diff --git a/ublox_gps/config/zed_f9p.yaml b/ublox_gps/config/zed_f9p.yaml
index 331de18b..f5e716c2 100644
--- a/ublox_gps/config/zed_f9p.yaml
+++ b/ublox_gps/config/zed_f9p.yaml
@@ -1,5 +1,19 @@
+# Configuration Settings for ZED-F9P device
+
+debug: 1                    # Range 0-4 (0 means no debug statements will print)
+
 device: /dev/ttyACM0
 frame_id: gps
+dynamic_model: pedestrian   # Pedestrian Dynamic Model Setting Assumes:
+                            # Max altitude (m): 9000
+                            # Max Horizontal Velocity (m/s): 30
+                            # Max Vertical Velocity (m/s): 20
+                            # Sanity check Type: Altitude and Velocity
+                            # Max Position Deviation: Small
+
+rate: 4                     # Measurement rate in Hz
+nav_rate: 4                 # in number of measurement cycles
+
 uart1:
   baudrate: 38400
-config_on_startup: false
+config_on_startup: false
\ No newline at end of file
diff --git a/ublox_gps/launch/ublox_device.launch b/ublox_gps/launch/ublox_device.launch
index d813e796..0732fd58 100644
--- a/ublox_gps/launch/ublox_device.launch
+++ b/ublox_gps/launch/ublox_device.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 
 <launch>
-  <arg name="param_file_name"     doc="name of param file, e.g. rover" />
+  <arg name="param_file_name"     doc="name of param file, e.g. rover"
+                                  default="zed_f9p" />
   <arg name="param_file_dir"      doc="directory to look for $(arg param_file_name).yaml"
                                   default="$(find ublox_gps)/config" />