diff --git a/src/ubx.cpp b/src/ubx.cpp
index 3d3188c0..1e930817 100644
--- a/src/ubx.cpp
+++ b/src/ubx.cpp
@@ -677,7 +677,7 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems)
 		cfg_valset_msg_size = initCfgValset();
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 0, cfg_valset_msg_size);
-		// heading output period 1 second
+		// heading output period 1 second (is this once per second or once per nav cycle?)
 		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_UART1, 1, cfg_valset_msg_size);
 		// enable RTCM input on uart2 + set baudrate
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_STOPBITS, 1, cfg_valset_msg_size);
@@ -712,12 +712,24 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems)
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2OUTPROT_RTCM3X, 1, cfg_valset_msg_size);
 		cfgValset<uint32_t>(UBX_CFG_KEY_CFG_UART2_BAUDRATE, uart2_baudrate, cfg_valset_msg_size);
 
+		// Ublox says to match RTCM TYPES MSM4/MSM7on all ports (issue if combining moving with static base)
+		// Use MSM7 here as that's what's used for static base. MSM4 may have lower bandwidth requirement.
+		// Turn off Galileo BeiDou to get faster solutions, TBD if GLONASS helps RTK as it lacks common carrier freq.
 		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE4072_0_UART2, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_UART2, 1, cfg_valset_msg_size);
 		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1074_UART2, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1084_UART2, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1094_UART2, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1124_UART2, 1, cfg_valset_msg_size);
+
+		if (gnssSystems & GNSSSystemsMask::ENABLE_GLONASS) {
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_UART2, 1, cfg_valset_msg_size);
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1084_UART2, 1, cfg_valset_msg_size);
+		}
+
+		if (gnssSystems & GNSSSystemsMask::ENABLE_GALILEO) {
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1094_UART2, 1, cfg_valset_msg_size);
+		}
+
+		if (gnssSystems & GNSSSystemsMask::ENABLE_BEIDOU) {
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1124_UART2, 1, cfg_valset_msg_size);
+		}
 
 
 		if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
@@ -737,7 +749,7 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems)
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_NMEA, 0, cfg_valset_msg_size);
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 0, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_UART1, 1, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_UART1, 1, cfg_valset_msg_size); // why 1Hz?
 
 		if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
 			return -1;
@@ -757,15 +769,25 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems)
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
 		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 1, cfg_valset_msg_size);
 
+		// This may have unintended consequences for other moving base applications
 		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_UART1, 0, cfg_valset_msg_size);
 		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_UART2, 0, cfg_valset_msg_size);
 
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE4072_0_UART1, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_UART1, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1074_UART1, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1084_UART1, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1094_UART1, 1, cfg_valset_msg_size);
-		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1124_UART1, 1, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE4072_0_UART2, 1, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1074_UART2, 1, cfg_valset_msg_size);
+
+		if (gnssSystems & GNSSSystemsMask::ENABLE_GLONASS) {
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_UART2, 1, cfg_valset_msg_size);
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1084_UART2, 1, cfg_valset_msg_size);
+		}
+
+		if (gnssSystems & GNSSSystemsMask::ENABLE_GALILEO) {
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1094_UART2, 1, cfg_valset_msg_size);
+		}
+
+		if (gnssSystems & GNSSSystemsMask::ENABLE_BEIDOU) {
+			cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1124_UART2, 1, cfg_valset_msg_size);
+		}
 
 		if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
 			return -1;