diff --git a/sw/airborne/gps_nmea.c b/sw/airborne/gps_nmea.c
new file mode 100644
index 0000000000..4859b13ce0
--- /dev/null
+++ b/sw/airborne/gps_nmea.c
@@ -0,0 +1,503 @@
+/*
+ *  
+ * Copyright (C) 2008 Marcus Wolschon
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/** 
+ * file gps_nmea.c
+ * brief Parser for the NMEA protocol
+ *
+ * This file is a drop-in replacement for gps_ubx.c
+ *
+ * TODO: THIS NMEA-PARSER IS NOT WELL TESTED AND INCOMPLETE!!!
+ * Status:
+ *  Parsing GGA and RMC is complete, GSA and other records are
+ *  incomplete.
+ */
+
+#include <inttypes.h>
+#include <string.h> 
+#include <math.h>
+#ifdef LINUX
+// do debug-output if run on the linux-target
+#include <stdlib.h>
+#endif
+
+
+#include "flight_plan.h"
+#include "uart.h"
+#include "gps.h"
+//include "gps_ubx.h"
+#include "nav.h"
+#include "latlong.h"
+
+
+int32_t  gps_lat;  // latitude in degrees * 1e-7
+int32_t  gps_lon;  // longitude in degrees * 1e-7
+uint16_t gps_PDOP; //precision
+bool_t   gps_pos_available = FALSE;
+
+uint32_t gps_itow;
+int32_t  gps_alt;
+uint16_t gps_gspeed; // in cm/s
+int16_t  gps_climb;
+int16_t  gps_course;
+int32_t  gps_utm_east, gps_utm_north;
+uint8_t  gps_utm_zone;
+uint8_t  gps_mode;
+
+// true if parse_ubx() has a complete message and parse_gps_msg() shall parse it
+volatile bool_t gps_msg_received = FALSE;
+
+uint8_t  ubx_id, ubx_class; // unused
+uint16_t gps_reset;         // unused
+
+uint32_t gps_Pacc, gps_Sacc;
+uint8_t gps_numSV;         // number of satelites in view
+
+struct svinfo gps_svinfos[GPS_NB_CHANNELS];
+uint8_t gps_nb_channels;
+uint8_t gps_nb_ovrn;        // number if incomplete nmea-messages
+
+
+
+
+
+////////////////////////////////////////////////////////
+//       uart-configuration
+
+void gps_init( void ) {
+#ifdef GPS_CONFIGURE
+  gps_status_config = GPS_CONFIG_INIT;
+#endif
+}
+
+void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
+}
+
+
+#ifdef GPS_CONFIGURE
+/* GPS dynamic configuration */
+
+#include "uart.h"
+
+void gps_configure_uart ( void ) {
+  //UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);  
+  //while (GpsUartRunning) ; /* FIXME */
+  GpsUartInitParam( UART_BAUD(GPS_BAUD),  UART_8N1, UART_FIFO_8);
+}
+
+void gps_configure ( void ) {
+}
+#endif /* GPS_CONFIGURE */
+
+////////////////////////////////////////////////////////
+//       nmea-parser
+
+
+/**
+ * The buffer, we store one nmea-line in
+ * for parsing.
+ */
+#define NMEA_MAXLEN 255
+char nmea_msg_buf[NMEA_MAXLEN];
+int  nmea_msg_len = 0;
+
+int GpsFixValid() {
+   return gps_pos_available;
+} 
+
+/**
+ * parse GPGSA-nmea-messages stored in
+ * nmea_msg_buf .
+ */
+void parse_nmea_GPGSA() {
+      int i = 8;     // current position in the message
+      char* endptr;  // end of parsed substrings
+
+      // attempt to reject empty packets right away
+      if(nmea_msg_buf[i]==',' && nmea_msg_buf[i+1]==',') {
+#ifdef LINUX
+            printf("parse_nmea_GPGSA() - skipping empty message\n");
+#endif
+            return;
+      }
+
+      // get auto2D/3D
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: fix
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGSA() - skipping incomplete message\n");
+#endif
+           return;
+         }
+     }
+
+      // get 2D/3D-fix
+      // set gps_mode=3=3d, 2=2d, 1=no fix or 0
+      gps_mode = atoi(&nmea_msg_buf[i]);
+      if (gps_mode == 1)
+         gps_mode = 0;
+#ifdef LINUX
+      printf("parse_nmea_GPGSA() - gps_mode=%i (3=3D)\n", gps_mode);
+#endif
+      while(nmea_msg_buf[i++] != ',') {              // next field:sateline-number-0
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGSA() - skipping incomplete message\n");
+#endif
+           return;
+          }
+     }
+
+      int satcount = 0;
+
+      // TODO: get sateline-numbers for gps_svinfos
+}
+
+/**
+ * parse GPRMC-nmea-messages stored in
+ * nmea_msg_buf .
+ */
+void parse_nmea_GPRMC() {
+      int i = 8;     // current position in the message
+      char* endptr;  // end of parsed substrings
+
+      // attempt to reject empty packets right away
+      if(nmea_msg_buf[i]==',' && nmea_msg_buf[i+1]==',') {
+#ifdef LINUX
+            printf("parse_nmea_GPRMC() - skipping empty message\n");
+#endif
+           return;
+      }
+
+      // get time
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: warning
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+
+      // get warning
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: lat
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+      // get lat
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: N/S
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+      // get North/South
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: lon
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+      // get lon
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: E/W
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+      // get eath/west
+      // ignored
+      while(nmea_msg_buf[i++] != ',') {              // next field: speed
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+      // get speed
+      double speed = strtod(&nmea_msg_buf[i], &endptr);
+      gps_gspeed = speed * 1.852 * 100 / (60*60);
+#ifdef LINUX
+      printf("parse_nmea_GPRMC() - ground-speed=%f knot = %i cm/s\n", speed, gps_gspeed);
+#endif
+      while(nmea_msg_buf[i++] != ',') {              // next field: speed
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPRMC() - skipping incomplete message\n");
+#endif
+           return;
+	   }
+     }
+
+
+}
+
+
+/**
+ * parse GPGGA-nmea-messages stored in
+ * nmea_msg_buf .
+ */
+void parse_nmea_GPGGA() {
+      int i = 8;     // current position in the message
+      char* endptr;  // end of parsed substrings
+      double degrees, minutesfrac;
+
+      // attempt to reject empty packets right away
+      if(nmea_msg_buf[i]==',' && nmea_msg_buf[i+1]==',') {
+#ifdef LINUX
+            printf("parse_nmea_GPGGA() - skipping empty message\n");
+#endif 
+            return;
+      }
+
+      // get UTC time [hhmmss.sss]
+      // ignored GpsInfo.PosLLA.TimeOfFix.f = strtod(&packet[i], &endptr);
+      while(nmea_msg_buf[i++] != ',') {              // next field: latitude
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGGA() - skipping incomplete message\n");
+#endif 
+	   return;
+         }
+      }
+
+      // get latitude [ddmm.mmmmm]
+      double lat = strtod(&nmea_msg_buf[i], &endptr);
+      // convert to pure degrees [dd.dddd] format
+      minutesfrac = modf(lat/100, &degrees);
+      lat = degrees + (minutesfrac*100)/60;
+      // convert to radians
+      //GpsInfo.PosLLA.lat.f *= (M_PI/180);
+      while(nmea_msg_buf[i++] != ',') {              // next field: N/S indicator
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGGA() - skipping incomplete message\n");
+#endif 
+	   return;
+	 }
+      }
+     
+      // correct latitute for N/S
+      if(nmea_msg_buf[i] == 'S')
+         lat = -lat;
+      while(nmea_msg_buf[i++] != ',') {              // next field: longitude
+         if (i >= nmea_msg_len)
+	   return;
+      }
+
+      gps_lat = lat * 1e7; // convert to fixed-point
+#ifdef LINUX
+      printf("parse_nmea_GPGGA() - lat=%f gps_lat=%i\n", lat, gps_lat);
+#endif 
+     
+      // get longitude [ddmm.mmmmm]
+      double lon = strtod(&nmea_msg_buf[i], &endptr);
+      // convert to pure degrees [dd.dddd] format
+      minutesfrac = modf(lon/100, &degrees);
+      lon = degrees + (minutesfrac*100)/60;
+      // convert to radians
+      //GpsInfo.PosLLA.lon.f *= (M_PI/180);
+      while(nmea_msg_buf[i++] != ',') {              // next field: E/W indicator
+         if (i >= nmea_msg_len)
+	   return;
+      }
+ 
+      // correct latitute for E/W
+      if(nmea_msg_buf[i] == 'W')
+         lon = -lon;
+      while(nmea_msg_buf[i++] != ',') {              // next field: position fix status
+         if (i >= nmea_msg_len)
+	   return;
+      }
+ 
+      gps_lon = lon * 1e7; // convert to fixed-point
+#ifdef LINUX
+      printf("parse_nmea_GPGGA() - lon=%f gps_lon=%i\n", lon, gps_lon);
+#endif 
+
+      latlong_utm_of(RadOfDeg(lat), RadOfDeg(lon), nav_utm_zone0);
+
+      gps_utm_east = latlong_utm_x * 100;
+      gps_utm_north = latlong_utm_y * 100;
+      gps_utm_zone = nav_utm_zone0;
+
+
+      // position fix status
+      // 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
+      // check for good position fix
+      if( (nmea_msg_buf[i] != '0') && (nmea_msg_buf[i] != ',') )  {
+        gps_pos_available = TRUE;
+#ifdef LINUX
+        printf("parse_nmea_GPGGA() - gps_pos_available == true\n");
+#endif 
+      } else {
+        gps_pos_available = FALSE;
+#ifdef LINUX
+        printf("parse_nmea_GPGGA() - gps_pos_available == false\n");
+#endif 
+      }
+      while(nmea_msg_buf[i++] != ',') {              // next field: satellites used
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGGA() - skipping incomplete message\n");
+#endif 
+	   return;
+	 }
+      }
+     
+      // get number of satellites used in GPS solution
+      gps_numSV = atoi(&nmea_msg_buf[i]);
+#ifdef LINUX
+      printf("parse_nmea_GPGGA() - gps_numSatlitesUsed=%i\n", gps_numSV);
+#endif 
+      while(nmea_msg_buf[i++] != ',') {              // next field: HDOP (horizontal dilution of precision)
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGGA() - skipping incomplete message\n");
+#endif 
+	   return;
+	 }
+      }
+      while(nmea_msg_buf[i++] != ',') {              // next field: altitude
+         if (i >= nmea_msg_len) {
+#ifdef LINUX
+           printf("parse_nmea_GPGGA() - skipping incomplete message\n");
+#endif 
+	   return;
+	 }
+      }
+     
+      // get altitude (in meters)
+      double alt = strtod(&nmea_msg_buf[i], &endptr);
+      gps_alt = alt * 10;
+#ifdef LINUX
+      printf("parse_nmea_GPGGA() - gps_alt=%i\n", gps_alt);
+#endif 
+      while(nmea_msg_buf[i++] != ',') {              // next field: altitude units, always 'M'
+         if (i >= nmea_msg_len)
+	   return;
+      }
+      while(nmea_msg_buf[i++] != ',') {              // next field: geoid seperation
+         if (i >= nmea_msg_len)
+	   return;
+      }
+      while(nmea_msg_buf[i++] != ',') {              // next field: seperation units
+         if (i >= nmea_msg_len)
+	   return;
+      }
+      while(nmea_msg_buf[i++] != ',') {              // next field: DGPS age
+         if (i >= nmea_msg_len)
+	   return;
+      }
+      while(nmea_msg_buf[i++] != ',') {              // next field: DGPS station ID
+         if (i >= nmea_msg_len)
+	   return;
+      }
+      //while(nmea_msg_buf[i++] != '*');              // next field: checksum
+}
+
+/**
+ * parse_ubx() has a complete line.
+ * Find out what type of message it is and
+ * hand it to the parser for that type.
+ */
+void parse_gps_msg( void ) {
+
+      if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPRMC", 6)) {
+         nmea_msg_buf[nmea_msg_len] = 0;
+#ifdef LINUX
+         printf("parse_gps_msg() - parsing RMC gps-message \"%s\"\n",nmea_msg_buf);
+#endif 
+         parse_nmea_GPRMC();
+      } else
+      if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPGGA", 6)) {
+         nmea_msg_buf[nmea_msg_len] = 0;
+#ifdef LINUX
+         printf("parse_gps_msg() - parsing GGA gps-message \"%s\"\n",nmea_msg_buf);
+#endif 
+         parse_nmea_GPGGA();
+      } else
+      if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPGSA", 6)) {
+         nmea_msg_buf[nmea_msg_len] = 0;
+#ifdef LINUX
+         printf("parse_gps_msg() - parsing GSA gps-message \"%s\"\n",nmea_msg_buf);
+#endif 
+         parse_nmea_GPGSA();
+      } else {
+         nmea_msg_buf[nmea_msg_len] = 0;
+#ifdef LINUX
+         printf("parse_gps_msg() - ignoring unknown gps-message \"%s\" len=%i\n",nmea_msg_buf, nmea_msg_len);
+#endif 
+      }
+
+      // reset message-buffer
+      nmea_msg_len = 0;
+}
+
+
+/**
+ * This is the actual parser.
+ * It reads one character at a time
+ * setting gps_msg_received to TRUE
+ * after a full line.
+ */
+void parse_ubx( uint8_t c ) {
+
+  //reject empty lines
+  if (nmea_msg_len == 0) {
+     if (c == '\r' || c == '\n' || c == '$')
+       return;
+  }
+
+  // fill the buffer, unless it's full
+  if (nmea_msg_len < NMEA_MAXLEN - 1) {
+
+      // messages end with a linefeed
+      if (c == '\r' || c == '\n') {
+        gps_msg_received = TRUE;
+      } else {
+        nmea_msg_buf[nmea_msg_len] = c;
+        nmea_msg_len ++;
+      }
+  }
+
+  if (nmea_msg_len >= NMEA_MAXLEN - 1)
+     gps_msg_received = TRUE;
+}