diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml
new file mode 100644
index 0000000000..063d4bc866
--- /dev/null
+++ b/conf/modules/gps_ubx_ucenter.xml
@@ -0,0 +1,29 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+
+	Automatically configure any Ublox GPS for paparazzi
+
+	-configures all the messages, and the rates
+	-automatic baudrate detection
+
+	Warning: you still need to tell the driver 
+	a) which paparazzi uart you use
+	b) inside the ublox gps there are also many ports. the tiny/ppzgps use ublox_internal_port1 but if for instance you use a LS-SAM or I2C device you need to configure:
+
+	<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
+
+-->
+
+<module name="gps_ubx" dir="gps">
+  <header>
+    <file name="gps_ubx_ucenter.h"/>
+  </header>
+  <init fun="gps_ubx_ucenter_init()"/>
+  <periodic fun="gps_ubx_ucenter_periodic()" start="gps_ubx_ucenter_init()" freq="4." autorun="TRUE"/>
+  <makefile target="ap">
+    <define name="GPS_UBX_UCENTER" value="\\\"modules/gps/gps_ubx_ucenter.c\\\"" />
+  </makefile>
+</module>
+
+
diff --git a/conf/settings/gps_ubx_ucenter.xml b/conf/settings/gps_ubx_ucenter.xml
new file mode 100644
index 0000000000..24811abbf7
--- /dev/null
+++ b/conf/settings/gps_ubx_ucenter.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings NAME="ublox">
+
+    <dl_settings name="ucenter">
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_h" shortname="sw_h"/>
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_l" shortname="sw_l"/>
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_h" shortname="hw_h"/>
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_l" shortname="hw_l"/>
+      <dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_init" shortname="inibaud"/>
+      <dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_run" shortname="baud"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/ubx.xml b/conf/ubx.xml
index cb8b5d572b..ddc9f1850e 100644
--- a/conf/ubx.xml
+++ b/conf/ubx.xml
@@ -205,4 +205,17 @@
 
  </class>
 
+ <class name="MON" ID="0x0A">
+
+  <message name="GET_VER" ID="0x04" length="0">
+  </message>
+
+  <message name="VER" ID="0x04">
+    <block length="1">
+      <field name="c" format="U1"/>
+    </block>
+  </message>
+
+ </class>
+
 </ubx>
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
index 40cd39250b..f44264a428 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
+++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
@@ -33,6 +33,7 @@
 
 #define B1200         UART_BAUD(1200)
 #define B2400         UART_BAUD(2400)
+#define B4800         UART_BAUD(4800)
 #define B9600         UART_BAUD(9600)
 #define B19200        UART_BAUD(19200)
 #define B38400        UART_BAUD(38400)
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
index 71191f04ba..45ff4afc4c 100644
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -31,6 +31,7 @@
 
 #include "std.h"
 
+#define B4800     4800
 #define B9600     9600
 #define B38400   38400
 #define B57600   57600
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 2b4dca044d..89c1e9c589 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -581,12 +581,6 @@ void init_ap( void ) {
   /** wait 0.5s (historical :-) */
   sys_time_usleep(500000);
 
-#ifdef GPS_CONFIGURE
-#ifndef SITL
-  gps_configure_uart();
-#endif
-#endif
-
 #if defined DATALINK
 
 #if DATALINK == XBEE
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index f7c6e4f788..d9ebf3b32b 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -92,7 +92,7 @@ extern void uart0_init(void);
 #define UART0ChAvailable    Uart0ChAvailable
 #define UART0Getch          Uart0Getch
 #define UART0TxRunning      Uart0TxRunning
-#define UART0InitParam      Uart0InitParam
+#define UART0SetBaudrate    Uart0SetBaudrate
 
 #endif // USE_UART0
 
@@ -117,7 +117,7 @@ extern void uart1_init(void);
 #define UART1ChAvailable    Uart1ChAvailable
 #define UART1Getch          Uart1Getch
 #define UART1TxRunning      Uart1TxRunning
-#define UART1InitParam      Uart1InitParam
+#define UART1SetBaudrate    Uart1SetBaudrate
 
 #endif // USE_UART1
 
@@ -142,7 +142,7 @@ extern void uart2_init(void);
 #define UART2ChAvailable    Uart2ChAvailable
 #define UART2Getch          Uart2Getch
 #define UART2TxRunning      Uart2TxRunning
-#define UART2InitParam      Uart2InitParam
+#define UART2SetBaudrate    Uart2SetBaudrate
 
 #endif // USE_UART2
 
@@ -167,7 +167,7 @@ extern void uart3_init(void);
 #define UART3ChAvailable    Uart3ChAvailable
 #define UART3Getch          Uart3Getch
 #define UART3TxRunning      Uart3TxRunning
-#define UART3InitParam      Uart3InitParam
+#define UART3SetBaudrate    Uart3SetBaudrate
 
 #endif // USE_UART3
 
@@ -192,7 +192,7 @@ extern void uart5_init(void);
 #define UART5ChAvailable    Uart5ChAvailable
 #define UART5Getch          Uart5Getch
 #define UART5TxRunning      Uart5TxRunning
-#define UART5InitParam      Uart5InitParam
+#define UART5SetBaudrate    Uart5SetBaudrate
 
 #endif // USE_UART5
 
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
new file mode 100644
index 0000000000..7abe6112bb
--- /dev/null
+++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -0,0 +1,410 @@
+/*
+ * Copyright (C) 2008-2011 The Paparazzi Team
+ *
+ * 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.
+ *
+ * Initial author: C. De Wagter
+ */
+
+#include "gps_ubx_ucenter.h"
+
+//////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////
+//
+// UCENTER: init, periodic and event
+
+static bool_t gps_ubx_ucenter_autobaud(uint8_t nr);
+static bool_t gps_ubx_ucenter_configure(uint8_t nr);
+
+#define GPS_UBX_UCENTER_STATUS_STOPPED    0
+#define GPS_UBX_UCENTER_STATUS_AUTOBAUD   1
+#define GPS_UBX_UCENTER_STATUS_CONFIG     2
+
+#define GPS_UBX_UCENTER_REPLY_NONE        0
+#define GPS_UBX_UCENTER_REPLY_ACK         1
+#define GPS_UBX_UCENTER_REPLY_NACK        2
+#define GPS_UBX_UCENTER_REPLY_VERSION     3
+
+// All U-Center data
+struct gps_ubx_ucenter_struct gps_ubx_ucenter;
+
+
+/////////////////////////////
+// Init Function
+
+void gps_ubx_ucenter_init(void)
+{
+  // Start UCenter
+  gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_AUTOBAUD;
+  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+  gps_ubx_ucenter.cnt = 0;
+
+  gps_ubx_ucenter.baud_init = 0;
+  gps_ubx_ucenter.baud_run = 0;
+
+  gps_ubx_ucenter.sw_ver_h = 0;
+  gps_ubx_ucenter.sw_ver_l = 0;
+  gps_ubx_ucenter.hw_ver_h = 0;
+  gps_ubx_ucenter.hw_ver_l = 0;
+
+  for (int i=0; i<GPS_UBX_UCENTER_CONFIG_STEPS; i++)
+  {
+    gps_ubx_ucenter.replies[i] = 0;
+  }
+}
+
+
+/////////////////////////////
+// Periodic Function
+// -time-based configuration
+
+void gps_ubx_ucenter_periodic(void)
+{
+  switch (gps_ubx_ucenter.status)
+  {
+    // Save processing time inflight
+    case GPS_UBX_UCENTER_STATUS_STOPPED:
+      return;
+    // Automatically Determine Current Baudrate
+    case GPS_UBX_UCENTER_STATUS_AUTOBAUD:
+      if (gps_ubx_ucenter_autobaud(gps_ubx_ucenter.cnt) == FALSE)
+      {
+        gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG;
+        gps_ubx_ucenter.cnt = 0;
+      }
+      else
+      {
+        gps_ubx_ucenter.cnt++;
+      }
+      break;
+    // Send Configuration
+    case GPS_UBX_UCENTER_STATUS_CONFIG:
+      if (gps_ubx_ucenter_configure(gps_ubx_ucenter.cnt) == FALSE)
+      {
+        gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_STOPPED;
+        gps_ubx_ucenter.cnt = 0;
+      }
+      else
+      {
+        gps_ubx_ucenter.cnt++;
+      }
+      break;
+    default:
+      // stop this module now...
+      // todo
+      break;
+  }
+}
+
+/////////////////////////////
+// Event Function
+// -fetch replies: ACK and VERSION info
+
+void gps_ubx_ucenter_event(void)
+{
+  // Save processing time inflight
+  if (gps_ubx_ucenter.status == GPS_UBX_UCENTER_STATUS_STOPPED)
+    return;
+
+  // Read Configuration Reply's
+  if (gps_ubx.msg_class == UBX_ACK_ID) {
+    if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
+      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_ACK;
+    }
+    else
+    {
+      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NACK;
+    }
+  }
+  // Version info
+  else if (gps_ubx.msg_class == UBX_MON_ID) {
+    if (gps_ubx.msg_id == UBX_MON_VER_ID ) {
+      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_VERSION;
+      gps_ubx_ucenter.sw_ver_h = UBX_MON_VER_c(gps_ubx.msg_buf,0) - '0';
+      gps_ubx_ucenter.sw_ver_l = 10*(UBX_MON_VER_c(gps_ubx.msg_buf,2) - '0');
+      gps_ubx_ucenter.sw_ver_l += UBX_MON_VER_c(gps_ubx.msg_buf,3) - '0';
+      gps_ubx_ucenter.hw_ver_h = UBX_MON_VER_c(gps_ubx.msg_buf,33) - '0';
+      gps_ubx_ucenter.hw_ver_h += 10*(UBX_MON_VER_c(gps_ubx.msg_buf,32) - '0');
+      gps_ubx_ucenter.hw_ver_l = UBX_MON_VER_c(gps_ubx.msg_buf,37) - '0';
+      gps_ubx_ucenter.hw_ver_l += 10*(UBX_MON_VER_c(gps_ubx.msg_buf,36) - '0');
+    }
+  }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////
+//
+// UCENTER Configuration Functions
+
+
+static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
+{
+  switch (nr)
+  {
+  case 0:
+  case 1:
+    // Very important for some modules:
+    // Give the GPS some time to boot (up to 0.75 second)
+    break;
+  case 2:
+    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+    GpsUartSetBaudrate(B38400); // Try the most common first?
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
+    break;
+  case 3:
+    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
+    {
+      gps_ubx_ucenter.baud_init = 38400;
+      return FALSE;
+    }
+    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+    GpsUartSetBaudrate(B9600); // Maybe the factory default?
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
+    break;
+  case 4:
+    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
+    {
+      gps_ubx_ucenter.baud_init = 9600;
+      return FALSE;
+    }
+    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+    GpsUartSetBaudrate(B57600); // The high-rate default?
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
+    break;
+  case 5:
+    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
+    {
+      gps_ubx_ucenter.baud_init = 57600;
+      return FALSE;
+     }
+    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+    GpsUartSetBaudrate(B4800); // Default NMEA baudrate finally?
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
+    break;
+  case 6:
+    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
+    {
+      gps_ubx_ucenter.baud_init = 4800;
+      return FALSE;
+     }
+
+    // Autoconfig Failed... let's setup the failsafe baudrate
+    // Should we try even a different baudrate?
+    gps_ubx_ucenter.baud_init = 0;
+    GpsUartSetBaudrate(B9600);
+    return FALSE;
+  default:
+    break;
+  }
+  return TRUE;
+}
+
+/////////////////////////////////////
+// UBlox internal Navigation Solution
+
+#define NAV_DYN_STATIONARY  1
+#define NAV_DYN_PEDESTRIAN  2
+#define NAV_DYN_AUTOMOTIVE  3
+#define NAV_DYN_SEA         4
+#define NAV_DYN_AIRBORNE_1G 5
+#define NAV_DYN_AIRBORNE_2G 6
+#define NAV_DYN_AIRBORNE_4G 7
+
+#define NAV5_DYN_PORTABLE    0
+#define NAV5_DYN_FIXED       1
+#define NAV5_DYN_STATIONARY  2
+#define NAV5_DYN_PEDESTRIAN  3
+#define NAV5_DYN_AUTOMOTIVE  4
+#define NAV5_DYN_SEA         5
+#define NAV5_DYN_AIRBORNE_1G 6
+#define NAV5_DYN_AIRBORNE_2G 7
+#define NAV5_DYN_AIRBORNE_4G 8
+
+#define NAV5_2D_ONLY 1
+#define NAV5_3D_ONLY 2
+#define NAV5_AUTO    3
+
+#define IGNORED 0
+#define RESERVED 0
+
+static inline void gps_ubx_ucenter_config_nav(void)
+{
+    //New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available
+    if (gps_ubx_ucenter.sw_ver_h < 5)
+    {
+      UbxSend_CFG_NAV(NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C, 0x3C, 0x14, 0x03E8 ,0x0000, 0x0, 0x17, 0x00FA, 0x00FA, 0x0064, 0x012C, 0x000F, 0x00, 0x00);
+    }
+    else
+    {
+      UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
+    }
+}
+
+
+
+/////////////////////////////////////
+// UBlox port and protocol GPS configuration
+
+#define UBX_PROTO_MASK  0x0001
+#define NMEA_PROTO_MASK 0x0002
+#define RTCM_PROTO_MASK 0x0004
+
+#define GPS_PORT_DDC   0x00
+#define GPS_PORT_UART1 0x01
+#define GPS_PORT_UART2 0x02
+#define GPS_PORT_USB   0x03
+#define GPS_PORT_SPI   0x04
+
+#ifndef GPS_PORT_ID
+#define GPS_PORT_ID GPS_PORT_UART1
+#endif
+
+#define __UBX_GPS_BAUD(_u) _u##_BAUD
+#define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
+#define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)
+
+static inline void gps_ubx_ucenter_config_port(void)
+{
+ // I2C Interface
+  #if GPS_PORT_ID == GPS_PORT_DDC
+    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+  #endif
+  // UART Interface
+  #if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
+    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+  #endif
+}
+
+#define GPS_SBAS_ENABLED       0x01
+
+#define GPS_SBAS_RANGING       0x01
+#define GPS_SBAS_CORRECTIONS   0x02
+#define GPS_SBAS_INTEGRITY     0x04
+
+static inline void gps_ubx_ucenter_config_sbas(void)
+{
+  // Since March 2nd 2011 EGNOS is released for aviation purposes
+  const uint8_t nrofsat = 1;
+  UbxSend_CFG_SBAS(GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, nrofsat, 0x00, 0x00);
+  //UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
+}
+
+static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t rate)
+{
+  #if GPS_PORT_ID == GPS_PORT_UART1
+    UbxSend_CFG_MSG(class, id, 0, rate, 0, 0);
+  #endif
+  #if GPS_PORT_ID == GPS_PORT_UART2
+    UbxSend_CFG_MSG(class, id, 0, 0, rate, 0);
+  #endif
+  #if GPS_PORT_ID == GPS_PORT_DDC
+    UbxSend_CFG_MSG(class, id, rate, 0, 0, 0);
+  #endif
+}
+
+
+// Text Telemetry for Debugging
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+#undef GOT_PAYLOAD
+#include "downlink.h"
+
+static bool_t gps_ubx_ucenter_configure(uint8_t nr) 
+{
+  // Store the reply of the last configuration step and reset
+  if (nr < GPS_UBX_UCENTER_CONFIG_STEPS)
+    gps_ubx_ucenter.replies[nr] = gps_ubx_ucenter.reply;
+  
+  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+  
+  switch (nr) {
+  case 0:
+    UbxSend_MON_GET_VER();
+    break;
+  case 1:
+  case 2:
+  case 3:
+  case 4:
+    // UBX_G5010 takes 0.7 seconds to answer a firmware request
+    // Version info is important for porper configuration as different firmwares have different settings
+    break;
+  case 5:
+    // Send some debugging info: detected baudrate, software version etc...
+    gps_ubx_ucenter.replies[0] = (gps_ubx_ucenter.baud_init/1000);
+    gps_ubx_ucenter.replies[1] = (gps_ubx_ucenter.baud_init - 1000 * gps_ubx_ucenter.replies[0]) / 100;
+    gps_ubx_ucenter.replies[2] = gps_ubx_ucenter.sw_ver_h;
+    gps_ubx_ucenter.replies[3] = gps_ubx_ucenter.sw_ver_l;
+    gps_ubx_ucenter.replies[4] = gps_ubx_ucenter.hw_ver_h;
+    gps_ubx_ucenter.replies[5] = gps_ubx_ucenter.hw_ver_l;
+    DOWNLINK_SEND_DEBUG(DefaultChannel,6,gps_ubx_ucenter.replies);
+
+    //////////////////////////////////
+    // Actual configuration start   
+
+    // Use old baudrate to issue a baudrate change command
+    gps_ubx_ucenter_config_port();
+    break;
+  case 6:
+    // Now the GPS baudrate should have changed
+    GpsUartSetBaudrate(B38400);
+    gps_ubx_ucenter.baud_run = 38400;
+    gps_ubx_ucenter_config_nav();
+    break;
+  case 7:
+    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSLLH_ID,1);
+    break;
+  case 8:
+    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
+    break;
+  case 9:
+    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_STATUS_ID, 1);
+    break;
+  case 10:
+    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4);
+    break;
+  case 11:
+    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 8);
+    break;
+  case 12:
+    // Disable UTM on old Lea4P
+    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0);
+    break;
+  case 13:
+    gps_ubx_ucenter_config_sbas();
+    break;
+  case 14:
+    UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
+    break;
+  case 15:
+    // Try to save on non-ROM devices...
+    UbxSend_CFG_CFG(0x00000000,0xffffffff,0x00000000);
+    break;
+  case 16:
+    // Debug Downlink the result of all configuration steps: see messages
+    DOWNLINK_SEND_DEBUG(DefaultChannel,GPS_UBX_UCENTER_CONFIG_STEPS,gps_ubx_ucenter.replies);
+    return FALSE;
+  default:
+    break;
+  }
+  return TRUE; // Continue, except for the last case
+}
+
+
+
+
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h
new file mode 100644
index 0000000000..50f4300afc
--- /dev/null
+++ b/sw/airborne/modules/gps/gps_ubx_ucenter.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2008-2011 The Paparazzi Team
+ *
+ * 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_ucenter_onboard.h
+ * @brief Configure Ublox GPS
+ *
+ */
+
+#ifndef GPS_UBX_UCENTER_H
+#define GPS_UBX_UCENTER_H
+
+/** U-Center Variables */
+#define GPS_UBX_UCENTER_CONFIG_STEPS	  17
+
+struct gps_ubx_ucenter_struct 
+{
+  uint8_t status;
+  uint8_t reply;
+  uint8_t cnt;
+
+  uint16_t baud_init;
+  uint16_t baud_run;
+
+  uint8_t sw_ver_h;
+  uint8_t sw_ver_l;
+
+  uint16_t hw_ver_h;
+  uint16_t hw_ver_l;
+
+  char replies[GPS_UBX_UCENTER_CONFIG_STEPS];
+};
+
+extern struct gps_ubx_ucenter_struct gps_ubx_ucenter;
+
+extern void gps_ubx_ucenter_init(void);
+extern void gps_ubx_ucenter_periodic(void);
+extern void gps_ubx_ucenter_event(void);
+
+#endif
+
+
diff --git a/sw/airborne/modules/gps_i2c/runtime_configure.h b/sw/airborne/modules/gps_i2c/runtime_configure.h
deleted file mode 100644
index 8041a888d6..0000000000
--- a/sw/airborne/modules/gps_i2c/runtime_configure.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#define IGNORED 0
-#define RESERVED 0
-
-static bool_t user_gps_configure(bool_t cpt) {
-  switch (cpt) {
-  case 0:
-    /* mask: we set only fixMode and dyn */
-    UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
-    break;
-  case 1:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSLLH_ID, 1, 0, 0, 0);
-    break;
-  case 2:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1, 0, 0, 0);
-    break;
-  case 3:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4, 0, 0, 0);
-    break;
-  case 4:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 8, 0, 0, 0);
-    break;
-  case 5:
-    UbxSend_CFG_RATE(250 /*ms*/, 0x0001, 0x0000);
-    return FALSE;
-  }
-  return TRUE; /* Continue, except for the last case */
-}
diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c
index bf05c01b4e..002263bfb0 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.c
+++ b/sw/airborne/subsystems/gps/gps_ubx.c
@@ -53,7 +53,7 @@
 
 
 #define GpsUartSend1(c) GpsLink(Transmit(c))
-#define GpsUartInitParam(_a,_b,_c) GpsLink(InitParam(_a,_b,_c))
+#define GpsUartSetBaudrate(_a) GpsLink(SetBaudrate(_a))
 #define GpsUartRunning GpsLink(TxRunning)
 #define GpsUartSendMessage GpsLink(SendMessage)
 
@@ -79,20 +79,11 @@
 
 struct GpsUbx gps_ubx;
 
-#ifdef GPS_CONFIGURE
-bool_t gps_configuring;
-static uint8_t gps_status_config;
-#endif
-
 void gps_impl_init(void) {
    gps_ubx.status = UNINIT;
    gps_ubx.msg_available = FALSE;
    gps_ubx.error_cnt = 0;
    gps_ubx.error_last = GPS_UBX_ERR_NONE;
-#ifdef GPS_CONFIGURE
-   gps_status_config = 0;
-   gps_configuring = TRUE;
-#endif
    gps_ubx.have_velned = 0;
 }
 
@@ -276,116 +267,10 @@ void gps_ubx_parse( uint8_t c ) {
   return;
 }
 
-
-
-/*
- *
- *
- * GPS dynamic configuration
- *
- *
- */
-#ifdef GPS_CONFIGURE
-
-#define UBX_PROTO_MASK  0x0001
-#define NMEA_PROTO_MASK 0x0002
-#define RTCM_PROTO_MASK 0x0004
-
-#define GPS_PORT_DDC   0x00
-#define GPS_PORT_UART1 0x01
-#define GPS_PORT_UART2 0x02
-#define GPS_PORT_USB   0x03
-#define GPS_PORT_SPI   0x04
-
-#ifndef GPS_PORT_ID
-#define GPS_PORT_ID GPS_PORT_UART1
+#ifdef GPS_UBX_UCENTER
+#include GPS_UBX_UCENTER
 #endif
 
-#define __UBX_GPS_BAUD(_u) _u##_BAUD
-#define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
-#define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)
-
-/* Configure the GPS baud rate using the current uart baud rate. Busy
-   wait for the end of the transmit. Then, BEFORE waiting for the ACK,
-   change the uart rate. */
-#if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
-void gps_configure_uart(void) {
-#ifdef FMS_PERIODIC_FREQ
-  UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
-  uint8_t loop=0;
-  while (GpsUartRunning) {
-    //doesn't work unless some printfs are used, so :
-    if (loop<9) {
-      printf("."); loop++;
-    } else {
-      printf("\b"); loop--;
-    }
-  }
-#else
-  UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UBX_GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
-  while (GpsUartRunning); /* FIXME */
-#endif
-
-  GpsUartInitParam(UBX_GPS_BAUD,  UART_8N1, UART_FIFO_8);
-}
-#endif
-
-#if GPS_PORT_ID == GPS_PORT_DDC
-void gps_configure_uart(void) {
-  UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
-}
-#endif
-
-#define IGNORED 0
-#define RESERVED 0
-
-#ifdef USER_GPS_CONFIGURE
-#include USER_GPS_CONFIGURE
-#else
-static bool_t user_gps_configure(bool_t cpt) {
-  switch (cpt) {
-  case 0:
-    //New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available
-    //UbxSend_CFG_NAV(NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C, 0x3C, 0x14, 0x03E8 ,0x0000, 0x0, 0x17, 0x00FA, 0x00FA, 0x0064, 0x012C, 0x000F, 0x00, 0x00);
-    UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
-    break;
-  case 1:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0, 1, 0, 0);
-    break;
-  case 2:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
-    break;
-  case 3:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_STATUS_ID, 0, 1, 0, 0);
-    break;
-  case 4:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 0, 4, 0, 0);
-    break;
-  case 5:
-    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 0, 8, 0, 0);
-    break;
-  case 6:
-    UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
-    break;
-  case 7:
-    UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
-    return FALSE;
-  }
-  return TRUE; /* Continue, except for the last case */
-}
-#endif // ! USER_GPS_CONFIGURE
-
-/* GPS configuration. Must be called on ack message reception while
-   gps_status_config < GPS_CONFIG_DONE */
-void gps_configure( void ) {
-  if (gps_ubx.msg_class == UBX_ACK_ID) {
-    if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
-      gps_status_config++;
-    }
-  }
-  gps_configuring = user_gps_configure(gps_status_config);
-}
-#endif /* GPS_CONFIGURE */
 
 void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
 #ifdef GPS_LINK
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
index 14e84e4411..beee372bc0 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.h
+++ b/sw/airborne/subsystems/gps/gps_ubx.h
@@ -27,6 +27,10 @@
 #ifndef GPS_UBX_H
 #define GPS_UBX_H
 
+#ifdef GPS_CONFIGURE
+#warning "Please use gps_ubx_ucenter.xml module instead of GPS_CONFIGURE"
+#endif
+
 #include "mcu_periph/uart.h"
 
 /** Includes macros generated from ubx.xml */
@@ -66,18 +70,11 @@ extern struct GpsUbx gps_ubx;
 
 #define GpsBuffer() GpsLink(ChAvailable())
 
-#ifdef GPS_CONFIGURE
-extern bool_t gps_configuring;
-#define GpsParseOrConfigure() {     \
-    if (gps_configuring)            \
-      gps_configure();              \
-    else                            \
-      gps_ubx_read_message();       \
-  }
-#else
-#define GpsParseOrConfigure() gps_ubx_read_message()
+#ifndef GPS_UBX_UCENTER
+#define gps_ubx_ucenter_event() {}
 #endif
 
+
 /* Gps callback is called when receiving a VELNED or a SOL message
  * All position/speed messages are sent in one shot and VELNED is the last one on fixedwing
  * For rotorcraft, only SOL message is needed for pos/speed data
@@ -87,7 +84,8 @@ extern bool_t gps_configuring;
       ReadGpsBuffer();                             \
     }                                              \
     if (gps_ubx.msg_available) {                   \
-      GpsParseOrConfigure();                       \
+      gps_ubx_read_message();                      \
+      gps_ubx_ucenter_event();                     \
       if (gps_ubx.msg_class == UBX_NAV_ID &&       \
           (gps_ubx.msg_id == UBX_NAV_VELNED_ID ||  \
            (gps_ubx.msg_id == UBX_NAV_SOL_ID &&    \
@@ -133,34 +131,4 @@ extern void ubxsend_cfg_rst(uint16_t, uint8_t);
   }
 
 
-/*
- * dynamic GPS configuration
- */
-#ifdef GPS_CONFIGURE
-#define NAV_DYN_STATIONARY  1
-#define NAV_DYN_PEDESTRIAN  2
-#define NAV_DYN_AUTOMOTIVE  3
-#define NAV_DYN_SEA         4
-#define NAV_DYN_AIRBORNE_1G 5
-#define NAV_DYN_AIRBORNE_2G 6
-#define NAV_DYN_AIRBORNE_4G 7
-
-#define NAV5_DYN_PORTABLE    0
-#define NAV5_DYN_FIXED       1
-#define NAV5_DYN_STATIONARY  2
-#define NAV5_DYN_PEDESTRIAN  3
-#define NAV5_DYN_AUTOMOTIVE  4
-#define NAV5_DYN_SEA         5
-#define NAV5_DYN_AIRBORNE_1G 6
-#define NAV5_DYN_AIRBORNE_2G 7
-#define NAV5_DYN_AIRBORNE_4G 8
-
-#define NAV5_2D_ONLY 1
-#define NAV5_3D_ONLY 2
-#define NAV5_AUTO    3
-
-extern void gps_configure(void);
-extern void gps_configure_uart(void);
-#endif
-
 #endif /* GPS_UBX_H */