-const char ao_gps_config[] =
- "$PSRF103,00,00,01,01*25\r\n" /* GGA 1 per sec */
- "$PSRF103,01,00,00,01*25\r\n" /* GLL disable */
- "$PSRF103,02,00,00,01*26\r\n" /* GSA disable */
- "$PSRF103,03,00,00,01*27\r\n" /* GSV disable */
- "$PSRF103,04,00,00,01*20\r\n" /* RMC disable */
- "$PSRF103,05,00,00,01*21\r\n"; /* VTG disable */
+#undef AO_GPS_4800
+
+#ifdef AO_GPS_4800
+static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
+#else
+static const char ao_gps_set_nmea[] = "$PSRF100,0,4800,8,1,0*0F\r\n";
+#endif
+
+const char ao_gps_config[] = {
+ 0xa0, 0xa2, 0x00, 0x19, /* length: 25 bytes */
+ 128, /* Initialize Data Source */
+ 0, 0, 0, 0, /* ECEF X */
+ 0, 0, 0, 0, /* ECEF Y */
+ 0, 0, 0, 0, /* ECEF Z */
+ 0, 0, 0, 0, /* Clock Drift */
+ 0, 0, 0, 0, /* Time of Week */
+ 0, 0, /* Week Number */
+ 0, /* Channels */
+ 0xc6, /* Clear user data, RTC not accurate, Clear history, clear ephemeris */
+ 0x01, 0x46, 0xb0, 0xb3,
+
+ 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
+ 136, /* mode control */
+ 0, 0, /* reserved */
+ 4, /* degraded mode (disabled) */
+ 0, 0, /* reserved */
+ 0, 0, /* user specified altitude */
+ 2, /* alt hold mode (disabled, require 3d fixes) */
+ 0, /* alt hold source (use last computed altitude) */
+ 0, /* reserved */
+ 0, /* Degraded time out (disabled) */
+ 0, /* Dead Reckoning time out (disabled) */
+ 0, /* Track smoothing (disabled) */
+ 0x00, 0x8e, 0xb0, 0xb3,
+
+ 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
+ 166, /* Set message rate */
+ 2, /* enable/disable all messages */
+ 0, /* message id (ignored) */
+ 0, /* update rate (0 = disable) */
+ 0, 0, 0, 0, /* reserved */
+ 0x00, 0xa8, 0xb0, 0xb3,
+
+ 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
+ 143, /* static navigation */
+ 0, /* disable */
+ 0x00, 0x8f, 0xb0, 0xb3,
+};