diff --git a/src/main/config/config.c b/src/main/config/config.c
index 413b753fb5..3b33359206 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 111;
+static const uint8_t EEPROM_CONF_VERSION = 112;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t * accZero, flightDynamicsTrims_t * accGain)
 {
@@ -521,6 +521,7 @@ 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;
 #endif
 
 #ifdef NAV
diff --git a/src/main/io/gps.h b/src/main/io/gps.h
index 427e494487..ea629d50db 100644
--- a/src/main/io/gps.h
+++ b/src/main/io/gps.h
@@ -64,6 +64,11 @@ typedef enum {
     GPS_AUTOBAUD_ON
 } gpsAutoBaud_e;
 
+typedef enum {
+    GPS_MODEL_LOW_G = 0,
+    GPS_MODEL_HIGH_G,
+} gpsNavModel_e;
+
 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
 
 typedef struct gpsConfig_s {
@@ -71,6 +76,7 @@ typedef struct gpsConfig_s {
     sbasMode_e sbasMode;
     gpsAutoConfig_e autoConfig;
     gpsAutoBaud_e autoBaud;
+    gpsNavModel_e navModel;
 } gpsConfig_t;
 
 typedef struct gpsCoordinateDDDMMmmmm_s {
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index 5937a1aa2c..949244d359 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -46,7 +46,7 @@
 #if defined(GPS) && defined(GPS_PROTO_UBLOX)
 
 #define GPS_PROTO_UBLOX_NEO7PLUS
-#define GPS_VERSION_DETECTION_TIMEOUT_MS    (300)
+#define GPS_VERSION_DETECTION_TIMEOUT_MS    300
 
 static const char * baudInitData[GPS_BAUDRATE_COUNT] = {
     "$PUBX,41,1,0003,0001,115200,0*1E\r\n",     // GPS_BAUDRATE_115200
@@ -62,72 +62,61 @@ static const uint8_t ubloxVerPoll[] = {
 };
 #endif
 
-static const uint8_t ubloxInit6[] = {
-    //0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00,           // CFG-NAV5 - Set engine settings
-    //0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,           // Airborne <1G
-    //0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00,
-    //0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x52, 0xE8,
-
-    //0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x02, 0x00,           // CFG-NAV5 - Set engine settings
-    //0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,           // Airborne <1G 3D fix only
-    //0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00,
-    //0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x51, 0xC7,
-
-    //0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x08, 0x03, 0x00,           // CFG-NAV5 - Set engine settings
-    //0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,           // Airborne <4G
-    //0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
-    //0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x20,
+static const uint8_t ubloxInit_NAV5_Pedestrian[] = {
+    0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x03, 0x03, 0x00,           // CFG-NAV5 - Set engine settings (original MWII code)
+    0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,           // Collected by resetting a GPS unit to defaults. Changing mode to Pedistrian and
+    0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00,           // capturing the data from the U-Center binary console.
+    0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xC2
+};
 
+static const uint8_t ubloxInit_NAV5_Airborne4G[] = {
     0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x08, 0x02, 0x00,           // CFG-NAV5 - Set engine settings
     0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,           // Airborne <4G 3D fix only
     0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xFF,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xFF
+};
 
-    // 0xB5, 0x62, 0x06, 0x23, 0x28, 0x00, 0x00, 0x00, 0x4C, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // CFG-NAVX5 min 5 SV
-    // 0x05, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    // 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7C, 0xCD,
+static const uint8_t ubloxInit_NAVX5[] = {
+    0xB5, 0x62, 0x06, 0x23, 0x28, 0x00, 0x00, 0x00, 0x4C, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // CFG-NAVX5 min 5 SV
+    0x05, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7C, 0xCD,
+};
 
+static const uint8_t ubloxInit_MSG_NMEA[] = {
     // DISABLE NMEA messages
     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
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x01, 0x00, 0xFB, 0x11,           // GLL: Latitude and longitude, with time of position fix and status
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x00, 0x00, 0xFA, 0x0F,           // GGA: Global positioning system fix data
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x02, 0x00, 0xFC, 0x13,           // GSA: GNSS DOP and Active Satellites
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x04, 0x00, 0xFE, 0x17,           // RMC: Recommended Minimum data
+    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x04, 0x00, 0xFE, 0x17            // RMC: Recommended Minimum data
+};
 
-    // Enable UBLOX messages
+static const uint8_t ubloxInit_MSG_UBX_POSLLH[] = {
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x02, 0x01, 0x0E, 0x47,           // set POSLLH MSG rate
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x03, 0x01, 0x0F, 0x49,           // set STATUS MSG rate
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x06, 0x01, 0x12, 0x4F,           // set SOL MSG rate
     0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x30, 0x05, 0x40, 0xA7,           // set SVINFO MSG rate (evey 5 cycles - low bandwidth)
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x12, 0x01, 0x1E, 0x67,           // set VELNED MSG rate
-
-    0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A,             // set rate to 5Hz (measurement period: 200ms, navigation rate: 1 cycle)
+    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x12, 0x01, 0x1E, 0x67            // set VELNED MSG rate
 };
 
 #ifdef GPS_PROTO_UBLOX_NEO7PLUS
-static const uint8_t ubloxInit[] = {
-    0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x08, 0x02, 0x00,           // CFG-NAV5 - Set engine settings
-    0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,           // Airborne <4G 3D fix only
-    0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xFF,
-
-    // DISABLE NMEA messages
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x00, 0x00, 0xFA, 0x0F,           // GGA: Global positioning system fix data
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x01, 0x00, 0xFB, 0x11,           // GLL: Latitude and longitude, with time of position fix and status
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x02, 0x00, 0xFC, 0x13,           // GSA: GNSS DOP and Active Satellites
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x03, 0x00, 0xFD, 0x15,           // GSV: GNSS Satellites in View
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x04, 0x00, 0xFE, 0x17,           // RMC: Recommended Minimum data
-    0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x05, 0x00, 0xFF, 0x19,           // VGS: Course over ground and Ground speed
-
-    // Enable UBLOX messages
+static const uint8_t ubloxInit_MSG_UBX_PVT[] = {
     0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xB9, // disable POSLLH
     0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0xC0, // disable STATUS
     0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xD5, // disable SOL
     0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x30, 0x00, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x4A, 0x2D, // enable SVINFO 10 cycle
     0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x29, // disable VELNED
-    0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x07, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x18, 0xE1, // enable PVT 1 cycle
+    0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x07, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x18, 0xE1  // enable PVT 1 cycle
+};
+#endif
 
+static const uint8_t ubloxInit_RATE_5Hz[] = {
+    0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A  // set rate to 5Hz (measurement period: 200ms, navigation rate: 1 cycle)
+};
+
+#ifdef GPS_PROTO_UBLOX_NEO7PLUS
+static const uint8_t ubloxInit_RATE_10Hz[] = {
     0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0x64, 0x00, 0x01, 0x00, 0x01, 0x00, 0x7A, 0x12,	// set rate to 10Hz (measurement period: 100ms, navigation rate: 1 cycle)
 };
 #endif
@@ -544,55 +533,68 @@ static bool gpsNewFrameUBLOX(uint8_t data)
     return parsed;
 }
 
+// Send UBLOX binary command data and wait until it is completely transmitted
+static bool ubxTransmitAutoConfigCommands(const uint8_t * ubxCmdBuf, uint8_t ubxCmdSize) {
+    while (serialTxBytesFree(gpsState.gpsPort) > 0) {
+        if (gpsState.autoConfigPosition < ubxCmdSize) {
+            serialWrite(gpsState.gpsPort, ubxCmdBuf[gpsState.autoConfigPosition]);
+            gpsState.autoConfigPosition++;
+        }
+        else if (isSerialTransmitBufferEmpty(gpsState.gpsPort)) {
+            gpsState.autoConfigStep++;
+            gpsState.autoConfigPosition = 0;
+            return true;
+        }
+        else {
+            return false;
+        }
+    }
+
+    return false;
+}
+
 static bool gpsConfigure(void)
 {
     switch (gpsState.autoConfigStep) {
-    case 0: // Config
-        while (serialTxBytesFree(gpsState.gpsPort) > 0) {
-#ifdef GPS_PROTO_UBLOX_NEO7PLUS
-            if (gpsState.hwVersion < 70000) {
-#endif
-                if (gpsState.autoConfigPosition < sizeof(ubloxInit6)) {
-                    serialWrite(gpsState.gpsPort, ubloxInit6[gpsState.autoConfigPosition]);
-                    gpsState.autoConfigPosition++;
-                }
-                else {
-                    gpsState.autoConfigPosition = 0;
-                    gpsState.autoConfigStep++;
-                    break;
-                }
-#ifdef GPS_PROTO_UBLOX_NEO7PLUS
-            }
-            else {
-                if (gpsState.autoConfigPosition < sizeof(ubloxInit)) {
-                    serialWrite(gpsState.gpsPort, ubloxInit[gpsState.autoConfigPosition]);
-                    gpsState.autoConfigPosition++;
-                }
-                else {
-                    gpsState.autoConfigPosition = 0;
-                    gpsState.autoConfigStep++;
-                    break;
-                }
-            }
-#endif
-        }
+    case 0: // NAV5
+        if (gpsState.gpsConfig->navModel == GPS_MODEL_HIGH_G)
+            ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Airborne4G, sizeof(ubloxInit_NAV5_Airborne4G));
+        else
+            ubxTransmitAutoConfigCommands(ubloxInit_NAV5_Pedestrian, sizeof(ubloxInit_NAV5_Pedestrian));
+
         break;
 
-    case 1: // SBAS
-        while (serialTxBytesFree(gpsState.gpsPort) > 0) {
-            if (gpsState.autoConfigPosition < UBLOX_SBAS_MESSAGE_LENGTH) {
-                serialWrite(gpsState.gpsPort, ubloxSbas[gpsState.gpsConfig->sbasMode].message[gpsState.autoConfigPosition]);
-                gpsState.autoConfigPosition++;
-            } else {
-                gpsState.autoConfigPosition = 0;
-                gpsState.autoConfigStep++;
-                break;
-            }
+    case 1: // NAVX5 - skip
+        //ubxTransmitAutoConfigCommands(ubloxInit_NAVX5, sizeof(ubloxInit_NAVX5));
+        gpsState.autoConfigStep++;
+        break;
+
+    case 2: // Disable NMEA messages
+        ubxTransmitAutoConfigCommands(ubloxInit_MSG_NMEA, sizeof(ubloxInit_MSG_NMEA));
+        break;
+
+    case 3: // Enable UBX messages
+#ifdef GPS_PROTO_UBLOX_NEO7PLUS
+        if (gpsState.hwVersion < 70000) {
+#endif
+            ubxTransmitAutoConfigCommands(ubloxInit_MSG_UBX_POSLLH, sizeof(ubloxInit_MSG_UBX_POSLLH));
+#ifdef GPS_PROTO_UBLOX_NEO7PLUS
         }
+        else {
+            ubxTransmitAutoConfigCommands(ubloxInit_MSG_UBX_PVT, sizeof(ubloxInit_MSG_UBX_PVT));
+        }
+#endif
+        break;
+
+    case 4: // Configure RATE
+        ubxTransmitAutoConfigCommands(ubloxInit_RATE_5Hz, sizeof(ubloxInit_RATE_5Hz));
+        break;
+
+    case 5: // SBAS
+        ubxTransmitAutoConfigCommands(ubloxSbas[gpsState.gpsConfig->sbasMode].message, UBLOX_SBAS_MESSAGE_LENGTH);
         break;
 
     default:
-    case 2:
         // ublox should be initialised, try receiving
         gpsSetState(GPS_RECEIVING_DATA);
         break;
@@ -605,10 +607,7 @@ static bool gpsCheckVersion(void)
 {
 #ifdef GPS_PROTO_UBLOX_NEO7PLUS
     if (gpsState.autoConfigStep == 0) {
-        for(uint16_t i = 0; i < sizeof(ubloxVerPoll); i++) {
-            serialWrite(gpsState.gpsPort, ubloxVerPoll[i]);
-        }
-        gpsState.autoConfigStep++;
+        ubxTransmitAutoConfigCommands(ubloxVerPoll, sizeof(ubloxVerPoll));
     }
     else {
         // Wait until version found
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 23f8e2c980..2febd1d205 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -386,6 +386,10 @@ static const char * const lookupTableNavControlMode[] = {
 static const char * const lookupTableNavRthAltMode[] = {
     "CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST"
 };
+
+static const char * const lookupTableGpsModel[] = {
+    "LOW_G", "HIGH_G"
+};
 #endif
 
 typedef struct lookupTableEntry_s {
@@ -400,6 +404,7 @@ typedef enum {
 #ifdef GPS
     TABLE_GPS_PROVIDER,
     TABLE_GPS_SBAS_MODE,
+    TABLE_GPS_NAV_MODEL,
 #endif
 #ifdef BLACKBOX
     TABLE_BLACKBOX_DEVICE,
@@ -424,6 +429,7 @@ static const lookupTableEntry_t lookupTables[] = {
 #ifdef GPS
     { lookupTableGPSProvider, sizeof(lookupTableGPSProvider) / sizeof(char *) },
     { lookupTableGPSSBASMode, sizeof(lookupTableGPSSBASMode) / sizeof(char *) },
+    { lookupTableGpsModel, sizeof(lookupTableGpsModel) / sizeof(char *) },
 #endif
 #ifdef BLACKBOX
     { lookupTableBlackboxDevice, sizeof(lookupTableBlackboxDevice) / sizeof(char *) },
@@ -529,6 +535,7 @@ 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_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