diff --git a/docs/Configuration.md b/docs/Configuration.md
index 06e18f448c..72f52a138c 100644
--- a/docs/Configuration.md
+++ b/docs/Configuration.md
@@ -134,6 +134,16 @@ save
 
 ## CLI command differences from baseflight
 
+### gps_baudrate
+reason: simplify
+
+Cleanflight uses normal baud rate values for gps baudrate, baseflight uses an index.
+
+If an unsupported baud rate value is used the gps code will select 115200 baud.
+
+example: `set gps_baudrate = 115200`
+
+
 ### gps_type
 reason: renamed to `gps_provider` for consistency
 
@@ -147,9 +157,9 @@ Cleanflight supports using any RX channel for rssi.  Baseflight only supports AU
 
 In Cleanflight a value of 0 disables the feature, a higher value indicates the channel number to read RSSI information from.
 
-Example, to use RSSI on AUX1 in Cleanflight set the value to 5, since 5 is the first AUX channel.
+Example: to use RSSI on AUX1 in Cleanflight use `set rssi_aux_channel = 5`, since 5 is the first AUX channel.
 
 ### failsafe_detect_threshold
 reason: improved functionality
 
-See failsafe_min_usec and failsafe_max_usec in Failsafe documentation.
+See `failsafe_min_usec` and `failsafe_max_usec` in Failsafe documentation.
diff --git a/src/config.c b/src/config.c
index 86818a8412..725f9251f5 100755
--- a/src/config.c
+++ b/src/config.c
@@ -58,7 +58,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
 #define FLASH_WRITE_ADDR                (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG)) // use the last flash pages for storage
master_t masterConfig;      // master config struct with data independent from profiles
 profile_t currentProfile;   // profile config struct
 
-static const uint8_t EEPROM_CONF_VERSION = 67;
+static const uint8_t EEPROM_CONF_VERSION = 68;
 
 static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -153,9 +153,12 @@ void resetSerialConfig(serialConfig_t *serialConfig)
     serialConfig->serial_port_2_scenario = lookupScenarioIndex(SCENARIO_GPS_ONLY);
     serialConfig->serial_port_3_scenario = lookupScenarioIndex(SCENARIO_UNUSED);
     serialConfig->serial_port_4_scenario = lookupScenarioIndex(SCENARIO_UNUSED);
+
     serialConfig->msp_baudrate = 115200;
     serialConfig->cli_baudrate = 115200;
+    serialConfig->gps_baudrate = 115200;
     serialConfig->gps_passthrough_baudrate = 115200;
+
     serialConfig->reboot_character = 'R';
 }
 
@@ -215,7 +218,6 @@ static void resetConf(void)
     masterConfig.servo_pwm_rate = 50;
     // gps/nav stuff
     masterConfig.gps_provider = GPS_NMEA;
-    masterConfig.gps_initial_baudrate_index = GPS_BAUDRATE_115200;
 
     resetSerialConfig(&masterConfig.serialConfig);
 
diff --git a/src/config_master.h b/src/config_master.h
index b74f6ab377..09884362e7 100644
--- a/src/config_master.h
+++ b/src/config_master.h
@@ -52,7 +52,6 @@ typedef struct master_t {
 
     // gps-related stuff
     gpsProvider_e gps_provider;
-    gpsBaudRate_e gps_initial_baudrate_index;
 
     serialConfig_t serialConfig;
 
diff --git a/src/gps_common.c b/src/gps_common.c
index c621c134a7..e9063deb21 100644
--- a/src/gps_common.c
+++ b/src/gps_common.c
@@ -89,6 +89,10 @@ static const gpsInitData_t gpsInitData[] = {
     { GPS_BAUDRATE_9600,     9600, "", "" }
 };
 
+#define GPS_INIT_DATA_ENTRY_COUNT (sizeof(gpsInitData) / sizeof(gpsInitData[0]))
+
+#define DEFAULT_BAUD_RATE_INDEX 0
+
 static const uint8_t ubloxInit[] = {
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x05, 0x00, 0xFF, 0x19,           // VGS: Course over ground and Ground speed
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x03, 0x00, 0xFD, 0x15,           // GSV: GNSS Satellites in View
@@ -145,17 +149,25 @@ void gpsUseProfile(gpsProfile_t *gpsProfileToUse)
 }
 
 // When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
-void gpsInit(serialConfig_t *initialSerialConfig, uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile)
+void gpsInit(serialConfig_t *initialSerialConfig, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile)
 {
     serialConfig = initialSerialConfig;
 
+    gpsData.baudrateIndex = 0;
+    while (gpsInitData[gpsData.baudrateIndex].baudrate != serialConfig->gps_baudrate) {
+        gpsData.baudrateIndex++;
+        if (gpsData.baudrateIndex >= GPS_INIT_DATA_ENTRY_COUNT) {
+            gpsData.baudrateIndex = DEFAULT_BAUD_RATE_INDEX;
+            break;
+        }
+    }
+
     gpsProvider = initialGpsProvider;
     gpsUseProfile(initialGpsProfile);
 
     // init gpsData structure. if we're not actually enabled, don't bother doing anything else
     gpsSetState(GPS_UNKNOWN);
 
-    gpsData.baudrateIndex = baudrateIndex;
     gpsData.lastMessage = millis();
     gpsData.errors = 0;
 
@@ -167,7 +179,7 @@ void gpsInit(serialConfig_t *initialSerialConfig, uint8_t baudrateIndex, uint8_t
     gpsUsePIDs(pidProfile);
 
     // no callback - buffer will be consumed in gpsThread()
-    gpsPort = openSerialPort(FUNCTION_GPS, NULL, gpsInitData[baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED);
+    gpsPort = openSerialPort(FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED);
     if (!gpsPort) {
         featureClear(FEATURE_GPS);
         return;
diff --git a/src/main.c b/src/main.c
index 69d515cd78..c8f9ff9c17 100755
--- a/src/main.c
+++ b/src/main.c
@@ -62,7 +62,7 @@ failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
 void pwmInit(drv_pwm_config_t *init);
 void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
 void buzzerInit(failsafe_t *initialFailsafe);
-void gpsInit(serialConfig_t *serialConfig, uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
+void gpsInit(serialConfig_t *serialConfig, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
 bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
 void imuInit(void);
 
@@ -201,7 +201,6 @@ void init(void)
     if (feature(FEATURE_GPS)) {
         gpsInit(
             &masterConfig.serialConfig,
-            masterConfig.gps_initial_baudrate_index,
             masterConfig.gps_provider,
             &currentProfile.gpsProfile,
             &currentProfile.pidProfile
diff --git a/src/serial_cli.c b/src/serial_cli.c
index b8661dbb36..88d44c6967 100644
--- a/src/serial_cli.c
+++ b/src/serial_cli.c
@@ -177,10 +177,10 @@ const clivalue_t valueTable[] = {
     { "reboot_character", VAR_UINT8, &masterConfig.serialConfig.reboot_character, 48, 126 },
     { "msp_baudrate", VAR_UINT32, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 },
     { "cli_baudrate", VAR_UINT32, &masterConfig.serialConfig.cli_baudrate, 1200, 115200 },
+    { "gps_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_baudrate, 0, 115200 },
     { "gps_passthrough_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_passthrough_baudrate, 1200, 115200 },
 
     { "gps_provider", VAR_UINT8, &masterConfig.gps_provider, 0, GPS_PROVIDER_MAX },
-    { "gps_initial_baudrate_index", VAR_INT8, &masterConfig.gps_initial_baudrate_index, 0, GPS_BAUDRATE_MAX },
 
     { "serialrx_provider", VAR_UINT8, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
 
diff --git a/src/serial_common.c b/src/serial_common.c
index 0d055f4ee9..222043fc8a 100644
--- a/src/serial_common.c
+++ b/src/serial_common.c
@@ -318,6 +318,8 @@ functionConstraint_t *getConfiguredFunctionConstraint(serialPortFunction_e funct
             updateSerialRxFunctionConstraint(&configuredFunctionConstraint);
             break;
         case FUNCTION_GPS:
+            configuredFunctionConstraint.maxBaudRate = serialConfig->gps_baudrate;
+            break;
         default:
             break;
     }
diff --git a/src/serial_common.h b/src/serial_common.h
index c69d10e83e..c698871223 100644
--- a/src/serial_common.h
+++ b/src/serial_common.h
@@ -91,10 +91,9 @@ typedef struct serialConfig_s {
 
     uint32_t msp_baudrate;
     uint32_t cli_baudrate;
+    uint32_t gps_baudrate;
     uint32_t gps_passthrough_baudrate;
 
-    uint32_t hott_baudrate;
-
     uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
 } serialConfig_t;