"@ Randy
maybe it is a bit off topic here but i have spoken to the U-Blox company regarding the setup for the Dynamic Model Filter.
 
For the Copter code we are using Airborne1g with a Large Position Deviation. If we change to Pedestrian the…"

"did a test flight today with AC 2.9 and GPS MTK 1.9
Stabilize and Alt hold just perfect.
but Loiter did some very big circle and RTL wes flying in the wrong direction.
i did the Loiter and RTL with compass calibration Auto and manual with…"

"thanks craig now it works
cu
Michael"

"the dedection of the right gps version is not working. see the trace of the MTK GPS Version 1.9 together with AC 2.9 rc1.
i can see that the gps will be switched from NMEA mode into Binary. after 5 seconds the mode changes again into a mixed mode…"

"i found this a description
Packet Type: 301 PMTK_API_SET_DGPS_MODE
 
Packet Meaning:
API_Set_Dgps_Mode
DGPS correction data source mode.
DataField:
PMTK301,Mode
Mode: DGPS data source mode.
‘0’: No DGPS source
‘1’: RTCM
‘2’: WAAS
 
Example:…"