diff --git a/conf/gps/Makefile b/conf/gps/Makefile
new file mode 100644
index 0000000000..22992cc067
--- /dev/null
+++ b/conf/gps/Makefile
@@ -0,0 +1,12 @@
+
+CC=gcc
+MODCFLAGS=-Wall
+
+all:		ublox_conf
+
+clean:	
+	rm -f core *.o ublox_conf
+
+ublox_conf:	ublox_conf.c Makefile
+	$(CC) $(MODCFLAGS) ublox_conf.c -o ublox_conf
+
diff --git a/conf/gps/ublox_conf.c b/conf/gps/ublox_conf.c
new file mode 100644
index 0000000000..e907e3ed9c
--- /dev/null
+++ b/conf/gps/ublox_conf.c
@@ -0,0 +1,406 @@
+/*
+ * Paparazzi ublox gps rx configurator $Id$
+ *  
+ * Copyright (C) 2005 Martin Mueller
+ *
+ * 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. 
+ *
+ */
+ 
+#include <stdio.h>
+#include <unistd.h>
+#include <errno.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+
+
+/* serial port that is used at the ublox gps receiver */
+#define UBLOX_PORT          1
+/* serial speed that is used at the ublox gps receiver at startup */
+#define DEFAULT_BAUDRATE    9600
+/* this is the name of the input configuration text from ublox */
+#define IN_FILE_NAME        "sam_ls_cfg_05_02.txt"
+/* this is where your gps receiver lives on the PC */
+#define OUT_FILE_NAME       "/dev/ttyS0"
+
+
+
+#define SYNC_CHAR_1     0xB5
+#define SYNC_CHAR_2     0x62
+#define BLANK_CHAR      ' '
+#define MINUS_CHAR      '-'
+
+#define NAV             0x01
+#define RXM             0x02
+#define INF             0x04
+#define ACK             0x05
+#define ACK_ACK         0x01
+#define CFG             0x06
+#define CFG_PRT         0x00
+#define CFG_MSG         0x01
+#define CFG_INF         0x02
+#define CFG_DAT         0x06
+#define CFG_TP          0x07
+#define CFG_RATE        0x08
+#define CFG_TM          0x10
+#define CFG_RXM         0x11
+#define CFG_FXN         0x0E
+#define CFG_ANT         0x13
+#define CFG_SBAS        0x16
+#define CFG_NMEA        0x17
+#define UPD             0x09
+#define MON             0x0A
+#define MON_VER         0x04
+#define AID             0x0B
+#define TIM             0x0D
+
+#define ACK_LENGTH      0x0A
+
+struct speed_map
+{
+    speed_t speed;
+    unsigned int speed_value;
+};
+
+static const struct speed_map speeds[] = {
+    {B0, 0},
+    {B50, 50},
+    {B75, 75},
+    {B110, 110},
+    {B134, 134},
+    {B150, 150},
+    {B200, 200},
+    {B300, 300},
+    {B600, 600},
+    {B1200, 1200},
+    {B1800, 1800},
+    {B2400, 2400},
+    {B4800, 4800},
+    {B9600, 9600},
+    {B19200, 19200},
+    {B38400, 38400},
+    {B57600, 57600},
+    {B115200, 115200},
+    {B230400, 230400},
+};
+
+static const int NUM_SPEEDS = (sizeof(speeds) / sizeof(struct speed_map));
+
+static speed_t int_to_baud(unsigned int value)
+{
+    int i;
+
+    for (i = 0; i < NUM_SPEEDS; ++i)
+    {
+        if (value == speeds[i].speed_value)
+        {
+            return speeds[i].speed;
+        }
+    }
+    return (speed_t) - 1;
+}
+
+
+int main (void)
+{
+    char in_file_name[80]  = IN_FILE_NAME;
+    char out_file_name[80] = OUT_FILE_NAME;
+
+    struct termios orig_termios, cur_termios;
+
+    unsigned char data[65536] = { SYNC_CHAR_1, SYNC_CHAR_2 };
+    unsigned char ack_ack[ACK_LENGTH] = { SYNC_CHAR_1, SYNC_CHAR_2, ACK, 
+                                          ACK_ACK, 0x02, 0x00 };
+    unsigned char data_temp;
+
+    FILE *in_file;
+    int serial_fd;
+    int count, i;
+    int br;
+    fd_set read_fd_set;
+    int max_fd;
+    struct timeval select_tv;
+    int baud;
+    int ack_index;
+    int no_ack;
+
+    if ((br = int_to_baud(DEFAULT_BAUDRATE)) < 0 )
+    {
+        printf("invalid baudrate %d\n", DEFAULT_BAUDRATE);
+        return( -1 );
+    }
+
+    if ( (in_file = fopen( in_file_name, "r" )) == NULL )
+    {
+        perror("could not open in file");
+        return( -1 );
+    }
+
+    if ( (serial_fd = open( out_file_name, O_RDWR )) == 0 )
+    {
+        perror("could not open out file");
+        return( -1 );
+    }
+
+    if (tcgetattr(serial_fd, &orig_termios)) 
+    {
+        perror("getting modem serial device attr");
+        return( -1 );
+    }
+
+    cur_termios = orig_termios;
+    
+    /* input modes */
+    cur_termios.c_iflag &= ~(IGNBRK|BRKINT|IGNPAR|PARMRK|INPCK|ISTRIP|INLCR|IGNCR
+                           |ICRNL |IXON|IXANY|IXOFF|IMAXBEL);
+    
+    /* IGNCR does not pass 0x0D */
+    cur_termios.c_iflag |= BRKINT;
+    
+    /* output_flags */
+    cur_termios.c_oflag  &=~(OPOST|ONLCR|OCRNL|ONOCR|ONLRET);
+    
+    /* control modes */
+    cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS);
+    cur_termios.c_cflag |= CREAD|CS8|CLOCAL;
+    
+    /* local modes */
+    cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);
+    cur_termios.c_lflag |= NOFLSH;
+    
+    if (cfsetispeed(&cur_termios, B0))
+    {
+        perror("setting input modem serial device speed");
+        return( -1 );
+    }
+    
+    if (cfsetospeed(&cur_termios, br))
+    {
+        perror("setting modem serial device speed");
+        return( -1 );
+    }
+    
+    if (tcsetattr(serial_fd, TCSADRAIN, &cur_termios))
+    {
+        perror("setting modem serial device attr");
+        return( -1 );
+    }
+  
+    while (!feof(in_file))
+    {
+        /* search for first ' ' character */
+        while( ((data_temp = fgetc(in_file)) != BLANK_CHAR) && 
+               (!feof(in_file)) )
+        {
+            printf("%c", data_temp);
+        }
+
+        /* check for minus sign */
+        if ( (!feof(in_file)) &&
+             (fgetc(in_file) != MINUS_CHAR) )
+        {
+            printf("format error (no minus)\n");
+            return(-1);
+        }
+
+        /* search for second ' ' character */
+        while( (fgetc(in_file) != BLANK_CHAR) && 
+               (!feof(in_file)) ){}
+
+        if (feof(in_file)) break;
+
+        printf(" ");
+
+        /* read message */
+        count = 2;
+        do
+        {
+            data_temp = fgetc(in_file);
+
+            if ( (data_temp <= '9') && (data_temp >= '0') )
+            {
+                data[count] = (data_temp - '0') << 4;
+            }
+            else
+            if ( (data_temp <= 'f') && (data_temp >= 'a') )
+            {
+                data[count] = (data_temp - 'a' + 10) << 4;
+            }
+            else
+            if ( (data_temp <= 'F') && (data_temp >= 'A') )
+            {
+                data[count] = (data_temp - 'A' + 10) << 4;
+            }
+            else
+            {
+                printf("format error (letters a)\n");
+                return(-1);
+            }
+
+            data_temp = fgetc(in_file);
+    
+            if ( (data_temp <= '9') && (data_temp >= '0') )
+            {
+                data[count] += (data_temp - '0');
+            }
+            else
+            if ( (data_temp <= 'f') && (data_temp >= 'a') )
+            {
+                data[count] += (data_temp - 'a' + 10);
+            }
+            else
+            if ( (data_temp <= 'F') && (data_temp >= 'A') )
+            {
+                data[count] += (data_temp - 'A' + 10);
+            }
+            else
+            {
+                printf("format error (letters b)\n");
+                return(-1);
+            }
+            count++;
+        }
+        while( (fgetc(in_file) == BLANK_CHAR) && 
+               (!feof(in_file)) );
+
+        if ( (data[4] + (data[5] << 8) + 4) != count-2)
+        {
+            printf("format error (length)");
+            return(-1);
+        }
+
+        /* calc checksum */
+        data[count]   = 0;
+        data[count+1] = 0;
+
+        for (i=2; i < count; i++)
+        {
+            data[count]   = data[count]   + data[i];
+            data[count+1] = data[count+1] + data[count];
+        }
+        
+        /* send data */
+        write(serial_fd, data, count+2);
+
+        /* did we configure something: check for acknowledge */
+        if (data[2] == CFG)
+        {
+            no_ack = 1;
+            ack_index = 0;
+
+            /* did we change baudrate: change PC as well */
+            if (data[3] == CFG_PRT)
+            {
+                baud = (data[6+8]) +
+                       (data[6+9] << 8) +
+                       (data[6+10] << 16) +
+                       (data[6+11] << 24);
+        
+                if (data[6] == UBLOX_PORT)
+                {
+                    printf("port in use, ");
+
+                    if ((br = int_to_baud(baud)) < 0 )
+                    {
+                        printf("invalid baudrate %d\n", baud);
+                        break;
+                    }
+                    if (cfsetospeed(&cur_termios, br))
+                    {
+                        perror("setting modem serial device speed");
+                        return( -1 );
+                    }
+                    else
+                    {
+                        if (tcsetattr(serial_fd, TCSADRAIN, &cur_termios))
+                        {
+                            perror("setting modem serial device attr");
+                            return( -1 );
+                        }
+                        else
+                        {
+                            printf("baudrate set to %d ", baud);
+                        }
+                    }
+                }
+            }
+    
+            /* calc ACK checksum */
+            ack_ack[6] = data[2];
+            ack_ack[7] = data[3];
+            ack_ack[8] = 0;
+            ack_ack[9] = 0;
+
+            for (i=2; i < ACK_LENGTH-2; i++)
+            {
+                ack_ack[8] = ack_ack[8] + ack_ack[i];
+                ack_ack[9] = ack_ack[9] + ack_ack[8];
+            }
+    
+            /* 900 msec timeout for reply */
+            select_tv.tv_sec = 0;
+            select_tv.tv_usec = 900000; 
+
+            while (no_ack)
+            {
+                /* wait for ACK-ACK */
+                FD_ZERO( &read_fd_set );
+                FD_SET( 0, &read_fd_set );
+                FD_SET( serial_fd, &read_fd_set );
+                max_fd = serial_fd;
+                i = select( max_fd + 1,
+                            &read_fd_set,
+                            NULL,
+                            NULL,
+                            &select_tv );
+    
+                if ( FD_ISSET(serial_fd, &read_fd_set) )
+                {
+                    read(serial_fd, &data_temp, 1);
+                    if (data_temp != ack_ack[ack_index++])
+                    {
+                        ack_index = 0;
+                    }
+                    if (ack_index == ACK_LENGTH)
+                    {
+                        printf("OK\n");
+                        no_ack = 0;
+                    }
+                }
+                else
+                {
+                    printf("*** no ACK from gps rx ***\n");
+                    break;
+                }
+            }
+
+        }
+        else
+        {
+            printf("-\n");
+        }
+
+    }    
+    fclose(in_file);
+    close(serial_fd);
+
+    return(0);
+}