diff --git a/.github/workflows/main_matrix.yml b/.github/workflows/main_matrix.yml
index f30eed554..6500eb03d 100644
--- a/.github/workflows/main_matrix.yml
+++ b/.github/workflows/main_matrix.yml
@@ -83,6 +83,7 @@ jobs:
         include:
           - board: heltec-v3
           - board: heltec-wsl-v3
+          - board: heltec-wireless-tracker
           - board: tbeam-s3-core
           - board: tlora-t3s3-v1
     uses: ./.github/workflows/build_esp32_s3.yml
diff --git a/src/GPSStatus.h b/src/GPSStatus.h
index ed3b3fc14..bcfb5f2eb 100644
--- a/src/GPSStatus.h
+++ b/src/GPSStatus.h
@@ -106,7 +106,7 @@ class GPSStatus : public Status
     bool matches(const GPSStatus *newStatus) const
     {
 #ifdef GPS_EXTRAVERBOSE
-        LOG_DEBUG("GPSStatus.match() new pos@%x to old pos@%x\n", newStatus->p.pos_timestamp, p.pos_timestamp);
+        LOG_DEBUG("GPSStatus.match() new pos@%x to old pos@%x\n", newStatus->p.timestamp, p.timestamp);
 #endif
         return (newStatus->hasLock != hasLock || newStatus->isConnected != isConnected ||
                 newStatus->isPowerSaving != isPowerSaving || newStatus->p.latitude_i != p.latitude_i ||
diff --git a/src/gps/GPS.cpp b/src/gps/GPS.cpp
index 59e09f5e5..ed52ca70a 100644
--- a/src/gps/GPS.cpp
+++ b/src/gps/GPS.cpp
@@ -4,6 +4,10 @@
 #include "configuration.h"
 #include "sleep.h"
 
+#ifndef GPS_RESET_MODE
+#define GPS_RESET_MODE HIGH
+#endif
+
 // If we have a serial GPS port it will not be null
 #ifdef GPS_SERIAL_NUM
 HardwareSerial _serial_gps_real(GPS_SERIAL_NUM);
@@ -215,6 +219,11 @@ bool GPS::setupGPS()
             // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
             _serial_gps->write("$PCAS11,3*1E\r\n");
             delay(250);
+        } else if (gnssModel == GNSS_MODEL_UC6850) {
+
+            // use GPS + GLONASS
+            _serial_gps->write("$CFGSYS,h15\r\n");
+            delay(250);
         } else if (gnssModel == GNSS_MODEL_UBLOX) {
 
             // Configure GNSS system to GPS+SBAS+GLONASS (Module may restart after this command)
@@ -571,10 +580,10 @@ bool GPS::setup()
 #endif
 
 #ifdef PIN_GPS_RESET
-    digitalWrite(PIN_GPS_RESET, 1); // assert for 10ms
+    digitalWrite(PIN_GPS_RESET, GPS_RESET_MODE); // assert for 10ms
     pinMode(PIN_GPS_RESET, OUTPUT);
     delay(10);
-    digitalWrite(PIN_GPS_RESET, 0);
+    digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
 #endif
     setAwake(true); // Wake GPS power before doing any init
     bool ok = setupGPS();
@@ -850,6 +859,9 @@ GnssModel_t GPS::probe()
     return GNSS_MODEL_UBLOX;
 #elif defined(GPS_L76K)
     return GNSS_MODEL_MTK;
+#elif defined(GPS_UC6580)
+    _serial_gps->updateBaudRate(115200);
+    return GNSS_MODEL_UC6850;
 #else
     // we use autodetect, only T-BEAM S3 for now...
     uint8_t buffer[256];
diff --git a/src/gps/GPS.h b/src/gps/GPS.h
index c06c2fa91..847a60016 100644
--- a/src/gps/GPS.h
+++ b/src/gps/GPS.h
@@ -14,6 +14,7 @@ struct uBloxGnssModelInfo {
 typedef enum {
     GNSS_MODEL_MTK,
     GNSS_MODEL_UBLOX,
+    GNSS_MODEL_UC6850,
     GNSS_MODEL_UNKNOWN,
 } GnssModel_t;
 
@@ -149,7 +150,7 @@ class GPS : private concurrency::OSThread
      */
     void setAwake(bool on);
 
-    /** Get how long we should stay looking for each acquisition
+    /** Get how long we should stay looking for each aquisition
      */
     uint32_t getWakeTime() const;
 
@@ -167,6 +168,7 @@ class GPS : private concurrency::OSThread
     virtual int32_t runOnce() override;
 
     // Get GNSS model
+    String getNMEA();
     GnssModel_t probe();
 
     int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID);
diff --git a/variants/heltec_wireless_tracker/variant.h b/variants/heltec_wireless_tracker/variant.h
index 7930a18a8..318454522 100644
--- a/variants/heltec_wireless_tracker/variant.h
+++ b/variants/heltec_wireless_tracker/variant.h
@@ -37,9 +37,10 @@
 #define PIN_GPS_RESET 35
 #define PIN_GPS_PPS 36
 #define VGNSS_CTRL 37 // Heltec Tracker needs this pulled low for GPS
+#define GPS_RESET_MODE LOW
+#define GPS_UC6580
 
 #define USE_SX1262
-
 #define LORA_DIO0 -1 // a No connect on the SX1262 module
 #define LORA_RESET 12
 #define LORA_DIO1 14 // SX1262 IRQ