From 641649d964de66af367ca9c8f973a9bf4094e530 Mon Sep 17 00:00:00 2001
From: Jono Targett <jono.targett@gmail.com>
Date: Sun, 15 Mar 2026 19:41:32 +1030
Subject: [PATCH] Added the second CFG command

---
 handler.py    |  4 +---
 ubxhandler.py | 42 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 43 insertions(+), 3 deletions(-)

diff --git a/handler.py b/handler.py
index 6a0b777..c57ea84 100644
--- a/handler.py
+++ b/handler.py
@@ -6,9 +6,6 @@ import inspect
 from paho.mqtt.properties import Properties
 from dataclasses import asdict
 
-BAUD = 115200
-INTERVAL = 5
-
 
 class MQTTHandler:
 
@@ -97,6 +94,7 @@ class MQTTHandler:
                 await self.execute_command(command_name, payload, message.properties)
 
     async def run(self):
+        INTERVAL = 5
         while True:
             try:
                 async with self.mqtt_client as client:
diff --git a/ubxhandler.py b/ubxhandler.py
index b9756f7..7a928a7 100644
--- a/ubxhandler.py
+++ b/ubxhandler.py
@@ -72,6 +72,9 @@ class UBXHandler(MQTTHandler):
 
                     topic = f"{self.topic_base}/{message.identity}/{name}"
                     await self.mqtt_client.publish(topic, value, qos=1, retain=True)
+            else:
+                #print("Unexpected response:", message)
+                pass
 
     @command({"type": "number"}, description="An example command")
     async def example_cmd(self, args):
@@ -120,3 +123,42 @@ class UBXHandler(MQTTHandler):
         )
         num_bytes = await self.serial_port.write_async(message.serialize())
         return num_bytes
+
+    @command(
+        {
+            "type": "object",
+            "properties": {
+                "measRate": {
+                    "type": "integer",
+                    "minimum": 50,
+                    "maximum": 60000,
+                    "description": "Measurement period in milliseconds",
+                },
+                "navRate": {
+                    "type": "integer",
+                    "minimum": 1,
+                    "maximum": 127,
+                    "description": "Number of measurement cycles per navigation solution",
+                },
+                "timeRef": {
+                    "type": "integer",
+                    "enum": [0, 1],
+                    "description": "Time reference (0=UTC, 1=GPS)",
+                },
+            },
+            "required": ["measRate", "navRate", "timeRef"],
+            "additionalProperties": False,
+        },
+        description="Reconfigure the rate properties for the UBX device.",
+    )
+    async def configure_rate(self, args):
+        message = pyubx2.UBXMessage(
+            "CFG",
+            "CFG-RATE",
+            pyubx2.ubxtypes_core.SET,
+            measRate=args["measRate"],
+            navRate=args["navRate"],
+            timeRef=args["timeRef"],
+        )
+        num_bytes = await self.serial_port.write_async(message.serialize())
+        return num_bytes