diff --git a/src/main/io/gps_nmea.c b/src/main/io/gps_nmea.c
index 2d84742ba9..f6af1cc4ac 100755
--- a/src/main/io/gps_nmea.c
+++ b/src/main/io/gps_nmea.c
@@ -329,38 +329,40 @@ STATIC_PROTOTHREAD(gpsProtocolStateThreadMTK)
     }
 
     // Send configuration commands
-    // Disable all messages except GGA and RMC
-    serialPrint(gpsState.gpsPort, "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
-    ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
-
-    // Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
-    serialPrint(gpsState.gpsPort, "$PMTK397,0*23\r\n");
-    ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
-
-    // SBAS/WAAS
-    if (gpsState.gpsConfig->sbasMode != SBAS_NONE) {
-        serialPrint(gpsState.gpsPort, "$PMTK313,1*2E\r\n");     // SBAS ON
+    if (gpsState.gpsConfig->autoConfig) {
+        // Disable all messages except GGA and RMC
+        serialPrint(gpsState.gpsPort, "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
         ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
 
-        serialPrint(gpsState.gpsPort, "$PMTK301,2*2E\r\n");     // WAAS ON
-        ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));        
-    }
-    else {
-        serialPrint(gpsState.gpsPort, "$PMTK313,0*2F\r\n");     // SBAS OFF
+        // Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
+        serialPrint(gpsState.gpsPort, "$PMTK397,0*23\r\n");
         ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
 
-        serialPrint(gpsState.gpsPort, "$PMTK301,0*2C\r\n");     // WAAS OFF
-        ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));        
+        // SBAS/WAAS
+        if (gpsState.gpsConfig->sbasMode != SBAS_NONE) {
+            serialPrint(gpsState.gpsPort, "$PMTK313,1*2E\r\n");     // SBAS ON
+            ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
+
+            serialPrint(gpsState.gpsPort, "$PMTK301,2*2E\r\n");     // WAAS ON
+            ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
+        }
+        else {
+            serialPrint(gpsState.gpsPort, "$PMTK313,0*2F\r\n");     // SBAS OFF
+            ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
+
+            serialPrint(gpsState.gpsPort, "$PMTK301,0*2C\r\n");     // WAAS OFF
+            ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
+        }
+
+        // 5Hz update, should works for most modules
+        serialPrint(gpsState.gpsPort, "$PMTK220,200*2C\r\n");
+        ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
+
+        // Try set 10Hz update rate. Module will ignore it if can't support
+        serialPrint(gpsState.gpsPort, "$PMTK220,100*2F\r\n");
+        ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
     }
 
-    // 5Hz update, should works for most modules
-    serialPrint(gpsState.gpsPort, "$PMTK220,200*2C\r\n");
-    ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
-
-    // Try set 10Hz update rate. Module will ignore it if can't support
-    serialPrint(gpsState.gpsPort, "$PMTK220,100*2F\r\n");
-    ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
-
     // Reset protocol timeout
     gpsSetProtocolTimeout(GPS_TIMEOUT);
 
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index 84d38f691a..e1a0dabf63 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -865,21 +865,24 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.baudrateIndex]]);
     }
 
-    // Reset protocol timeout
-    gpsSetProtocolTimeout(MIN(GPS_TIMEOUT, ((GPS_VERSION_RETRY_TIMES + 1) * GPS_VERSION_DETECTION_TIMEOUT_MS)));
+    // Configure GPS module if enabled
+    if (gpsState.gpsConfig->autoConfig) {
+        // Reset protocol timeout
+        gpsSetProtocolTimeout(MIN(GPS_TIMEOUT, ((GPS_VERSION_RETRY_TIMES + 1) * GPS_VERSION_DETECTION_TIMEOUT_MS)));
 
-    // Attempt to detect GPS hw version
-    gpsState.hwVersion = 0;
-    gpsState.autoConfigStep = 0;
+        // Attempt to detect GPS hw version
+        gpsState.hwVersion = 0;
+        gpsState.autoConfigStep = 0;
 
-    do {
-        pollVersion();
-        gpsState.autoConfigStep++;
-        ptWaitTimeout((gpsState.hwVersion != 0), GPS_VERSION_DETECTION_TIMEOUT_MS);
-    } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == 0);
+        do {
+            pollVersion();
+            gpsState.autoConfigStep++;
+            ptWaitTimeout((gpsState.hwVersion != 0), GPS_VERSION_DETECTION_TIMEOUT_MS);
+        } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == 0);
 
-    // Configure GPS
-    ptSpawn(gpsConfigure);
+        // Configure GPS
+        ptSpawn(gpsConfigure);
+    }
 
     // GPS setup done, reset timeout
     gpsSetProtocolTimeout(GPS_TIMEOUT);