Merge branch 'master' of gitlab.multitech.net:mirrors/meta-mlinux

22 files changed, 780 insertions, 212 deletions

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index e07d2a9..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,36 +0,0 @@
-variables:
-  GIT_STRATEGY: none
-
-before_script:
-  - test -d mlinux || git clone git@gitlab.multitech.net:mirrors/mlinux.git
-  - cd mlinux
-  - git pull
-  - (test -f env-oe.sh && ./setup.sh --update) || ./setup.sh
-  - source env-oe.sh
-  - cd layers/meta-mlinux
-  - git fetch
-  - git checkout $CI_BUILD_REF
-  - cd ../..
-
-cache:
-  untracked: true
-
-mtcdt_mlinux:
-  stage: build
-  tags:
-    - mlinux
-  script:
-    - bitbake mlinux-factory-image
-  artifacts:
-    paths:
-      - mlinux/build/tmp/deploy/images/mtcdt/*-upgrade.bin
-
-mtcap_mlinux:
-  stage: build
-  tags:
-    - mlinux
-  script:
-    - MACHINE=mtcap bitbake mlinux-mtcap-image
-  artifacts:
-    paths:
-      - mlinux/build/tmp/deploy/images/mtcap/*-upgrade.bin
diff --git a/conf/distro/mlinux.conf b/conf/distro/mlinux.conf
index 9a8011d..e4b199e 100644
--- a/conf/distro/mlinux.conf
+++ b/conf/distro/mlinux.conf
@@ -1,7 +1,7 @@
 DISTRO = "mlinux"
 DISTRO_NAME = "mLinux"
 DISTRO_BASE_VERSION = "3.2"
-DISTRO_VERSION = "${DISTRO_BASE_VERSION}.4"
+DISTRO_VERSION = "${DISTRO_BASE_VERSION}.5"
 DISTRO_CODENAME = ""
 SDK_VENDOR = "-mlinux"
 SDK_VERSION := "${@'${DISTRO_VERSION}'.replace('snapshot-${DATE}','snapshot')}"
diff --git a/prod-scripts/MTCDT-0.1/cdteep.sh b/prod-scripts/MTCDT-0.1/cdteep.sh
new file mode 100755
index 0000000..c0e1e14
--- /dev/null
+++ b/prod-scripts/MTCDT-0.1/cdteep.sh
@@ -0,0 +1,110 @@
+#!/bin/sh
+# This scripts follows old school option rules, and all
+# options must come before parameters.  Four parameters
+# are required.  Options requiring parameters must be
+# followed by their parameter, with or without a space.
+# Options not requiring parameters can be ganged, and may
+# precede a single option requiring a parameter.
+# 
+MYNAME=cdteep.sh
+out="/sys/bus/i2c/devices/0-0056/eeprom"
+vendor_id="Multi-Tech Systems"
+hw_version="MTCDT-0.1"
+
+
+# Set the MTCDT EEPROM
+function usage {
+  echo "${MYNAME}"' -d -g -b "bt_mac_addr" -w "wifi_mac_addr" -i "imei number" -l "product-id" "device-id" "uuid" "eth_mac_addr"' >&2
+  cat <<!EOF >&2
+  assumptions:
+    All options are optional and must come first.
+    -b and -w require a following mac address
+    -d displays the PROM, do not write.  Ignores other parameters.
+    -g GPS capability.
+    -l lora capability.
+    -i requires a following imei number
+    
+    Example
+    cdteep.sh -lb 01:12:AB:C3:23:FE MTCDT-210L 3489235379 125-6356-2283-9792 12:34:AB:CD:8F:34
+    To add wifimac and remove lora:
+    ${MYNAME} -b 01:12:AB:C3:23:FE -w 04:16:3C:C3:45:75 MTCDT-210L 3489235379 125-6356-2283-9792 12:34:AB:CD:8F:34
+        
+    product-id, device-id, uuid and eth_mac_addr are required.
+    
+    -d          display EEPROM
+    -g          capa-GPS
+    -l          capa-Lora
+    The following fields are fixed:
+    out-file    ${out}
+    vendor-id   ${vendor_id}
+    hw-version  ${hw_version}
+!EOF
+  exit 1
+}
+
+((display=0))
+
+while getopts b:dgw:i:l opt ; do
+echo looking at opt $opt
+  case $opt in
+  b)
+    bt_mac_addr="$OPTARG"
+    barg="--mac-bluetooth ${OPTARG} --capa-bluetooth"
+    ;;
+  w)
+    wifi_mac_addr="$OPTARG"
+    warg="--mac-wifi ${OPTARG} --capa-wifi"
+    ;;
+  i)
+    imei="$OPTARG"
+    if ((${#imei} == 0)) ; then
+	echo "i option requires an imei number." >&2
+	usage
+    fi
+    iarg="--imei ${OPTARG}"
+    ;;
+  l)
+    larg="--capa-lora"
+    ;;
+  d)
+    echo -e "\n\nEEPROM contents"
+    echo    "-----------------"
+    mts-id-eeprom --in-file $out
+    exit
+    ;;
+  g)
+    gps="--capa-gps"
+    ;;
+ \?)
+    usage
+    ;;
+ :)
+    echo "Option -$OPTARG requires an argument." >&2
+    usage
+    ;;
+  esac
+done
+
+
+shift $((OPTIND-1))
+
+if (($# != 4)) ; then
+  echo Need 4 parameters beyond the options. >&2
+  echo "You specified $#." >&2
+  usage
+  exit 1
+fi
+product_id=$1
+device_id=$2
+uuid=$3
+mac=$4
+
+mts-id-eeprom --out-file $out --out-format bin --vendor-id "$vendor_id" \
+  --product-id "$product_id" --device-id "$device_id" \
+  --hw-version "$hw_version" --mac-addr $mac \
+  ${warg} ${barg} \
+  ${iarg} ${larg} ${gps} --uuid "$uuid"
+
+echo -e "\n\nNew contents"
+echo    "-----------------"
+mts-id-eeprom --in-file $out
diff --git a/recipes-connectivity/lora/lora-network-server_1.0.18.bb b/recipes-connectivity/lora/lora-network-server_1.0.21.bb
index 1a7aab6..5091b9d 100644
--- a/recipes-connectivity/lora/lora-network-server_1.0.18.bb
+++ b/recipes-connectivity/lora/lora-network-server_1.0.21.bb
@@ -13,8 +13,8 @@ SRC_URI = "http://multitech.net/downloads/lora-network-server_${TUNE_PKGARCH}_${
            file://lora-network-server.logrotate.conf \
           "
 
-SRC_URI[md5sum] = "9e83c88149fc9b9c969034edcc6371f8"
-SRC_URI[sha256sum] = "1e94620eed249c0c431987ac64850e329f7506ddd2d3c2ff6de0a554cb76ed52"
+SRC_URI[md5sum] = "5d8e6f207fa95c53844c8992a999a014"
+SRC_URI[sha256sum] = "af454f942c8b441580b014087d4c707affc5016451a12ff493e63b4530ad10d9"
 
 # binaries are already stripped, so suppress warning
 INSANE_SKIP_${PN} = "already-stripped"
diff --git a/recipes-connectivity/lora/lora-packet-forwarder/global_conf.json.3.0.0.MTCAP-LORA-1-5.EU868.basic b/recipes-connectivity/lora/lora-packet-forwarder/global_conf.json.3.0.0.MTCAP-LORA-1-5.EU868.basic
index 8f8d93d..e29b1f1 100644
--- a/recipes-connectivity/lora/lora-packet-forwarder/global_conf.json.3.0.0.MTCAP-LORA-1-5.EU868.basic
+++ b/recipes-connectivity/lora/lora-packet-forwarder/global_conf.json.3.0.0.MTCAP-LORA-1-5.EU868.basic
@@ -1,17 +1,17 @@
 {
     "SX1301_conf": {
         "lorawan_public": true,
-        "clksrc": 0, /* radio_0 provides clock to concentrator */
+        "clksrc": 0,
         "lbt_cfg": {
             "enable": false,
-            "rssi_target": 160, /* rssi in dBm = -lbt_rssi_target/2 */
+            "rssi_target": 160,
             "nb_channel": 1,
             "start_freq": 869525000,
             "scan_time_us": 5000,
             "tx_delay_1ch_us": 4000000,
             "tx_delay_2ch_us": 4000000
         },
-        "antenna_gain": 1.4, /* antenna gain, in dBi */
+        "antenna_gain": 1.4,
         "radio_0": {
             "enable": true,
             "type": "SX1257",
@@ -29,55 +29,46 @@
             "tx_enable": false
         },
         "chan_multiSF_0": {
-            /* Lora MAC channel, 125kHz, all SF, 868.1 MHz */
             "enable": true,
             "radio": 1,
             "if": -400000
         },
         "chan_multiSF_1": {
-            /* Lora MAC channel, 125kHz, all SF, 868.3 MHz */
             "enable": true,
             "radio": 1,
             "if": -200000
         },
         "chan_multiSF_2": {
-            /* Lora MAC channel, 125kHz, all SF, 868.5 MHz */
             "enable": true,
             "radio": 1,
             "if": 0
         },
         "chan_multiSF_3": {
-            /* Lora MAC channel, 125kHz, all SF, 867.1 MHz */
             "enable": true,
             "radio": 0,
             "if": -400000
         },
         "chan_multiSF_4": {
-            /* Lora MAC channel, 125kHz, all SF, 867.3 MHz */
             "enable": true,
             "radio": 0,
             "if": -200000
         },
         "chan_multiSF_5": {
-            /* Lora MAC channel, 125kHz, all SF, 867.5 MHz */
             "enable": true,
             "radio": 0,
             "if": 0
         },
         "chan_multiSF_6": {
-            /* Lora MAC channel, 125kHz, all SF, 867.7 MHz */
             "enable": true,
             "radio": 0,
             "if": 200000
         },
         "chan_multiSF_7": {
-            /* Lora MAC channel, 125kHz, all SF, 867.9 MHz */
             "enable": true,
             "radio": 0,
             "if": 400000
         },
         "chan_Lora_std": {
-            /* Lora MAC channel, 250kHz, SF7, 868.3 MHz */
             "enable": true,
             "radio": 1,
             "if": -200000,
@@ -85,7 +76,6 @@
             "spread_factor": 7
         },
         "chan_FSK": {
-            /* FSK 50kbps channel, 868.8 MHz */
             "enable": true,
             "radio": 1,
             "if": 300000,
@@ -93,130 +83,110 @@
             "datarate": 50000
         },
         "tx_lut_0": {
-            /* TX gain table, index 0 */
             "pa_gain": 0,
             "mix_gain": 9,
             "rf_power": -6,
             "dig_gain": 1
         },
         "tx_lut_1": {
-            /* TX gain table, index 1 */
             "pa_gain": 0,
             "mix_gain": 12,
             "rf_power": -3,
             "dig_gain": 1
         },
         "tx_lut_2": {
-            /* TX gain table, index 2 */
             "pa_gain": 1,
             "mix_gain": 8,
             "rf_power": 0,
             "dig_gain": 2
         },
         "tx_lut_3": {
-            /* TX gain table, index 3 */
             "pa_gain": 1,
             "mix_gain": 11,
             "rf_power": 3,
             "dig_gain": 3
         },
         "tx_lut_4": {
-            /* TX gain table, index 4 */
             "pa_gain": 1,
             "mix_gain": 10,
             "rf_power": 6,
             "dig_gain": 0
         },
         "tx_lut_5": {
-            /* TX gain table, index 5 */
             "pa_gain": 2,
             "mix_gain": 11,
             "rf_power": 10,
             "dig_gain": 3
         },
         "tx_lut_6": {
-            /* TX gain table, index 6 */
             "pa_gain": 2,
             "mix_gain": 9,
             "rf_power": 11,
             "dig_gain": 1
         },
         "tx_lut_7": {
-            /* TX gain table, index 7 */
             "pa_gain": 2,
             "mix_gain": 9,
             "rf_power": 12,
             "dig_gain": 0
         },
         "tx_lut_8": {
-            /* TX gain table, index 8 */
             "pa_gain": 2,
             "mix_gain": 11,
             "rf_power": 13,
             "dig_gain": 2
         },
         "tx_lut_9": {
-            /* TX gain table, index 9 */
             "pa_gain": 2,
             "mix_gain": 11,
             "rf_power": 14,
             "dig_gain": 1
         },
         "tx_lut_10": {
-            /* TX gain table, index 10 */
             "pa_gain": 2,
             "mix_gain": 12,
             "rf_power": 16,
             "dig_gain": 0
         },
         "tx_lut_11": {
-            /* TX gain table, index 11 */
             "pa_gain": 3,
             "mix_gain": 10,
             "rf_power": 20,
             "dig_gain": 3
         },
         "tx_lut_12": {
-            /* TX gain table, index 12 */
             "pa_gain": 3,
             "mix_gain": 9,
             "rf_power": 23,
             "dig_gain": 0
         },
         "tx_lut_13": {
-            /* TX gain table, index 13 */
             "pa_gain": 3,
             "mix_gain": 12,
             "rf_power": 25,
             "dig_gain": 2
         },
         "tx_lut_14": {
-            /* TX gain table, index 14 */
             "pa_gain": 3,
             "mix_gain": 13,
             "rf_power": 26,
             "dig_gain": 0
         },
         "tx_lut_15": {
-            /* TX gain table, index 15 */
             "pa_gain": 3,
             "mix_gain": 15,
             "rf_power": 27,
             "dig_gain": 0
         }
     },
-
     "gateway_conf": {
-        "gateway_ID": "AA555A0000000000",
-        /* change with default server address/ports, or overwrite in local_conf.json */
+        "gateway_ID": "<WILL-BE-AUTO-REPLACED-WITH-LORA-EUI>",
         "server_address": "localhost",
         "serv_port_up": 1680,
         "serv_port_down": 1680,
-        /* adjust the following parameters for your network */
         "keepalive_interval": 10,
         "stat_interval": 30,
         "push_timeout_ms": 100,
-        /* forward only valid packets */
         "forward_crc_valid": true,
         "forward_crc_error": false,
         "forward_crc_disabled": false
diff --git a/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb b/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb
index ada0493..e9ff489 100644
--- a/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb
+++ b/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb
@@ -47,26 +47,21 @@ do_install() {
   install -m 755 util_ack/util_ack ${D}${LORA_DIR}/forwarder-utils/
   install -m 755 util_tx_test/util_tx_test ${D}${LORA_DIR}/forwarder-utils/
   install -m 755 ${WORKDIR}/README.md  ${D}${LORA_DIR}/
+
+  install -d ${D}${sysconfdir}/default
+  install -m 0644 ${WORKDIR}/lora-packet-forwarder.default ${D}${sysconfdir}/default/lora-packet-forwarder
+  install -d ${D}${sysconfdir}/init.d
+  install -m 0755 ${WORKDIR}/lora-packet-forwarder.init ${D}${sysconfdir}/init.d/lora-packet-forwarder
 }
 
 do_install_append_mtcdt() {
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTAC_LORA_1_5.EU868.basic.clksrc0 ${D}${LORA_DIR}/global_conf.json
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTAC_LORA_1_0.EU868.basic.clksrc0 ${D}${LORA_DIR}/global_conf.json.MTAC_LORA_1_0
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTAC_LORA_1_5.EU868.basic.clksrc0 ${D}${LORA_DIR}/global_conf.json.MTAC_LORA_1_5
-
-  install -d ${D}${sysconfdir}/default
-  install -m 0644 ${WORKDIR}/lora-packet-forwarder.default ${D}${sysconfdir}/default/lora-packet-forwarder
-  install -d ${D}${sysconfdir}/init.d
-  install -m 0755 ${WORKDIR}/lora-packet-forwarder.init ${D}${sysconfdir}/init.d/lora-packet-forwarder
 }
 
 do_install_append_mtcap() {
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTCAP-LORA-1-5.EU868.basic ${D}${LORA_DIR}/global_conf.json
-
-  install -d ${D}${sysconfdir}/default
-  install -m 0644 ${WORKDIR}/lora-packet-forwarder.default ${D}${sysconfdir}/default/lora-packet-forwarder
-  install -d ${D}${sysconfdir}/init.d
-  install -m 0755 ${WORKDIR}/lora-packet-forwarder.init ${D}${sysconfdir}/init.d/lora-packet-forwarder
 }
 
 FILES_${PN} += "${LORA_DIR}"
diff --git a/recipes-core/images/mlinux-factory-image.bb b/recipes-core/images/mlinux-factory-image.bb
index 6ce05ab..c50619b 100644
--- a/recipes-core/images/mlinux-factory-image.bb
+++ b/recipes-core/images/mlinux-factory-image.bb
@@ -1,5 +1,6 @@
 # Conduit 0.0 or 0.1 without RS9113
 require mlinux-base-image.bb
+DESCRIPTION = "mLinux factory image"
 
 LIGHTTPD = "lighttpd \
             lighttpd-module-cgi lighttpd-module-indexfile \
@@ -80,6 +81,8 @@ IMAGE_INSTALL += "sms-utils"
 # Multi-Tech GPS Utility
 IMAGE_INSTALL += "venus-gps"
 IMAGE_INSTALL += "pps-tools"
-IMAGE_INSTALL += "gpsd"
+
+# When ntp is to use the GPS, gps-utils is required
+IMAGE_INSTALL += "gpsd ntp ntp-utils gps-utils gpsd-udev"
 
 IMAGE_INSTALL += "uvccapture"
diff --git a/recipes-core/images/mlinux-rs9113-base-image.bb b/recipes-core/images/mlinux-rs9113-base-image.bb
index a4e9f23..8aab186 100644
--- a/recipes-core/images/mlinux-rs9113-base-image.bb
+++ b/recipes-core/images/mlinux-rs9113-base-image.bb
@@ -1,5 +1,5 @@
 require mlinux-base-image.bb
-DESCRIPTION = "mLinux base image"
+DESCRIPTION = "mLinux base image with rs9113 drivers"
 
 # Extra stuff to install
 IMAGE_INSTALL += " rs9113 "
diff --git a/recipes-core/images/mlinux-rs9113-factory-image.bb b/recipes-core/images/mlinux-rs9113-factory-image.bb
index bf2beaa..3fe2ca6 100644
--- a/recipes-core/images/mlinux-rs9113-factory-image.bb
+++ b/recipes-core/images/mlinux-rs9113-factory-image.bb
@@ -1,84 +1,5 @@
-require mlinux-rs9113-base-image.bb
+require mlinux-factory-image.bb
+DESCRIPTION = "mLinux factory image with rs9113 drivers"
 
-LIGHTTPD = "lighttpd \
-            lighttpd-module-cgi lighttpd-module-indexfile \
-            lighttpd-module-redirect lighttpd-module-auth  \
-            lighttpd-module-access lighttpd-module-accesslog \
-            lighttpd-module-rewrite lighttpd-module-proxy lighttpd-module-fastcgi \
-            lighttpd-module-scgi lighttpd-module-alias \
-            lighttpd-module-dirlisting  lighttpd-module-staticfile \
-            "
-
-# Lighttpd web server
-IMAGE_INSTALL += "${LIGHTTPD}"
-
-IMAGE_INSTALL += "sqlite3"
-
-IMAGE_INSTALL += "autossh"
-
-# Monit system/process monitor
-IMAGE_INSTALL += "monit"
-
-# LoRa support (MTAC-LORA accessory card)
-IMAGE_INSTALL += "lora-gateway-utils lora-network-server lora-query"
-
-# MQTT server
-IMAGE_INSTALL += "mosquitto mosquitto-clients"
-
-# Perl support
-IMAGE_INSTALL += "perl"
-IMAGE_INSTALL += "perl-module-io perl-module-fcntl"
-# not in meta-oe or oe-core...
-#IMAGE_INSTALL += "libdevice-serialport-perl"
-#IMAGE_INSTALL += "libexpect-perl"
-
-# Python support
-IMAGE_INSTALL += "python"
-# Python modules
-IMAGE_INSTALL += "python-async \
-python-argparse \
-python-compression \
-python-dateutil \
-python-html \
-python-psutil \
-python-pycurl \
-python-pyopenssl \
-python-pyserial \
-python-pyudev \
-python-pyusb \
-python-simplejson \
-python-sqlite3 \
-python-syslog \
-python-textutils \
-python-unixadmin \
-python-xml \
-"
-
-# Ruby support
-IMAGE_INSTALL += "ruby"
-IMAGE_INSTALL += "ruby-sqlite3"
-IMAGE_INSTALL += "ruby-serialport"
-
-# OpenJDK Java runtime
-IMAGE_INSTALL += "openjdk-7-jre"
-# OpenJDK with JamVM VM (Multi-Tech default)
-IMAGE_INSTALL += "openjdk-7-vm-jamvm"
-# OpenJDK with CACAO VM (run with 'java -cacao')
-IMAGE_INSTALL += "openjdk-7-vm-cacao"
-# OpenJDK Zero VM (run with 'java -zero')
-IMAGE_INSTALL += "openjdk-7-vm-zero"
-
-# PHP support
-IMAGE_INSTALL += "php php-cli php-cgi"
-
-# Node.js support
-IMAGE_INSTALL += "nodejs nodejs-npm"
-
-# Multi-Tech SMS Utility (see http://git.multitech.net)
-IMAGE_INSTALL += "sms-utils"
-# Multi-Tech GPS Utility
-IMAGE_INSTALL += "venus-gps"
-IMAGE_INSTALL += "pps-tools"
-IMAGE_INSTALL += "gpsd"
-
-IMAGE_INSTALL += "uvccapture"
+# Extra stuff to install
+IMAGE_INSTALL += " rs9113 "
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0005-suppress-text-in-binary.patch b/recipes-navigation/gpsd/gpsd-3.16/0005-suppress-text-in-binary.patch
index 34c9924..f338126 100644
--- a/recipes-navigation/gpsd/gpsd-3.16/0005-suppress-text-in-binary.patch
+++ b/recipes-navigation/gpsd/gpsd-3.16/0005-suppress-text-in-binary.patch
@@ -1,12 +1,12 @@
 diff -u old/gpsctl.c new/gpsctl.c
 --- old/gpsctl.c	2017-01-03 15:57:50.517120891 -0600
-+++ new/gpsctl.c	2017-01-03 15:58:05.025120861 -0600
++++ new/gpsctl.c	2017-01-03 18:31:21.421101434 -0600
 @@ -175,7 +175,7 @@
      int option, status;
      char *device = NULL, *devtype = NULL;
      char *speed = NULL, *control = NULL, *rate = NULL;
 -    bool to_binary = false, to_nmea = false, reset = false;
-+    bool to_binary = false, to_nmea = false, reset = false, cstring = false;
++    bool to_binary = false, to_nmea = false, reset = false, control_string = false;
      bool lowlevel=false, echo=false;
      struct gps_data_t gpsdata;
      const struct gps_type_t *forcetype = NULL;
@@ -14,16 +14,17 @@ diff -u old/gpsctl.c new/gpsctl.c
  #ifdef CONTROLSEND_ENABLE
  	    control = optarg;
  	    lowlevel = true;
-+	    cstring = true;
++	    control_string = true;
  	    if ((cooklen = hex_escapes(cooked, control)) <= 0) {
  		gpsd_log(&context.errout, LOG_ERROR,
  			 "invalid escape string (error %d)\n", (int)cooklen);
-@@ -443,7 +444,7 @@
+@@ -704,7 +705,8 @@
+ 	    }
  	}
  
- 	/* if no control operation was specified, just ID the device */
--	if (speed==NULL && rate == NULL && !to_nmea && !to_binary && !reset) {
-+	if (speed==NULL && rate == NULL && !to_nmea && !to_binary && !reset && !cstring) {
- 	    (void)printf("%s identified as a %s",
- 			 gpsdata.dev.path, gpsdata.dev.driver);
- 	    if (gpsdata.dev.subtype[0] != '\0') {
+-	(void)printf("%s identified as a %s at %u baud.\n",
++	if(!control_string)
++		(void)printf("%s identified as a %s at %u baud.\n",
+                        device, gpsd_id(&session),
+                        session.gpsdata.dev.baudrate);
+ 
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0006-itu_r_tf_460_6.patch b/recipes-navigation/gpsd/gpsd-3.16/0006-itu_r_tf_460_6.patch
new file mode 100644
index 0000000..8e8d814
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0006-itu_r_tf_460_6.patch
@@ -0,0 +1,23 @@
+diff -Naur old/ntpshmwrite.c new/ntpshmwrite.c
+--- old/ntpshmwrite.c	2017-01-23 10:00:05.497129473 -0600
++++ new/ntpshmwrite.c	2017-01-23 09:47:58.881627772 -0600
+@@ -32,11 +32,18 @@
+      * NTP expects leap pending for only 1 month prior to insertion
+      * Per http://bugs.ntp.org/1090 */
+     (void)gmtime_r( &(td->real.tv_sec), &tm);
++/* This code contradicts page 3 section 2.1 of ITU-R RV.460-6 that
++ * leap second may occur at the last second of a month, with
++ * preference for December and June, 2nd preference to March and
++ * September.
++ *  https://www.itu.int/dms_pubrec/itu-r/rec/tf/R-REC-TF.460-6-200202-I!!PDF-E.pdf
++ */
++#ifdef NOTITU_R_TF_460_6
+     if ( 5 != tm.tm_mon && 11 != tm.tm_mon ) {
+         /* Not june, not December, no way */
+         leap_notify = LEAP_NOWARNING;
+     }
+-
++#endif /* NOTITU_R_TF_460_6 */
+     /* we use the shmTime mode 1 protocol
+      *
+      * ntpd does this:
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0006-ubxtimelps.patch b/recipes-navigation/gpsd/gpsd-3.16/0006-ubxtimelps.patch
new file mode 100644
index 0000000..e715847
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0006-ubxtimelps.patch
@@ -0,0 +1,200 @@
+diff -Naur old/driver_ubx.c new/driver_ubx.c
+--- old/driver_ubx.c	2017-01-19 14:12:25.099231346 -0600
++++ new/driver_ubx.c	2017-01-19 15:13:58.552152991 -0600
+@@ -57,6 +57,29 @@
+ #define UBX_CFG_LEN		20
+ #define outProtoMask		14
+ 
++#ifdef UBLOXTIMELS_ENABLE
++/* UBX-NAV-TIMELS support */
++static char *srcOfCurrLs[] = {
++  "firmware",
++  "GPS GLONASS difference",
++  "GPS",
++  "SBAS",
++  "BeiDou",
++  "Galileo",
++  "Aided data",
++  "Configured"
++};
++static char *srcOfLsChange[] = {
++  "No Source",
++  "Undefined",
++  "GPS",
++  "SBAS",
++  "BeiDou",
++  "Galileo",
++  "GLONOSS",
++};
++#endif  /* UBLOXTIMELS_ENABLE */
++
+ static gps_mask_t ubx_parse(struct gps_device_t *session, unsigned char *buf,
+ 			    size_t len);
+ static gps_mask_t ubx_msg_nav_dop(struct gps_device_t *session,
+@@ -237,6 +260,89 @@
+     return mask;
+ }
+ 
++#ifdef UBLOXTIMELS_ENABLE
++/**
++ * Navigation time to leap second
++ * 
++ * Sets leap_notify if leap second is < 23 hours away.
++ */
++static void
++ubx_msg_nav_timels(struct gps_device_t *session, unsigned char *buf,
++		size_t data_len)
++{
++    int version;
++    unsigned int flags;
++    int valid_curr_ls;
++    int valid_time_to_ls_event;
++    
++    if (data_len != 24) {
++        gpsd_log(&session->context->errout, LOG_WARN, 
++	  "UBX-NAV-TIMELS: unexpected length %d, expecting 24\n",
++	  data_len);
++	return;
++    }
++    version = getsb(buf,4);
++    /* Only version 0 is defined so far. */
++    flags = (unsigned int)getub(buf, 23);
++    gpsd_log(&session->context->errout, LOG_DATA,
++        "UBX-NAV-TIMELS: flags 0x%x message version %d\n",flags, version);
++    valid_curr_ls = flags & UBX_TIMELS_VALID_CURR_LS;
++    valid_time_to_ls_event = flags & UBX_TIMELS_VALID_TIME_LS_EVT;
++    if(valid_curr_ls) {
++      unsigned int src_of_curr_ls = getub(buf,8);
++      int curr_ls = getsb(buf,9);
++      char *src = "Unknown";
++      
++      if(src_of_curr_ls < (sizeof srcOfCurrLs/(sizeof srcOfCurrLs[0])))
++	src = srcOfCurrLs[src_of_curr_ls];
++	
++      gpsd_log(&session->context->errout, LOG_DATA,
++	     "UBX-NAV-TIMELS: source_of_current_leapsecond=%u:%s curr_ls=%d\n",
++	     src_of_curr_ls,src,curr_ls);
++      session->context->leap_seconds = curr_ls;
++      session->context->valid |= LEAP_SECOND_VALID;
++    } /* Valid current leap second */
++    if(valid_time_to_ls_event) {
++      char *src="Unknown";
++      unsigned int src_of_ls_change;
++      unsigned short dateOfLSGpsWn, dateOfLSGpsDn;
++      int lsChange = getsb(buf,11);
++      int timeToLsEvent = getles32(buf,12);
++      src_of_ls_change = getub(buf,10);
++      if(src_of_ls_change < (sizeof srcOfLsChange/(sizeof srcOfLsChange[0])))
++	src = srcOfLsChange[src_of_ls_change];
++      dateOfLSGpsWn = getles16(buf,16);
++      dateOfLSGpsDn = getles16(buf,18);
++      gpsd_log(&session->context->errout, LOG_DATA,
++	 "UBX_NAV_TIMELS: source_of_leapsecond_change=%u:%s "
++	 "leapSecondChage=%d timeToLsEvent=%d\n",
++	 src_of_ls_change,src,lsChange,timeToLsEvent);
++      gpsd_log(&session->context->errout, LOG_DATA,
++	       "UBX_NAV_TIMELS: dateOfLSGpsWn=%d dateOfLSGpsDn=%d\n",
++	       dateOfLSGpsWn,dateOfLSGpsDn);
++      if(timeToLsEvent < 60*60*23 && timeToLsEvent > 0) {
++	if(lsChange == 0)
++	   session->context->leap_notify = LEAP_NOWARNING;
++	else if (lsChange == 1)
++	  session->context->leap_notify = LEAP_ADDSECOND;
++	else if (lsChange == -1)
++	  session->context->leap_notify = LEAP_DELSECOND;
++      } else
++	session->context->leap_notify = LEAP_NOWARNING;
++
++      if (session->context->leap_notify == LEAP_ADDSECOND)
++	gpsd_log(&session->context->errout,LOG_INF,
++		"UBX_NAV_TIMELS: Add leap second today\n");
++      else if (session->context->leap_notify == LEAP_DELSECOND)
++	gpsd_log(&session->context->errout,LOG_INF,
++		 "UBX_NAV_TIMELS: Remove leap second today\n");
++      
++      gpsd_log(&session->context->errout, LOG_DATA,
++	       "UBX_NAV_TIMELS: leaving: leap_notify=%d\n",
++	session->context->leap_notify);
++    }
++}
++#endif  /* UBLOXTIMELS_ENABLE */
+  /**
+  * Geodetic position solution message
+  */
+@@ -523,13 +629,22 @@
+     case UBX_NAV_EKFSTATUS:
+ 	gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_EKFSTATUS\n");
+ 	break;
+-
++    case UBX_NAV_TIMELS:
++    gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_TIMELS\n");
++#ifdef UBLOXTIMELS_ENABLE
++	ubx_msg_nav_timels(session, &buf[UBX_PREFIX_LEN],data_len);
++#endif // UBLOXTIMELS_ENABLE
++	break;
+     case UBX_RXM_RAW:
+ 	gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_RAW\n");
+ 	break;
+     case UBX_RXM_SFRB:
++	gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_SFRB\n");
+ 	mask = ubx_msg_sfrb(session, &buf[UBX_PREFIX_LEN]);
+ 	break;
++    case UBX_RXM_SFRBX:
++	gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_SFRBX\n");
++	break;
+     case UBX_RXM_SVSI:
+ 	gpsd_log(&session->context->errout, LOG_PROG, "UBX_RXM_SVSI\n");
+ 	break;
+@@ -955,6 +1070,12 @@
+ 	msg[1] = 0x20;		/* msg id  = UBX_NAV_TIMEGPS */
+ 	msg[2] = 0x01;		/* rate */
+ 	(void)ubx_write(session, 0x06u, 0x01, msg, 3);
++#ifdef UBLOXTIMELS_ENABLE
++	msg[0] = 0x01;		/* class */
++	msg[1] = 0x26;		/* msg id  = UBX_NAV_TIMELS */
++	msg[2] = 0xff;		/* rate */
++#endif /* UBLOXTIMELS_ENABLE */
++	(void)ubx_write(session, 0x06u, 0x01, msg, 3);
+ 	msg[0] = 0x01;		/* class */
+ 	msg[1] = 0x30;		/* msg id  = NAV-SVINFO */
+ 	msg[2] = 0x0a;		/* rate */
+diff -Naur old/driver_ubx.h new/driver_ubx.h
+--- old/driver_ubx.h	2017-01-19 14:12:25.099231346 -0600
++++ new/driver_ubx.h	2017-01-19 14:01:48.177653001 -0600
+@@ -35,6 +35,7 @@
+     UBX_NAV_TIMEGPS	= UBX_MSGID(UBX_CLASS_NAV, 0x20),
+     UBX_NAV_TIMEUTC	= UBX_MSGID(UBX_CLASS_NAV, 0x21),
+     UBX_NAV_CLOCK	= UBX_MSGID(UBX_CLASS_NAV, 0x22),
++    UBX_NAV_TIMELS	= UBX_MSGID(UBX_CLASS_NAV, 0x26),
+     UBX_NAV_SVINFO	= UBX_MSGID(UBX_CLASS_NAV, 0x30),
+     UBX_NAV_DGPS	= UBX_MSGID(UBX_CLASS_NAV, 0x31),
+     UBX_NAV_SBAS	= UBX_MSGID(UBX_CLASS_NAV, 0x32),
+@@ -42,6 +43,7 @@
+ 
+     UBX_RXM_RAW		= UBX_MSGID(UBX_CLASS_RXM, 0x10),
+     UBX_RXM_SFRB	= UBX_MSGID(UBX_CLASS_RXM, 0x11),
++    UBX_RXM_SFRBX	= UBX_MSGID(UBX_CLASS_RXM, 0x13),
+     UBX_RXM_SVSI	= UBX_MSGID(UBX_CLASS_RXM, 0x20),
+     UBX_RXM_ALM		= UBX_MSGID(UBX_CLASS_RXM, 0x30),
+     UBX_RXM_EPH		= UBX_MSGID(UBX_CLASS_RXM, 0x31),
+@@ -102,6 +104,9 @@
+ #define UBX_SOL_VALID_WEEK 0x04
+ #define UBX_SOL_VALID_TIME 0x08
+ 
++#define UBX_TIMELS_VALID_CURR_LS 0x01
++#define UBX_TIMELS_VALID_TIME_LS_EVT 0x01
++
+ /* from UBX_NAV_SVINFO */
+ #define UBX_SAT_USED 0x01
+ #define UBX_SAT_DGPS 0x02
+diff -Naur old/SConstruct new/SConstruct
+--- old/SConstruct	2017-01-19 14:51:35.638466569 -0600
++++ new/SConstruct	2017-01-19 15:20:02.488159765 -0600
+@@ -113,6 +113,7 @@
+     ("tripmate",      True,  "DeLorme TripMate support"),
+     ("tsip",          True,  "Trimble TSIP support"),
+     ("ublox",         True,  "u-blox Protocol support"),
++    ("ubloxtimels",   False, "u-blox UBX-NAV-TIMELS support (leap second)"),
+     ("fury",          True,  "Jackson Labs Fury and Firefly support"),
+     ("nmea2000",      True,  "NMEA2000/CAN support"),
+     # Non-GPS protocols
diff --git a/recipes-navigation/gpsd/gpsd/gpsd b/recipes-navigation/gpsd/gpsd/gpsd
index c08be9b..ed86ecf 100755
--- a/recipes-navigation/gpsd/gpsd/gpsd
+++ b/recipes-navigation/gpsd/gpsd/gpsd
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 ### BEGIN INIT INFO
 # Provides:          gpsd
 # Required-Start:    $remote_fs $network
@@ -29,12 +29,15 @@ DAEMON=/usr/sbin/$NAME
 PIDFILE=/var/run/$NAME.pid
 SCRIPTNAME=/etc/init.d/$NAME
 
-# Exit if the package is not installed
-[ -x "$DAEMON" ] || exit 0
-
 # Read configuration, if present
 [ -r /etc/default/$NAME ] && . /etc/default/$NAME
 
+# Exit if no gps found
+([[ -n $GPS_LINE ]] && [[ -c $GPS_LINE ]]) || exit 0
+
+# Exit if the package is not installed
+[ -x "$DAEMON" ] || exit 0
+
 if [ -z "$GPSD_SOCKET" ] && [ -z "$DEVICES" ]; then
 	GPSD_SOCKET=/var/run/gpsd.sock
 fi
@@ -48,13 +51,20 @@ fi
 #
 do_start()
 {
+	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON --test \
+        -- $GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES > /dev/null \
+		|| return 1
 	# Return
 	#   0 if daemon has been started
 	#   1 if daemon was already running
 	#   2 if daemon could not be started
-	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON --test \
-        -- $GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES > /dev/null \
-		|| return 1
+	# Set the baud rate.  Works better with ntp at a higher baud rate.
+	gpsctl -t 'u-blox' -s $GPS_BAUD -b  -f $GPS_LINE
+	# The next line is needed due to a bug in gpsctl.
+	# We will go back to the default baud rate if we don't do this step.
+	echo Expect a timeout error here.  Need this error.
+	gpsctl -T 2 -f $GPS_LINE
+	stty -F $GPS_LINE $GPS_BAUD
 	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \
 		$GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES \
 		|| return 2
@@ -91,11 +101,27 @@ do_reload() {
 	return 0
 }
 
+do_status() {
+        NAME=$1
+        PIDFILE=$2
+        # -t: test only but not stop
+        start-stop-daemon -K -t --quiet --pidfile $PIDFILE --name $NAME
+        # exit with status 0 if process is found
+        if [ "$?" = "0" ]; then
+                return 0
+        else
+                return 1
+        fi
+}
+
 case "$1" in
   start)
-		echo "Starting $DESC" "$NAME"
-		do_start
-		exit $?
+	if ! [[ $ENABLED =~ ^[yY][eE][sS]$ ]] ; then
+		exit 0
+	fi
+	echo "Starting $DESC" "$NAME"
+	do_start
+	exit $?
 	;;
   stop)
 	echo "Stopping $DESC" "$NAME"
@@ -103,7 +129,16 @@ case "$1" in
 	exit $?
 	;;
   status)
-       ;;
+        echo -n "status $NAME ... "
+        do_status "$NAME" "$PIDFILE"
+        if [ "$?" = "0" ]; then
+                echo "running"
+                exit 0
+        else
+                echo "stopped"
+                exit 1
+        fi
+        ;;
   reload|force-reload)
 	echo "Reloading $DESC" "$NAME"
 	do_reload
diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
index fe8576a..da697bc 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd-default
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -1,6 +1,24 @@
-# If you must specify a non-NMEA driver, uncomment and modify the next line
+ENABLED="yes"
 GPSD_SOCKET="/var/run/gpsd.sock"
 GPSD_OPTIONS="-n -D 1" 
 
 # Conduit 0.1 GPS devices
-GPS_DEVICES="/dev/ttyXRUSB2 /dev/pps0"
+GPS_LINE=/dev/ttyXRUSB2
+
+# Highest speed permitted by uBlox.
+GPS_BAUD=115200
+GPS_DEVICES="$GPS_LINE /dev/pps0"
+
+GPS_FIXFILE=/var/run/gpsfix
+
+# GPSD/UBlox Lock requiremnt
+# Create GPS_FIXFILE when reached.
+# UBlox NAV SOL (0x01 0x06) at gpsFix value
+# and above
+# 00 No Fix
+# 01 Dead reckoning only
+# 02 2D fix
+# 03 3D fix
+# 04 GPS + dead reckoning combined
+# 05 Time only fix
+GPSFIX="03 05"
diff --git a/recipes-navigation/gpsd/gpsd/60-gpsd.rules b/recipes-navigation/gpsd/gpsd/gpsd.rules
index 61143b8..c314b54 100644
--- a/recipes-navigation/gpsd/gpsd/60-gpsd.rules
+++ b/recipes-navigation/gpsd/gpsd/gpsd.rules
@@ -44,4 +44,8 @@ ATTR{idVendor}=="1546", ATTR{idProduct}=="01a4", SYMLINK="gps%n", RUN+="/lib/ude
 
 ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug.wrapper"
 
+KERNEL=="ttyXRUSB2", SYMLINK+="gps0"                                                                                                                                                 
+KERNEL=="pps0", OWNER="root", GROUP="tty", MODE="0660", SYMLINK+="gpspps0"                                                                                                           
+KERNEL=="ttyXRUSB2", RUN+="/bin/setserial -v /dev/%k low_latency                                                                                                                     
+
 LABEL="gpsd_rules_end"
diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
new file mode 100755
index 0000000..9fd3f7f
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
@@ -0,0 +1,142 @@
+#!/bin/bash
+# Fix file creation for U-Blox GPS.
+# If GPS reaches expected
+# fix level, file GSP_FIXFILE is created.
+# This is to know when to set the system
+# and hardware clock, and when 
+# it is safe to start ntp.
+if [[ -r /etc/default/gpsd ]] ; then
+  . /etc/default/gpsd
+else
+  echo "Must configure GPSD requirements"
+  exit 1
+fi
+UBXNAVSOL='b56201063400'
+UBXNAVSOLLEN=60
+
+function rm_gps_file
+{
+  if [[ -n "${GPS_FIXFILE}" ]] && [[ -f ${GPS_FIXFILE} ]] ; then
+    rm -f "${GPS_FIXFILE}"
+  fi
+}
+
+# Most exits are errors, so remove the GPS fix file.
+trap rm_gps_file EXIT
+
+if ! [[ -x /usr/bin/gpsmon ]] ; then
+  logger -p user.err "gpsd_ubx_3dfix.sh:  Please install gpsmon"
+  exit 0
+fi
+
+
+# Terminate gpsmon after 10 seconds if it is our child
+(
+  sleep 10
+  ppid=$$
+  # echo "looking for shell ${ppid}"
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper TERM found pid $gpsmonpid
+  if ((${#gpsmonpid})) ; then
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGTERM"
+    kill ${gpsmonpid}
+  else
+    exit 0
+  fi
+  sleep 2
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper KILL found pid $gpsmonpid
+  if ((${#gpsmonpid})) ; then
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGKILL"
+    kill -9 ${gpsmonpid}
+  fi
+) &
+  
+fix=""
+status=""
+
+# egrep in busybox has a horrible buffering issue.
+# echo My shell pid is $$
+# echo Place data fix, status
+stuff="$(gpsmon -a 2>&1 | {
+  OIFS=${IFS}
+  IFS=$'\n'
+  while read ln ; do
+    if [[ $ln =~ ^[[:space:]]*\(${UBXNAVSOLLEN}\)[[:space:]]*${UBXNAVSOL}....................(..)(.) ]] ; then
+      IFS=${OIFS} 
+      fix="${BASH_REMATCH[1]}"
+      if ((${#fix} == 0)) ; then
+	fix="unknown"
+      fi
+      status=$(echo "${BASH_REMATCH[2]}")
+      if ((${#status} == 0)) ; then
+	status="unknown"
+      fi
+      break;
+    fi
+    oldln="${ln}"
+  done
+  if ((${#fix})) && ((${#status})) ; then
+    echo "$fix,$status"
+  else
+    echo "${oldln}"
+  fi
+})"
+
+if ((${#stuff} == 0)) ; then
+  logger -p user.err No data from GPS
+  exit 1
+fi
+
+if [[ -t 1 ]] ; then
+  stty echo icanon
+fi
+
+OIFS=${IFS}
+IFS=,
+set $stuff
+fix="$1"
+status="$2"
+IFS=${OIFS}
+
+# fixOK is the least significant bit of a hex single digit
+case $status in
+  [13579bBdDfF])
+    ((fixOK=1))
+    ;;
+  [02468aAcCeE])
+    ((fixOK=0))
+    ;;
+  *)
+    logger -p user.err "Is GPSD running?"
+    logger -p user.err "FIX OK field should be single hex digit: gpsmon data: $stuff"
+    exit 1
+    break
+    ;;
+esac
+
+# echo "status is $status.  fixOK is $fixOK"
+
+
+if ((fixOK == 0)) ; then
+  logger -p user.err "Problem with the GPS fix.  The fix is an even value, \"$status\", and should be an odd value.  fixOK=${fixOK}"
+  exit 1
+  # Retry later.  How?
+fi
+
+# echo "fix is $fix.   Is it in $GPSFIX?"
+# Test the GPS fixOK
+for x in $GPSFIX ; do
+  # echo test $x with $fix
+  if [[ $x == $fix ]] ; then
+    logger user.info "GPS has fix $fix found in list GPSFIX: $GPSFIX"
+    echo $x >"${GPS_FIXFILE}"
+    GPS_FIXFILE=""
+    exit 0
+  fi
+done
+
+logger -p user.info "GPS fix is bad: $fix and should be one of: $GPSFIX"
+# Start later
+exit 1
+
diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh
new file mode 100755
index 0000000..5644d57
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# PPS= 1484247472.29561104 clock= 1484247990.00000000 offset= 517.704388959
+
+trap "stty echo icanon" exit
+
+OIFS=$IFS
+IFS=$'\n'
+if ! /usr/sbin/gpsd_ubx_fixed ; then
+   logger -s -p user.warn "GPS does not have a fix yet.  Try again later."
+   exit 1
+fi
+# This shell script is shaped by two things:
+#   Lousy performance of sed and grep when used with gpsmon
+#   Need to terminate 
+# Terminate gpsmon after 10 seconds if it is our child          
+(                                                               
+  sleep 10                                                      
+  ppid=$$                                                       
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  if ((${#gpsmonpid})) ; then                                                                                                             
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGTERM"                                                                   
+    kill ${gpsmonpid}                                                                                                                     
+  else                                                                                                                                    
+    exit 0                                                                                                                                
+  fi                                                                                                                                      
+  sleep 2                                                                                                                                 
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  if ((${#gpsmonpid})) ; then                                                                                                             
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGKILL"                                                                   
+    kill -9 ${gpsmonpid}                                                                                                                  
+  fi                                                                                                                                      
+) &                                                                                                                                       
+                    
+                    
+epoch=$(gpsmon -a 2>&1 | ( while read ln ; do
+	if [[ $ln =~ ^[[:space:]]*PPS=.*clock=[[:space:]]*([0-9]*)\. ]] ; then
+		echo ${BASH_REMATCH[1]}
+		break
+	fi
+done ))
+if [[ $epoch =~ ^[0-9]+$ ]] ; then
+  date +%s -s @${epoch} >/dev/null
+else
+  logger user.err "gpsmon output is bad."
+  exit 1
+fi
+exit 0
diff --git a/recipes-navigation/gpsd/gpsd_3.16.bb b/recipes-navigation/gpsd/gpsd_3.16.bb
index 100edcc..d6c51f4 100644
--- a/recipes-navigation/gpsd/gpsd_3.16.bb
+++ b/recipes-navigation/gpsd/gpsd_3.16.bb
@@ -4,6 +4,7 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://COPYING;md5=d217a23f408e91c94359447735bc1800"
 DEPENDS = "dbus dbus-glib ncurses python libusb1 chrpath-replacement-native pps-tools"
 PROVIDES = "virtual/gpsd"
+PR="m2"
 
 EXTRANATIVEPATH += "chrpath-native"
 
@@ -13,9 +14,13 @@ SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
     file://0004-SConstruct-disable-html-and-man-docs-building-becaus.patch \
     file://0001-include-sys-ttydefaults.h.patch \
     file://0005-suppress-text-in-binary.patch \
+    file://0006-ubxtimelps.patch \
+    file://0006-itu_r_tf_460_6.patch \
     file://gpsd-default \
     file://gpsd \
-    file://60-gpsd.rules \
+    file://gpsd_ubx_fixed.sh \
+    file://gpsd_ubx_settime.sh \
+    file://gpsd.rules \
     file://gpsd.service \
 "
 # Fixed
@@ -32,7 +37,7 @@ SRC_URI[sha256sum] = "03579af13a4d3fe0c5b79fa44b5f75c9f3cac6749357f1d99ce5d38c09
 inherit scons update-rc.d python-dir pythonnative systemd
 
 INITSCRIPT_NAME = "gpsd"
-INITSCRIPT_PARAMS = "defaults 35"
+INITSCRIPT_PARAMS = "defaults 10"
 
 SYSTEMD_OESCONS = "${@bb.utils.contains('DISTRO_FEATURES', 'systemd', 'true', 'false',d)}"
 
@@ -55,6 +60,7 @@ EXTRA_OESCONS = " \
     systemd='${SYSTEMD_OESCONS}' \
     libdir='${libdir}' \
     ublox='yes' \
+    ubloxtimels='yes' \
     pps='yes' \
     gpsd_group='gps' \
     ntpshm='yes' \
@@ -87,10 +93,13 @@ do_install_append() {
     install -m 0755 ${WORKDIR}/gpsd ${D}/${sysconfdir}/init.d/
     install -d ${D}/${sysconfdir}/default
     install -m 0644 ${WORKDIR}/gpsd-default ${D}/${sysconfdir}/default/gpsd.default
+    install -d ${D}${sbindir}
+    install -m 0755 ${WORKDIR}/gpsd_ubx_fixed.sh ${D}${sbindir}/gpsd_ubx_fixed
+    install -m 0755 ${WORKDIR}/gpsd_ubx_settime.sh ${D}${sbindir}/gpsd_ubx_settime
 
     #support for udev
     install -d ${D}/${sysconfdir}/udev/rules.d
-    install -m 0644 ${WORKDIR}/60-gpsd.rules ${D}/${sysconfdir}/udev/rules.d
+    install -m 0644 ${WORKDIR}/gpsd.rules ${D}/${sysconfdir}/udev/rules.d
     install -d ${D}${base_libdir}/udev/
     install -m 0755 ${S}/gpsd.hotplug ${D}${base_libdir}/udev/
 
@@ -133,7 +142,7 @@ SUMMARY_libgps = "C service library used for communicating with gpsd"
 FILES_libgps = "${libdir}/libgps.so.*"
 
 SUMMARY_gpsd-conf = "gpsd configuration files and init scripts"
-FILES_gpsd-conf = "${sysconfdir}"
+FILES_gpsd-conf = "${sysconfdir} ${sbindir}/gpsd_ubx_fixed ${sbindir}/gpsd_ubx_settime"
 CONFFILES_gpsd-conf = "${sysconfdir}/default/gpsd.default"
 
 SUMMARY_gpsd-gpsctl = "Tool for tweaking GPS modes"
diff --git a/recipes-support/ntp/files/ntp.conf.patch b/recipes-support/ntp/files/ntp.conf.patch
index 499dac5..2fd26ef 100644
--- a/recipes-support/ntp/files/ntp.conf.patch
+++ b/recipes-support/ntp/files/ntp.conf.patch
@@ -1,7 +1,7 @@
-diff -u old/ntp.conf new/ntp.conf
---- old/ntp.conf	2016-12-21 08:36:33.887646960 -0600
-+++ new/ntp.conf	2016-12-21 08:37:41.115645756 -0600
-@@ -1,7 +1,20 @@
+diff -Naur old/ntp.conf new/ntp.conf
+--- old/ntp.conf	2017-01-17 12:00:15.560426583 -0600
++++ new/ntp.conf	2017-01-17 12:02:11.968426337 -0600
+@@ -1,16 +1,44 @@
 -# This is the most basic ntp configuration file
  # The driftfile must remain in a place specific to this
  # machine - it records the machine specific clock error
@@ -23,22 +23,21 @@ diff -u old/ntp.conf new/ntp.conf
 +
  # This should be a server that is close (in IP terms)
  # to the machine.  Add other servers as required.
- # Unless you un-comment the line below ntpd will sync
-@@ -9,8 +22,26 @@
+-# Unless you un-comment the line below ntpd will sync
+-# only against the local system clock.
  #
  # server time.server.example.com
  #
 +
-+logfile /var/log/ntp.log
-+
 +restrict default kod nomodify notrap nopeer noquery
 +restrict -6 default kod nomodify notrap nopeer noquery
 +restrict 127.0.0.1 mask 255.255.255.0
 +restrict -6 ::1
 +
 +# GPS Serial data reference (NTP0)
++# This sets the GPS 50 milliseconds slower than the PPS.
 +server 127.127.28.0
-+fudge 127.127.28.0 time1 0.080 refid GPS
++fudge 127.127.28.0 time1 0.050 refid GPS
 +
 +# GPS PPS reference (NTP2)
 +server 127.127.28.2 prefer
diff --git a/recipes-support/ntp/files/ntpd-default b/recipes-support/ntp/files/ntpd-default
new file mode 100644
index 0000000..65e2119
--- /dev/null
+++ b/recipes-support/ntp/files/ntpd-default
@@ -0,0 +1,33 @@
+ENABLED="yes"
+
+# The GPSD_* parameters in this file are ignored
+# if the uBlox GPS is not present.
+
+# Require a GPS lock/fix before starting NTP
+# This is needed if we are not using NTP servers.
+# NTP will not work with the GPS if  the GPS is not
+# locked before starting.
+# See /etc/default/gpsd for the states required.
+GPSD_REQUIRED=1
+
+# Number of seconds between testing for a GPS
+# lock prior to calling ntpd.
+GPSD_WAIT_TIME=120
+
+# Since the HW Clock could be off by a second or
+# so, our GPS might get marked as a false ticker
+# if we do not set the system clock to the GPS
+# first.  The current correct way to do this
+# according to the ntp doc is ntpd -gq -c conffile
+# which must be done before ntpd is started.
+# conffile should exclude the local clock, so it is
+# ignored while doing the initial sync.
+# ntpd -gq apparently does not work with the GPS
+# when tested with the clock more than one day off
+# and no ntpd.  The gps shared memory is never polled.
+#
+# If there is a uBlox GPS present, the time is
+# read from the GPS to initialize the system time
+# before NTP is started.
+SET_SYSTEM_CLOCK=1
+
diff --git a/recipes-support/ntp/files/ntpd-init.patch b/recipes-support/ntp/files/ntpd-init.patch
index fc388f8..41c7549 100644
--- a/recipes-support/ntp/files/ntpd-init.patch
+++ b/recipes-support/ntp/files/ntpd-init.patch
@@ -1,11 +1,87 @@
---- old/ntpd	2016-12-19 18:11:58.022663976 -0600
-+++ new/ntpd	2016-12-19 18:12:56.618663852 -0600
-@@ -23,7 +23,7 @@
- 	# this.  If ntpd seems to disappear after a while assume TICKADJ
- 	# above is set to a totally incorrect value.
- 	echo -n "Starting ntpd: "
+diff -Naur old/ntpd new/ntpd
+--- old/ntpd	2017-01-17 16:26:47.427368196 -0600
++++ new/ntpd	2017-01-20 16:26:52.154738981 -0600
+@@ -1,6 +1,8 @@
+-#! /bin/sh
++#! /bin/bash
+ #
++. /etc/default/ntpd
+ PATH=/sbin:/bin:/usr/bin:/usr/sbin
++GNSSRST=/sys/devices/platform/mts-io/gnss-reset
+ 
+ # ntpd	init.d script for ntpdc from ntp.isc.org
+ test -x /usr/sbin/ntpd -a -r /etc/ntp.conf || exit 0
+@@ -18,13 +20,32 @@
+ 	}
+ }
+ startdaemon(){
+-	# The -g option allows ntpd to step the time to correct it just
+-	# once.  The daemon will exit if the clock drifts too much after
+-	# this.  If ntpd seems to disappear after a while assume TICKADJ
+-	# above is set to a totally incorrect value.
+-	echo -n "Starting ntpd: "
 -	start-stop-daemon --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
-+	start-stop-daemon -N -20 --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
- 	echo "done"
+-	echo "done"
++	/usr/sbin/start-stop-daemon -N -20 --start -x /usr/sbin/ntpd --test -- -u ntp:ntp -p /var/run/ntp.pid "$@" \
++	  || return 1
++	if ((GPSD_REQUIRED == 1)) && [[ -L /dev/gps0 ]] && [[ -f "${GNSSRST}" ]]; then
++		. /etc/default/gpsd
++		# Could not get ntpd -gq to work with the GPS. 
++		# So read the GPS time directly and set the system
++		# clock.
++		if ((SET_SYSTEM_CLOCK == 1)) && /usr/sbin/gpsd_ubx_settime ; then
++		   # System time set by the GPS.
++		   /usr/sbin/start-stop-daemon -N -20 --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
++		else
++		  # Need a GPS fix before startint ntp.
++		  /usr/sbin/start-stop-daemon -b -n z1e9d3qb -N -20 --start -x /bin/bash -- -c "sleep $GPSD_WAIT_TIME;/etc/init.d/ntpd start"
++		fi
++	else
++	  if ((SET_SYSTEM_CLOCK == 1)) ; then
++	    ntpd -gq
++	    shift
++	  fi
++
++	  # The -g option allows ntpd to step the time to correct it just
++	  # once.  The daemon will exit if the clock drifts too much after
++	  # this.  If ntpd seems to disappear after a while assume TICKADJ
++	  # above is set to a totally incorrect value.
++	  /usr/sbin/start-stop-daemon -N -20 --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
++	fi
  }
  stopdaemon(){
+ 	echo -n "Stopping ntpd: "
+@@ -34,24 +55,27 @@
+ 
+ case "$1" in
+   start)
+-  	settick
++	if ! [[ $ENABLED =~ ^[yY][eE][sS]$ ]] ; then
++		exit 0
++	fi
++	settick
+ 	startdaemon -g
+ 	;;
+   stop)
+-  	stopdaemon
++	stopdaemon
+ 	;;
+   force-reload)
+-  	stopdaemon
+-  	settick
++	stopdaemon
++	settick
+ 	startdaemon -g
+ 	;;
+   restart)
+-  	# Don't reset the tick here
++	# Don't reset the tick here
+ 	stopdaemon
+ 	startdaemon -g
+ 	;;
+   reload)
+-  	# Must do this by hand, but don't do -g
++	# Must do this by hand, but don't do -g
+ 	stopdaemon
+ 	startdaemon
+ 	;;
diff --git a/recipes-support/ntp/ntp_4.2.6p5.bbappend b/recipes-support/ntp/ntp_4.2.6p5.bbappend
index 7928608..b656256 100644
--- a/recipes-support/ntp/ntp_4.2.6p5.bbappend
+++ b/recipes-support/ntp/ntp_4.2.6p5.bbappend
@@ -2,6 +2,7 @@ PR .= ".mlinux1"
 
 SRC_URI += " file://ntpd-init.patch;patchdir=.. \
              file://ntp.conf.patch;patchdir=.. \
+             file://ntpd-default \
 		"
 FILESEXTRAPATHS_prepend := "${THISDIR}/files"
 
@@ -26,3 +27,20 @@ pkg_postinst_${PN} () {
     chown -R ntp:ntp ${drdir}
 }
 
+
+do_install_prepend() {
+    echo JAK In do_install_append in directory $(pwd), and D is ${D}
+    echo JAK In do_install_append sysconfdir is ${sysconfdir}
+    install -d ${D}${sysconfdir}/default
+    install -m 0644 ${WORKDIR}/ntpd-default ${D}${sysconfdir}/default/ntpd.default
+    echo JAK In do_install_append default is $(ls ${D}cd${sysconfdir}/default/ntpd.default)
+}
+pkg_postinst_${PN}() {
+    update-alternatives --install ${sysconfdir}/default/ntpd ntpd-defaults ${sysconfdir}/default/ntpd.default 10
+}
+
+pkg_postrm_${PN}() {
+    update-alternatives --remove ntpd-defaults ${sysconfdir}/default/ntpd.default
+}
+FILES_${PN} += "${sysconfdir}/default/ntpd.default"
+CONFFILES_${PN} += "${sysconfdir}/default/ntpd.default"