns true if I2C device ack's
+boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait)
+{
+  if (commType == COMM_TYPE_I2C)
+  {
+    _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress);
+    if (_i2cPort->endTransmission() != 0)
+      return false; //Sensor did not ack
+  }
+
+  // Query navigation rate to see whether we get a meaningful response
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
+}
+
+//Given a message, calc and store the two byte "8-Bit Fletcher" checksum over the entirety of the message
+//This is called before we send a command message
+void SFE_UBLOX_GPS::calcChecksum(ubxPacket *msg)
+{
+  msg->checksumA = 0;
+  msg->checksumB = 0;
+
+  msg->checksumA += msg->cls;
+  msg->checksumB += msg->checksumA;
+
+  msg->checksumA += msg->id;
+  msg->checksumB += msg->checksumA;
+
+  msg->checksumA += (msg->len & 0xFF);
+  msg->checksumB += msg->checksumA;
+
+  msg->checksumA += (msg->len >> 8);
+  msg->checksumB += msg->checksumA;
+
+  for (uint16_t i = 0; i < msg->len; i++)
+  {
+    msg->checksumA += msg->payload[i];
+    msg->checksumB += msg->checksumA;
+  }
+}
+
+//Given a message and a byte, add to rolling "8-Bit Fletcher" checksum
+//This is used when receiving messages from module
+void SFE_UBLOX_GPS::addToChecksum(uint8_t incoming)
+{
+  rollingChecksumA += incoming;
+  rollingChecksumB += rollingChecksumA;
+}
+
+//Pretty prints the current ubxPacket
+void SFE_UBLOX_GPS::printPacket(ubxPacket *packet)
+{
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("CLS:"));
+    if (packet->cls == UBX_CLASS_NAV) //1
+      _debugSerial->print(F("NAV"));
+    else if (packet->cls == UBX_CLASS_ACK) //5
+      _debugSerial->print(F("ACK"));
+    else if (packet->cls == UBX_CLASS_CFG) //6
+      _debugSerial->print(F("CFG"));
+    else if (packet->cls == UBX_CLASS_MON) //0x0A
+      _debugSerial->print(F("MON"));
+    else
+    {
+      _debugSerial->print(F("0x"));
+      _debugSerial->print(packet->cls, HEX);
+    }
+
+    _debugSerial->print(F(" ID:"));
+    if (packet->cls == UBX_CLASS_NAV && packet->id == UBX_NAV_PVT)
+      _debugSerial->print(F("PVT"));
+    else if (packet->cls == UBX_CLASS_CFG && packet->id == UBX_CFG_RATE)
+      _debugSerial->print(F("RATE"));
+    else if (packet->cls == UBX_CLASS_CFG && packet->id == UBX_CFG_CFG)
+      _debugSerial->print(F("SAVE"));
+    else
+    {
+      _debugSerial->print(F("0x"));
+      _debugSerial->print(packet->id, HEX);
+    }
+
+    _debugSerial->print(F(" Len: 0x"));
+    _debugSerial->print(packet->len, HEX);
+
+    // Only print the payload is ignoreThisPayload is false otherwise
+    // we could be printing gibberish from beyond the end of packetBuf
+    if (ignoreThisPayload == false)
+    {
+      _debugSerial->print(F(" Payload:"));
+
+      for (int x = 0; x < packet->len; x++)
+      {
+        _debugSerial->print(F(" "));
+        _debugSerial->print(packet->payload[x], HEX);
+      }
+    }
+    else
+    {
+      _debugSerial->print(F(" Payload: IGNORED"));
+    }
+    _debugSerial->println();
+  }
+}
+
+//=-=-=-=-=-=-=-= Specific commands =-=-=-=-=-=-=-==-=-=-=-=-=-=-=
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge"(UBX - ACK - ACK) or a
+//"not acknowledge"(UBX-ACK-NAK) message back to the sender, depending on whether or not the message was processed correctly.
+//Some messages from other classes also use the same acknowledgement mechanism.
+
+//When we poll or get a setting, we will receive _both_ a config packet and an ACK
+//If the poll or get request is not valid, we will receive _only_ a NACK
+
+//If we are trying to get or poll a setting, then packetCfg.len will be 0 or 1 when the packetCfg is _sent_.
+//If we poll the setting for a particular port using UBX-CFG-PRT then .len will be 1 initially
+//For all other gets or polls, .len will be 0 initially
+//(It would be possible for .len to be 2 _if_ we were using UBX-CFG-MSG to poll the settings for a particular message - but we don't use that (currently))
+
+//If the get or poll _fails_, i.e. is NACK'd, then packetCfg.len could still be 0 or 1 after the NACK is received
+//But if the get or poll is ACK'd, then packetCfg.len will have been updated by the incoming data and will always be at least 2
+
+//If we are going to set the value for a setting, then packetCfg.len will be at least 3 when the packetCfg is _sent_.
+//(UBX-CFG-MSG appears to have the shortest set length of 3 bytes)
+
+//We need to think carefully about how interleaved PVT packets affect things.
+//It is entirely possible that our packetCfg and packetAck were received successfully
+//but while we are still in the "if (checkUblox() == true)" loop a PVT packet is processed
+//or _starts_ to arrive (remember that Serial data can arrive very slowly).
+
+//Returns SFE_UBLOX_STATUS_DATA_RECEIVED if we got an ACK and a valid packetCfg (module is responding with register content)
+//Returns SFE_UBLOX_STATUS_DATA_SENT if we got an ACK and no packetCfg (no valid packetCfg needed, module absorbs new register data)
+//Returns SFE_UBLOX_STATUS_FAIL if something very bad happens (e.g. a double checksum failure)
+//Returns SFE_UBLOX_STATUS_COMMAND_NACK if the packet was not-acknowledged (NACK)
+//Returns SFE_UBLOX_STATUS_CRC_FAIL if we had a checksum failure
+//Returns SFE_UBLOX_STATUS_TIMEOUT if we timed out
+//Returns SFE_UBLOX_STATUS_DATA_OVERWRITTEN if we got an ACK and a valid packetCfg but that the packetCfg has been
+// or is currently being overwritten (remember that Serial data can arrive very slowly)
+sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime)
+{
+  outgoingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; //This will go VALID (or NOT_VALID) when we receive a response to the packet we sent
+  packetAck.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  outgoingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // This will go VALID (or NOT_VALID) when we receive a packet that matches the requested class and ID
+  packetAck.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+
+  unsigned long startTime = millis();
+  while (millis() - startTime < maxTime)
+  {
+    if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in.
+    {
+      // If both the outgoingUBX->classAndIDmatch and packetAck.classAndIDmatch are VALID
+      // and outgoingUBX->valid is _still_ VALID and the class and ID _still_ match
+      // then we can be confident that the data in outgoingUBX is valid
+      if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: valid data and valid ACK received after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and a correct ACK!
+      }
+
+      // We can be confident that the data packet (if we are going to get one) will always arrive
+      // before the matching ACK. So if we sent a config packet which only produces an ACK
+      // then outgoingUBX->classAndIDmatch will be NOT_DEFINED and the packetAck.classAndIDmatch will VALID.
+      // We should not check outgoingUBX->valid, outgoingUBX->cls or outgoingUBX->id
+      // as these may have been changed by a PVT packet.
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: no data and valid ACK after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_SENT); //We got an ACK but no data...
+      }
+
+      // If both the outgoingUBX->classAndIDmatch and packetAck.classAndIDmatch are VALID
+      // but the outgoingUBX->cls or ID no longer match then we can be confident that we had
+      // valid data but it has been or is currently being overwritten by another packet (e.g. PVT).
+      // If (e.g.) a PVT packet is _being_ received: outgoingUBX->valid will be NOT_DEFINED
+      // If (e.g.) a PVT packet _has been_ received: outgoingUBX->valid will be VALID (or just possibly NOT_VALID)
+      // So we cannot use outgoingUBX->valid as part of this check.
+      // Note: the addition of packetBuf should make this check redundant!
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID)))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: data being OVERWRITTEN after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten
+      }
+
+      // If packetAck.classAndIDmatch is VALID but both outgoingUBX->valid and outgoingUBX->classAndIDmatch
+      // are NOT_VALID then we can be confident we have had a checksum failure on the data packet
+      else if ((packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: CRC failed after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_CRC_FAIL); //Checksum fail
+      }
+
+      // If our packet was not-acknowledged (NACK) we do not receive a data packet - we only get the NACK.
+      // So you would expect outgoingUBX->valid and outgoingUBX->classAndIDmatch to still be NOT_DEFINED
+      // But if a full PVT packet arrives afterwards outgoingUBX->valid could be VALID (or just possibly NOT_VALID)
+      // but outgoingUBX->cls and outgoingUBX->id would not match...
+      // So I think this is telling us we need a special state for packetAck.classAndIDmatch to tell us
+      // the packet was definitely NACK'd otherwise we are possibly just guessing...
+      // Note: the addition of packetBuf changes the logic of this, but we'll leave the code as is for now.
+      else if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_NOTACKNOWLEDGED)
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: data was NOTACKNOWLEDGED (NACK) after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_COMMAND_NACK); //We received a NACK!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is VALID but the packetAck.classAndIDmatch is NOT_VALID
+      // then the ack probably had a checksum error. We will take a gamble and return DATA_RECEIVED.
+      // If we were playing safe, we should return FAIL instead
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: VALID data and INVALID ACK received after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and an invalid ACK!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is NOT_VALID and the packetAck.classAndIDmatch is NOT_VALID
+      // then we return a FAIL. This must be a double checksum failure?
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: INVALID data and INVALID ACK received after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_FAIL); //We received invalid data and an invalid ACK!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is VALID and the packetAck.classAndIDmatch is NOT_DEFINED
+      // then the ACK has not yet been received and we should keep waiting for it
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForACKResponse: valid data after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec. Waiting for ACK."));
+        }
+      }
+
+    } //checkUbloxInternal == true
+
+    delayMicroseconds(500);
+  } //while (millis() - startTime < maxTime)
+
+  // We have timed out...
+  // If the outgoingUBX->classAndIDmatch is VALID then we can take a gamble and return DATA_RECEIVED
+  // even though we did not get an ACK
+  if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->print(F("waitForACKResponse: TIMEOUT with valid data after "));
+      _debugSerial->print(millis() - startTime);
+      _debugSerial->println(F(" msec. "));
+    }
+    return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data... But no ACK!
+  }
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("waitForACKResponse: TIMEOUT after "));
+    _debugSerial->print(millis() - startTime);
+    _debugSerial->println(F(" msec."));
+  }
+
+  return (SFE_UBLOX_STATUS_TIMEOUT);
+}
+
+//For non-CFG queries no ACK is sent so we use this function
+//Returns SFE_UBLOX_STATUS_DATA_RECEIVED if we got a config packet full of response data that has CLS/ID match to our query packet
+//Returns SFE_UBLOX_STATUS_CRC_FAIL if we got a corrupt config packet that has CLS/ID match to our query packet
+//Returns SFE_UBLOX_STATUS_TIMEOUT if we timed out
+//Returns SFE_UBLOX_STATUS_DATA_OVERWRITTEN if we got an a valid packetCfg but that the packetCfg has been
+// or is currently being overwritten (remember that Serial data can arrive very slowly)
+sfe_ublox_status_e SFE_UBLOX_GPS::waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime)
+{
+  outgoingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; //This will go VALID (or NOT_VALID) when we receive a response to the packet we sent
+  packetAck.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  outgoingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // This will go VALID (or NOT_VALID) when we receive a packet that matches the requested class and ID
+  packetAck.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+  packetBuf.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED;
+
+  unsigned long startTime = millis();
+  while (millis() - startTime < maxTime)
+  {
+    if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in.
+    {
+
+      // If outgoingUBX->classAndIDmatch is VALID
+      // and outgoingUBX->valid is _still_ VALID and the class and ID _still_ match
+      // then we can be confident that the data in outgoingUBX is valid
+      if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: valid data with CLS/ID match after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data!
+      }
+
+      // If the outgoingUBX->classAndIDmatch is VALID
+      // but the outgoingUBX->cls or ID no longer match then we can be confident that we had
+      // valid data but it has been or is currently being overwritten by another packet (e.g. PVT).
+      // If (e.g.) a PVT packet is _being_ received: outgoingUBX->valid will be NOT_DEFINED
+      // If (e.g.) a PVT packet _has been_ received: outgoingUBX->valid will be VALID (or just possibly NOT_VALID)
+      // So we cannot use outgoingUBX->valid as part of this check.
+      // Note: the addition of packetBuf should make this check redundant!
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID)))
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: data being OVERWRITTEN after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten
+      }
+
+      // If outgoingUBX->classAndIDmatch is NOT_DEFINED
+      // and outgoingUBX->valid is VALID then this must be (e.g.) a PVT packet
+      else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID))
+      {
+        // if (_printDebug == true)
+        // {
+        //   _debugSerial->print(F("waitForNoACKResponse: valid but UNWANTED data after "));
+        //   _debugSerial->print(millis() - startTime);
+        //   _debugSerial->print(F(" msec. Class: "));
+        //   _debugSerial->print(outgoingUBX->cls);
+        //   _debugSerial->print(F(" ID: "));
+        //   _debugSerial->print(outgoingUBX->id);
+        // }
+      }
+
+      // If the outgoingUBX->classAndIDmatch is NOT_VALID then we return CRC failure
+      else if (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)
+      {
+        if (_printDebug == true)
+        {
+          _debugSerial->print(F("waitForNoACKResponse: CLS/ID match but failed CRC after "));
+          _debugSerial->print(millis() - startTime);
+          _debugSerial->println(F(" msec"));
+        }
+        return (SFE_UBLOX_STATUS_CRC_FAIL); //We received invalid data
+      }
+    }
+
+    delayMicroseconds(500);
+  }
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("waitForNoACKResponse: TIMEOUT after "));
+    _debugSerial->print(millis() - startTime);
+    _debugSerial->println(F(" msec. No packet received."));
+  }
+
+  return (SFE_UBLOX_STATUS_TIMEOUT);
+}
+
+//Save current configuration to flash and BBR (battery backed RAM)
+//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
+boolean SFE_UBLOX_GPS::saveConfiguration(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 12;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[4] = 0xFF; //Set any bit in the saveMask field to save current config to Flash and BBR
+  packetCfg.payload[5] = 0xFF;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
+//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
+boolean SFE_UBLOX_GPS::saveConfigSelective(uint32_t configMask, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 12;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[4] = configMask & 0xFF; //Set the appropriate bits in the saveMask field to save current config to Flash and BBR
+  packetCfg.payload[5] = (configMask >> 8) & 0xFF;
+  packetCfg.payload[6] = (configMask >> 16) & 0xFF;
+  packetCfg.payload[7] = (configMask >> 24) & 0xFF;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Reset module to factory defaults
+//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
+boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = 12;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  packetCfg.payload[0] = 0xFF; //Set any bit in the clearMask field to clear saved config
+  packetCfg.payload[1] = 0xFF;
+  packetCfg.payload[8] = 0xFF; //Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
+  packetCfg.payload[9] = 0xFF;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Given a key, load the payload with data that can then be extracted to 8, 16, or 32 bits
+//This function takes a full 32-bit key
+//Default layer is RAM
+//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+sfe_ublox_status_e SFE_UBLOX_GPS::getVal(uint32_t key, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALGET;
+  packetCfg.len = 4 + 4 * 1; //While multiple keys are allowed, we will send only one key at a time
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  //VALGET uses different memory layer definitions to VALSET
+  //because it can only return the value for one layer.
+  //So we need to fiddle the layer here.
+  //And just to complicate things further, the ZED-F9P only responds
+  //correctly to layer 0 (RAM) and layer 7 (Default)!
+  uint8_t getLayer = 7;                         // 7 is the "Default Layer"
+  if ((layer & VAL_LAYER_RAM) == VAL_LAYER_RAM) // Did the user request the RAM layer?
+  {
+    getLayer = 0; // Layer 0 is RAM
+  }
+
+  payloadCfg[0] = 0;        //Message Version - set to 0
+  payloadCfg[1] = getLayer; //Layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("key: 0x"));
+    _debugSerial->print(key, HEX);
+    _debugSerial->println();
+  }
+
+  //Send VALGET command with this key
+
+  sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("getVal: sendCommand returned: "));
+    _debugSerial->println(statusString(retVal));
+  }
+
+  //Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
+  //Response is 8 bytes plus cfg data
+  //if(packet->len > 8+1)
+
+  //The response is now sitting in payload, ready for extraction
+  return (retVal);
+}
+
+//Given a key, return its value
+//This function takes a full 32-bit key
+//Default layer is RAM
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
+{
+  if (getVal(key, layer, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (0);
+
+  return (extractByte(8));
+}
+uint16_t SFE_UBLOX_GPS::getVal16(uint32_t key, uint8_t layer, uint16_t maxWait)
+{
+  if (getVal(key, layer, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (0);
+
+  return (extractInt(8));
+}
+uint32_t SFE_UBLOX_GPS::getVal32(uint32_t key, uint8_t layer, uint16_t maxWait)
+{
+  if (getVal(key, layer, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (0);
+
+  return (extractLong(8));
+}
+
+//Form 32-bit key from group/id/size
+uint32_t SFE_UBLOX_GPS::createKey(uint16_t group, uint16_t id, uint8_t size)
+{
+  uint32_t key = 0;
+  key |= (uint32_t)id;
+  key |= (uint32_t)group << 16;
+  key |= (uint32_t)size << 28;
+  return (key);
+}
+
+//Given a group, ID and size, return the value of this config spot
+//The 32-bit key is put together from group/ID/size. See other getVal to send key directly.
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait)
+{
+  uint32_t key = createKey(group, id, size);
+  return getVal8(key, layer, maxWait);
+}
+uint16_t SFE_UBLOX_GPS::getVal16(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait)
+{
+  uint32_t key = createKey(group, id, size);
+  return getVal16(key, layer, maxWait);
+}
+uint32_t SFE_UBLOX_GPS::getVal32(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait)
+{
+  uint32_t key = createKey(group, id, size);
+  return getVal32(key, layer, maxWait);
+}
+
+//Given a key, set a 16-bit value
+//This function takes a full 32-bit key
+//Default layer is all: RAM+BBR+Flash
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal(uint32_t key, uint16_t value, uint8_t layer, uint16_t maxWait)
+{
+  return setVal16(key, value, layer, maxWait);
+}
+
+//Given a key, set a 16-bit value
+//This function takes a full 32-bit key
+//Default layer is all: RAM+BBR+Flash
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal16(uint32_t key, uint16_t value, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 2; //4 byte header, 4 byte key ID, 2 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Given a key, set an 8-bit value
+//This function takes a full 32-bit key
+//Default layer is all: RAM+BBR+Flash
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal8(uint32_t key, uint8_t value, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 1; //4 byte header, 4 byte key ID, 1 byte value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value; //Value
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Given a key, set a 32-bit value
+//This function takes a full 32-bit key
+//Default layer is all: RAM+BBR+Flash
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::setVal32(uint32_t key, uint32_t value, uint8_t layer, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 4; //4 byte header, 4 byte key ID, 4 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+  payloadCfg[10] = value >> 8 * 2;
+  payloadCfg[11] = value >> 8 * 3;
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Start defining a new UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 32-bit value
+//Default layer is BBR
+//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::newCfgValset32(uint32_t key, uint32_t value, uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 4; //4 byte header, 4 byte key ID, 4 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+  payloadCfg[10] = value >> 8 * 2;
+  payloadCfg[11] = value >> 8 * 3;
+
+  //All done
+  return (true);
+}
+
+//Start defining a new UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 16-bit value
+//Default layer is BBR
+//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::newCfgValset16(uint32_t key, uint16_t value, uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 2; //4 byte header, 4 byte key ID, 2 bytes of value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value >> 8 * 0; //Value LSB
+  payloadCfg[9] = value >> 8 * 1;
+
+  //All done
+  return (true);
+}
+
+//Start defining a new UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 8-bit value
+//Default layer is BBR
+//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::newCfgValset8(uint32_t key, uint8_t value, uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4 + 4 + 1; //4 byte header, 4 byte key ID, 1 byte value
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++)
+    packetCfg.payload[x] = 0;
+
+  payloadCfg[0] = 0;     //Message Version - set to 0
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
+
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[8] = value; //Value
+
+  //All done
+  return (true);
+}
+
+//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 32-bit value
+uint8_t SFE_UBLOX_GPS::addCfgValset32(uint32_t key, uint32_t value)
+{
+  //Load key into outgoing payload
+  payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB
+  payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
+  payloadCfg[packetCfg.len + 2] = key >> 8 * 2;
+  payloadCfg[packetCfg.len + 3] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[packetCfg.len + 4] = value >> 8 * 0; //Value LSB
+  payloadCfg[packetCfg.len + 5] = value >> 8 * 1;
+  payloadCfg[packetCfg.len + 6] = value >> 8 * 2;
+  payloadCfg[packetCfg.len + 7] = value >> 8 * 3;
+
+  //Update packet length: 4 byte key ID, 4 bytes of value
+  packetCfg.len = packetCfg.len + 4 + 4;
+
+  //All done
+  return (true);
+}
+
+//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 16-bit value
+uint8_t SFE_UBLOX_GPS::addCfgValset16(uint32_t key, uint16_t value)
+{
+  //Load key into outgoing payload
+  payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB
+  payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
+  payloadCfg[packetCfg.len + 2] = key >> 8 * 2;
+  payloadCfg[packetCfg.len + 3] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[packetCfg.len + 4] = value >> 8 * 0; //Value LSB
+  payloadCfg[packetCfg.len + 5] = value >> 8 * 1;
+
+  //Update packet length: 4 byte key ID, 2 bytes of value
+  packetCfg.len = packetCfg.len + 4 + 2;
+
+  //All done
+  return (true);
+}
+
+//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
+//This function takes a full 32-bit key and 8-bit value
+uint8_t SFE_UBLOX_GPS::addCfgValset8(uint32_t key, uint8_t value)
+{
+  //Load key into outgoing payload
+  payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB
+  payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
+  payloadCfg[packetCfg.len + 2] = key >> 8 * 2;
+  payloadCfg[packetCfg.len + 3] = key >> 8 * 3;
+
+  //Load user's value
+  payloadCfg[packetCfg.len + 4] = value; //Value
+
+  //Update packet length: 4 byte key ID, 1 byte value
+  packetCfg.len = packetCfg.len + 4 + 1;
+
+  //All done
+  return (true);
+}
+
+//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
+//This function takes a full 32-bit key and 32-bit value
+uint8_t SFE_UBLOX_GPS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t maxWait)
+{
+  //Load keyID and value into outgoing payload
+  addCfgValset32(key, value);
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
+//This function takes a full 32-bit key and 16-bit value
+uint8_t SFE_UBLOX_GPS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t maxWait)
+{
+  //Load keyID and value into outgoing payload
+  addCfgValset16(key, value);
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
+//This function takes a full 32-bit key and 8-bit value
+uint8_t SFE_UBLOX_GPS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxWait)
+{
+  //Load keyID and value into outgoing payload
+  addCfgValset8(key, value);
+
+  //Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Get the current TimeMode3 settings - these contain survey in statuses
+boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TMODE3;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
+}
+
+//Control Survey-In for NEO-M8P
+boolean SFE_UBLOX_GPS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  if (getSurveyMode(maxWait) == false) //Ask module for the current TimeMode3 settings. Loads into payloadCfg.
+    return (false);
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TMODE3;
+  packetCfg.len = 40;
+  packetCfg.startingSpot = 0;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    packetCfg.payload[x] = 0;
+
+  //payloadCfg should be loaded with poll response. Now modify only the bits we care about
+  payloadCfg[2] = mode; //Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT).
+
+  //svinMinDur is U4 (uint32_t) but we'll only use a uint16_t (waiting more than 65535 seconds seems excessive!)
+  payloadCfg[24] = observationTime & 0xFF; //svinMinDur in seconds
+  payloadCfg[25] = observationTime >> 8;   //svinMinDur in seconds
+  payloadCfg[26] = 0;                      //Truncate to 16 bits
+  payloadCfg[27] = 0;                      //Truncate to 16 bits
+
+  //svinAccLimit is U4 (uint32_t) in 0.1mm.
+  uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); //Convert m to 0.1mm
+  payloadCfg[28] = svinAccLimit & 0xFF;                           //svinAccLimit in 0.1mm increments
+  payloadCfg[29] = svinAccLimit >> 8;
+  payloadCfg[30] = svinAccLimit >> 16;
+  payloadCfg[31] = svinAccLimit >> 24;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Begin Survey-In for NEO-M8P
+boolean SFE_UBLOX_GPS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait)
+{
+  return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait));
+}
+
+//Stop Survey-In for NEO-M8P
+boolean SFE_UBLOX_GPS::disableSurveyMode(uint16_t maxWait)
+{
+  return (setSurveyMode(SVIN_MODE_DISABLE, 0, 0, maxWait));
+}
+
+//Reads survey in status and sets the global variables
+//for status, position valid, observation time, and mean 3D StdDev
+//Returns true if commands was successful
+boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
+{
+  //Reset variables
+  svin.active = false;
+  svin.valid = false;
+  svin.observationTime = 0;
+  svin.meanAccuracy = 0;
+
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_SVIN;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if ((sendCommand(&packetCfg, maxWait)) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                         //If command send fails then bail
+
+  //We got a response, now parse the bits into the svin structure
+
+  //dur (Passed survey-in observation time) is U4 (uint32_t) seconds. We truncate to 16 bits
+  //(waiting more than 65535 seconds (18.2 hours) seems excessive!)
+  uint32_t tmpObsTime = extractLong(8);
+  if (tmpObsTime <= 0xFFFF)
+  {
+    svin.observationTime = (uint16_t)tmpObsTime;
+  }
+  else
+  {
+    svin.observationTime = 0xFFFF;
+  }
+
+  // meanAcc is U4 (uint32_t) in 0.1mm. We convert this to float.
+  uint32_t tempFloat = extractLong(28);
+  svin.meanAccuracy = ((float)tempFloat) / 10000.0; //Convert 0.1mm to m
+
+  svin.valid = payloadCfg[36];  //1 if survey-in position is valid, 0 otherwise
+  svin.active = payloadCfg[37]; //1 if survey-in in progress, 0 otherwise
+
+  return (true);
+}
+
+//Loads the payloadCfg array with the current protocol bits located the UBX-CFG-PRT register for a given port
+boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 1;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = portID;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
+}
+
+//Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
+//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI
+//Bit:0 = UBX, :1=NMEA, :5=RTCM3
+boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings, uint16_t maxWait)
+{
+  //Get the current config values for this port ID
+  if (getPortSettings(portID, maxWait) == false)
+    return (false); //Something went wrong. Bail.
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
+//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI
+//Bit:0 = UBX, :1=NMEA, :5=RTCM3
+boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, uint16_t maxWait)
+{
+  //Get the current config values for this port ID
+  //This will load the payloadCfg array with current port settings
+  if (getPortSettings(portID, maxWait) == false)
+    return (false); //Something went wrong. Bail.
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_PRT;
+  packetCfg.len = 20;
+  packetCfg.startingSpot = 0;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
+boolean SFE_UBLOX_GPS::setI2COutput(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_I2C, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUART1Output(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_UART1, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUART2Output(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_UART2, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setUSBOutput(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_USB, comSettings, maxWait));
+}
+boolean SFE_UBLOX_GPS::setSPIOutput(uint8_t comSettings, uint16_t maxWait)
+{
+  return (setPortOutput(COM_PORT_SPI, comSettings, maxWait));
+}
+
+//Set the rate at which the module will give us an updated navigation solution
+//Expects a number that is the updates per second. For example 1 = 1Hz, 2 = 2Hz, etc.
+//Max is 40Hz(?!)
+boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
+{
+  //if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values
+
+  //Adjust the I2C polling timeout based on update rate
+  i2cPollingWait = 1000 / (navFreq * 4); //This is the number of ms to wait between checks for new I2C data
+
+  //Query the module for the latest lat/long
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  uint16_t measurementRate = 1000 / navFreq;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
+  payloadCfg[1] = measurementRate >> 8;   //measRate MSB
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Get the rate at which the module is outputting nav solutions
+uint8_t SFE_UBLOX_GPS::getNavigationFrequency(uint16_t maxWait)
+{
+  //Query the module for the latest lat/long
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RATE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  uint16_t measurementRate = 0;
+
+  //payloadCfg is now loaded with current bytes. Get what we need
+  measurementRate = extractInt(0); //Pull from payloadCfg at measRate LSB
+
+  measurementRate = 1000 / measurementRate; //This may return an int when it's a float, but I'd rather not return 4 bytes
+  return (measurementRate);
+}
+
+//In case no config access to the GPS is possible and PVT is send cyclically already
+//set config to suitable parameters
+boolean SFE_UBLOX_GPS::assumeAutoPVT(boolean enabled, boolean implicitUpdate)
+{
+  boolean changes = autoPVT != enabled || autoPVTImplicitUpdate != implicitUpdate;
+  if (changes)
+  {
+    autoPVT = enabled;
+    autoPVTImplicitUpdate = implicitUpdate;
+  }
+  return changes;
+}
+
+//Enable or disable automatic navigation message generation by the GPS. This changes the way getPVT
+//works.
+boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, uint16_t maxWait)
+{
+  return setAutoPVT(enable, true, maxWait);
+}
+
+//Enable or disable automatic navigation message generation by the GPS. This changes the way getPVT
+//works.
+boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 3;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = UBX_CLASS_NAV;
+  payloadCfg[1] = UBX_NAV_PVT;
+  payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
+
+  boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  if (ok)
+  {
+    autoPVT = enable;
+    autoPVTImplicitUpdate = implicitUpdate;
+  }
+  moduleQueried.all = false;
+  return ok;
+}
+
+//In case no config access to the GPS is possible and HPPOSLLH is send cyclically already
+//set config to suitable parameters
+boolean SFE_UBLOX_GPS::assumeAutoHPPOSLLH(boolean enabled, boolean implicitUpdate)
+{
+  boolean changes = autoHPPOSLLH != enabled || autoHPPOSLLHImplicitUpdate != implicitUpdate;
+  if (changes)
+  {
+    autoHPPOSLLH = enabled;
+    autoHPPOSLLHImplicitUpdate = implicitUpdate;
+  }
+  return changes;
+}
+
+//Enable or disable automatic navigation message generation by the GPS. This changes the way getHPPOSLLH
+//works.
+boolean SFE_UBLOX_GPS::setAutoHPPOSLLH(boolean enable, uint16_t maxWait)
+{
+  return setAutoHPPOSLLH(enable, true, maxWait);
+}
+
+//Enable or disable automatic navigation message generation by the GPS. This changes the way getHPPOSLLH
+//works.
+boolean SFE_UBLOX_GPS::setAutoHPPOSLLH(boolean enable, boolean implicitUpdate, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 3;
+  packetCfg.startingSpot = 0;
+  payloadCfg[0] = UBX_CLASS_NAV;
+  payloadCfg[1] = UBX_NAV_HPPOSLLH;
+  payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
+
+  boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  if (ok)
+  {
+    autoHPPOSLLH = enable;
+    autoHPPOSLLHImplicitUpdate = implicitUpdate;
+  }
+  highResModuleQueried.all = false;
+  return ok;
+}
+
+//Configure a given message type for a given port (UART1, I2C, SPI, etc)
+boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
+{
+  //Poll for the current settings for a given message
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_MSG;
+  packetCfg.len = 2;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = msgClass;
+  payloadCfg[1] = msgID;
+
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);                                                       //If command send fails then bail
+
+  //Now send it back with new mods
+  packetCfg.len = 8;
+
+  //payloadCfg is now loaded with current bytes. Change only the ones we need to
+  payloadCfg[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Enable a given message type, default of 1 per update rate (usually 1 per second)
+boolean SFE_UBLOX_GPS::enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait)
+{
+  return (configureMessage(msgClass, msgID, portID, rate, maxWait));
+}
+//Disable a given message type on a given port
+boolean SFE_UBLOX_GPS::disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait)
+{
+  return (configureMessage(msgClass, msgID, portID, 0, maxWait));
+}
+
+boolean SFE_UBLOX_GPS::enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait)
+{
+  return (configureMessage(UBX_CLASS_NMEA, msgID, portID, rate, maxWait));
+}
+boolean SFE_UBLOX_GPS::disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait)
+{
+  return (enableNMEAMessage(msgID, portID, 0, maxWait));
+}
+
+//Given a message number turns on a message ID for output over a given portID (UART, I2C, SPI, USB, etc)
+//To disable a message, set secondsBetween messages to 0
+//Note: This function will return false if the message is already enabled
+//For base station RTK output we need to enable various sentences
+
+//NEO-M8P has four:
+//1005 = 0xF5 0x05 - Stationary RTK reference ARP
+//1077 = 0xF5 0x4D - GPS MSM7
+//1087 = 0xF5 0x57 - GLONASS MSM7
+//1230 = 0xF5 0xE6 - GLONASS code-phase biases, set to once every 10 seconds
+
+//ZED-F9P has six:
+//1005, 1074, 1084, 1094, 1124, 1230
+
+//Much of this configuration is not documented and instead discerned from u-center binary console
+boolean SFE_UBLOX_GPS::enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait)
+{
+  return (configureMessage(UBX_RTCM_MSB, messageNumber, portID, sendRate, maxWait));
+}
+
+//Disable a given message on a given port by setting secondsBetweenMessages to zero
+boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait)
+{
+  return (enableRTCMmessage(messageNumber, portID, 0, maxWait));
+}
+
+//Add a new geofence using UBX-CFG-GEOFENCE
+boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence, byte pinPolarity, byte pin, uint16_t maxWait)
+{
+  if (currentGeofenceParams.numFences >= 4)
+    return (false); // Quit if we already have four geofences defined
+
+  // Store the new geofence parameters
+  currentGeofenceParams.lats[currentGeofenceParams.numFences] = latitude;
+  currentGeofenceParams.longs[currentGeofenceParams.numFences] = longitude;
+  currentGeofenceParams.rads[currentGeofenceParams.numFences] = radius;
+  currentGeofenceParams.numFences = currentGeofenceParams.numFences + 1; // Increment the number of fences
+
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_GEOFENCE;
+  packetCfg.len = (currentGeofenceParams.numFences * 12) + 8;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0;                               // Message version = 0x00
+  payloadCfg[1] = currentGeofenceParams.numFences; // numFences
+  payloadCfg[2] = confidence;                      // confLvl = Confidence level 0-4 (none, 68%, 95%, 99.7%, 99.99%)
+  payloadCfg[3] = 0;                               // reserved1
+  if (pin > 0)
+  {
+    payloadCfg[4] = 1; // enable PIO combined fence state
+  }
+  else
+  {
+    payloadCfg[4] = 0; // disable PIO combined fence state
+  }
+  payloadCfg[5] = pinPolarity; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown))
+  payloadCfg[6] = pin;         // PIO pin
+  payloadCfg[7] = 0;           //reserved2
+  payloadCfg[8] = currentGeofenceParams.lats[0] & 0xFF;
+  payloadCfg[9] = currentGeofenceParams.lats[0] >> 8;
+  payloadCfg[10] = currentGeofenceParams.lats[0] >> 16;
+  payloadCfg[11] = currentGeofenceParams.lats[0] >> 24;
+  payloadCfg[12] = currentGeofenceParams.longs[0] & 0xFF;
+  payloadCfg[13] = currentGeofenceParams.longs[0] >> 8;
+  payloadCfg[14] = currentGeofenceParams.longs[0] >> 16;
+  payloadCfg[15] = currentGeofenceParams.longs[0] >> 24;
+  payloadCfg[16] = currentGeofenceParams.rads[0] & 0xFF;
+  payloadCfg[17] = currentGeofenceParams.rads[0] >> 8;
+  payloadCfg[18] = currentGeofenceParams.rads[0] >> 16;
+  payloadCfg[19] = currentGeofenceParams.rads[0] >> 24;
+  if (currentGeofenceParams.numFences >= 2)
+  {
+    payloadCfg[20] = currentGeofenceParams.lats[1] & 0xFF;
+    payloadCfg[21] = currentGeofenceParams.lats[1] >> 8;
+    payloadCfg[22] = currentGeofenceParams.lats[1] >> 16;
+    payloadCfg[23] = currentGeofenceParams.lats[1] >> 24;
+    payloadCfg[24] = currentGeofenceParams.longs[1] & 0xFF;
+    payloadCfg[25] = currentGeofenceParams.longs[1] >> 8;
+    payloadCfg[26] = currentGeofenceParams.longs[1] >> 16;
+    payloadCfg[27] = currentGeofenceParams.longs[1] >> 24;
+    payloadCfg[28] = currentGeofenceParams.rads[1] & 0xFF;
+    payloadCfg[29] = currentGeofenceParams.rads[1] >> 8;
+    payloadCfg[30] = currentGeofenceParams.rads[1] >> 16;
+    payloadCfg[31] = currentGeofenceParams.rads[1] >> 24;
+  }
+  if (currentGeofenceParams.numFences >= 3)
+  {
+    payloadCfg[32] = currentGeofenceParams.lats[2] & 0xFF;
+    payloadCfg[33] = currentGeofenceParams.lats[2] >> 8;
+    payloadCfg[34] = currentGeofenceParams.lats[2] >> 16;
+    payloadCfg[35] = currentGeofenceParams.lats[2] >> 24;
+    payloadCfg[36] = currentGeofenceParams.longs[2] & 0xFF;
+    payloadCfg[37] = currentGeofenceParams.longs[2] >> 8;
+    payloadCfg[38] = currentGeofenceParams.longs[2] >> 16;
+    payloadCfg[39] = currentGeofenceParams.longs[2] >> 24;
+    payloadCfg[40] = currentGeofenceParams.rads[2] & 0xFF;
+    payloadCfg[41] = currentGeofenceParams.rads[2] >> 8;
+    payloadCfg[42] = currentGeofenceParams.rads[2] >> 16;
+    payloadCfg[43] = currentGeofenceParams.rads[2] >> 24;
+  }
+  if (currentGeofenceParams.numFences >= 4)
+  {
+    payloadCfg[44] = currentGeofenceParams.lats[3] & 0xFF;
+    payloadCfg[45] = currentGeofenceParams.lats[3] >> 8;
+    payloadCfg[46] = currentGeofenceParams.lats[3] >> 16;
+    payloadCfg[47] = currentGeofenceParams.lats[3] >> 24;
+    payloadCfg[48] = currentGeofenceParams.longs[3] & 0xFF;
+    payloadCfg[49] = currentGeofenceParams.longs[3] >> 8;
+    payloadCfg[50] = currentGeofenceParams.longs[3] >> 16;
+    payloadCfg[51] = currentGeofenceParams.longs[3] >> 24;
+    payloadCfg[52] = currentGeofenceParams.rads[3] & 0xFF;
+    payloadCfg[53] = currentGeofenceParams.rads[3] >> 8;
+    payloadCfg[54] = currentGeofenceParams.rads[3] >> 16;
+    payloadCfg[55] = currentGeofenceParams.rads[3] >> 24;
+  }
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Clear all geofences using UBX-CFG-GEOFENCE
+boolean SFE_UBLOX_GPS::clearGeofences(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_GEOFENCE;
+  packetCfg.len = 8;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0; // Message version = 0x00
+  payloadCfg[1] = 0; // numFences
+  payloadCfg[2] = 0; // confLvl
+  payloadCfg[3] = 0; // reserved1
+  payloadCfg[4] = 0; // disable PIO combined fence state
+  payloadCfg[5] = 0; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown))
+  payloadCfg[6] = 0; // PIO pin
+  payloadCfg[7] = 0; //reserved2
+
+  currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Clear the antenna control settings using UBX-CFG-ANT
+//This function is hopefully redundant but may be needed to release
+//any PIO pins pre-allocated for antenna functions
+boolean SFE_UBLOX_GPS::clearAntPIO(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_ANT;
+  packetCfg.len = 4;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0x10; // Antenna flag mask: set the recovery bit
+  payloadCfg[1] = 0;
+  payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31
+  payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Returns the combined geofence state using UBX-NAV-GEOFENCE
+boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_GEOFENCE;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the geofence status. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  currentGeofenceState.status = payloadCfg[5];    // Extract the status
+  currentGeofenceState.numFences = payloadCfg[6]; // Extract the number of geofences
+  currentGeofenceState.combState = payloadCfg[7]; // Extract the combined state of all geofences
+  if (currentGeofenceState.numFences > 0)
+    currentGeofenceState.states[0] = payloadCfg[8]; // Extract geofence 1 state
+  if (currentGeofenceState.numFences > 1)
+    currentGeofenceState.states[1] = payloadCfg[10]; // Extract geofence 2 state
+  if (currentGeofenceState.numFences > 2)
+    currentGeofenceState.states[2] = payloadCfg[12]; // Extract geofence 3 state
+  if (currentGeofenceState.numFences > 3)
+    currentGeofenceState.states[3] = payloadCfg[14]; // Extract geofence 4 state
+
+  return (true);
+}
+
+//Power Save Mode
+//Enables/Disables Low Power Mode using UBX-CFG-RXM
+boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
+{
+  // Let's begin by checking the Protocol Version as UBX_CFG_RXM is not supported on the ZED (protocol >= 27)
+  uint8_t protVer = getProtocolVersionHigh(maxWait);
+  /*
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Protocol version is "));
+    _debugSerial->println(protVer);
+  }
+  */
+  if (protVer >= 27)
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version"));
+    }
+    return (false);
+  }
+
+  // Now let's change the power setting using UBX-CFG-RXM
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RXM;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current power management settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  if (power_save)
+  {
+    payloadCfg[1] = 1; // Power Save Mode
+  }
+  else
+  {
+    payloadCfg[1] = 0; // Continuous Mode
+  }
+
+  packetCfg.len = 2;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+// Get Power Save Mode
+// Returns the current Low Power Mode using UBX-CFG-RXM
+// Returns 255 if the sendCommand fails
+uint8_t SFE_UBLOX_GPS::getPowerSaveMode(uint16_t maxWait)
+{
+  // Let's begin by checking the Protocol Version as UBX_CFG_RXM is not supported on the ZED (protocol >= 27)
+  uint8_t protVer = getProtocolVersionHigh(maxWait);
+  /*
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Protocol version is "));
+    _debugSerial->println(protVer);
+  }
+  */
+  if (protVer >= 27)
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version"));
+    }
+    return (255);
+  }
+
+  // Now let's read the power setting using UBX-CFG-RXM
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_RXM;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current power management settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (255);
+
+  return (payloadCfg[1]); // Return the low power mode
+}
+
+// Powers off the GPS device for a given duration to reduce power consumption.
+// NOTE: Querying the device before the duration is complete, for example by "getLatitude()" will wake it up!
+// Returns true if command has not been not acknowledged.
+// Returns false if command has not been acknowledged or maxWait = 0.
+boolean SFE_UBLOX_GPS::powerOff(uint32_t durationInMs, uint16_t maxWait)
+{
+  // use durationInMs = 0 for infinite duration
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Powering off for "));
+    _debugSerial->print(durationInMs);
+    _debugSerial->println(" ms");
+  }
+
+  // Power off device using UBX-RXM-PMREQ
+  packetCfg.cls = UBX_CLASS_RXM; // 0x02
+  packetCfg.id = UBX_RXM_PMREQ;  // 0x41
+  packetCfg.len = 8;
+  packetCfg.startingSpot = 0;
+
+  // duration
+  // big endian to little endian, switch byte order
+  payloadCfg[0] = (durationInMs >> (8 * 0)) & 0xff;
+  payloadCfg[1] = (durationInMs >> (8 * 1)) & 0xff;
+  payloadCfg[2] = (durationInMs >> (8 * 2)) & 0xff;
+  payloadCfg[3] = (durationInMs >> (8 * 3)) & 0xff;
+
+  payloadCfg[4] = 0x02; //Flags : set the backup bit
+  payloadCfg[5] = 0x00; //Flags
+  payloadCfg[6] = 0x00; //Flags
+  payloadCfg[7] = 0x00; //Flags
+
+  if (maxWait != 0)
+  {
+    // check for "not acknowledged" command
+    return (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_COMMAND_NACK);
+  }
+  else
+  {
+    sendCommand(&packetCfg, maxWait);
+    return false; // can't tell if command not acknowledged if maxWait = 0
+  }
+}
+
+// Powers off the GPS device for a given duration to reduce power consumption.
+// While powered off it can be woken up by creating a falling or rising voltage edge on the specified pin.
+// NOTE: The GPS seems to be sensitve to signals on the pins while powered off. Works best when Microcontroller is in deepsleep.
+// NOTE: Querying the device before the duration is complete, for example by "getLatitude()" will wake it up!
+// Returns true if command has not been not acknowledged.
+// Returns false if command has not been acknowledged or maxWait = 0.
+boolean SFE_UBLOX_GPS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources, boolean forceWhileUsb, uint16_t maxWait)
+{
+  // use durationInMs = 0 for infinite duration
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("Powering off for "));
+    _debugSerial->print(durationInMs);
+    _debugSerial->println(" ms");
+  }
+
+  // Power off device using UBX-RXM-PMREQ
+  packetCfg.cls = UBX_CLASS_RXM; // 0x02
+  packetCfg.id = UBX_RXM_PMREQ;  // 0x41
+  packetCfg.len = 16;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0x00; // message version
+
+  // bytes 1-3 are reserved - and must be set to zero
+  payloadCfg[1] = 0x00;
+  payloadCfg[2] = 0x00;
+  payloadCfg[3] = 0x00;
+
+  // duration
+  // big endian to little endian, switch byte order
+  payloadCfg[4] = (durationInMs >> (8 * 0)) & 0xff;
+  payloadCfg[5] = (durationInMs >> (8 * 1)) & 0xff;
+  payloadCfg[6] = (durationInMs >> (8 * 2)) & 0xff;
+  payloadCfg[7] = (durationInMs >> (8 * 3)) & 0xff;
+
+  // flags
+
+  // disables USB interface when powering off, defaults to true
+  if (forceWhileUsb)
+  {
+    payloadCfg[8] = 0x06; // force | backup
+  }
+  else
+  {
+    payloadCfg[8] = 0x02; // backup only (leave the force bit clear - module will stay on if USB is connected)
+  }
+
+  payloadCfg[9] = 0x00;
+  payloadCfg[10] = 0x00;
+  payloadCfg[11] = 0x00;
+
+  // wakeUpSources
+
+  // wakeupPin mapping, defaults to VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0
+
+  // Possible values are:
+  // VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX
+  // VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0
+  // VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1
+  // VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS
+
+  payloadCfg[12] = (wakeupSources >> (8 * 0)) & 0xff;
+  payloadCfg[13] = (wakeupSources >> (8 * 1)) & 0xff;
+  payloadCfg[14] = (wakeupSources >> (8 * 2)) & 0xff;
+  payloadCfg[15] = (wakeupSources >> (8 * 3)) & 0xff;
+
+  if (maxWait != 0)
+  {
+    // check for "not acknowledged" command
+    return (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_COMMAND_NACK);
+  }
+  else
+  {
+    sendCommand(&packetCfg, maxWait);
+    return false; // can't tell if command not acknowledged if maxWait = 0
+  }
+}
+
+//Change the dynamic platform model using UBX-CFG-NAV5
+//Possible values are:
+//PORTABLE,STATIONARY,PEDESTRIAN,AUTOMOTIVE,SEA,
+//AIRBORNE1g,AIRBORNE2g,AIRBORNE4g,WRIST,BIKE
+//WRIST is not supported in protocol versions less than 18
+//BIKE is supported in protocol versions 19.2
+boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAV5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  payloadCfg[0] = 0x01;            // mask: set only the dyn bit (0)
+  payloadCfg[1] = 0x00;            // mask
+  payloadCfg[2] = newDynamicModel; // dynModel
+
+  packetCfg.len = 36;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+//Get the dynamic platform model using UBX-CFG-NAV5
+//Returns 255 if the sendCommand fails
+uint8_t SFE_UBLOX_GPS::getDynamicModel(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAV5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (255);
+
+  return (payloadCfg[2]); // Return the dynamic model
+}
+
+//Given a spot in the payload array, extract four bytes and build a long
+uint32_t SFE_UBLOX_GPS::extractLong(uint8_t spotToStart)
+{
+  uint32_t val = 0;
+  val |= (uint32_t)payloadCfg[spotToStart + 0] << 8 * 0;
+  val |= (uint32_t)payloadCfg[spotToStart + 1] << 8 * 1;
+  val |= (uint32_t)payloadCfg[spotToStart + 2] << 8 * 2;
+  val |= (uint32_t)payloadCfg[spotToStart + 3] << 8 * 3;
+  return (val);
+}
+
+//Given a spot in the payload array, extract two bytes and build an int
+uint16_t SFE_UBLOX_GPS::extractInt(uint8_t spotToStart)
+{
+  uint16_t val = 0;
+  val |= (uint16_t)payloadCfg[spotToStart + 0] << 8 * 0;
+  val |= (uint16_t)payloadCfg[spotToStart + 1] << 8 * 1;
+  return (val);
+}
+
+//Given a spot, extract a byte from the payload
+uint8_t SFE_UBLOX_GPS::extractByte(uint8_t spotToStart)
+{
+  return (payloadCfg[spotToStart]);
+}
+
+//Given a spot, extract a signed 8-bit value from the payload
+int8_t SFE_UBLOX_GPS::extractSignedChar(uint8_t spotToStart)
+{
+  return ((int8_t)payloadCfg[spotToStart]);
+}
+
+//Get the current year
+uint16_t SFE_UBLOX_GPS::getYear(uint16_t maxWait)
+{
+  if (moduleQueried.gpsYear == false)
+    getPVT(maxWait);
+  moduleQueried.gpsYear = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsYear);
+}
+
+//Get the current month
+uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait)
+{
+  if (moduleQueried.gpsMonth == false)
+    getPVT(maxWait);
+  moduleQueried.gpsMonth = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMonth);
+}
+
+//Get the current day
+uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait)
+{
+  if (moduleQueried.gpsDay == false)
+    getPVT(maxWait);
+  moduleQueried.gpsDay = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsDay);
+}
+
+//Get the current hour
+uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait)
+{
+  if (moduleQueried.gpsHour == false)
+    getPVT(maxWait);
+  moduleQueried.gpsHour = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsHour);
+}
+
+//Get the current minute
+uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait)
+{
+  if (moduleQueried.gpsMinute == false)
+    getPVT(maxWait);
+  moduleQueried.gpsMinute = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMinute);
+}
+
+//Get the current second
+uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsSecond == false)
+    getPVT(maxWait);
+  moduleQueried.gpsSecond = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsSecond);
+}
+
+//Get the current date validity
+bool SFE_UBLOX_GPS::getDateValid(uint16_t maxWait)
+{
+  if (moduleQueried.gpsDateValid == false)
+    getPVT(maxWait);
+  moduleQueried.gpsDateValid = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsDateValid);
+}
+
+//Get the current time validity
+bool SFE_UBLOX_GPS::getTimeValid(uint16_t maxWait)
+{
+  if (moduleQueried.gpsTimeValid == false)
+    getPVT(maxWait);
+  moduleQueried.gpsTimeValid = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsTimeValid);
+}
+
+//Get the current millisecond
+uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsiTOW == false)
+    getPVT(maxWait);
+  moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsMillisecond);
+}
+
+//Get the current nanoseconds - includes milliseconds
+int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait)
+{
+  if (moduleQueried.gpsNanosecond == false)
+    getPVT(maxWait);
+  moduleQueried.gpsNanosecond = false; //Since we are about to give this to user, mark this data as stale
+  return (gpsNanosecond);
+}
+
+//Get the latest Position/Velocity/Time solution and fill all global variables
+boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
+{
+  if (autoPVT && autoPVTImplicitUpdate)
+  {
+    //The GPS is automatically reporting, we just check whether we got unread data
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getPVT: Autoreporting"));
+    }
+    checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_PVT);
+    return moduleQueried.all;
+  }
+  else if (autoPVT && !autoPVTImplicitUpdate)
+  {
+    //Someone else has to call checkUblox for us...
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getPVT: Exit immediately"));
+    }
+    return (false);
+  }
+  else
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getPVT: Polling"));
+    }
+
+    //The GPS is not automatically reporting navigation position so we have to poll explicitly
+    packetCfg.cls = UBX_CLASS_NAV;
+    packetCfg.id = UBX_NAV_PVT;
+    packetCfg.len = 0;
+    //packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX
+
+    //The data is parsed as part of processing the response
+    sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+
+    if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
+      return (true);
+
+    if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_HPPOSLLH))
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("getPVT: data was OVERWRITTEN by HPPOSLLH (but that's OK)"));
+      }
+      return (true);
+    }
+
+    if (_printDebug == true)
+    {
+      _debugSerial->print(F("getPVT retVal: "));
+      _debugSerial->println(statusString(retVal));
+    }
+    return (false);
+  }
+}
+
+uint32_t SFE_UBLOX_GPS::getTimeOfWeek(uint16_t maxWait /* = 250*/)
+{
+  if (moduleQueried.gpsiTOW == false)
+    getPVT(maxWait);
+  moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale
+  return (timeOfWeek);
+}
+
+int32_t SFE_UBLOX_GPS::getHighResLatitude(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLatitude == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLatitude = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (highResLatitude);
+}
+
+int8_t SFE_UBLOX_GPS::getHighResLatitudeHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLatitudeHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLatitudeHp = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (highResLatitudeHp);
+}
+
+int32_t SFE_UBLOX_GPS::getHighResLongitude(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLongitude == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLongitude = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (highResLongitude);
+}
+
+int8_t SFE_UBLOX_GPS::getHighResLongitudeHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.highResLongitudeHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.highResLongitudeHp = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (highResLongitudeHp);
+}
+
+int32_t SFE_UBLOX_GPS::getElipsoid(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.elipsoid == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.elipsoid = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (elipsoid);
+}
+
+int8_t SFE_UBLOX_GPS::getElipsoidHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.elipsoidHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.elipsoidHp = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (elipsoidHp);
+}
+
+int32_t SFE_UBLOX_GPS::getMeanSeaLevel(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.meanSeaLevel == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.meanSeaLevel = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (meanSeaLevel);
+}
+
+int8_t SFE_UBLOX_GPS::getMeanSeaLevelHp(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.meanSeaLevelHp == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.meanSeaLevelHp = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (meanSeaLevelHp);
+}
+
+// getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages.
+int32_t SFE_UBLOX_GPS::getGeoidSeparation(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.geoidSeparation == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.geoidSeparation = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (geoidSeparation);
+}
+
+uint32_t SFE_UBLOX_GPS::getHorizontalAccuracy(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.horizontalAccuracy == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.horizontalAccuracy = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (horizontalAccuracy);
+}
+
+uint32_t SFE_UBLOX_GPS::getVerticalAccuracy(uint16_t maxWait /* = 250*/)
+{
+  if (highResModuleQueried.verticalAccuracy == false)
+    getHPPOSLLH(maxWait);
+  highResModuleQueried.verticalAccuracy = false; //Since we are about to give this to user, mark this data as stale
+  highResModuleQueried.all = false;
+
+  return (verticalAccuracy);
+}
+
+boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
+{
+  if (autoHPPOSLLH && autoHPPOSLLHImplicitUpdate)
+  {
+    //The GPS is automatically reporting, we just check whether we got unread data
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getHPPOSLLH: Autoreporting"));
+    }
+    checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_HPPOSLLH);
+    return highResModuleQueried.all;
+  }
+  else if (autoHPPOSLLH && !autoHPPOSLLHImplicitUpdate)
+  {
+    //Someone else has to call checkUblox for us...
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getHPPOSLLH: Exit immediately"));
+    }
+    return (false);
+  }
+  else
+  {
+    if (_printDebug == true)
+    {
+      _debugSerial->println(F("getHPPOSLLH: Polling"));
+    }
+
+    //The GPS is not automatically reporting navigation position so we have to poll explicitly
+    packetCfg.cls = UBX_CLASS_NAV;
+    packetCfg.id = UBX_NAV_HPPOSLLH;
+    packetCfg.len = 0;
+
+    //The data is parsed as part of processing the response
+    sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
+
+    if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
+      return (true);
+
+    if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_PVT))
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by PVT (but that's OK)"));
+      }
+      return (true);
+    }
+
+    if (_printDebug == true)
+    {
+      _debugSerial->print(F("getHPPOSLLH retVal: "));
+      _debugSerial->println(statusString(retVal));
+    }
+    return (false);
+  }
+}
+
+//Get the current 3D high precision positional accuracy - a fun thing to watch
+//Returns a long representing the 3D accuracy in millimeters
+uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_HPPOSECEF;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
+    return (0);                                                           //If command send fails then bail
+
+  uint32_t tempAccuracy = extractLong(24); //We got a response, now extract a long beginning at a given position
+
+  if ((tempAccuracy % 10) >= 5)
+    tempAccuracy += 5; //Round fraction of mm up to next mm if .5 or above
+  tempAccuracy /= 10;  //Convert 0.1mm units to mm
+
+  return (tempAccuracy);
+}
+
+//Get the current latitude in degrees
+//Returns a long representing the number of degrees *10^-7
+int32_t SFE_UBLOX_GPS::getLatitude(uint16_t maxWait)
+{
+  if (moduleQueried.latitude == false)
+    getPVT(maxWait);
+  moduleQueried.latitude = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (latitude);
+}
+
+//Get the current longitude in degrees
+//Returns a long representing the number of degrees *10^-7
+int32_t SFE_UBLOX_GPS::getLongitude(uint16_t maxWait)
+{
+  if (moduleQueried.longitude == false)
+    getPVT(maxWait);
+  moduleQueried.longitude = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (longitude);
+}
+
+//Get the current altitude in mm according to ellipsoid model
+int32_t SFE_UBLOX_GPS::getAltitude(uint16_t maxWait)
+{
+  if (moduleQueried.altitude == false)
+    getPVT(maxWait);
+  moduleQueried.altitude = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (altitude);
+}
+
+//Get the current altitude in mm according to mean sea level
+//Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html
+//Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/
+int32_t SFE_UBLOX_GPS::getAltitudeMSL(uint16_t maxWait)
+{
+  if (moduleQueried.altitudeMSL == false)
+    getPVT(maxWait);
+  moduleQueried.altitudeMSL = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (altitudeMSL);
+}
+
+//Get the number of satellites used in fix
+uint8_t SFE_UBLOX_GPS::getSIV(uint16_t maxWait)
+{
+  if (moduleQueried.SIV == false)
+    getPVT(maxWait);
+  moduleQueried.SIV = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (SIV);
+}
+
+//Get the current fix type
+//0=no fix, 1=dead reckoning, 2=2D, 3=3D, 4=GNSS, 5=Time fix
+uint8_t SFE_UBLOX_GPS::getFixType(uint16_t maxWait)
+{
+  if (moduleQueried.fixType == false)
+  {
+    getPVT(maxWait);
+  }
+  moduleQueried.fixType = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (fixType);
+}
+
+//Get the carrier phase range solution status
+//Useful when querying module to see if it has high-precision RTK fix
+//0=No solution, 1=Float solution, 2=Fixed solution
+uint8_t SFE_UBLOX_GPS::getCarrierSolutionType(uint16_t maxWait)
+{
+  if (moduleQueried.carrierSolution == false)
+    getPVT(maxWait);
+  moduleQueried.carrierSolution = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (carrierSolution);
+}
+
+//Get the ground speed in mm/s
+int32_t SFE_UBLOX_GPS::getGroundSpeed(uint16_t maxWait)
+{
+  if (moduleQueried.groundSpeed == false)
+    getPVT(maxWait);
+  moduleQueried.groundSpeed = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (groundSpeed);
+}
+
+//Get the heading of motion (as opposed to heading of car) in degrees * 10^-5
+int32_t SFE_UBLOX_GPS::getHeading(uint16_t maxWait)
+{
+  if (moduleQueried.headingOfMotion == false)
+    getPVT(maxWait);
+  moduleQueried.headingOfMotion = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (headingOfMotion);
+}
+
+//Get the positional dillution of precision * 10^-2 (dimensionless)
+uint16_t SFE_UBLOX_GPS::getPDOP(uint16_t maxWait)
+{
+  if (moduleQueried.pDOP == false)
+    getPVT(maxWait);
+  moduleQueried.pDOP = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (pDOP);
+}
+
+//Get the current protocol version of the u-blox module we're communicating with
+//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+uint8_t SFE_UBLOX_GPS::getProtocolVersionHigh(uint16_t maxWait)
+{
+  if (moduleQueried.versionNumber == false)
+    getProtocolVersion(maxWait);
+  return (versionHigh);
+}
+
+//Get the current protocol version of the u-blox module we're communicating with
+//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+uint8_t SFE_UBLOX_GPS::getProtocolVersionLow(uint16_t maxWait)
+{
+  if (moduleQueried.versionNumber == false)
+    getProtocolVersion(maxWait);
+  return (versionLow);
+}
+
+//Get the current protocol version of the u-blox module we're communicating with
+//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH)
+boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
+{
+  //Send packet with only CLS and ID, length of zero. This will cause the module to respond with the contents of that CLS/ID.
+  packetCfg.cls = UBX_CLASS_MON;
+  packetCfg.id = UBX_MON_VER;
+
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 40; //Start at first "extended software information" string
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
+    return (false);                                                       //If command send fails then bail
+
+  //Payload should now contain ~220 characters (depends on module type)
+
+  // if (_printDebug == true)
+  // {
+  //   _debugSerial->print(F("MON VER Payload:"));
+  //   for (int location = 0; location < packetCfg.len; location++)
+  //   {
+  //     if (location % 30 == 0)
+  //       _debugSerial->println();
+  //     _debugSerial->write(payloadCfg[location]);
+  //   }
+  //   _debugSerial->println();
+  // }
+
+  //We will step through the payload looking at each extension field of 30 bytes
+  for (uint8_t extensionNumber = 0; extensionNumber < 10; extensionNumber++)
+  {
+    //Now we need to find "PROTVER=18.00" in the incoming byte stream
+    if (payloadCfg[(30 * extensionNumber) + 0] == 'P' && payloadCfg[(30 * extensionNumber) + 6] == 'R')
+    {
+      versionHigh = (payloadCfg[(30 * extensionNumber) + 8] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 9] - '0');  //Convert '18' to 18
+      versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00
+      moduleQueried.versionNumber = true;                                                                                  //Mark this data as new
+
+      if (_printDebug == true)
+      {
+        _debugSerial->print(F("Protocol version: "));
+        _debugSerial->print(versionHigh);
+        _debugSerial->print(F("."));
+        _debugSerial->println(versionLow);
+      }
+      return (true); //Success!
+    }
+  }
+
+  return (false); //We failed
+}
+
+//Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
+void SFE_UBLOX_GPS::flushPVT()
+{
+  //Mark all datums as stale (read before)
+  moduleQueried.gpsiTOW = false;
+  moduleQueried.gpsYear = false;
+  moduleQueried.gpsMonth = false;
+  moduleQueried.gpsDay = false;
+  moduleQueried.gpsHour = false;
+  moduleQueried.gpsMinute = false;
+  moduleQueried.gpsSecond = false;
+  moduleQueried.gpsDateValid = false;
+  moduleQueried.gpsTimeValid = false;
+  moduleQueried.gpsNanosecond = false;
+
+  moduleQueried.all = false;
+  moduleQueried.longitude = false;
+  moduleQueried.latitude = false;
+  moduleQueried.altitude = false;
+  moduleQueried.altitudeMSL = false;
+  moduleQueried.SIV = false;
+  moduleQueried.fixType = false;
+  moduleQueried.carrierSolution = false;
+  moduleQueried.groundSpeed = false;
+  moduleQueried.headingOfMotion = false;
+  moduleQueried.pDOP = false;
+}
+
+//Mark all the HPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure
+void SFE_UBLOX_GPS::flushHPPOSLLH()
+{
+  //Mark all datums as stale (read before)
+  highResModuleQueried.all = false;
+  highResModuleQueried.highResLatitude = false;
+  highResModuleQueried.highResLatitudeHp = false;
+  highResModuleQueried.highResLongitude = false;
+  highResModuleQueried.highResLongitudeHp = false;
+  highResModuleQueried.elipsoid = false;
+  highResModuleQueried.elipsoidHp = false;
+  highResModuleQueried.meanSeaLevel = false;
+  highResModuleQueried.meanSeaLevelHp = false;
+  highResModuleQueried.geoidSeparation = false;
+  highResModuleQueried.horizontalAccuracy = false;
+  highResModuleQueried.verticalAccuracy = false;
+  //moduleQueried.gpsiTOW = false; // this can arrive via HPPOS too.
+}
+
+//Relative Positioning Information in NED frame
+//Returns true if commands was successful
+boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_RELPOSNED;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
+    return (false);                                                       //If command send fails then bail
+
+  //We got a response, now parse the bits
+
+  uint16_t refStationID = extractInt(2);
+  //_debugSerial->print(F("refStationID: "));
+  //_debugSerial->println(refStationID));
+
+  int32_t tempRelPos;
+
+  tempRelPos = extractLong(8);
+  relPosInfo.relPosN = tempRelPos / 100.0; //Convert cm to m
+
+  tempRelPos = extractLong(12);
+  relPosInfo.relPosE = tempRelPos / 100.0; //Convert cm to m
+
+  tempRelPos = extractLong(16);
+  relPosInfo.relPosD = tempRelPos / 100.0; //Convert cm to m
+
+  relPosInfo.relPosLength = extractLong(20);
+  relPosInfo.relPosHeading = extractLong(24);
+
+  relPosInfo.relPosHPN = payloadCfg[32];
+  relPosInfo.relPosHPE = payloadCfg[33];
+  relPosInfo.relPosHPD = payloadCfg[34];
+  relPosInfo.relPosHPLength = payloadCfg[35];
+
+  uint32_t tempAcc;
+
+  tempAcc = extractLong(36);
+  relPosInfo.accN = tempAcc / 10000.0; //Convert 0.1 mm to m
+
+  tempAcc = extractLong(40);
+  relPosInfo.accE = tempAcc / 10000.0; //Convert 0.1 mm to m
+
+  tempAcc = extractLong(44);
+  relPosInfo.accD = tempAcc / 10000.0; //Convert 0.1 mm to m
+
+  uint8_t flags = payloadCfg[60];
+
+  relPosInfo.gnssFixOk = flags & (1 << 0);
+  relPosInfo.diffSoln = flags & (1 << 1);
+  relPosInfo.relPosValid = flags & (1 << 2);
+  relPosInfo.carrSoln = (flags & (0b11 << 3)) >> 3;
+  relPosInfo.isMoving = flags & (1 << 5);
+  relPosInfo.refPosMiss = flags & (1 << 6);
+  relPosInfo.refObsMiss = flags & (1 << 7);
+
+  return (true);
+}
+boolean SFE_UBLOX_GPS::getEsfInfo(uint16_t maxWait)
+{
+  // Requesting Data from the receiver
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_STATUS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  // payload should be loaded.
+  imuMeas.version = extractByte(4);
+  imuMeas.fusionMode = extractByte(12);
+  ubloxSen.numSens = extractByte(15);
+
+  // Individual Status Sensor in different function
+  return (true);
+}
+
+//
+boolean SFE_UBLOX_GPS::getEsfIns(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_INS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  // Validity of each sensor value below
+  uint32_t validity = extractLong(0);
+
+  imuMeas.xAngRateVald = (validity && 0x0080) >> 8;
+  imuMeas.yAngRateVald = (validity && 0x0100) >> 9;
+  imuMeas.zAngRateVald = (validity && 0x0200) >> 10;
+  imuMeas.xAccelVald = (validity && 0x0400) >> 11;
+  imuMeas.yAccelVald = (validity && 0x0800) >> 12;
+  imuMeas.zAccelVald = (validity && 0x1000) >> 13;
+
+  imuMeas.xAngRate = extractLong(12); // deg/s
+  imuMeas.yAngRate = extractLong(16); // deg/s
+  imuMeas.zAngRate = extractLong(20); // deg/s
+
+  imuMeas.xAccel = extractLong(24); // m/s
+  imuMeas.yAccel = extractLong(28); // m/s
+  imuMeas.zAccel = extractLong(32); // m/s
+
+  return (true);
+}
+
+//
+boolean SFE_UBLOX_GPS::getEsfDataInfo(uint16_t maxWait)
+{
+
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_MEAS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  uint32_t timeStamp = extractLong(0);
+  uint32_t flags = extractInt(4);
+
+  uint8_t timeSent = (flags && 0x01) >> 1;
+  uint8_t timeEdge = (flags && 0x02) >> 2;
+  uint8_t tagValid = (flags && 0x04) >> 3;
+  uint8_t numMeas = (flags && 0x1000) >> 15;
+
+  if (numMeas > DEF_NUM_SENS)
+    numMeas = DEF_NUM_SENS;
+
+  uint8_t byteOffset = 4;
+
+  for (uint8_t i = 0; i < numMeas; i++)
+  {
+
+    uint32_t bitField = extractLong(4 + byteOffset * i);
+    imuMeas.dataType[i] = (bitField && 0xFF000000) >> 23;
+    imuMeas.data[i] = (bitField && 0xFFFFFF);
+    imuMeas.dataTStamp[i] = extractLong(8 + byteOffset * i);
+  }
+
+  return (true);
+}
+
+boolean SFE_UBLOX_GPS::getEsfRawDataInfo(uint16_t maxWait)
+{
+
+  // Need to know the number of sensor to get the correct data
+  // Rate selected in UBX-CFG-MSG is not respected
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_RAW;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  uint32_t bitField = extractLong(4);
+  imuMeas.rawDataType = (bitField && 0xFF000000) >> 23;
+  imuMeas.rawData = (bitField && 0xFFFFFF);
+  imuMeas.rawTStamp = extractLong(8);
+
+  return (true);
+}
+
+sfe_ublox_status_e SFE_UBLOX_GPS::getSensState(uint8_t sensor, uint16_t maxWait)
+{
+
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_STATUS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (SFE_UBLOX_STATUS_FAIL); //If command send fails then bail
+
+  ubloxSen.numSens = extractByte(15);
+
+  if (sensor > ubloxSen.numSens)
+    return (SFE_UBLOX_STATUS_OUT_OF_RANGE);
+
+  checkUblox();
+
+  uint8_t offset = 4;
+
+  // Only the last sensor value checked will remain.
+  for (uint8_t i = 0; i < sensor; i++)
+  {
+
+    uint8_t sensorFieldOne = extractByte(16 + offset * i);
+    uint8_t sensorFieldTwo = extractByte(17 + offset * i);
+    ubloxSen.freq = extractByte(18 + offset * i);
+    uint8_t sensorFieldThr = extractByte(19 + offset * i);
+
+    ubloxSen.senType = (sensorFieldOne && 0x10) >> 5;
+    ubloxSen.isUsed = (sensorFieldOne && 0x20) >> 6;
+    ubloxSen.isReady = (sensorFieldOne && 0x30) >> 7;
+
+    ubloxSen.calibStatus = sensorFieldTwo && 0x03;
+    ubloxSen.timeStatus = (sensorFieldTwo && 0xC) >> 2;
+
+    ubloxSen.badMeas = (sensorFieldThr && 0x01);
+    ubloxSen.badTag = (sensorFieldThr && 0x02) >> 1;
+    ubloxSen.missMeas = (sensorFieldThr && 0x04) >> 2;
+    ubloxSen.noisyMeas = (sensorFieldThr && 0x08) >> 3;
+  }
+
+  return (SFE_UBLOX_STATUS_SUCCESS);
+}
+
+boolean SFE_UBLOX_GPS::getVehAtt(uint16_t maxWait)
+{
+
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_ATT;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (SFE_UBLOX_STATUS_FAIL); //If command send fails then bail
+
+  checkUblox();
+
+  vehAtt.roll = extractLong(8);
+  vehAtt.pitch = extractLong(12);
+  vehAtt.heading = extractLong(16);
+
+  vehAtt.accRoll = extractLong(20);
+  vehAtt.accPitch = extractLong(24);
+  vehAtt.accHeading = extractLong(28);
+
+  return (true);
+}
+
+//Set the ECEF or Lat/Long coordinates of a receiver
+//This imediately puts the receiver in TIME mode (fixed) and will begin outputting RTCM sentences if enabled
+//This is helpful once an antenna's position has been established. See this tutorial: https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station#gather-raw-gnss-data
+// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
+// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
+bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_TMODE3;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  //Ask module for the current TimeMode3 settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
+    return (false);
+
+  packetCfg.len = 40;
+
+  //Clear packet payload
+  for (uint8_t x = 0; x < packetCfg.len; x++)
+    payloadCfg[x] = 0;
+
+  //customCfg should be loaded with poll response. Now modify only the bits we care about
+  payloadCfg[2] = 2; //Set mode to fixed. Use ECEF (not LAT/LON/ALT).
+
+  if (latLong == true)
+    payloadCfg[3] = (uint8_t)(1 << 0); //Set mode to fixed. Use LAT/LON/ALT.
+
+  //Set ECEF X or Lat
+  payloadCfg[4] = (ecefXOrLat >> 8 * 0) & 0xFF; //LSB
+  payloadCfg[5] = (ecefXOrLat >> 8 * 1) & 0xFF;
+  payloadCfg[6] = (ecefXOrLat >> 8 * 2) & 0xFF;
+  payloadCfg[7] = (ecefXOrLat >> 8 * 3) & 0xFF; //MSB
+
+  //Set ECEF Y or Long
+  payloadCfg[8] = (ecefYOrLon >> 8 * 0) & 0xFF; //LSB
+  payloadCfg[9] = (ecefYOrLon >> 8 * 1) & 0xFF;
+  payloadCfg[10] = (ecefYOrLon >> 8 * 2) & 0xFF;
+  payloadCfg[11] = (ecefYOrLon >> 8 * 3) & 0xFF; //MSB
+
+  //Set ECEF Z or Altitude
+  payloadCfg[12] = (ecefZOrAlt >> 8 * 0) & 0xFF; //LSB
+  payloadCfg[13] = (ecefZOrAlt >> 8 * 1) & 0xFF;
+  payloadCfg[14] = (ecefZOrAlt >> 8 * 2) & 0xFF;
+  payloadCfg[15] = (ecefZOrAlt >> 8 * 3) & 0xFF; //MSB
+
+  //Set high precision parts
+  payloadCfg[16] = ecefXOrLatHP;
+  payloadCfg[17] = ecefYOrLonHP;
+  payloadCfg[18] = ecefZOrAltHP;
+
+  return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latlong, uint16_t maxWait)
+{
+  return (setStaticPosition(ecefXOrLat, 0, ecefYOrLon, 0, ecefZOrAlt, 0, latlong, maxWait));
+}
\ No newline at end of file
diff --git a/serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.h b/serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.h
new file mode 100644
index 0000000..8feadfc
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/src/SparkFun_Ublox_Arduino_Library.h
@@ -0,0 +1,909 @@
+/*
+	This is a library written for the u-blox ZED-F9P and NEO-M8P-2
+	SparkFun sells these at its website: www.sparkfun.com
+	Do you like this library? Help support SparkFun. Buy a board!
+	https://www.sparkfun.com/products/16481
+	https://www.sparkfun.com/products/15136
+	https://www.sparkfun.com/products/15005
+	https://www.sparkfun.com/products/15733
+	https://www.sparkfun.com/products/15193
+	https://www.sparkfun.com/products/15210
+
+	Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
+
+	This library handles configuring and handling the responses
+	from a u-blox GPS module. Works with most modules from u-blox including
+	the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
+
+	https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
+
+	Development environment specifics:
+	Arduino IDE 1.8.5
+
+	SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
+	The MIT License (MIT)
+	Copyright (c) 2016 SparkFun Electronics
+	Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+	associated documentation files (the "Software"), to deal in the Software without restriction,
+	including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+	and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
+	do so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all copies or substantial
+	portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
+	NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+	IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+	WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+	SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
+#define SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
+
+#if (ARDUINO >= 100)
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include <Wire.h>
+
+#include "u-blox_config_keys.h"
+
+// Define Serial for SparkFun SAMD based boards.
+// Boards like the RedBoard Turbo use SerialUSB (not Serial).
+// But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
+// The next nine lines let the code compile cleanly on as many SAMD boards as possible.
+#if defined(ARDUINO_ARCH_SAMD)												// Is this a SAMD board?
+#if defined(USB_VID)														// Is the USB Vendor ID defined?
+#if (USB_VID == 0x1B4F)														// Is this a SparkFun board?
+#if !defined(ARDUINO_SAMD51_THING_PLUS) & !defined(ARDUINO_SAMD51_MICROMOD) // If it is not a SAMD51 Thing Plus or SAMD51 MicroMod
+#define Serial SerialUSB													// Define Serial as SerialUSB
+#endif
+#endif
+#endif
+#endif
+
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//Define a digital pin to aid checksum failure capture and analysis
+//Leave set to -1 if not needed
+const int checksumFailurePin = -1;
+
+// Global Status Returns
+typedef enum
+{
+	SFE_UBLOX_STATUS_SUCCESS,
+	SFE_UBLOX_STATUS_FAIL,
+	SFE_UBLOX_STATUS_CRC_FAIL,
+	SFE_UBLOX_STATUS_TIMEOUT,
+	SFE_UBLOX_STATUS_COMMAND_NACK, // Indicates that the command was unrecognised, invalid or that the module is too busy to respond
+	SFE_UBLOX_STATUS_OUT_OF_RANGE,
+	SFE_UBLOX_STATUS_INVALID_ARG,
+	SFE_UBLOX_STATUS_INVALID_OPERATION,
+	SFE_UBLOX_STATUS_MEM_ERR,
+	SFE_UBLOX_STATUS_HW_ERR,
+	SFE_UBLOX_STATUS_DATA_SENT,		// This indicates that a 'set' was successful
+	SFE_UBLOX_STATUS_DATA_RECEIVED, // This indicates that a 'get' (poll) was successful
+	SFE_UBLOX_STATUS_I2C_COMM_FAILURE,
+	SFE_UBLOX_STATUS_DATA_OVERWRITTEN // This is an error - the data was valid but has been or _is being_ overwritten by another packet
+} sfe_ublox_status_e;
+
+// ubxPacket validity
+typedef enum
+{
+	SFE_UBLOX_PACKET_VALIDITY_NOT_VALID,
+	SFE_UBLOX_PACKET_VALIDITY_VALID,
+	SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,
+	SFE_UBLOX_PACKET_NOTACKNOWLEDGED // This indicates that we received a NACK
+} sfe_ublox_packet_validity_e;
+
+// Identify which packet buffer is in use:
+// packetCfg (or a custom packet), packetAck or packetBuf
+typedef enum
+{
+	SFE_UBLOX_PACKET_PACKETCFG,
+	SFE_UBLOX_PACKET_PACKETACK,
+	SFE_UBLOX_PACKET_PACKETBUF
+} sfe_ublox_packet_buffer_e;
+
+//Registers
+const uint8_t UBX_SYNCH_1 = 0xB5;
+const uint8_t UBX_SYNCH_2 = 0x62;
+
+//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145
+const uint8_t UBX_CLASS_NAV = 0x01;	 //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
+const uint8_t UBX_CLASS_RXM = 0x02;	 //Receiver Manager Messages: Satellite Status, RTC Status
+const uint8_t UBX_CLASS_INF = 0x04;	 //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
+const uint8_t UBX_CLASS_ACK = 0x05;	 //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
+const uint8_t UBX_CLASS_CFG = 0x06;	 //Configuration Input Messages: Configure the receiver.
+const uint8_t UBX_CLASS_UPD = 0x09;	 //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
+const uint8_t UBX_CLASS_MON = 0x0A;	 //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
+const uint8_t UBX_CLASS_AID = 0x0B;	 //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
+const uint8_t UBX_CLASS_TIM = 0x0D;	 //Timing Messages: Time Pulse Output, Time Mark Results
+const uint8_t UBX_CLASS_ESF = 0x10;	 //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information
+const uint8_t UBX_CLASS_MGA = 0x13;	 //Multiple GNSS Assistance Messages: Assistance data for various GNSS
+const uint8_t UBX_CLASS_LOG = 0x21;	 //Logging Messages: Log creation, deletion, info and retrieval
+const uint8_t UBX_CLASS_SEC = 0x27;	 //Security Feature Messages
+const uint8_t UBX_CLASS_HNR = 0x28;	 //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading
+const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings
+
+//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48
+const uint8_t UBX_CFG_ANT = 0x13;		//Antenna Control Settings. Used to configure the antenna control settings
+const uint8_t UBX_CFG_BATCH = 0x93;		//Get/set data batching configuration.
+const uint8_t UBX_CFG_CFG = 0x09;		//Clear, Save, and Load Configurations. Used to save current configuration
+const uint8_t UBX_CFG_DAT = 0x06;		//Set User-defined Datum or The currently defined Datum
+const uint8_t UBX_CFG_DGNSS = 0x70;		//DGNSS configuration
+const uint8_t UBX_CFG_GEOFENCE = 0x69;	//Geofencing configuration. Used to configure a geofence
+const uint8_t UBX_CFG_GNSS = 0x3E;		//GNSS system configuration
+const uint8_t UBX_CFG_INF = 0x02;		//Depending on packet length, either: poll configuration for one protocol, or information message configuration
+const uint8_t UBX_CFG_ITFM = 0x39;		//Jamming/Interference Monitor configuration
+const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration
+const uint8_t UBX_CFG_MSG = 0x01;		//Poll a message configuration, or Set Message Rate(s), or Set Message Rate
+const uint8_t UBX_CFG_NAV5 = 0x24;		//Navigation Engine Settings. Used to configure the navigation engine including the dynamic model.
+const uint8_t UBX_CFG_NAVX5 = 0x23;		//Navigation Engine Expert Settings
+const uint8_t UBX_CFG_NMEA = 0x17;		//Extended NMEA protocol configuration V1
+const uint8_t UBX_CFG_ODO = 0x1E;		//Odometer, Low-speed COG Engine Settings
+const uint8_t UBX_CFG_PM2 = 0x3B;		//Extended power management configuration
+const uint8_t UBX_CFG_PMS = 0x86;		//Power mode setup
+const uint8_t UBX_CFG_PRT = 0x00;		//Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port
+const uint8_t UBX_CFG_PWR = 0x57;		//Put receiver in a defined power state
+const uint8_t UBX_CFG_RATE = 0x08;		//Navigation/Measurement Rate Settings. Used to set port baud rates.
+const uint8_t UBX_CFG_RINV = 0x34;		//Contents of Remote Inventory
+const uint8_t UBX_CFG_RST = 0x04;		//Reset Receiver / Clear Backup Data Structures. Used to reset device.
+const uint8_t UBX_CFG_RXM = 0x11;		//RXM configuration
+const uint8_t UBX_CFG_SBAS = 0x16;		//SBAS configuration
+const uint8_t UBX_CFG_TMODE3 = 0x71;	//Time Mode Settings 3. Used to enable Survey In Mode
+const uint8_t UBX_CFG_TP5 = 0x31;		//Time Pulse Parameters
+const uint8_t UBX_CFG_USB = 0x1B;		//USB Configuration
+const uint8_t UBX_CFG_VALDEL = 0x8C;	//Used for config of higher version u-blox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction
+const uint8_t UBX_CFG_VALGET = 0x8B;	//Used for config of higher version u-blox modules (ie protocol v27 and above). Configuration Items
+const uint8_t UBX_CFG_VALSET = 0x8A;	//Used for config of higher version u-blox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction.
+
+//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description
+const uint8_t UBX_NMEA_MSB = 0xF0;	//All NMEA enable commands have 0xF0 as MSB
+const uint8_t UBX_NMEA_DTM = 0x0A;	//GxDTM (datum reference)
+const uint8_t UBX_NMEA_GAQ = 0x45;	//GxGAQ (poll a standard message (if the current talker ID is GA))
+const uint8_t UBX_NMEA_GBQ = 0x44;	//GxGBQ (poll a standard message (if the current Talker ID is GB))
+const uint8_t UBX_NMEA_GBS = 0x09;	//GxGBS (GNSS satellite fault detection)
+const uint8_t UBX_NMEA_GGA = 0x00;	//GxGGA (Global positioning system fix data)
+const uint8_t UBX_NMEA_GLL = 0x01;	//GxGLL (latitude and long, whith time of position fix and status)
+const uint8_t UBX_NMEA_GLQ = 0x43;	//GxGLQ (poll a standard message (if the current Talker ID is GL))
+const uint8_t UBX_NMEA_GNQ = 0x42;	//GxGNQ (poll a standard message (if the current Talker ID is GN))
+const uint8_t UBX_NMEA_GNS = 0x0D;	//GxGNS (GNSS fix data)
+const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP))
+const uint8_t UBX_NMEA_GRS = 0x06;	//GxGRS (GNSS range residuals)
+const uint8_t UBX_NMEA_GSA = 0x02;	//GxGSA (GNSS DOP and Active satellites)
+const uint8_t UBX_NMEA_GST = 0x07;	//GxGST (GNSS Pseudo Range Error Statistics)
+const uint8_t UBX_NMEA_GSV = 0x03;	//GxGSV (GNSS satellites in view)
+const uint8_t UBX_NMEA_RMC = 0x04;	//GxRMC (Recommended minimum data)
+const uint8_t UBX_NMEA_TXT = 0x41;	//GxTXT (text transmission)
+const uint8_t UBX_NMEA_VLW = 0x0F;	//GxVLW (dual ground/water distance)
+const uint8_t UBX_NMEA_VTG = 0x05;	//GxVTG (course over ground and Ground speed)
+const uint8_t UBX_NMEA_ZDA = 0x08;	//GxZDA (Time and Date)
+
+//The following are used to configure the NMEA protocol main talker ID and GSV talker ID
+const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent
+const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01;			  //main talker ID is GPS
+const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02;			  //main talker ID is GLONASS
+const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03;			  //main talker ID is combined receiver
+const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04;			  //main talker ID is Galileo
+const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05;			  //main talker ID is BeiDou
+const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00;			  //GNSS specific Talker ID (as defined by NMEA)
+const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01;			  //use the main Talker ID
+
+//The following are used to configure INF UBX messages (information messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
+const uint8_t UBX_INF_CLASS = 0x04;	  //All INF messages have 0x04 as the class
+const uint8_t UBX_INF_DEBUG = 0x04;	  //ASCII output with debug contents
+const uint8_t UBX_INF_ERROR = 0x00;	  //ASCII output with error contents
+const uint8_t UBX_INF_NOTICE = 0x02;  //ASCII output with informational contents
+const uint8_t UBX_INF_TEST = 0x03;	  //ASCII output with test contents
+const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents
+
+//The following are used to configure LOG UBX messages (loggings messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
+const uint8_t UBX_LOG_CREATE = 0x07;		   //Create Log File
+const uint8_t UBX_LOG_ERASE = 0x03;			   //Erase Logged Data
+const uint8_t UBX_LOG_FINDTIME = 0x0E;		   //Find index of a log entry based on a given time, or response to FINDTIME requested
+const uint8_t UBX_LOG_INFO = 0x08;			   //Poll for log information, or Log information
+const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry
+const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B;	   //Position fix log entry
+const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D;   //Byte string log entry
+const uint8_t UBX_LOG_RETRIEVE = 0x09;		   //Request log data
+const uint8_t UBX_LOG_STRING = 0x04;		   //Store arbitrary string on on-board flash
+
+//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
+const uint8_t UBX_MGA_ACK_DATA0 = 0x60;		 //Multiple GNSS Acknowledge message
+const uint8_t UBX_MGA_BDS_EPH = 0x03;		 //BDS Ephemeris Assistance
+const uint8_t UBX_MGA_BDS_ALM = 0x03;		 //BDS Almanac Assistance
+const uint8_t UBX_MGA_BDS_HEALTH = 0x03;	 //BDS Health Assistance
+const uint8_t UBX_MGA_BDS_UTC = 0x03;		 //BDS UTC Assistance
+const uint8_t UBX_MGA_BDS_IONO = 0x03;		 //BDS Ionospheric Assistance
+const uint8_t UBX_MGA_DBD = 0x80;			 //Either: Poll the Navigation Database, or Navigation Database Dump Entry
+const uint8_t UBX_MGA_GAL_EPH = 0x02;		 //Galileo Ephemeris Assistance
+const uint8_t UBX_MGA_GAL_ALM = 0x02;		 //Galileo Almanac Assitance
+const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02;	 //Galileo GPS time offset assistance
+const uint8_t UBX_MGA_GAL_UTC = 0x02;		 //Galileo UTC Assistance
+const uint8_t UBX_MGA_GLO_EPH = 0x06;		 //GLONASS Ephemeris Assistance
+const uint8_t UBX_MGA_GLO_ALM = 0x06;		 //GLONASS Almanac Assistance
+const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance
+const uint8_t UBX_MGA_GPS_EPH = 0x00;		 //GPS Ephemeris Assistance
+const uint8_t UBX_MGA_GPS_ALM = 0x00;		 //GPS Almanac Assistance
+const uint8_t UBX_MGA_GPS_HEALTH = 0x00;	 //GPS Health Assistance
+const uint8_t UBX_MGA_GPS_UTC = 0x00;		 //GPS UTC Assistance
+const uint8_t UBX_MGA_GPS_IONO = 0x00;		 //GPS Ionosphere Assistance
+const uint8_t UBX_MGA_INI_POS_XYZ = 0x40;	 //Initial Position Assistance
+const uint8_t UBX_MGA_INI_POS_LLH = 0x40;	 //Initial Position Assitance
+const uint8_t UBX_MGA_INI_TIME_UTC = 0x40;	 //Initial Time Assistance
+const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40;	 //Initial Time Assistance
+const uint8_t UBX_MGA_INI_CLKD = 0x40;		 //Initial Clock Drift Assitance
+const uint8_t UBX_MGA_INI_FREQ = 0x40;		 //Initial Frequency Assistance
+const uint8_t UBX_MGA_INI_EOP = 0x40;		 //Earth Orientation Parameters Assistance
+const uint8_t UBX_MGA_QZSS_EPH = 0x05;		 //QZSS Ephemeris Assistance
+const uint8_t UBX_MGA_QZSS_ALM = 0x05;		 //QZSS Almanac Assistance
+const uint8_t UBX_MGA_QZAA_HEALTH = 0x05;	 //QZSS Health Assistance
+
+//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35)
+const uint8_t UBX_MON_COMMS = 0x36; //Comm port information
+const uint8_t UBX_MON_GNSS = 0x28;	//Information message major GNSS selection
+const uint8_t UBX_MON_HW2 = 0x0B;	//Extended Hardware Status
+const uint8_t UBX_MON_HW3 = 0x37;	//HW I/O pin information
+const uint8_t UBX_MON_HW = 0x09;	//Hardware Status
+const uint8_t UBX_MON_IO = 0x02;	//I/O Subsystem Status
+const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status
+const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches
+const uint8_t UBX_MON_RF = 0x38;	//RF information
+const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status
+const uint8_t UBX_MON_RXR = 0x21;	//Receiver Status Information
+const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state.
+const uint8_t UBX_MON_VER = 0x04;	//Receiver/Software Version. Used for obtaining Protocol Version.
+
+//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
+const uint8_t UBX_NAV_ATT = 0x05;		//Vehicle "Attitude" Solution
+const uint8_t UBX_NAV_CLOCK = 0x22;		//Clock Solution
+const uint8_t UBX_NAV_DOP = 0x04;		//Dilution of precision
+const uint8_t UBX_NAV_EOE = 0x61;		//End of Epoch
+const uint8_t UBX_NAV_GEOFENCE = 0x39;	//Geofencing status. Used to poll the geofence status
+const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
+const uint8_t UBX_NAV_HPPOSLLH = 0x14;	//High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision
+const uint8_t UBX_NAV_ODO = 0x09;		//Odometer Solution
+const uint8_t UBX_NAV_ORB = 0x34;		//GNSS Orbit Database Info
+const uint8_t UBX_NAV_POSECEF = 0x01;	//Position Solution in ECEF
+const uint8_t UBX_NAV_POSLLH = 0x02;	//Geodetic Position Solution
+const uint8_t UBX_NAV_PVT = 0x07;		//All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
+const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
+const uint8_t UBX_NAV_RESETODO = 0x10;	//Reset odometer
+const uint8_t UBX_NAV_SAT = 0x35;		//Satellite Information
+const uint8_t UBX_NAV_SIG = 0x43;		//Signal Information
+const uint8_t UBX_NAV_STATUS = 0x03;	//Receiver Navigation Status
+const uint8_t UBX_NAV_SVIN = 0x3B;		//Survey-in data. Used for checking Survey In status
+const uint8_t UBX_NAV_TIMEBDS = 0x24;	//BDS Time Solution
+const uint8_t UBX_NAV_TIMEGAL = 0x25;	//Galileo Time Solution
+const uint8_t UBX_NAV_TIMEGLO = 0x23;	//GLO Time Solution
+const uint8_t UBX_NAV_TIMEGPS = 0x20;	//GPS Time Solution
+const uint8_t UBX_NAV_TIMELS = 0x26;	//Leap second event information
+const uint8_t UBX_NAV_TIMEUTC = 0x21;	//UTC Time Solution
+const uint8_t UBX_NAV_VELECEF = 0x11;	//Velocity Solution in ECEF
+const uint8_t UBX_NAV_VELNED = 0x12;	//Velocity Solution in NED
+
+//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
+const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes)
+const uint8_t UBX_RXM_RAWX = 0x15;	//Multi-GNSS Raw Measurement Data
+const uint8_t UBX_RXM_RLM = 0x59;	//Galileo SAR Short-RLM report (two different packet sizes)
+const uint8_t UBX_RXM_RTCM = 0x32;	//RTCM input status
+const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe
+
+//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID
+
+//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_TIM_TM2 = 0x03;  //Time mark data
+const uint8_t UBX_TIM_TP = 0x01;   //Time Pulse Timedata
+const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification
+
+//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36)
+const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup
+
+//The following are used to enable RTCM messages
+const uint8_t UBX_RTCM_MSB = 0xF5;	  //All RTCM enable commands have 0xF5 as MSB
+const uint8_t UBX_RTCM_1005 = 0x05;	  //Stationary RTK reference ARP
+const uint8_t UBX_RTCM_1074 = 0x4A;	  //GPS MSM4
+const uint8_t UBX_RTCM_1077 = 0x4D;	  //GPS MSM7
+const uint8_t UBX_RTCM_1084 = 0x54;	  //GLONASS MSM4
+const uint8_t UBX_RTCM_1087 = 0x57;	  //GLONASS MSM7
+const uint8_t UBX_RTCM_1094 = 0x5E;	  //Galileo MSM4
+const uint8_t UBX_RTCM_1097 = 0x61;	  //Galileo MSM7
+const uint8_t UBX_RTCM_1124 = 0x7C;	  //BeiDou MSM4
+const uint8_t UBX_RTCM_1127 = 0x7F;	  //BeiDou MSM7
+const uint8_t UBX_RTCM_1230 = 0xE6;	  //GLONASS code-phase biases, set to once every 10 seconds
+const uint8_t UBX_RTCM_4072_0 = 0xFE; //Reference station PVT (ublox proprietary RTCM message)
+const uint8_t UBX_RTCM_4072_1 = 0xFD; //Additional reference station information (ublox proprietary RTCM message)
+
+const uint8_t UBX_ACK_NACK = 0x00;
+const uint8_t UBX_ACK_ACK = 0x01;
+const uint8_t UBX_ACK_NONE = 0x02; //Not a real value
+
+// The following constants are used to get External Sensor Measurements and Status
+// Information.
+const uint8_t UBX_ESF_MEAS = 0x02;
+const uint8_t UBX_ESF_RAW = 0x03;
+const uint8_t UBX_ESF_STATUS = 0x10;
+const uint8_t UBX_ESF_INS = 0x15; //36 bytes
+
+const uint8_t SVIN_MODE_DISABLE = 0x00;
+const uint8_t SVIN_MODE_ENABLE = 0x01;
+
+//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
+const uint8_t COM_PORT_I2C = 0;
+const uint8_t COM_PORT_UART1 = 1;
+const uint8_t COM_PORT_UART2 = 2;
+const uint8_t COM_PORT_USB = 3;
+const uint8_t COM_PORT_SPI = 4;
+
+const uint8_t COM_TYPE_UBX = (1 << 0);
+const uint8_t COM_TYPE_NMEA = (1 << 1);
+const uint8_t COM_TYPE_RTCM3 = (1 << 5);
+
+// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
+const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001;	 // ioPort - communications port settings (causes IO system reset!)
+const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002;	 // msgConf - message configuration
+const uint32_t VAL_CFG_SUBSEC_INFMSG = 0x00000004;	 // infMsg - INF message configuration
+const uint32_t VAL_CFG_SUBSEC_NAVCONF = 0x00000008;	 // navConf - navigation configuration
+const uint32_t VAL_CFG_SUBSEC_RXMCONF = 0x00000010;	 // rxmConf - receiver manager configuration
+const uint32_t VAL_CFG_SUBSEC_SENCONF = 0x00000100;	 // senConf - sensor interface configuration (requires protocol 19+)
+const uint32_t VAL_CFG_SUBSEC_RINVCONF = 0x00000200; // rinvConf - remove inventory configuration
+const uint32_t VAL_CFG_SUBSEC_ANTCONF = 0x00000400;	 // antConf - antenna configuration
+const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800;	 // logConf - logging configuration
+const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000;	 // ftsConf - FTS configuration (FTS products only)
+
+// Bitfield wakeupSources for UBX_RXM_PMREQ
+const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = 0x00000008;	// uartrx
+const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = 0x00000020; // extint0
+const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = 0x00000040; // extint1
+const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = 0x00000080;	// spics
+
+enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual
+{
+	DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations.
+	// 1 is not defined
+	DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed.
+	DYN_MODEL_PEDESTRIAN,	  //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed.
+	DYN_MODEL_AUTOMOTIVE,	  //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed
+	DYN_MODEL_SEA,			  //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed.
+	DYN_MODEL_AIRBORNE1g,	  //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported.
+	DYN_MODEL_AIRBORNE2g,	  //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported.
+	DYN_MODEL_AIRBORNE4g,	  //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported.
+	DYN_MODEL_WRIST,		  // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion.
+	DYN_MODEL_BIKE,			  // Supported in protocol versions 19.2
+};
+
+#ifndef MAX_PAYLOAD_SIZE
+
+#define MAX_PAYLOAD_SIZE 256 //We need ~220 bytes for getProtocolVersion on most ublox modules
+//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values
+
+#endif
+
+//-=-=-=-=- UBX binary specific variables
+typedef struct
+{
+	uint8_t cls;
+	uint8_t id;
+	uint16_t len;		   //Length of the payload. Does not include cls, id, or checksum bytes
+	uint16_t counter;	   //Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
+	uint16_t startingSpot; //The counter value needed to go past before we begin recording into payload array
+	uint8_t *payload;
+	uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
+	uint8_t checksumB;
+	sfe_ublox_packet_validity_e valid;			 //Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
+	sfe_ublox_packet_validity_e classAndIDmatch; // Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
+} ubxPacket;
+
+// Struct to hold the results returned by getGeofenceState (returned by UBX-NAV-GEOFENCE)
+typedef struct
+{
+	uint8_t status;	   // Geofencing status: 0 - Geofencing not available or not reliable; 1 - Geofencing active
+	uint8_t numFences; // Number of geofences
+	uint8_t combState; // Combined (logical OR) state of all geofences: 0 - Unknown; 1 - Inside; 2 - Outside
+	uint8_t states[4]; // Geofence states: 0 - Unknown; 1 - Inside; 2 - Outside
+} geofenceState;
+
+// Struct to hold the current geofence parameters
+typedef struct
+{
+	uint8_t numFences; // Number of active geofences
+	int32_t lats[4];   // Latitudes of geofences (in degrees * 10^-7)
+	int32_t longs[4];  // Longitudes of geofences (in degrees * 10^-7)
+	uint32_t rads[4];  // Radii of geofences (in m * 10^-2)
+} geofenceParams;
+
+class SFE_UBLOX_GPS
+{
+public:
+	SFE_UBLOX_GPS(void);
+
+// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
+// If you know you are only going to be using I2C / Qwiic communication, you can
+// safely reduce defaultMaxWait to 250.
+#ifndef defaultMaxWait // Let's allow the user to define their own value if they want to
+#define defaultMaxWait 1100
+#endif
+
+	//By default use the default I2C address, and use Wire port
+	boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
+	//serialPort needs to be perviously initialized to correct baud rate
+	boolean begin(Stream &serialPort); //Returns true if module is detected
+
+	//Control the size of the internal I2C transaction amount
+	void setI2CTransactionSize(uint8_t bufferSize);
+	uint8_t getI2CTransactionSize(void);
+
+	//Set the max number of bytes set in a given I2C transaction
+	uint8_t i2cTransactionSize = 32; //Default to ATmega328 limit
+
+	//Returns true if device answers on _gpsI2Caddress address or via Serial
+	//maxWait is only used for Serial
+	boolean isConnected(uint16_t maxWait = 1100);
+
+	//Changed in V1.8.1: provides backward compatibility for the examples that call checkUblox directly
+	//Will default to using packetCfg to look for explicit autoPVT packets so they get processed correctly by processUBX
+	boolean checkUblox(uint8_t requestedClass = UBX_CLASS_NAV, uint8_t requestedID = UBX_NAV_PVT); //Checks module with user selected commType
+
+	boolean checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);	   //Method for I2C polling of data, passing any new bytes to process()
+	boolean checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for serial polling of data, passing any new bytes to process()
+
+	void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);	//Processes NMEA and UBX binary sentences one byte at a time
+	void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Given a character, file it away into the uxb packet structure
+	void processRTCMframe(uint8_t incoming);																//Monitor the incoming bytes for start and length bytes
+	void processRTCM(uint8_t incoming) __attribute__((weak));												//Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
+
+	void processUBXpacket(ubxPacket *msg);				   //Once a packet has been received and validated, identify this packet's class/id and update internal flags
+	void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
+
+	void calcChecksum(ubxPacket *msg);														   //Sets the checksumA and checksumB of a given messages
+	sfe_ublox_status_e sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
+	sfe_ublox_status_e sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait = 250);
+	void sendSerialCommand(ubxPacket *outgoingUBX);
+
+	void printPacket(ubxPacket *packet); //Useful for debugging
+
+	void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
+	void hardReset();	 //Perform a reset leading to a cold start (zero info start-up)
+
+	boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250);										 //Changes the I2C address of the u-blox module
+	void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the u-blox module, uartPort should be COM_PORT_UART1/2
+	void setNMEAOutputPort(Stream &nmeaOutputPort);																 //Sets the internal variable for the port to direct NMEA characters to
+
+	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait);	 //Set the number of nav solutions sent per second
+	uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait);					 //Get the number of nav solutions sent per second currently being output by module
+	boolean saveConfiguration(uint16_t maxWait = defaultMaxWait);						 //Save current configuration to flash and BBR (battery backed RAM)
+	boolean factoryDefault(uint16_t maxWait = defaultMaxWait);							 //Reset module to factory defaults
+	boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
+
+	sfe_ublox_status_e waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait);	 //Poll the module until a config packet and an ACK is received
+	sfe_ublox_status_e waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received
+
+// getPVT will only return data once in each navigation cycle. By default, that is once per second.
+// Therefore we should set getPVTmaxWait to slightly longer than that.
+// If you change the navigation frequency to (e.g.) 4Hz using setNavigationFrequency(4)
+// then you should use a shorter maxWait for getPVT. 300msec would be about right: getPVT(300)
+// The same is true for getHPPOSLLH.
+#define getPVTmaxWait 1100		// Default maxWait for getPVT and all functions which call it
+#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it
+
+	boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true);							//In case no config access to the GPS is possible and PVT is send cyclically already
+	boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait);							//Enable/disable automatic PVT reports at the navigation frequency
+	boolean getPVT(uint16_t maxWait = getPVTmaxWait);												//Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
+	boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
+	boolean assumeAutoHPPOSLLH(boolean enabled, boolean implicitUpdate = true);							//In case no config access to the GPS is possible and HPPOSLLH is send cyclically already
+	boolean setAutoHPPOSLLH(boolean enabled, uint16_t maxWait = defaultMaxWait);							//Enable/disable automatic HPPOSLLH reports at the navigation frequency
+	boolean setAutoHPPOSLLH(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
+	boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait);										//Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new HPPOSLLH is available.
+	void flushPVT();																				//Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
+	void flushHPPOSLLH();																				//Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
+
+	int32_t getLatitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	int32_t getLongitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
+	int32_t getAltitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current altitude in mm above ellipsoid
+	int32_t getAltitudeMSL(uint16_t maxWait = getPVTmaxWait);		  //Returns the current altitude in mm above mean sea level
+	uint8_t getSIV(uint16_t maxWait = getPVTmaxWait);				  //Returns number of sats used in fix
+	uint8_t getFixType(uint16_t maxWait = getPVTmaxWait);			  //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
+	uint8_t getCarrierSolutionType(uint16_t maxWait = getPVTmaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
+	int32_t getGroundSpeed(uint16_t maxWait = getPVTmaxWait);		  //Returns speed in mm/s
+	int32_t getHeading(uint16_t maxWait = getPVTmaxWait);			  //Returns heading in degrees * 10^-5
+	uint16_t getPDOP(uint16_t maxWait = getPVTmaxWait);				  //Returns positional dillution of precision * 10^-2 (dimensionless)
+	uint16_t getYear(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getMonth(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getDay(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getHour(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getMinute(uint16_t maxWait = getPVTmaxWait);
+	uint8_t getSecond(uint16_t maxWait = getPVTmaxWait);
+	uint16_t getMillisecond(uint16_t maxWait = getPVTmaxWait);
+	int32_t getNanosecond(uint16_t maxWait = getPVTmaxWait);
+	uint32_t getTimeOfWeek(uint16_t maxWait = getPVTmaxWait);
+	bool getDateValid(uint16_t maxWait = getPVTmaxWait);
+	bool getTimeValid(uint16_t maxWait = getPVTmaxWait);
+
+	int32_t getHighResLatitude(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getHighResLatitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getHighResLongitude(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getHighResLongitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getElipsoid(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getElipsoidHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getMeanSeaLevel(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int8_t getMeanSeaLevelHp(uint16_t maxWait = getHPPOSLLHmaxWait);
+	int32_t getGeoidSeparation(uint16_t maxWait = getHPPOSLLHmaxWait);
+	uint32_t getHorizontalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
+	uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait);
+
+	//Port configurations
+	boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait);  //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
+	boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait);					   //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
+
+	boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250);				//Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250);				//Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
+	boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250);				//Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
+
+	//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
+	boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
+	boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
+	boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
+	boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
+	boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
+	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
+	boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait);				   //Turn off given RTCM message from a given port
+
+	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
+	//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
+	//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
+	uint32_t createKey(uint16_t group, uint16_t id, uint8_t size); //Form 32-bit key from group/id/size
+
+	sfe_ublox_status_e getVal(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);					 //Load payload with response
+	uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);								 //Returns the value at a given key location
+	uint16_t getVal16(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);							 //Returns the value at a given key location
+	uint32_t getVal32(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);							 //Returns the value at a given key location
+	uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);	 //Returns the value at a given group/id/size location
+	uint16_t getVal16(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
+	uint32_t getVal32(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
+	uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);				 //Sets the 16-bit value at a given group/id/size location
+	uint8_t setVal8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);				 //Sets the 8-bit value at a given group/id/size location
+	uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);			 //Sets the 16-bit value at a given group/id/size location
+	uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);			 //Sets the 32-bit value at a given group/id/size location
+	uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_BBR);								 //Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value
+	uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_BBR);								 //Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value
+	uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_BBR);								 //Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value
+	uint8_t addCfgValset8(uint32_t keyID, uint8_t value);																 //Add a new KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket
+	uint8_t addCfgValset16(uint32_t keyID, uint16_t value);																 //Add a new KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket
+	uint8_t addCfgValset32(uint32_t keyID, uint32_t value);																 //Add a new KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket
+	uint8_t sendCfgValset8(uint32_t keyID, uint8_t value, uint16_t maxWait = 250);										 //Add the final KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+	uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = 250);									 //Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+	uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250);									 //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+
+	//Functions used for RTK and base station setup
+	//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
+	boolean getSurveyMode(uint16_t maxWait = 250);																   //Get the current TimeMode3 settings
+	boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
+	boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250);			   //Begin Survey-In for NEO-M8P
+	boolean disableSurveyMode(uint16_t maxWait = 250);															   //Stop Survey-In mode
+
+	boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables
+
+	uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
+
+	uint8_t getProtocolVersionHigh(uint16_t maxWait = 500); //Returns the PROTVER XX.00 from UBX-MON-VER register
+	uint8_t getProtocolVersionLow(uint16_t maxWait = 500);	//Returns the PROTVER 00.XX from UBX-MON-VER register
+	boolean getProtocolVersion(uint16_t maxWait = 500);		//Queries module, loads low/high bytes
+
+	boolean getRELPOSNED(uint16_t maxWait = 1100); //Get Relative Positioning Information of the NED frame
+
+	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
+	void disableDebugging(void);														 //Turn off debug statements
+	void debugPrint(char *message);														 //Safely print debug statements
+	void debugPrintln(char *message);													 //Safely print debug statements
+	const char *statusString(sfe_ublox_status_e stat);									 //Pretty print the return value
+
+	//Support for geofences
+	boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = 1100); // Add a new geofence
+	boolean clearGeofences(uint16_t maxWait = 1100);																											 //Clears all geofences
+	boolean getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait = 1100);																		 //Returns the combined geofence state
+	boolean clearAntPIO(uint16_t maxWait = 1100);																												 //Clears the antenna control pin settings to release the PIOs
+	geofenceParams currentGeofenceParams;																														 // Global to store the geofence parameters
+
+	boolean powerSaveMode(bool power_save = true, uint16_t maxWait = 1100);
+	uint8_t getPowerSaveMode(uint16_t maxWait = 1100); // Returns 255 if the sendCommand fails
+	boolean powerOff(uint32_t durationInMs, uint16_t maxWait = 1100);
+	boolean powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources = VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0, boolean forceWhileUsb = true, uint16_t maxWait = 1100);
+
+	//Change the dynamic platform model using UBX-CFG-NAV5
+	boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100);
+	uint8_t getDynamicModel(uint16_t maxWait = 1100); // Get the dynamic model - returns 255 if the sendCommand fails
+
+	boolean getEsfInfo(uint16_t maxWait = 1100);
+	boolean getEsfIns(uint16_t maxWait = 1100);
+	boolean getEsfDataInfo(uint16_t maxWait = 1100);
+	boolean getEsfRawDataInfo(uint16_t maxWait = 1100);
+	sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
+	boolean getVehAtt(uint16_t maxWait = 1100);
+
+	// Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
+	// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
+	// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
+	bool setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong = false, uint16_t maxWait = 250);
+	bool setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latLong = false, uint16_t maxWait = 250);
+
+	//Survey-in specific controls
+	struct svinStructure
+	{
+		boolean active;
+		boolean valid;
+		uint16_t observationTime;
+		float meanAccuracy;
+	} svin;
+
+	//Relative Positioning Info in NED frame specific controls
+	struct frelPosInfoStructure
+	{
+		uint16_t refStationID;
+
+		float relPosN;
+		float relPosE;
+		float relPosD;
+
+		long relPosLength;
+		long relPosHeading;
+
+		int8_t relPosHPN;
+		int8_t relPosHPE;
+		int8_t relPosHPD;
+		int8_t relPosHPLength;
+
+		float accN;
+		float accE;
+		float accD;
+
+		bool gnssFixOk;
+		bool diffSoln;
+		bool relPosValid;
+		uint8_t carrSoln;
+		bool isMoving;
+		bool refPosMiss;
+		bool refObsMiss;
+	} relPosInfo;
+
+	//The major datums we want to globally store
+	uint16_t gpsYear;
+	uint8_t gpsMonth;
+	uint8_t gpsDay;
+	uint8_t gpsHour;
+	uint8_t gpsMinute;
+	uint8_t gpsSecond;
+	uint16_t gpsMillisecond;
+	int32_t gpsNanosecond;
+	bool gpsDateValid;
+	bool gpsTimeValid;
+
+	int32_t latitude;		 //Degrees * 10^-7 (more accurate than floats)
+	int32_t longitude;		 //Degrees * 10^-7 (more accurate than floats)
+	int32_t altitude;		 //Number of mm above ellipsoid
+	int32_t altitudeMSL;	 //Number of mm above Mean Sea Level
+	uint8_t SIV;			 //Number of satellites used in position solution
+	uint8_t fixType;		 //Tells us when we have a solution aka lock
+	uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution
+	int32_t groundSpeed;	 //mm/s
+	int32_t headingOfMotion; //degrees * 10^-5
+	uint16_t pDOP;			 //Positional dilution of precision * 10^-2 (dimensionless)
+	uint8_t versionLow;		 //Loaded from getProtocolVersion().
+	uint8_t versionHigh;
+
+	uint32_t timeOfWeek;		 // ms
+	int32_t highResLatitude;	 // Degrees * 10^-7
+	int32_t highResLongitude;	 // Degrees * 10^-7
+	int32_t elipsoid;			 // Height above ellipsoid in mm (Typo! Should be eLLipsoid! **Uncorrected for backward-compatibility.**)
+	int32_t meanSeaLevel;		 // Height above mean sea level in mm
+	int32_t geoidSeparation;	 // This seems to only be provided in NMEA GGA and GNS messages
+	uint32_t horizontalAccuracy; // mm * 10^-1 (i.e. 0.1mm)
+	uint32_t verticalAccuracy;	 // mm * 10^-1 (i.e. 0.1mm)
+	int8_t elipsoidHp;			 // High precision component of the height above ellipsoid in mm * 10^-1 (Deliberate typo! Should be eLLipsoidHp!)
+	int8_t meanSeaLevelHp;		 // High precision component of Height above mean sea level in mm * 10^-1
+	int8_t highResLatitudeHp;	 // High precision component of latitude: Degrees * 10^-9
+	int8_t highResLongitudeHp;	 // High precision component of longitude: Degrees * 10^-9
+
+	uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame
+
+#define DEF_NUM_SENS 7
+	struct deadReckData
+	{
+		uint8_t version;
+		uint8_t fusionMode;
+
+		uint8_t xAngRateVald;
+		uint8_t yAngRateVald;
+		uint8_t zAngRateVald;
+		uint8_t xAccelVald;
+		uint8_t yAccelVald;
+		uint8_t zAccelVald;
+
+		int32_t xAngRate;
+		int32_t yAngRate;
+		int32_t zAngRate;
+
+		int32_t xAccel;
+		int32_t yAccel;
+		int32_t zAccel;
+
+		// The array size is based on testing directly on M8U and F9R
+		uint32_t rawData;
+		uint32_t rawDataType;
+		uint32_t rawTStamp;
+
+		uint32_t data[DEF_NUM_SENS];
+		uint32_t dataType[DEF_NUM_SENS];
+		uint32_t dataTStamp[DEF_NUM_SENS];
+	} imuMeas;
+
+	struct indivImuData
+	{
+
+		uint8_t numSens;
+
+		uint8_t senType;
+		boolean isUsed;
+		boolean isReady;
+		uint8_t calibStatus;
+		uint8_t timeStatus;
+
+		uint8_t freq; // Hz
+
+		boolean badMeas;
+		boolean badTag;
+		boolean missMeas;
+		boolean noisyMeas;
+	} ubloxSen;
+
+	struct vehicleAttitude
+	{
+		// All values in degrees
+		int32_t roll;
+		int32_t pitch;
+		int32_t heading;
+		uint32_t accRoll;
+		uint32_t accPitch;
+		uint32_t accHeading;
+	} vehAtt;
+
+private:
+	//Depending on the sentence type the processor will load characters into different arrays
+	enum SentenceTypes
+	{
+		NONE = 0,
+		NMEA,
+		UBX,
+		RTCM
+	} currentSentence = NONE;
+
+	//Depending on the ubx binary response class, store binary responses into different places
+	enum classTypes
+	{
+		CLASS_NONE = 0,
+		CLASS_ACK,
+		CLASS_NOT_AN_ACK
+	} ubxFrameClass = CLASS_NONE;
+
+	enum commTypes
+	{
+		COMM_TYPE_I2C = 0,
+		COMM_TYPE_SERIAL,
+		COMM_TYPE_SPI
+	} commType = COMM_TYPE_I2C; //Controls which port we look to for incoming bytes
+
+	//Functions
+	boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
+	uint32_t extractLong(uint8_t spotToStart);																	 //Combine four bytes from payload into long
+	uint16_t extractInt(uint8_t spotToStart);																	 //Combine two bytes from payload into int
+	uint8_t extractByte(uint8_t spotToStart);																	 //Get byte from payload
+	int8_t extractSignedChar(uint8_t spotToStart);																 //Get signed 8-bit value from payload
+	void addToChecksum(uint8_t incoming);																		 //Given an incoming byte, adjust rollingChecksumA/B
+
+	//Variables
+	TwoWire *_i2cPort;				//The generic connection to user's chosen I2C hardware
+	Stream *_serialPort;			//The generic connection to user's chosen Serial hardware
+	Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
+	Stream *_debugSerial;			//The stream to send debug messages to if enabled
+
+	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
+	//This can be changed using the ublox configuration software
+
+	boolean _printDebug = false;		//Flag to print the serial commands we are sending to the Serial port for debug
+	boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates
+
+	//The packet buffers
+	//These are pointed at from within the ubxPacket
+	uint8_t payloadAck[2];				  // Holds the requested ACK/NACK
+	uint8_t payloadCfg[MAX_PAYLOAD_SIZE]; // Holds the requested data packet
+	uint8_t payloadBuf[2];				  // Temporary buffer used to screen incoming packets or dump unrequested packets
+
+	//Init the packet structures and init them with pointers to the payloadAck, payloadCfg and payloadBuf arrays
+	ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+	ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+	ubxPacket packetBuf = {0, 0, 0, 0, 0, payloadBuf, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+
+	//Flag if this packet is unrequested (and so should be ignored and not copied into packetCfg or packetAck)
+	boolean ignoreThisPayload = false;
+
+	//Identify which buffer is in use
+	//Data is stored in packetBuf until the requested class and ID can be validated
+	//If a match is seen, data is diverted into packetAck or packetCfg
+	sfe_ublox_packet_buffer_e activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;
+
+	//Limit checking of new data to every X ms
+	//If we are expecting an update every X Hz then we should check every half that amount of time
+	//Otherwise we may block ourselves from seeing new data
+	uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency()
+
+	unsigned long lastCheck = 0;
+	boolean autoPVT = false;			  //Whether autoPVT is enabled or not
+	boolean autoPVTImplicitUpdate = true; // Whether autoPVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
+	boolean autoHPPOSLLH = false;			  //Whether autoHPPOSLLH is enabled or not
+	boolean autoHPPOSLLHImplicitUpdate = true; // Whether autoHPPOSLLH is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
+	uint16_t ubxFrameCounter;			  //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
+
+	uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
+	uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
+
+	//Create bit field for staleness of each datum in PVT we want to monitor
+	//moduleQueried.latitude goes true each time we call getPVT()
+	//This reduces the number of times we have to call getPVT as this can take up to ~1s per read
+	//depending on update rate
+	struct
+	{
+		uint32_t gpsiTOW : 1;
+		uint32_t gpsYear : 1;
+		uint32_t gpsMonth : 1;
+		uint32_t gpsDay : 1;
+		uint32_t gpsHour : 1;
+		uint32_t gpsMinute : 1;
+		uint32_t gpsSecond : 1;
+		uint32_t gpsDateValid : 1;
+		uint32_t gpsTimeValid : 1;
+		uint32_t gpsNanosecond : 1;
+
+		uint32_t all : 1;
+		uint32_t longitude : 1;
+		uint32_t latitude : 1;
+		uint32_t altitude : 1;
+		uint32_t altitudeMSL : 1;
+		uint32_t SIV : 1;
+		uint32_t fixType : 1;
+		uint32_t carrierSolution : 1;
+		uint32_t groundSpeed : 1;
+		uint32_t headingOfMotion : 1;
+		uint32_t pDOP : 1;
+		uint32_t versionNumber : 1;
+	} moduleQueried;
+
+	struct
+	{
+		uint16_t all : 1;
+		uint16_t timeOfWeek : 1;
+		uint16_t highResLatitude : 1;
+		uint16_t highResLongitude : 1;
+		uint16_t elipsoid : 1;
+		uint16_t meanSeaLevel : 1;
+		uint16_t geoidSeparation : 1; // Redundant but kept for backward-compatibility
+		uint16_t horizontalAccuracy : 1;
+		uint16_t verticalAccuracy : 1;
+		uint16_t elipsoidHp : 1;
+		uint16_t meanSeaLevelHp : 1;
+		uint16_t highResLatitudeHp : 1;
+		uint16_t highResLongitudeHp : 1;
+	} highResModuleQueried;
+
+	uint16_t rtcmLen = 0;
+};
+
+#endif
diff --git a/serial/SparkFun_Ublox_Arduino_Library/src/u-blox_config_keys.h b/serial/SparkFun_Ublox_Arduino_Library/src/u-blox_config_keys.h
new file mode 100644
index 0000000..3b1c0c6
--- /dev/null
+++ b/serial/SparkFun_Ublox_Arduino_Library/src/u-blox_config_keys.h
@@ -0,0 +1,547 @@
+/*
+	This is a library written for the u-blox ZED-F9P and NEO-M8P-2
+	SparkFun sells these at its website: www.sparkfun.com
+	Do you like this library? Help support SparkFun. Buy a board!
+	https://www.sparkfun.com/products/16481
+	https://www.sparkfun.com/products/15136
+	https://www.sparkfun.com/products/15005
+	https://www.sparkfun.com/products/15733
+	https://www.sparkfun.com/products/15193
+	https://www.sparkfun.com/products/15210
+
+	Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
+
+	This library handles configuring and handling the responses
+	from a u-blox GPS module. Works with most modules from u-blox including
+	the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.
+
+	https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library
+
+	Development environment specifics:
+	Arduino IDE 1.8.5
+
+	SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
+	The MIT License (MIT)
+	Copyright (c) 2016 SparkFun Electronics
+	Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+	associated documentation files (the "Software"), to deal in the Software without restriction,
+	including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+	and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
+	do so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all copies or substantial
+	portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
+	NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+	IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+	WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+	SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef __u_blox_config_keys_h__
+#define __u_blox_config_keys_h__
+
+//The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL
+const uint8_t VAL_SIZE_1 = 0x01; //One bit
+const uint8_t VAL_SIZE_8 = 0x02;	 //One byte
+const uint8_t VAL_SIZE_16 = 0x03;	 //Two bytes
+const uint8_t VAL_SIZE_32 = 0x04;	 //Four bytes
+const uint8_t VAL_SIZE_64 = 0x05;	 //Eight bytes
+
+//These are the Bitfield layers definitions for the UBX-CFG-VALSET message (not to be confused with Bitfield deviceMask in UBX-CFG-CFG)
+const uint8_t VAL_LAYER_RAM = (1 << 0);
+const uint8_t VAL_LAYER_BBR = (1 << 1);
+const uint8_t VAL_LAYER_FLASH = (1 << 2);
+const uint8_t VAL_LAYER_ALL = VAL_LAYER_RAM | VAL_LAYER_BBR | VAL_LAYER_FLASH; //Not valid with getVal()
+
+//Below are various Groups, IDs, and sizes for various settings
+//These can be used to call getVal/setVal/delVal
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint8_t VAL_ID_PROT_UBX = 0x01;
+const uint8_t VAL_ID_PROT_NMEA = 0x02;
+const uint8_t VAL_ID_PROT_RTCM3 = 0x04;
+
+const uint8_t VAL_GROUP_I2C = 0x51;
+const uint8_t VAL_GROUP_I2COUTPROT = 0x72;
+const uint8_t VAL_GROUP_UART1INPROT = 0x73;
+const uint8_t VAL_GROUP_UART1OUTPROT = 0x74;
+const uint8_t VAL_GROUP_UART2INPROT = 0x75;
+const uint8_t VAL_GROUP_UART2OUTPROT = 0x76;
+const uint8_t VAL_GROUP_USBINPROT = 0x77;
+const uint8_t VAL_GROUP_USBOUTPROT = 0x78;
+
+const uint8_t VAL_GROUP_UART_SIZE = VAL_SIZE_1; //All fields in UART group are currently 1 bit
+const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8;	//All fields in I2C group are currently 1 byte
+
+const uint8_t VAL_ID_I2C_ADDRESS = 0x01;
+
+//Below are the key values for a given configuration setting
+
+//CFG-NMEA
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_NMEA_PROTVER = 0x10930001;
+const uint32_t UBLOX_CFG_NMEA_MAXSVS = 0x10930002;
+const uint32_t UBLOX_CFG_NMEA_COMPAT = 0x10930003;
+const uint32_t UBLOX_CFG_NMEA_CONSIDER = 0x10930004;
+const uint32_t UBLOX_CFG_NMEA_LIMIT82 = 0x10930005;
+const uint32_t UBLOX_CFG_NMEA_HIGHPREC = 0x10930006;
+const uint32_t UBLOX_CFG_NMEA_SVNUMBERING = 0x20930007;
+const uint32_t UBLOX_CFG_NMEA_FILT_GPS = 0x10930011;
+const uint32_t UBLOX_CFG_NMEA_FILT_SBAS = 0x10930012;
+const uint32_t UBLOX_CFG_NMEA_FILT_GAL = 0x10930013;
+const uint32_t UBLOX_CFG_NMEA_FILT_QZSS = 0x10930015;
+const uint32_t UBLOX_CFG_NMEA_FILT_GLO = 0x10930016;
+const uint32_t UBLOX_CFG_NMEA_FILT_BDS = 0x10930017;
+const uint32_t UBLOX_CFG_NMEA_OUT_INVFIX = 0x10930021;
+const uint32_t UBLOX_CFG_NMEA_OUT_MSKFIX = 0x10930022;
+const uint32_t UBLOX_CFG_NMEA_OUT_INVTIME = 0x10930023;
+const uint32_t UBLOX_CFG_NMEA_OUT_INVDATE = 0x10930024;
+const uint32_t UBLOX_CFG_NMEA_OUT_ONLYGPS = 0x10930025;
+const uint32_t UBLOX_CFG_NMEA_OUT_FROZENCOG = 0x10930026;
+const uint32_t UBLOX_CFG_NMEA_MAINTALKERID = 0x20930031;
+const uint32_t UBLOX_CFG_NMEA_GSVTALKERID = 0x20930032;
+const uint32_t UBLOX_CFG_NMEA_BDSTALKERID = 0x30930033;
+
+//CFG-RATE
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_RATE_MEAS = 0x30210001;
+const uint32_t UBLOX_CFG_RATE_NAV = 0x30210002;
+const uint32_t UBLOX_CFG_RATE_TIMEREF = 0x20210003;
+
+//CFG-I2C
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_I2C_ADDRESS = 0x20510001;
+const uint32_t UBLOX_CFG_I2C_ENABLED = 0x10510003;
+
+const uint32_t UBLOX_CFG_I2CINPROT_UBX = 0x10710001;
+const uint32_t UBLOX_CFG_I2CINPROT_NMEA = 0x10710002;
+const uint32_t UBLOX_CFG_I2CINPROT_RTCM3X = 0x10710004;
+
+const uint32_t UBLOX_CFG_I2COUTPROT_UBX = 0x10720001;
+const uint32_t UBLOX_CFG_I2COUTPROT_NMEA = 0x10720002;
+const uint32_t UBLOX_CFG_I2COUTPROT_RTCM3X = 0x10720004;
+
+//CFG-UART1
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_UART1_BAUDRATE = 0x40520001;
+const uint32_t UBLOX_CFG_UART1_ENABLED = 0x10520005;
+
+const uint32_t UBLOX_CFG_UART1INPROT_UBX = 0x10730001;
+const uint32_t UBLOX_CFG_UART1INPROT_NMEA = 0x10730002;
+const uint32_t UBLOX_CFG_UART1INPROT_RTCM3X = 0x10730004;
+
+const uint32_t UBLOX_CFG_UART1OUTPROT_UBX = 0x10740001;
+const uint32_t UBLOX_CFG_UART1OUTPROT_NMEA = 0x10740002;
+const uint32_t UBLOX_CFG_UART1OUTPROT_RTCM3X = 0x10740004;
+
+//CFG-UART2
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_UART2_BAUDRATE = 0x40530001;
+const uint32_t UBLOX_CFG_UART2_ENABLED = 0x10530005;
+
+const uint32_t UBLOX_CFG_UART2INPROT_UBX = 0x10750001;
+const uint32_t UBLOX_CFG_UART2INPROT_NMEA = 0x10750002;
+const uint32_t UBLOX_CFG_UART2INPROT_RTCM3X = 0x10750004;
+
+const uint32_t UBLOX_CFG_UART2OUTPROT_UBX = 0x10760001;
+const uint32_t UBLOX_CFG_UART2OUTPROT_NMEA = 0x10760002;
+const uint32_t UBLOX_CFG_UART2OUTPROT_RTCM3X = 0x10760004;
+
+//CFG-USB
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_USBINPROT_UBX = 0x10770001;
+const uint32_t UBLOX_CFG_USBINPROT_NMEA = 0x10770002;
+const uint32_t UBLOX_CFG_USBINPROT_RTCM3X = 0x10770004;
+
+const uint32_t UBLOX_CFG_USBOUTPROT_UBX = 0x10780001;
+const uint32_t UBLOX_CFG_USBOUTPROT_NMEA = 0x10780002;
+const uint32_t UBLOX_CFG_USBOUTPROT_RTCM3X = 0x10780004;
+
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
+// CFG-MSGOUT: Message output configuration
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+// For each message and port a separate output rate (per second, per epoch) can be configured.
+const uint32_t CFG_MSGOUT_NMEA_ID_DTM_I2C = 0x209100a6;				//Output rate of the NMEA-GX-DTM message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_DTM_SPI = 0x209100aa;				//Output rate of the NMEA-GX-DTM message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_DTM_UART1 = 0x209100a7;			//Output rate of the NMEA-GX-DTM message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_DTM_UART2 = 0x209100a8;			//Output rate of the NMEA-GX-DTM message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_DTM_USB = 0x209100a9;				//Output rate of the NMEA-GX-DTM message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GBS_I2C = 0x209100dd;				//Output rate of the NMEA-GX-GBS message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GBS_SPI = 0x209100e1;				//Output rate of the NMEA-GX-GBS message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GBS_UART1 = 0x209100de;			//Output rate of the NMEA-GX-GBS message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GBS_UART2 = 0x209100df;			//Output rate of the NMEA-GX-GBS message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GBS_USB = 0x209100e0;				//Output rate of the NMEA-GX-GBS message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GGA_I2C = 0x209100ba;				//Output rate of the NMEA-GX-GGA message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GGA_SPI = 0x209100be;				//Output rate of the NMEA-GX-GGA message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GGA_UART1 = 0x209100bb;			//Output rate of the NMEA-GX-GGA message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GGA_UART2 = 0x209100bc;			//Output rate of the NMEA-GX-GGA message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GGA_USB = 0x209100bd;				//Output rate of the NMEA-GX-GGA message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GLL_I2C = 0x209100c9;				//Output rate of the NMEA-GX-GLL message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GLL_SPI = 0x209100cd;				//Output rate of the NMEA-GX-GLL message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GLL_UART1 = 0x209100ca;			//Output rate of the NMEA-GX-GLL message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GLL_UART2 = 0x209100cb;			//Output rate of the NMEA-GX-GLL message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GLL_USB = 0x209100cc;				//Output rate of the NMEA-GX-GLL message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GNS_I2C = 0x209100b5;				//Output rate of the NMEA-GX-GNS message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GNS_SPI = 0x209100b9;				//Output rate of the NMEA-GX-GNS message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GNS_UART1 = 0x209100b6;			//Output rate of the NMEA-GX-GNS message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GNS_UART2 = 0x209100b7;			//Output rate of the NMEA-GX-GNS message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GNS_USB = 0x209100b8;				//Output rate of the NMEA-GX-GNS message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GRS_I2C = 0x209100ce;				//Output rate of the NMEA-GX-GRS message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GRS_SPI = 0x209100d2;				//Output rate of the NMEA-GX-GRS message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GRS_UART1 = 0x209100cf;			//Output rate of the NMEA-GX-GRS message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GRS_UART2 = 0x209100d0;			//Output rate of the NMEA-GX-GRS message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GRS_USB = 0x209100d1;				//Output rate of the NMEA-GX-GRS message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GSA_I2C = 0x209100bf;				//Output rate of the NMEA-GX-GSA message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GSA_SPI = 0x209100c3;				//Output rate of the NMEA-GX-GSA message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GSA_UART1 = 0x209100c0;			//Output rate of the NMEA-GX-GSA message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GSA_UART2 = 0x209100c1;			//Output rate of the NMEA-GX-GSA message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GSA_USB = 0x209100c2;				//Output rate of the NMEA-GX-GSA message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GST_I2C = 0x209100d3;				//Output rate of the NMEA-GX-GST message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GST_SPI = 0x209100d7;				//Output rate of the NMEA-GX-GST message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GST_UART1 = 0x209100d4;			//Output rate of the NMEA-GX-GST message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GST_UART2 = 0x209100d5;			//Output rate of the NMEA-GX-GST message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GST_USB = 0x209100d6;				//Output rate of the NMEA-GX-GST message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_GSV_I2C = 0x209100c4;				//Output rate of the NMEA-GX-GSV message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_GSV_SPI = 0x209100c8;				//Output rate of the NMEA-GX-GSV message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_GSV_UART1 = 0x209100c5;			//Output rate of the NMEA-GX-GSV message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_GSV_UART2 = 0x209100c6;			//Output rate of the NMEA-GX-GSV message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_GSV_USB = 0x209100c7;				//Output rate of the NMEA-GX-GSV message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_RLM_I2C = 0x20910400;				//Output rate of the NMEA-GX-RLM message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_RLM_SPI = 0x20910404;				//Output rate of the NMEA-GX-RLM message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_RLM_UART1 = 0x20910401;			//Output rate of the NMEA-GX-RLM message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_RLM_UART2 = 0x20910402;			//Output rate of the NMEA-GX-RLM message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_RLM_USB = 0x20910403;				//Output rate of the NMEA-GX-RLM message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_RMC_I2C = 0x209100ab;				//Output rate of the NMEA-GX-RMC message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_RMC_SPI = 0x209100af;				//Output rate of the NMEA-GX-RMC message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_RMC_UART1 = 0x209100ac;			//Output rate of the NMEA-GX-RMC message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_RMC_UART2 = 0x209100ad;			//Output rate of the NMEA-GX-RMC message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_RMC_USB = 0x209100ae;				//Output rate of the NMEA-GX-RMC message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_VLW_I2C = 0x209100e7;				//Output rate of the NMEA-GX-VLW message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_VLW_SPI = 0x209100eb;				//Output rate of the NMEA-GX-VLW message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_VLW_UART1 = 0x209100e8;			//Output rate of the NMEA-GX-VLW message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_VLW_UART2 = 0x209100e9;			//Output rate of the NMEA-GX-VLW message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_VLW_USB = 0x209100ea;				//Output rate of the NMEA-GX-VLW message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_VTG_I2C = 0x209100b0;				//Output rate of the NMEA-GX-VTG message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_VTG_SPI = 0x209100b4;				//Output rate of the NMEA-GX-VTG message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_VTG_UART1 = 0x209100b1;			//Output rate of the NMEA-GX-VTG message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_VTG_UART2 = 0x209100b2;			//Output rate of the NMEA-GX-VTG message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_VTG_USB = 0x209100b3;				//Output rate of the NMEA-GX-VTG message on port USB
+const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_I2C = 0x209100d8;				//Output rate of the NMEA-GX-ZDA message on port I2C
+const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_SPI = 0x209100dc;				//Output rate of the NMEA-GX-ZDA message on port SPI
+const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_UART1 = 0x209100d9;			//Output rate of the NMEA-GX-ZDA message on port UART1
+const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_UART2 = 0x209100da;			//Output rate of the NMEA-GX-ZDA message on port UART2
+const uint32_t CFG_MSGOUT_NMEA_ID_ZDA_USB = 0x209100db;				//Output rate of the NMEA-GX-ZDA message on port USB
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_I2C = 0x209100ec;			//Output rate of the NMEA-GX-PUBX00 message on port I2C
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_SPI = 0x209100f0;			//Output rate of the NMEA-GX-PUBX00 message on port SPI
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_UART1 = 0x209100ed;		//Output rate of the NMEA-GX-PUBX00 message on port UART1
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_UART2 = 0x209100ee;	//Output rate of the NMEA-GX-PUBX00 message on port UART2
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYP_USB = 0x209100ef;		//Output rate of the NMEA-GX-PUBX00 message on port USB
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_I2C = 0x209100f1;			//Output rate of the NMEA-GX-PUBX03 message on port I2C
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_SPI = 0x209100f5;			//Output rate of the NMEA-GX-PUBX03 message on port SPI
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_UART1 = 0x209100f2;		//Output rate of the NMEA-GX-PUBX03 message on port UART1
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_UART2 = 0x209100f3;	//Output rate of the NMEA-GX-PUBX03 message on port UART2
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYS_USB = 0x209100f4;		//Output rate of the NMEA-GX-PUBX03 message on port USB
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_I2C = 0x209100f6;			//Output rate of the NMEA-GX-PUBX04 message on port I2C
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_SPI = 0x209100fa;			//Output rate of the NMEA-GX-PUBX04 message on port SPI
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_UART1 = 0x209100f7;		//Output rate of the NMEA-GX-PUBX04 message on port UART1
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_UART2 = 0x209100f8;	//Output rate of the NMEA-GX-PUBX04 message on port UART2
+const uint32_t CFG_MSGOUT_PUBX_ID_POLYT_USB = 0x209100f9;		//Output rate of the NMEA-GX-PUBX04 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_I2C = 0x209102bd;		//Output rate of the RTCM-3X-TYPE1005 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_SPI = 0x209102c1;	//Output rate of the RTCM-3X-TYPE1005 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_UART1 = 0x209102be;//Output rate of the RTCM-3X-TYPE1005 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_UART2 = 0x209102bf;//Output rate of the RTCM-3X-TYPE1005 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1005_USB = 0x209102c0;	//Output rate of the RTCM-3X-TYPE1005 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_I2C = 0x2091035e;	//Output rate of the RTCM-3X-TYPE1074 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_SPI = 0x20910362;	//Output rate of the RTCM-3X-TYPE1074 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_UART1 = 0x2091035f;//Output rate of the RTCM-3X-TYPE1074 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_UART2 = 0x20910360;//Output rate of the RTCM-3X-TYPE1074 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1074_USB = 0x20910361;	//Output rate of the RTCM-3X-TYPE1074 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_I2C = 0x209102cc;	//Output rate of the RTCM-3X-TYPE1077 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_SPI = 0x209102d0;	//Output rate of the RTCM-3X-TYPE1077 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_UART1 = 0x209102cd;//Output rate of the RTCM-3X-TYPE1077 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_UART2 = 0x209102ce;//Output rate of the RTCM-3X-TYPE1077 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1077_USB = 0x209102cf;	//Output rate of the RTCM-3X-TYPE1077 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_I2C = 0x20910363;	//Output rate of the RTCM-3X-TYPE1084 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_SPI = 0x20910367;	//Output rate of the RTCM-3X-TYPE1084 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_UART1 = 0x20910364;//Output rate of the RTCM-3X-TYPE1084 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_UART2 = 0x20910365;//Output rate of the RTCM-3X-TYPE1084 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1084_USB = 0x20910366;	//Output rate of the RTCM-3X-TYPE1084 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_I2C = 0x209102d1;	//Output rate of the RTCM-3X-TYPE1087 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_SPI = 0x209102d5;	//Output rate of the RTCM-3X-TYPE1087 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_UART1 = 0x209102d2;//Output rate of the RTCM-3X-TYPE1087 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_UART2 = 0x209102d3;//Output rate of the RTCM-3X-TYPE1087 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1087_USB = 0x209102d4;	//Output rate of the RTCM-3X-TYPE1087 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_I2C = 0x20910368;	//Output rate of the RTCM-3X-TYPE1094 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_SPI = 0x2091036c;	//Output rate of the RTCM-3X-TYPE1094 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_UART1 = 0x20910369;//Output rate of the RTCM-3X-TYPE1094 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_UART2 = 0x2091036a;//Output rate of the RTCM-3X-TYPE1094 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1094_USB = 0x2091036b;	//Output rate of the RTCM-3X-TYPE1094 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_I2C = 0x20910318;	//Output rate of the RTCM-3X-TYPE1097 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_SPI = 0x2091031c;	//Output rate of the RTCM-3X-TYPE1097 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_UART1 = 0x20910319;//Output rate of the RTCM-3X-TYPE1097 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_UART2 = 0x2091031a;//Output rate of the RTCM-3X-TYPE1097 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1097_USB = 0x2091031b;	//Output rate of the RTCM-3X-TYPE1097 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_I2C = 0x2091036d;	//Output rate of the RTCM-3X-TYPE1124 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_SPI = 0x20910371;	//Output rate of the RTCM-3X-TYPE1124 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_UART1 = 0x2091036e;//Output rate of the RTCM-3X-TYPE1124 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_UART2 = 0x2091036f;//Output rate of the RTCM-3X-TYPE1124 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1124_USB = 0x20910370;	//Output rate of the RTCM-3X-TYPE1124 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_I2C = 0x209102d6;	//Output rate of the RTCM-3X-TYPE1127 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_SPI = 0x209102da;	//Output rate of the RTCM-3X-TYPE1127 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_UART1 = 0x209102d7;//Output rate of the RTCM-3X-TYPE1127 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_UART2 = 0x209102d8;//Output rate of the RTCM-3X-TYPE1127 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1127_USB = 0x209102d9;	//Output rate of the RTCM-3X-TYPE1127 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_I2C = 0x20910303;	//Output rate of the RTCM-3X-TYPE1230 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_SPI = 0x20910307;	//Output rate of the RTCM-3X-TYPE1230 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_UART1 = 0x20910304;//Output rate of the RTCM-3X-TYPE1230 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_UART2 = 0x20910305;//Output rate of the RTCM-3X-TYPE1230 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE1230_USB = 0x20910306;	//Output rate of the RTCM-3X-TYPE1230 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_I2C = 0x209102fe;//Output rate of the RTCM-3X-TYPE4072_0 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_SPI = 0x20910302;//Output rate of the RTCM-3X-TYPE4072_0 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART1 = 0x209102ff; //Output rate of the RTCM-3X-TYPE4072_0 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART2 = 0x20910300; //Output rate of the RTCM-3X-TYPE4072_0 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_0_USB = 0x20910301;//Output rate of the RTCM-3X-TYPE4072_0 message on port USB
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_I2C = 0x20910381;//Output rate of the RTCM-3X-TYPE4072_1 message on port I2C
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_SPI = 0x20910385;//Output rate of the RTCM-3X-TYPE4072_1 message on port SPI
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART1 = 0x20910382; //Output rate of the RTCM-3X-TYPE4072_1 message on port UART1
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART2 = 0x20910383; //Output rate of the RTCM-3X-TYPE4072_1 message on port UART2
+const uint32_t CFG_MSGOUT_RTCM_3X_TYPE4072_1_USB = 0x20910384;//Output rate of the RTCM-3X-TYPE4072_1 message on port USB
+const uint32_t CFG_MSGOUT_UBX_LOG_INFO_I2C = 0x20910259;		//Output rate of the UBX-LOG-INFO message on port I2C
+const uint32_t CFG_MSGOUT_UBX_LOG_INFO_SPI = 0x2091025d;			//Output rate of the UBX-LOG-INFO message on port SPI
+const uint32_t CFG_MSGOUT_UBX_LOG_INFO_UART1 = 0x2091025a;		//Output rate of the UBX-LOG-INFO message on port UART1
+const uint32_t CFG_MSGOUT_UBX_LOG_INFO_UART2 = 0x2091025b;	//Output rate of the UBX-LOG-INFO message on port UART2
+const uint32_t CFG_MSGOUT_UBX_LOG_INFO_USB = 0x2091025c;		//Output rate of the UBX-LOG-INFO message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_COMMS_I2C = 0x2091034f;			//Output rate of the UBX-MON-COMMS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_COMMS_SPI = 0x20910353;			//Output rate of the UBX-MON-COMMS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_COMMS_UART1 = 0x20910350;		//Output rate of the UBX-MON-COMMS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_COMMS_UART2 = 0x20910351;	//Output rate of the UBX-MON-COMMS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_COMMS_USB = 0x20910352;		//Output rate of the UBX-MON-COMMS message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_HW2_I2C = 0x209101b9;				//Output rate of the UBX-MON-HW2 message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_HW2_SPI = 0x209101bd;				//Output rate of the UBX-MON-HW2 message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_HW2_UART1 = 0x209101ba;			//Output rate of the UBX-MON-HW2 message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_HW2_UART2 = 0x209101bb;			//Output rate of the UBX-MON-HW2 message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_HW2_USB = 0x209101bc;				//Output rate of the UBX-MON-HW2 message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_HW3_I2C = 0x20910354;				//Output rate of the UBX-MON-HW3 message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_HW3_SPI = 0x20910358;				//Output rate of the UBX-MON-HW3 message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_HW3_UART1 = 0x20910355;			//Output rate of the UBX-MON-HW3 message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_HW3_UART2 = 0x20910356;			//Output rate of the UBX-MON-HW3 message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_HW3_USB = 0x20910357;				//Output rate of the UBX-MON-HW3 message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_HW_I2C = 0x209101b4;				//Output rate of the UBX-MON-HW message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_HW_SPI = 0x209101b8;				//Output rate of the UBX-MON-HW message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_HW_UART1 = 0x209101b5;			//Output rate of the UBX-MON-HW message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_HW_UART2 = 0x209101b6;			//Output rate of the UBX-MON-HW message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_HW_USB = 0x209101b7;				//Output rate of the UBX-MON-HW message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_IO_I2C = 0x209101a5;				//Output rate of the UBX-MON-IO message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_IO_SPI = 0x209101a9;				//Output rate of the UBX-MON-IO message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_IO_UART1 = 0x209101a6;			//Output rate of the UBX-MON-IO message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_IO_UART2 = 0x209101a7;			//Output rate of the UBX-MON-IO message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_IO_USB = 0x209101a8;				//Output rate of the UBX-MON-IO message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_I2C = 0x20910196;			//Output rate of the UBX-MON-MSGPP message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_SPI = 0x2091019a;			//Output rate of the UBX-MON-MSGPP message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_UART1 = 0x20910197;		//Output rate of the UBX-MON-MSGPP message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_UART2 = 0x20910198;	//Output rate of the UBX-MON-MSGPP message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_MSGPP_USB = 0x20910199;		//Output rate of the UBX-MON-MSGPP message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_RF_I2C = 0x20910359;				//Output rate of the UBX-MON-RF message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_RF_SPI = 0x2091035d;				//Output rate of the UBX-MON-RF message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_RF_UART1 = 0x2091035a;			//Output rate of the UBX-MON-RF message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_RF_UART2 = 0x2091035b;			//Output rate of the UBX-MON-RF message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_RF_USB = 0x2091035c;				// Output rate of the UBX-MON-RF message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_I2C = 0x209101a0;			// Output rate of the UBX-MON-RXBUF message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_SPI = 0x209101a4;			// Output rate of the UBX-MON-RXBUF message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_UART1 = 0x209101a1;		// Output rate of the UBX-MON-RXBUF message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_UART2 = 0x209101a2;	// Output rate of the UBX-MON-RXBUF message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_RXBUF_USB = 0x209101a3;		// Output rate of the UBX-MON-RXBUF message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_RXR_I2C = 0x20910187;				// Output rate of the UBX-MON-RXR message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_RXR_SPI = 0x2091018b;				// Output rate of the UBX-MON-RXR message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_RXR_UART1 = 0x20910188;			// Output rate of the UBX-MON-RXR message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_RXR_UART2 = 0x20910189;			// Output rate of the UBX-MON-RXR message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_RXR_USB = 0x2091018a;				// Output rate of the UBX-MON-RXR message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_SPAN_I2C = 0x2091038b;			// Output rate of the UBX-MON-SPAN message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_SPAN_SPI = 0x2091038f;			// Output rate of the UBX-MON-SPAN message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_SPAN_UART1 = 0x2091038c;		// Output rate of the UBX-MON-SPAN message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_SPAN_UART2 = 0x2091038d;	// Output rate of the UBX-MON-SPAN message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_SPAN_USB = 0x2091038e;		// Output rate of the UBX-MON-SPAN message on port USB
+const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_I2C = 0x2091019b;			// Output rate of the UBX-MON-TXBUF message on port I2C
+const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_SPI = 0x2091019f;			// Output rate of the UBX-MON-TXBUF message on port SPI
+const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_UART1 = 0x2091019c;		// Output rate of the UBX-MON-TXBUF message on port UART1
+const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_UART2 = 0x2091019d;	// Output rate of the UBX-MON-TXBUF message on port UART2
+const uint32_t CFG_MSGOUT_UBX_MON_TXBUF_USB = 0x2091019e;		// Output rate of the UBX-MON-TXBUF message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_I2C = 0x20910065;			// Output rate of the UBX-NAV-CLOCK message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_SPI = 0x20910069;			// Output rate of the UBX-NAV-CLOCK message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_UART1 = 0x20910066;		// Output rate of the UBX-NAV-CLOCK message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_UART2 = 0x20910067;	// Output rate of the UBX-NAV-CLOCK message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_CLOCK_USB = 0x20910068;		// Output rate of the UBX-NAV-CLOCK message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_DOP_I2C = 0x20910038;				// Output rate of the UBX-NAV-DOP message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_DOP_SPI = 0x2091003c;				// Output rate of the UBX-NAV-DOP message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_DOP_UART1 = 0x20910039;			// Output rate of the UBX-NAV-DOP message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_DOP_UART2 = 0x2091003a;			// Output rate of the UBX-NAV-DOP message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_DOP_USB = 0x2091003b;				// Output rate of the UBX-NAV-DOP message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_EOE_I2C = 0x2091015f;				// Output rate of the UBX-NAV-EOE message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_EOE_SPI = 0x20910163;				// Output rate of the UBX-NAV-EOE message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_EOE_UART1 = 0x20910160;			// Output rate of the UBX-NAV-EOE message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_EOE_UART2 = 0x20910161;			// Output rate of the UBX-NAV-EOE message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_EOE_USB = 0x20910162;				// Output rate of the UBX-NAV-EOE message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_I2C = 0x209100a1;		// Output rate of the UBX-NAV-GEOFENCE message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_SPI = 0x209100a5;	// Output rate of the UBX-NAV-GEOFENCE message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_UART1 = 0x209100a2;// Output rate of the UBX-NAV-GEOFENCE message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_UART2 = 0x209100a3;// Output rate of the UBX-NAV-GEOFENCE message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_GEOFENCE_USB = 0x209100a4;	// Output rate of the UBX-NAV-GEOFENCE message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_I2C = 0x2091002e;// Output rate of the UBX-NAV-HPPOSECEF message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_SPI = 0x20910032;// Output rate of the UBX-NAV-HPPOSECEF message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1 = 0x2091002f;// Output rate of the UBX-NAV-HPPOSECEF message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART2 = 0x20910030;// Output rate of the UBX-NAV-HPPOSECEF message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB = 0x20910031;// Output rate of the UBX-NAV-HPPOSECEF message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_I2C = 0x20910033;	// Output rate of the UBX-NAV-HPPOSLLH message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_SPI = 0x20910037;	// Output rate of the UBX-NAV-HPPOSLLH message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART1 = 0x20910034;// Output rate of the UBX-NAV-HPPOSLLH message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART2 = 0x20910035;// Output rate of the UBX-NAV-HPPOSLLH message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB = 0x20910036;	// Output rate of the UBX-NAV-HPPOSLLH message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_ODO_I2C = 0x2091007e;			// Output rate of the UBX-NAV-ODO message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_ODO_SPI = 0x20910082;				// Output rate of the UBX-NAV-ODO message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_ODO_UART1 = 0x2091007f;			// Output rate of the UBX-NAV-ODO message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_ODO_UART2 = 0x20910080;			// Output rate of the UBX-NAV-ODO message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_ODO_USB = 0x20910081;				// Output rate of the UBX-NAV-ODO message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_ORB_I2C = 0x20910010;				// Output rate of the UBX-NAV-ORB message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_ORB_SPI = 0x20910014;				// Output rate of the UBX-NAV-ORB message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_ORB_UART1 = 0x20910011;			// Output rate of the UBX-NAV-ORB message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_ORB_UART2 = 0x20910012;			// Output rate of the UBX-NAV-ORB message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_ORB_USB = 0x20910013;				// Output rate of the UBX-NAV-ORB message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_I2C = 0x20910024;		// Output rate of the UBX-NAV-POSECEF message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_SPI = 0x20910028;	// Output rate of the UBX-NAV-POSECEF message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_UART1 = 0x20910025;// Output rate of the UBX-NAV-POSECEF message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_UART2 = 0x20910026;// Output rate of the UBX-NAV-POSECEF message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_POSECEF_USB = 0x20910027;	// Output rate of the UBX-NAV-POSECEF message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_I2C = 0x20910029;	// Output rate of the UBX-NAV-POSLLH message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_SPI = 0x2091002d;	// Output rate of the UBX-NAV-POSLLH message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_UART1 = 0x2091002a;	// Output rate of the UBX-NAV-POSLLH message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_UART2 = 0x2091002b;	// Output rate of the UBX-NAV-POSLLH message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_POSLLH_USB = 0x2091002c;	// Output rate of the UBX-NAV-POSLLH message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_PVT_I2C = 0x20910006;			// Output rate of the UBX-NAV-PVT message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_PVT_SPI = 0x2091000a;				// Output rate of the UBX-NAV-PVT message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_PVT_UART1 = 0x20910007;			// Output rate of the UBX-NAV-PVT message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_PVT_UART2 = 0x20910008;			// Output rate of the UBX-NAV-PVT message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_PVT_USB = 0x20910009;				// Output rate of the UBX-NAV-PVT message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_I2C = 0x2091008d;	// Output rate of the UBX-NAV-RELPOSNED message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_SPI = 0x20910091;// Output rate of the UBX-NAV-RELPOSNED message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_UART1 = 0x2091008e;// Output rate of the UBX-NAV-RELPOSNED message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_UART2 = 0x2091008f;// Output rate of the UBX-NAV-RELPOSNED message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_RELPOSNED_USB = 0x20910090;// Output rate of the UBX-NAV-RELPOSNED message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_SAT_I2C = 0x20910015;			// Output rate of the UBX-NAV-SAT message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_SAT_SPI = 0x20910019;				// Output rate of the UBX-NAV-SAT message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_SAT_UART1 = 0x20910016;			// Output rate of the UBX-NAV-SAT message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_SAT_UART2 = 0x20910017;			// Output rate of the UBX-NAV-SAT message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_SAT_USB = 0x20910018;				// Output rate of the UBX-NAV-SAT message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_I2C = 0x2091006a;			// Output rate of the UBX-NAV-SBAS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_SPI = 0x2091006e;			// Output rate of the UBX-NAV-SBAS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_UART1 = 0x2091006b;		// Output rate of the UBX-NAV-SBAS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_UART2 = 0x2091006c;	// Output rate of the UBX-NAV-SBAS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_SBAS_USB = 0x2091006d;		// Output rate of the UBX-NAV-SBAS message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_SIG_I2C = 0x20910345;				// Output rate of the UBX-NAV-SIG message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_SIG_SPI = 0x20910349;				// Output rate of the UBX-NAV-SIG message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_SIG_UART1 = 0x20910346;			// Output rate of the UBX-NAV-SIG message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_SIG_UART2 = 0x20910347;			// Output rate of the UBX-NAV-SIG message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_SIG_USB = 0x20910348;				// Output rate of the UBX-NAV-SIG message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_I2C = 0x20910336;			// Output rate of the UBX-NAV-SLAS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_SPI = 0x2091033a;			// Output rate of the UBX-NAV-SLAS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_UART1 = 0x20910337;		// Output rate of the UBX-NAV-SLAS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_UART2 = 0x20910338;	// Output rate of the UBX-NAV-SLAS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_SLAS_USB = 0x20910339;		// Output rate of the UBX-NAV-SLAS message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_I2C = 0x2091001a;		// Output rate of the UBX-NAV-STATUS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_SPI = 0x2091001e;	// Output rate of the UBX-NAV-STATUS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_UART1 = 0x2091001b;	// Output rate of the UBX-NAV-STATUS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_UART2 = 0x2091001c;	// Output rate of the UBX-NAV-STATUS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_STATUS_USB = 0x2091001d;	// Output rate of the UBX-NAV-STATUS message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_I2C = 0x20910088;		// Output rate of the UBX-NAV-SVIN message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_SPI = 0x2091008c;			// Output rate of the UBX-NAV-SVIN message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_UART1 = 0x20910089;		// Output rate of the UBX-NAV-SVIN message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_UART2 = 0x2091008a;	// Output rate of the UBX-NAV-SVIN message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_SVIN_USB = 0x2091008b;		// Output rate of the UBX-NAV-SVIN message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_I2C = 0x20910051;		// Output rate of the UBX-NAV-TIMEBDS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_SPI = 0x20910055;	// Output rate of the UBX-NAV-TIMEBDS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_UART1 = 0x20910052;// Output rate of the UBX-NAV-TIMEBDS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_UART2 = 0x20910053;// Output rate of the UBX-NAV-TIMEBDS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEBDS_USB = 0x20910054;	// Output rate of the UBX-NAV-TIMEBDS message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_I2C = 0x20910056;	// Output rate of the UBX-NAV-TIMEGAL message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_SPI = 0x2091005a;	// Output rate of the UBX-NAV-TIMEGAL message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_UART1 = 0x20910057;// Output rate of the UBX-NAV-TIMEGAL message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_UART2 = 0x20910058;// Output rate of the UBX-NAV-TIMEGAL message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGAL_USB = 0x20910059;	// Output rate of the UBX-NAV-TIMEGAL message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_I2C = 0x2091004c;	// Output rate of the UBX-NAV-TIMEGLO message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_SPI = 0x20910050;	// Output rate of the UBX-NAV-TIMEGLO message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_UART1 = 0x2091004d;// Output rate of the UBX-NAV-TIMEGLO message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_UART2 = 0x2091004e;// Output rate of the UBX-NAV-TIMEGLO message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGLO_USB = 0x2091004f;	// Output rate of the UBX-NAV-TIMEGLO message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_I2C = 0x20910047;	// Output rate of the UBX-NAV-TIMEGPS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_SPI = 0x2091004b;	// Output rate of the UBX-NAV-TIMEGPS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1 = 0x20910048;// Output rate of the UBX-NAV-TIMEGPS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_UART2 = 0x20910049;// Output rate of the UBX-NAV-TIMEGPS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEGPS_USB = 0x2091004a;	// Output rate of the UBX-NAV-TIMEGPS message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_I2C = 0x20910060;	// Output rate of the UBX-NAV-TIMELS message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_SPI = 0x20910064;	// Output rate of the UBX-NAV-TIMELS message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_UART1 = 0x20910061;	// Output rate of the UBX-NAV-TIMELS message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_UART2 = 0x20910062;	// Output rate of the UBX-NAV-TIMELS message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMELS_USB = 0x20910063;	// Output rate of the UBX-NAV-TIMELS message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_I2C = 0x20910386;	// Output rate of the UBX-NAV-TIMEQZSSmessage on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_SPI = 0x2091038a;	// Output rate of the UBX-NAV-TIMEQZSSmessage on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART1 = 0x20910387;// Output rate of the UBX-NAV-TIMEQZSSmessage on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART2 = 0x20910388;// Output rate of the UBX-NAV-TIMEQZSSmessage on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEQZSS_USB = 0x20910389;	// Output rate of the UBX-NAV-TIMEQZSSmessage on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_I2C = 0x2091005b;	// Output rate of the UBX-NAV-TIMEUTC message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_SPI = 0x2091005f;	// Output rate of the UBX-NAV-TIMEUTC message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1 = 0x2091005c;// Output rate of the UBX-NAV-TIMEUTC message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_UART2 = 0x2091005d;// Output rate of the UBX-NAV-TIMEUTC message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_TIMEUTC_USB = 0x2091005e;	// Output rate of the UBX-NAV-TIMEUTC message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_I2C = 0x2091003d;	// Output rate of the UBX-NAV-VELECEF message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_SPI = 0x20910041;	// Output rate of the UBX-NAV-VELECEF message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_UART1 = 0x2091003e;// Output rate of the UBX-NAV-VELECEF message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_UART2 = 0x2091003f;// Output rate of the UBX-NAV-VELECEF message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_VELECEF_USB = 0x20910040;	// Output rate of the UBX-NAV-VELECEF message on port USB
+const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_I2C = 0x20910042;	// Output rate of the UBX-NAV-VELNED message on port I2C
+const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_SPI = 0x20910046;	// Output rate of the UBX-NAV-VELNED message on port SPI
+const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_UART1 = 0x20910043;	// Output rate of the UBX-NAV-VELNED message on port UART1
+const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_UART2 = 0x20910044;	// Output rate of the UBX-NAV-VELNED message on port UART2
+const uint32_t CFG_MSGOUT_UBX_NAV_VELNED_USB = 0x20910045;	// Output rate of the UBX-NAV-VELNED message on port USB
+const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_I2C = 0x20910204;		// Output rate of the UBX-RXM-MEASX message on port I2C
+const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_SPI = 0x20910208;			// Output rate of the UBX-RXM-MEASX message on port SPI
+const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_UART1 = 0x20910205;		// Output rate of the UBX-RXM-MEASX message on port UART1
+const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_UART2 = 0x20910206;	// Output rate of the UBX-RXM-MEASX message on port UART2
+const uint32_t CFG_MSGOUT_UBX_RXM_MEASX_USB = 0x20910207;		// Output rate of the UBX-RXM-MEASX message on port USB
+const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_I2C = 0x209102a4;			// Output rate of the UBX-RXM-RAWX message on port I2C
+const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_SPI = 0x209102a8;			// Output rate of the UBX-RXM-RAWX message on port SPI
+const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_UART1 = 0x209102a5;		// Output rate of the UBX-RXM-RAWX message on port UART1
+const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_UART2 = 0x209102a6;	// Output rate of the UBX-RXM-RAWX message on port UART2
+const uint32_t CFG_MSGOUT_UBX_RXM_RAWX_USB = 0x209102a7;		// Output rate of the UBX-RXM-RAWX message on port USB
+const uint32_t CFG_MSGOUT_UBX_RXM_RLM_I2C = 0x2091025e;				// Output rate of the UBX-RXM-RLM message on port I2C
+const uint32_t CFG_MSGOUT_UBX_RXM_RLM_SPI = 0x20910262;				// Output rate of the UBX-RXM-RLM message on port SPI
+const uint32_t CFG_MSGOUT_UBX_RXM_RLM_UART1 = 0x2091025f;			// Output rate of the UBX-RXM-RLM message on port UART1
+const uint32_t CFG_MSGOUT_UBX_RXM_RLM_UART2 = 0x20910260;			// Output rate of the UBX-RXM-RLM message on port UART2
+const uint32_t CFG_MSGOUT_UBX_RXM_RLM_USB = 0x20910261;				// Output rate of the UBX-RXM-RLM message on port USB
+const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_I2C = 0x20910268;			// Output rate of the UBX-RXM-RTCM message on port I2C
+const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_SPI = 0x2091026c;			// Output rate of the UBX-RXM-RTCM message on port SPI
+const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_UART1 = 0x20910269;			// Output rate of the UBX-RXM-RTCM message on port UART1
+const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_UART2 = 0x2091026a;		// Output rate of the UBX-RXM-RTCM message on port UART2
+const uint32_t CFG_MSGOUT_UBX_RXM_RTCM_USB = 0x2091026b;		// Output rate of the UBX-RXM-RTCM message on port USB
+const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_I2C = 0x20910231;			// Output rate of the UBX-RXM-SFRBX message on port I2C
+const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_SPI = 0x20910235;			// Output rate of the UBX-RXM-SFRBX message on port SPI
+const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_UART1 = 0x20910232;		// Output rate of the UBX-RXM-SFRBX message on port UART1
+const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_UART2 = 0x20910233;	// Output rate of the UBX-RXM-SFRBX message on port UART2
+const uint32_t CFG_MSGOUT_UBX_RXM_SFRBX_USB = 0x20910234;		// Output rate of the UBX-RXM-SFRBX message on port USB
+const uint32_t CFG_MSGOUT_UBX_TIM_TM2_I2C = 0x20910178;				// Output rate of the UBX-TIM-TM2 message on port I2C
+const uint32_t CFG_MSGOUT_UBX_TIM_TM2_SPI = 0x2091017c;				// Output rate of the UBX-TIM-TM2 message on port SPI
+const uint32_t CFG_MSGOUT_UBX_TIM_TM2_UART1 = 0x20910179;			// Output rate of the UBX-TIM-TM2 message on port UART1
+const uint32_t CFG_MSGOUT_UBX_TIM_TM2_UART2 = 0x2091017a;			// Output rate of the UBX-TIM-TM2 message on port UART2
+const uint32_t CFG_MSGOUT_UBX_TIM_TM2_USB = 0x2091017b;				// Output rate of the UBX-TIM-TM2 message on port USB
+const uint32_t CFG_MSGOUT_UBX_TIM_TP_I2C = 0x2091017d;				// Output rate of the UBX-TIM-TP message on port I2C
+const uint32_t CFG_MSGOUT_UBX_TIM_TP_SPI = 0x20910181;				// Output rate of the UBX-TIM-TP message on port SPI
+const uint32_t CFG_MSGOUT_UBX_TIM_TP_UART1 = 0x2091017e;			// Output rate of the UBX-TIM-TP message on port UART1
+const uint32_t CFG_MSGOUT_UBX_TIM_TP_UART2 = 0x2091017f;			// Output rate of the UBX-TIM-TP message on port UART2
+const uint32_t CFG_MSGOUT_UBX_TIM_TP_USB = 0x20910180;				// Output rate of the UBX-TIM-TP message on port USB
+const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_I2C = 0x20910092;			// Output rate of the UBX-TIM-VRFY message on port I2C
+const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_SPI = 0x20910096;			// Output rate of the UBX-TIM-VRFY message on port SPI
+const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_UART1 = 0x20910093;			// Output rate of the UBX-TIM-VRFY message on port UART1
+const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_UART2 = 0x20910094;		// Output rate of the UBX-TIM-VRFY message on port UART2
+const uint32_t CFG_MSGOUT_UBX_TIM_VRFY_USB = 0x20910095;		// Output rate of the UBX-TIM-VRFY message on port USB
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+#endif
\ No newline at end of file
diff --git a/serial/serial.go b/serial/serial.go
new file mode 100644
index 0000000..3e068ab
--- /dev/null
+++ b/serial/serial.go
@@ -0,0 +1,41 @@
+package main
+
+import (
+	"bufio"
+	"log"
+	"strings"
+
+	"go.bug.st/serial"
+)
+
+func main() {
+	mode := &serial.Mode{
+		BaudRate: 115200,
+	}
+	port, err := serial.Open("/dev/tty.usbmodem14201", mode)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	//n, err := s.Write([]byte("test"))
+	//if err != nil {
+	//	log.Fatal(err)
+	//}
+	r := bufio.NewScanner(port)
+
+	for {
+		//buf := make([]byte, 256)
+		r.Scan()
+		res := r.Text()
+		if err != nil {
+			log.Fatal(err)
+		}
+		if strings.HasPrefix(res, "$G") {
+			log.Println(res)
+		}
+		//if string(buf[0:1]) == "$" {
+		//	log.Printf("%v byte || %q", n, buf[:n])
+		//	continue
+		//}
+	}
+}
\ No newline at end of file
diff --git a/server.go b/server.go
index 5744ee5..3452af2 100644
--- a/server.go
+++ b/server.go
@@ -115,7 +115,7 @@ func handleRequest(conn net.Conn, d *dispatcher.Dispatcher) {
 		}
 		json := buf
 		json = pretty.Pretty(json)
-		//fmt.Println(string(json))
+		fmt.Println(string(json))
 		d.Publish(string(json))
 		// Send a response back to person contacting us.
 		// conn.Write([]byte("You stepped into my honey pot. I'll find you! "))