GPS Ublox

Definitions in MultiWii dev version R1342 :

#define GPS_SERIAL 2
#define GPS_BAUD 57600
//#define GPS_BAUD 115200

//#define NMEA
#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
//#define INIT_MTK_GPS

//#define GPS_PROMINI_SERIAL    57600

//#define I2C_GPS

//#define TINY_GPS

//#define TINY_GPS_SONAR

//#define GPS_FROM_OSD

#define GPS_LED_INDICATOR

#define USE_MSP_WP

//#define DONT_RESET_HOME_AT_ARM

#define NAV_CONTROLS_HEADING true
#define NAV_TAIL_FIRST false
#define NAV_SET_TAKEOFF_HEADING true

#define MAG_DECLINIATION  0.23f   ( find the value of your city here:  http://magnetic-declination.com/ )

#define GPS_LEAD_FILTER

//#define GPS_FILTERING
#define GPS_WP_RADIUS 200
#define NAV_SLEW_RATE 30