I read that the modems will be running @ 57000 on version 2.1. I have already purchased the 900MHZ XSC modules which are limited to 9600. Can the baud rate in 2.1 be slowed down to 9600 with a simple change as in the past. I'd hate to have to toss these new modules that haven't even been used yet.
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First, we're using different Xbee 900 Mhz modules (air, ground), which support 56,000, unlike the ones you have.
The baud rate in ArduPilot 2.1 cannot be slowed down to 9600, since the code is optimized to read the GPS in binary mode at a higher speed.
But your problems will probably be solved in ArduPilot 2.2, which will return to an NMEA parser running at 9600.