diff --git a/libraries/AP_GPS/AP_GPS_MTK.cpp b/libraries/AP_GPS/AP_GPS_MTK.cpp
index b571f9f5dd..e48f8a518e 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK.cpp
@@ -1,12 +1,12 @@
 /*
 	AP_GPS_MTK.cpp - Ublox GPS library for Arduino
 	Code by Jordi MuÃ’oz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
+	This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
 
-	This library is free software; you can redistribute it and/or
-		modify it under the terms of the GNU Lesser General Public
-		License as published by the Free Software Foundation; either
-		version 2.1 of the License, or (at your option) any later version.
+	This library is free software; you can redistribute it and / or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
 
 	GPS configuration : Costum protocol
 	Baud rate : 38400
@@ -26,8 +26,8 @@
 		fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
 			
 */
-#include "AP_GPS_MTK.h"
 
+#include "AP_GPS_MTK.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_MTK::AP_GPS_MTK()
@@ -38,12 +38,13 @@ AP_GPS_MTK::AP_GPS_MTK()
 // Public Methods //////////////////////////////////////////////////////////////
 void AP_GPS_MTK::init(void)
 {
-	new_data = 0;
-	ck_a = 0;
-	ck_b = 0;
-	step = 0;
-	fix = 0;
+	ck_a 		= 0;
+	ck_b 		= 0;
+	step 		= 0;
+	new_data 	= 0;
+	fix 		= 0;
 	print_errors = 0;
+	
 	// initialize serial port
 	#if defined(__AVR_ATmega1280__)
 		Serial1.begin(38400);				 // Serial port 1 on ATMega1280
@@ -66,7 +67,7 @@ void AP_GPS_MTK::update(void)
 		numc = Serial.available();
 	#endif
 	if (numc > 0)
-		for (int i=0;i<numc;i++){	// Process bytes received
+		for (int i = 0; i < numc; i++){	// Process bytes received
 		#if defined(__AVR_ATmega1280__)
 			data = Serial1.read();
 		#else
@@ -74,16 +75,16 @@ void AP_GPS_MTK::update(void)
 		#endif
 		
 		switch(step){
-			case 0:	
-				if(data==0xB5)	// UBX sync char 1
-					step++;	 	//OH first data packet is correct, so jump to the next step
+			case 0:
+				if(data == 0xB5)
+					step++;
 				break;
 				
 			case 1:	
-				if(data==0x62)	// UBX sync char 2
-					step++;	 	//ooh! The second data packet is correct, jump to the step 2
+				if(data == 0x62)
+					step++;
 				else 
-					step=0;	 	//Nop, is not correct so restart to step zero and try again.		 
+					step = 0;
 				break;
 				
 			case 2:
@@ -128,8 +129,8 @@ void AP_GPS_MTK::update(void)
 				ck_a = 0;
 				ck_b = 0;
 				break;
-		}// End switch
-	}// End for
+		} // End switch
+	} // End for
 }
 
 
@@ -143,11 +144,11 @@ AP_GPS_MTK::parse_gps(void)
 	if(msg_class == 0x01) {
 		switch(id){
 			//Checking the UBX ID
-			case 0x05: //ID Custom
+			case 0x05: // ID Custom
 				j = 0;
-				lattitude= join_4_bytes(&buffer[j]); // lon*10000000
+				lattitude= join_4_bytes(&buffer[j]); // lon * 10000000
 				j += 4;
-				longitude = join_4_bytes(&buffer[j]); // lat*10000000
+				longitude = join_4_bytes(&buffer[j]); // lat * 10000000
 				j += 4;
 				altitude = join_4_bytes(&buffer[j]);	// MSL
 				j += 4;
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 969c9fad37..90cf202cfe 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1,7 +1,7 @@
 /*
 	AP_GPS_UBLOX.cpp - Ublox GPS library for Arduino
 	Code by Jordi Muñoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
+	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
 
 	This library is free software; you can redistribute it and / or
 	modify it under the terms of the GNU Lesser General Public
@@ -25,8 +25,8 @@
 		Lattitude : Lattitude * 10000000 (long value)
 		Longitude : Longitude * 10000000 (long value)
 		altitude :	altitude * 100 (meters) (long value)
-		Ground_speed : Speed (m / s) * 100 (long value)
-		Ground_course : Course (degrees) * 100 (long value)
+		ground_speed : Speed (m/s) * 100 (long value)
+		ground_course : Course (degrees) * 100 (long value)
 		new_data : 1 when a new data is received.
 							You need to write a 0 to new_data when you read the data
 		fix : 1: GPS FIX, 0: No fix (normal logic)
@@ -35,14 +35,13 @@
 
 #include "AP_GPS_UBLOX.h"
 
-// Constructors // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// //
+// Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_UBLOX::AP_GPS_UBLOX()
 {
-	print_errors = 1;
 }
 
 
-// Public Methods // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// ///
+// Public Methods ////////////////////////////////////////////////////////////////////
 void AP_GPS_UBLOX::init(void)
 {
 	ck_a 		= 0;
@@ -51,13 +50,12 @@ void AP_GPS_UBLOX::init(void)
 	new_data 	= 0;
 	fix 		= 0;
 	print_errors = 0;
-
-
+	
 	// initialize serial port
 	#if defined(__AVR_ATmega1280__)
 		Serial1.begin(38400);				 // Serial port 1 on ATMega1280
 	#else
-		Serial.begin(38400);
+		Serial.begin(38400); 
 	#endif
 }
 
@@ -70,34 +68,30 @@ void AP_GPS_UBLOX::update(void)
 	int numc;
 	
 	#if defined(__AVR_ATmega1280__)		// If AtMega1280 then Serial port 1...
-	numc = Serial1.available();
+		numc = Serial1.available();
 	#else
-	numc = Serial.available();
+		numc = Serial.available();
 	#endif
-	Serial.print("numc ");
-	Serial.println(numc,DEC);
 	
 	if (numc > 0){
-		Serial.println(" ");
 		for (int i = 0;i < numc;i++){	// Process bytes received
 		#if defined(__AVR_ATmega1280__)
 			data = Serial1.read();
 		#else
 			data = Serial.read();
 		#endif
-		Serial.print(data,HEX);
-		Serial.println(",");
-		switch(step){		 // Normally we start from zero. This is a state machine
-			case 0:	
-				if(data == 0xB5)	// UBX sync char 1
-					step++;	 // OH first data packet is correct, so jump to the next step
+		
+		switch(step){
+			case 0:
+				if(data == 0xB5)
+					step++;
 				break;
 				
 			case 1:	
-				if(data == 0x62)	// UBX sync char 2
-					step++;	 // ooh! The second data packet is correct, jump to the step 2
+				if(data == 0x62)
+					step++;
 				else 
-					step = 0;	 // Nop, is not correct so restart to step zero and try again.		 
+					step = 0;
 				break;
 				
 			case 2:
@@ -166,26 +160,25 @@ void AP_GPS_UBLOX::update(void)
 }
 
 // Private Methods //////////////////////////////////////////////////////////////
-void AP_GPS_UBLOX::parse_gps(void)
+void
+AP_GPS_UBLOX::parse_gps(void)
 {
 	int j;
 //Verifing if we are in msg_class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes.. 
 // In this case all the message im using are in msg_class 1, to know more about classes check PAGE 60 of DataSheet.
-	if(msg_class == 0x01) 
-	{
-		switch(id) //Checking the UBX ID
-		{
+	if(msg_class == 0x01){
+		switch(id) {//Checking the UBX ID
 		case 0x02: // ID NAV - POSLLH 
 			j = 0;
 			time = join_4_bytes(&buffer[j]); // ms Time of week
 			j += 4;
-			longitude = join_4_bytes(&buffer[j]); // lon * 10000000
+			longitude = join_4_bytes(&buffer[j]); // lon * 10,000,000
 			j += 4;
-			lattitude = join_4_bytes(&buffer[j]); // lat * 10000000
+			lattitude = join_4_bytes(&buffer[j]); // lat * 10,000,000
 			j += 4;
 			//altitude = join_4_bytes(&buffer[j]);	// elipsoid heigth mm
 			j += 4;
-			altitude = (float)join_4_bytes(&buffer[j]);	// MSL heigth mm
+			altitude = (float)join_4_bytes(&buffer[j]) / 10;	// MSL heigth mm
 			//j+=4;
 			/*
 			hacc = (float)join_4_bytes(&buffer[j]) / (float)1000;
@@ -198,7 +191,7 @@ void AP_GPS_UBLOX::parse_gps(void)
 
 		case 0x03: //ID NAV - STATUS 
 			//if(buffer[4] >= 0x03)
-		if((buffer[4] >= 0x03) && (buffer[5] & 0x01))				
+			if((buffer[4] >= 0x03) && (buffer[5] & 0x01))				
 				fix = 1; // valid position				
 			else
 				fix = 0; // invalid position
@@ -223,8 +216,8 @@ void AP_GPS_UBLOX::parse_gps(void)
 			ground_course /= 1000;	// Rescale heading to deg * 100
 			j += 4;
 			break; 
-			}
-		}	 
+		}
+	}	 
 }
 
  // Join 4 bytes into a long
diff --git a/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde b/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
index 04b5e23714..40d1b5886b 100644
--- a/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
+++ b/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
@@ -10,6 +10,7 @@
 
 AP_GPS_MTK gps;
 #define T6 1000000
+#define T7 10000000
 
 void setup()
 {
diff --git a/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde b/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
index 8ac8982097..8720011db4 100644
--- a/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
+++ b/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
@@ -10,7 +10,7 @@
 
 AP_GPS_NMEA gps;
 #define T6 1000000
-#define T7 1000000
+#define T7 10000000
 
 void setup()
 {
diff --git a/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde b/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
index db60075ec1..f90ecbb860 100644
--- a/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
+++ b/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
@@ -10,7 +10,7 @@
 
 AP_GPS_UBLOX gps;
 #define T6 1000000
-#define T7 1000000
+#define T7 10000000
 
 void setup()
 {