"AXN1.30_2278 (blah blah).bin is v1.4 AXN1.30_2389 (blah blah).bin is v1.6"

"I must have chosen the wrong firmware. I will try again. Dror"

"Did you select the correct firmware? There are two firmware binaries in the zip file --  1.4 and 1.6. The procedure in the MediaTek_Programming.pdf document points to the 1.4 firmware.   I don't rememeber the exact filename on…"

"I followed the description in the ArduPirates wiki here: http://code.google.com/p/ardupirates/wiki/Reload_MTek I actually updated the wiki page with my solution of using a cable instead of soldering pins to the GPS board. Dror"

"Not to go into huge detail, but what steps did you perform for the upgrade? Did you use a FTDI cable direct to the MTK?"

"Thanks! That explains it - now the question is why the firmware update to 1.6 failed. Dror"

"That is not V1.6 binary, that is V1.4 binary.  "

"I used the debug_subsystem() code (in debug.pde, ArduPiratesNG) to dump the GPS serial input. He're what I got: GPS Serial 1 dump before…"

"Of course. The definition is in the file config.h: AP_GPS_MTK16 gps(&Serial1);"

"Which one is that? There is a #define IsNEWMTEK   // Do we have MTEK with new firmware which is about the worst feature name ever, since there's always a new firmware and this doesn't specify which.    "

"Did you change the #DEFINE in your AP firmware to indicate it should speak 1.6?"

"Hi, I'm running ArduPiratesNG.  Originally, my MTK GPS was version 1.4, and it worked OK.  Then I made the mistake (?) of updating the f/w to 1.6.  Now the APM does not indicate a lock when selecting position hold.  The red…"

"Ground Loop: no need to cycle power. Just hitting the reset button will do it."

"OR, while NOT ARMED.   That's all I was trying to say -- flick the GPS-Hold switch back and forth while disarmed and on the ground.  Wait for the RED LED to light, showing that the GPS has lock, and the APM has sync'd to the…"

"No, you should never make takeoff or start flying while GPS hold is active. This would most probably end on crash.   Always activate GPS hold on safe altitude and while already up in the sky."

"So its possible to engage gps hold on the ground, but should you? I mean, can you activate gps hold and then use the throttle to increase hight successfully in gpshold mode?"