diff --git a/src/main/config/config.c b/src/main/config/config.c
index d74942f94c..87d039c07f 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -506,7 +506,7 @@ static void resetConf(void)
     masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
     masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
     masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_ON;
-    masterConfig.gpsConfig.navModel = GPS_MODEL_LOW_G;
+    masterConfig.gpsConfig.dynModel = GPS_DYNMODEL_AIR_1G;
 #endif
 
 #ifdef NAV
diff --git a/src/main/io/gps.h b/src/main/io/gps.h
index e739954b54..ff0f3237f1 100644
--- a/src/main/io/gps.h
+++ b/src/main/io/gps.h
@@ -38,7 +38,8 @@ typedef enum {
     SBAS_EGNOS,
     SBAS_WAAS,
     SBAS_MSAS,
-    SBAS_GAGAN
+    SBAS_GAGAN,
+    SBAS_NONE
 } sbasMode_e;
 
 #define SBAS_MODE_MAX SBAS_GAGAN
@@ -63,9 +64,10 @@ typedef enum {
 } gpsAutoBaud_e;
 
 typedef enum {
-    GPS_MODEL_LOW_G = 0,
-    GPS_MODEL_HIGH_G,
-} gpsNavModel_e;
+    GPS_DYNMODEL_PEDESTRIAN = 0,
+    GPS_DYNMODEL_AIR_1G,
+    GPS_DYNMODEL_AIR_4G,
+} gpsDynModel_e;
 
 typedef enum {
     GPS_NO_FIX = 0,
@@ -80,7 +82,7 @@ typedef struct gpsConfig_s {
     sbasMode_e sbasMode;
     gpsAutoConfig_e autoConfig;
     gpsAutoBaud_e autoBaud;
-    gpsNavModel_e navModel;
+    gpsDynModel_e dynModel;
 } gpsConfig_t;
 
 typedef struct gpsCoordinateDDDMMmmmm_s {
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index aad0e4f344..79550efc8f 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -135,18 +135,17 @@ static const uint8_t ubloxInit_RATE_10Hz[] = {
 
 #define UBLOX_SBAS_MESSAGE_LENGTH 16
 typedef struct ubloxSbas_s {
-    sbasMode_e mode;
     uint8_t message[UBLOX_SBAS_MESSAGE_LENGTH];
 } ubloxSbas_t;
 
 // Note: these must be defined in the same order is sbasMode_e since no lookup table is used.
 static const ubloxSbas_t ubloxSbas[] = {
-    // NOTE this could be optimized to save a few bytes of flash space since the same prefix is used for each command.
-    { SBAS_AUTO,  { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x31, 0xE5}},
-    { SBAS_EGNOS, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x51, 0x08, 0x00, 0x00, 0x8A, 0x41}},
-    { SBAS_WAAS,  { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x04, 0xE0, 0x04, 0x00, 0x19, 0x9D}},
-    { SBAS_MSAS,  { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x00, 0x02, 0x02, 0x00, 0x35, 0xEF}},
-    { SBAS_GAGAN, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x80, 0x01, 0x00, 0x00, 0xB2, 0xE8}}
+    {{ /* SBAS_AUTO */  0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x03, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2D, 0xC9 }},
+    {{ /* SBAS_EGNOS */ 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x03, 0x03, 0x00, 0x51, 0x08, 0x00, 0x00, 0x86, 0x25 }},
+    {{ /* SBAS_WAAS */  0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x03, 0x03, 0x00, 0x04, 0xE0, 0x04, 0x00, 0x15, 0x81 }},
+    {{ /* SBAS_MSAS */  0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x03, 0x03, 0x00, 0x00, 0x02, 0x02, 0x00, 0x31, 0xD3 }},
+    {{ /* SBAS_GAGAN */ 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x03, 0x03, 0x00, 0x80, 0x01, 0x00, 0x00, 0xAE, 0xCC }},
+    {{ /* SBAS_NONE */  0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x02, 0x03, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0xC1 }},
 };
 
 // UBX support
@@ -561,11 +560,18 @@ static bool gpsConfigure(void)
 {
     switch (gpsState.autoConfigStep) {
     case 0: // NAV5
-        if (gpsState.gpsConfig->navModel == GPS_MODEL_HIGH_G)
-            ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Airborne4G, sizeof(ubloxInit_NAV5_Airborne4G));
-        else
-            ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Airborne1G, sizeof(ubloxInit_NAV5_Airborne1G));
-
+        switch (gpsState.gpsConfig->dynModel) {
+            case GPS_DYNMODEL_PEDESTRIAN:
+                ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Pedestrian, sizeof(ubloxInit_NAV5_Pedestrian));
+                break;
+            case GPS_DYNMODEL_AIR_1G:   // Default to this
+            default:
+                ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Airborne1G, sizeof(ubloxInit_NAV5_Airborne1G));
+                break;
+            case GPS_DYNMODEL_AIR_4G:
+                ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Airborne4G, sizeof(ubloxInit_NAV5_Airborne4G));
+                break;
+        }
         break;
 
     case 1: // NAVX5 - skip
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index decbc428c2..19ea8bece6 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -338,11 +338,11 @@ static const char * const lookupTableGPSProvider[] = {
 };
 
 static const char * const lookupTableGPSSBASMode[] = {
-    "AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN"
+    "AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"
 };
 
 static const char * const lookupTableGpsModel[] = {
-    "LOW_G", "HIGH_G"
+    "PEDESTRIAN", "AIR_1G", "AIR_4G"
 };
 #endif
 
@@ -412,7 +412,7 @@ typedef enum {
 #ifdef GPS
     TABLE_GPS_PROVIDER,
     TABLE_GPS_SBAS_MODE,
-    TABLE_GPS_NAV_MODEL,
+    TABLE_GPS_DYN_MODEL,
 #endif
 #ifdef BLACKBOX
     TABLE_BLACKBOX_DEVICE,
@@ -541,7 +541,7 @@ const clivalue_t valueTable[] = {
 #ifdef GPS
     { "gps_provider",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gpsConfig.provider, .config.lookup = { TABLE_GPS_PROVIDER }, 0 },
     { "gps_sbas_mode",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gpsConfig.sbasMode, .config.lookup = { TABLE_GPS_SBAS_MODE }, 0 },
-    { "gps_nav_model",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gpsConfig.navModel, .config.lookup = { TABLE_GPS_NAV_MODEL }, 0 },
+    { "gps_dyn_model",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gpsConfig.dynModel, .config.lookup = { TABLE_GPS_DYN_MODEL }, 0 },
     { "gps_auto_config",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gpsConfig.autoConfig, .config.lookup = { TABLE_OFF_ON }, 0 },
     { "gps_auto_baud",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gpsConfig.autoBaud, .config.lookup = { TABLE_OFF_ON }, 0 },
 #endif