diff --git a/src/SparkFun_Ublox_Arduino_Library.cpp b/src/SparkFun_Ublox_Arduino_Library.cpp
index 5061393..b36a5eb 100644
--- a/src/SparkFun_Ublox_Arduino_Library.cpp
+++ b/src/SparkFun_Ublox_Arduino_Library.cpp
@@ -224,7 +224,12 @@ void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t
     _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]);
   }
 
-  sendCommand(packetCfg, maxWait);
+  sfe_ublox_status_e retVal = sendCommand(packetCfg, maxWait);
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("setSerialRate: sendCommand returned: "));
+    _debugSerial->println(statusString(retVal));
+  }
 }
 
 //Changes the I2C address that the Ublox module responds to
@@ -242,7 +247,7 @@ boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait)
   //payloadCfg is now loaded with current bytes. Change only the ones we need to
   payloadCfg[4] = deviceAddress << 1; //DDC mode LSB
 
-  if (sendCommand(packetCfg, maxWait) == true)
+  if (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT) // We are only expecting an ACK
   {
     //Success! Now change our internal global.
     _gpsI2Caddress = deviceAddress; //Store the I2C address from user
@@ -975,7 +980,7 @@ boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait)
     packetCfg.len = 0;
     packetCfg.startingSpot = 0;
 
-    return sendCommand(packetCfg, maxWait);
+    return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are polling the RATE so we expect data and an ACK
   }
   return false;
 }
@@ -1257,10 +1262,7 @@ boolean SFE_UBLOX_GPS::saveConfiguration(uint16_t maxWait)
   packetCfg.payload[4] = 0xFF; //Set any bit in the saveMask field to save current config to Flash and BBR
   packetCfg.payload[5] = 0xFF;
 
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
@@ -1281,10 +1283,7 @@ boolean SFE_UBLOX_GPS::saveConfigSelective(uint32_t configMask, uint16_t maxWait
   packetCfg.payload[6] = (configMask >> 16) & 0xFF;
   packetCfg.payload[7] = (configMask >> 24) & 0xFF;
 
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Reset module to factory defaults
@@ -1305,10 +1304,7 @@ boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait)
   packetCfg.payload[8] = 0xFF; //Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
   packetCfg.payload[9] = 0xFF;
 
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Given a group, ID and size, return the value of this config spot
@@ -1375,8 +1371,15 @@ uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
   }
 
   //Send VALGET command with this key
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
+
+  sfe_ublox_status_e retVal = sendCommand(packetCfg, maxWait);
+  if (_printDebug == true)
+  {
+    _debugSerial->print(F("getVal8: sendCommand returned: "));
+    _debugSerial->println(statusString(retVal));
+  }
+  if (retVal != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (0); //If command send fails then bail
 
   //Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
   //Response is 8 bytes plus cfg data
@@ -1425,11 +1428,7 @@ uint8_t SFE_UBLOX_GPS::setVal16(uint32_t key, uint16_t value, uint8_t layer, uin
   payloadCfg[9] = value >> 8 * 1;
 
   //Send VALSET command with this key and value
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  //All done
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Given a key, set an 8-bit value
@@ -1460,11 +1459,7 @@ uint8_t SFE_UBLOX_GPS::setVal8(uint32_t key, uint8_t value, uint8_t layer, uint1
   payloadCfg[8] = value; //Value
 
   //Send VALSET command with this key and value
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  //All done
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Given a key, set a 32-bit value
@@ -1498,11 +1493,7 @@ uint8_t SFE_UBLOX_GPS::setVal32(uint32_t key, uint32_t value, uint8_t layer, uin
   payloadCfg[11] = value >> 8 * 3;
 
   //Send VALSET command with this key and value
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  //All done
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Start defining a new UBX-CFG-VALSET ubxPacket
@@ -1674,11 +1665,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t ma
   addCfgValset32(key, value);
 
   //Send VALSET command with this key and value
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  //All done
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
@@ -1689,11 +1676,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t ma
   addCfgValset16(key, value);
 
   //Send VALSET command with this key and value
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  //All done
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it
@@ -1704,11 +1687,7 @@ uint8_t SFE_UBLOX_GPS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxW
   addCfgValset8(key, value);
 
   //Send VALSET command with this key and value
-  if (sendCommand(packetCfg, maxWait) == false)
-    return (false); //If command send fails then bail
-
-  //All done
-  return (true);
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Get the current TimeMode3 settings - these contain survey in statuses
@@ -1719,7 +1698,7 @@ boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  return (sendCommand(packetCfg, maxWait));
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
 }
 
 //Control Survey-In for NEO-M8P
@@ -1748,7 +1727,7 @@ boolean SFE_UBLOX_GPS::setSurveyMode(uint8_t mode, uint16_t observationTime, flo
   payloadCfg[29] = svinAccLimit >> 8;
   payloadCfg[30] = svinAccLimit >> 16;
 
-  return (sendCommand(packetCfg, maxWait)); //Wait for ack
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Begin Survey-In for NEO-M8P
@@ -1779,7 +1758,7 @@ boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false)
+  if ((sendCommand(packetCfg, maxWait)) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
     return (false); //If command send fails then bail
 
   //We got a response, now parse the bits into the svin structure
@@ -1804,7 +1783,7 @@ boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait)
 
   payloadCfg[0] = portID;
 
-  return (sendCommand(packetCfg, maxWait));
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK
 }
 
 //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
@@ -1833,7 +1812,7 @@ boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings,
   //payloadCfg is now loaded with current bytes. Change only the ones we need to
   payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits
 
-  return (sendCommand(packetCfg, maxWait));
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof
@@ -1854,7 +1833,7 @@ boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, ui
   //payloadCfg is now loaded with current bytes. Change only the ones we need to
   payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits
 
-  return (sendCommand(packetCfg, maxWait));
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Configure a port to output UBX, NMEA, RTCM3 or a combination thereof
@@ -1895,8 +1874,9 @@ boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
-    return (false);                             //If command send fails then bail
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false); //If command send fails then bail
 
   uint16_t measurementRate = 1000 / navFreq;
 
@@ -1904,7 +1884,7 @@ boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
   payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
   payloadCfg[1] = measurementRate >> 8;   //measRate MSB
 
-  return (sendCommand(packetCfg, maxWait));
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Get the rate at which the module is outputting nav solutions
@@ -1916,8 +1896,9 @@ uint8_t SFE_UBLOX_GPS::getNavigationFrequency(uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false) //This will load the payloadCfg array with current settings of the given register
-    return (0);                                 //If command send fails then bail
+  //This will load the payloadCfg array with current settings of the given register
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (0); //If command send fails then bail
 
   uint16_t measurementRate = 0;
 
@@ -1960,7 +1941,7 @@ boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16
   payloadCfg[1] = UBX_NAV_PVT;
   payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq.
 
-  bool ok = sendCommand(packetCfg, maxWait);
+  boolean ok = ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
   if (ok)
   {
     autoPVT = enable;
@@ -1986,7 +1967,7 @@ boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t
   packetCfg.payload[1] = msgID;
   packetCfg.payload[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution.
 
-  return (sendCommand(packetCfg, maxWait));
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Enable a given message type, default of 1 per update rate (usually 1 per second)
@@ -2124,7 +2105,7 @@ boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t
     payloadCfg[54] = currentGeofenceParams.rads[3] >> 16;
     payloadCfg[55] = currentGeofenceParams.rads[3] >> 24;
   }
-  return (sendCommand(packetCfg, maxWait)); //Wait for ack
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Clear all geofences using UBX-CFG-GEOFENCE
@@ -2146,7 +2127,7 @@ boolean SFE_UBLOX_GPS::clearGeofences(uint16_t maxWait)
 
   currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use
 
-  return (sendCommand(packetCfg, maxWait)); //Wait for ack
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Clear the antenna control settings using UBX-CFG-ANT
@@ -2164,7 +2145,7 @@ boolean SFE_UBLOX_GPS::clearAntPIO(uint16_t maxWait)
   payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31
   payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit
 
-  return (sendCommand(packetCfg, maxWait)); //Wait for ack
+  return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Returns the combined geofence state using UBX-NAV-GEOFENCE
@@ -2175,7 +2156,8 @@ boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState &currentGeofenceState, uin
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false) //Ask module for the geofence status. Loads into payloadCfg.
+  //Ask module for the geofence status. Loads into payloadCfg.
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
     return (false);
 
   currentGeofenceState.status = payloadCfg[5];    // Extract the status
@@ -2221,7 +2203,8 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false) //Ask module for the current power management settings. Loads into payloadCfg.
+  //Ask module for the current power management settings. Loads into payloadCfg.
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
     return (false);
 
   if (power_save)
@@ -2236,7 +2219,7 @@ boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait)
   packetCfg.len = 2;
   packetCfg.startingSpot = 0;
 
-  return (sendCommand(packetCfg, maxWait)); //Wait for ack
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Change the dynamic platform model using UBX-CFG-NAV5
@@ -2252,7 +2235,8 @@ boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWai
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false) //Ask module for the current navigation model settings. Loads into payloadCfg.
+  //Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
     return (false);
 
   payloadCfg[0] = 0x01;            // mask: set only the dyn bit (0)
@@ -2262,7 +2246,7 @@ boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWai
   packetCfg.len = 36;
   packetCfg.startingSpot = 0;
 
-  return (sendCommand(packetCfg, maxWait)); //Wait for ack
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
 //Given a spot in the payload array, extract four bytes and build a long
@@ -2484,8 +2468,7 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
   packetCfg.id = UBX_NAV_HPPOSLLH;
   packetCfg.len = 0;
 
-  return sendCommand(packetCfg, maxWait);
-  return (false); //If command send fails then bail
+  return (sendCommand(packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are only expecting data (no ACK)
 }
 
 //Get the current 3D high precision positional accuracy - a fun thing to watch
@@ -2497,7 +2480,7 @@ uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false)
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
     return (0); //If command send fails then bail
 
   uint32_t tempAccuracy = extractLong(24); //We got a response, now extract a long beginning at a given position
@@ -2657,7 +2640,7 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 40; //Start at first "extended software information" string
 
-  if (sendCommand(packetCfg, maxWait) == false)
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
     return (false); //If command send fails then bail
 
   //Payload should now contain ~220 characters (depends on module type)
@@ -2733,7 +2716,7 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
   packetCfg.len = 0;
   packetCfg.startingSpot = 0;
 
-  if (sendCommand(packetCfg, maxWait) == false)
+  if (sendCommand(packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK)
     return (false); //If command send fails then bail
 
   //We got a response, now parse the bits