diff --git a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-Revert-SConstruct-Add-test-for-sizeof-time_t-result-.patch b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-Revert-SConstruct-Add-test-for-sizeof-time_t-result-.patch
deleted file mode 100644
index b021d0b..0000000
--- a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-Revert-SConstruct-Add-test-for-sizeof-time_t-result-.patch
+++ /dev/null
@@ -1,108 +0,0 @@
-Subject: [PATCH] Revert "SConstruct: Add test for sizeof(time_t), result in
- SIZEOF_TIME_T."
-
-This reverts commit b32ff1a86c44fa738dabaf63de1b5462e0071ad3.
-
-Upstream-Status: Inappropriate [cross-compile specific]
-
----
- SConstruct             | 54 ++++--------------------------------------
- android/gpsd_config.in |  1 -
- 2 files changed, 5 insertions(+), 50 deletions(-)
-
-diff --git a/SConstruct b/SConstruct
-index 33e0ff326..e3c62fa3c 100644
---- a/SConstruct
-+++ b/SConstruct
-@@ -597,42 +597,6 @@ def CheckHeaderDefines(context, file, define):
-     return ret
- 
- 
--def CheckSizeOf(context, type):
--    """Check sizeof 'type'"""
--    context.Message('Checking size of ' + type + '... ')
--
--    program = """
--#include <stdlib.h>
--#include <stdio.h>
--
--/*
-- * The CheckSizeOf function does not have a way for the caller to
-- * specify header files to be included to provide the type being
-- * checked.  As a workaround until that is remedied, include the
-- * header required for time_t, which is the sole current use of this
-- * function.
-- */
--#include <time.h>
--
--int main() {
--    printf("%d", (int)sizeof(""" + type + """));
--    return 0;
--}
--"""
--
--    # compile it
--    ret = context.TryCompile(program, '.c')
--    if 0 == ret:
--        announce('ERROR: TryCompile failed\n')
--        # fall back to sizeof(time_t) is 8
--        return '8'
--
--    # run it
--    ret = context.TryRun(program, '.c')
--    context.Result(ret[0])
--    return ret[1]
--
--
- def CheckCompilerDefines(context, define):
-     context.Message('Checking if compiler supplies %s... ' % (define,))
-     ret = context.TryLink("""
-@@ -703,15 +667,13 @@ env.Prepend(LIBPATH=[os.path.realpath(os.curdir)])
- 
- # CheckXsltproc works, but result is incorrectly saved as "no"
- config = Configure(env, custom_tests={
--    'CheckC11': CheckC11,
--    'CheckCompilerDefines': CheckCompilerDefines,
--    'CheckCompilerOption': CheckCompilerOption,
--    'CheckHeaderDefines': CheckHeaderDefines,
-     'CheckPKG': CheckPKG,
--    'CheckSizeOf': CheckSizeOf,
-     'CheckXsltproc': CheckXsltproc,
--    'GetPythonValue': GetPythonValue,
--    })
-+    'CheckCompilerOption': CheckCompilerOption,
-+    'CheckCompilerDefines': CheckCompilerDefines,
-+    'CheckC11': CheckC11,
-+    'CheckHeaderDefines': CheckHeaderDefines,
-+    'GetPythonValue': GetPythonValue})
- 
- # Use print, rather than announce, so we see it in -s mode.
- print("This system is: %s" % sys.platform)
-@@ -1043,12 +1005,6 @@ else:
-             confdefs.append("/* #undef HAVE_%s_H */\n"
-                             % hdr.replace("/", "_").upper())
- 
--    sizeof_time_t = config.CheckSizeOf("time_t")
--    confdefs.append("#define SIZEOF_TIME_T %s\n" % sizeof_time_t)
--    announce("sizeof(time_t) is %s" % sizeof_time_t)
--    if 4 >= int(sizeof_time_t):
--        announce("WARNING: time_t is too small.  It will fail in 2038")
--
-     # check function after libraries, because some function require libraries
-     # for example clock_gettime() require librt on Linux glibc < 2.17
-     for f in ("cfmakeraw", "clock_gettime", "daemon", "fcntl", "fork",
-diff --git a/android/gpsd_config.in b/android/gpsd_config.in
-index 758251986..d240f6d34 100644
---- a/android/gpsd_config.in
-+++ b/android/gpsd_config.in
-@@ -19,7 +19,6 @@
- #define HAVE_ARPA_INET_H 1
- #define HAVE_SYSLOG_H 1
- #define HAVE_DAEMON 1
--#define SIZEOF_TIME_T 8
- #define HAVE_CLOCK_GETTIME 1
- #define HAVE_STRPTIME 1
- #define HAVE_GMTIME_R 1
--- 
-2.26.2
-
diff --git a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-SConscript-Correct-the-installation-of-gpsd.hotplug.patch b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-SConscript-Correct-the-installation-of-gpsd.hotplug.patch
new file mode 100644
index 0000000..172f478
--- /dev/null
+++ b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-SConscript-Correct-the-installation-of-gpsd.hotplug.patch
@@ -0,0 +1,29 @@
+From c7183b2cc4a42f6ca7c2dc687ee7881efe9aeb73 Mon Sep 17 00:00:00 2001
+From: Peter Kjellerstedt <peter.kjellerstedt@axis.com>
+Date: Sat, 28 Aug 2021 14:22:02 +0200
+Subject: [PATCH] SConscript: Correct the installation of gpsd.hotplug
+
+Without this, `scons systemd=false && scons udev-install` fails with:
+
+  cp .../gpsd/gpsd-3.23.1~dev/gpsd.hotplug /home/pkj/gpsd/foobar/lib/udev
+  cp: cannot stat '.../gpsd/gpsd-3.23.1~dev/gpsd.hotplug': No such file or directory
+
+Upstream-Status: Submitted [https://gitlab.com/gpsd/gpsd/-/merge_requests/277]
+Signed-off-by: Peter Kjellerstedt <peter.kjellerstedt@axis.com>
+---
+ SConscript | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/SConscript b/SConscript
+index 1cd3354e1..e578012f5 100644
+--- a/SConscript
++++ b/SConscript
+@@ -3060,7 +3060,7 @@ if env['systemd']:
+     hotplug_wrapper_install = []
+ else:
+     hotplug_wrapper_install = [
+-        'cp $SRCDIR/gpsd.hotplug ' + DESTDIR + env['udevdir'],
++        'cp $SRCDIR/../gpsd.hotplug ' + DESTDIR + env['udevdir'],
+         'chmod a+x ' + DESTDIR + env['udevdir'] + '/gpsd.hotplug'
+     ]
+ 
diff --git a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
deleted file mode 100644
index 23ae5e5..0000000
--- a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
+++ /dev/null
@@ -1,79 +0,0 @@
-From 5464d9e1bfd1a1c54338ec7c4148cad1b222ef93 Mon Sep 17 00:00:00 2001
-From: Martin Jansa <Martin.Jansa@gmail.com>
-Date: Tue, 24 Apr 2012 18:45:14 +0200
-Subject: [PATCH] SConstruct: prefix includepy with sysroot and drop sysroot
- from python_lib_dir
-
-* without PYTHONPATH, distutil's sysconfig returns INCLUDEPY without sysroot prefix
-  and with PYTHONPATH from OE it's pointing to native python dir
-
-    $ export PYTHONPATH=/OE/shr-core/tmp-eglibc/sysroots/om-gta02/usr/lib/python2.7/
-    $ python
-    Python 2.7.2 (default, Apr 18 2012, 09:19:59)
-    [GCC 4.6.2] on linux2
-    Type "help", "copyright", "credits" or "license" for more information.
-    >>> from distutils import sysconfig
-    >>> sysconfig.get_config_vars('INCLUDEPY')
-    ['/OE/shr-core/tmp-eglibc/sysroots/x86_64-linux/usr/include/python2.7']
-    >>>
-    $ unset PYTHONPATH
-    $ python
-    Python 2.7.2 (default, Apr 18 2012, 09:19:59)
-    [GCC 4.6.2] on linux2
-    Type "help", "copyright", "credits" or "license" for more information.
-    >>> from distutils import sysconfig
-    >>> sysconfig.get_config_vars('INCLUDEPY')
-    ['/python2.7']
-    >>> import sysconfig
-    >>> sysconfig.get_config_vars('INCLUDEPY')
-    ['/OE/shr-core/tmp-eglibc/sysroots/x86_64-linux/usr/include/python2.7']
-* python_lib_dir = python_lib_dir.replace(env['sysroot'], '')
-  returns path to target sysroot
-
-Upstream-Status: Inappropriate [embedded specific]
-
-Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
-Signed-off-by: Peter A. Bigot <pab@pabigot.com>
-
----
- SConstruct | 8 +++++---
- 1 file changed, 5 insertions(+), 3 deletions(-)
-
-diff --git a/SConstruct b/SConstruct
-index b8f3fb1..883e06d 100644
---- a/SConstruct
-+++ b/SConstruct
-@@ -980,7 +980,7 @@ else:
- 
- # Set up configuration for target Python
- 
--PYTHON_LIBDIR_CALL = 'sysconfig.get_python_lib()'
-+PYTHON_LIBDIR_CALL = 'sysconfig.get_python_lib(plat_specific=1)'
- 
- PYTHON_CONFIG_NAMES = ['CC', 'CXX', 'OPT', 'BASECFLAGS',
-                        'CCSHARED', 'LDSHARED', 'SO', 'INCLUDEPY', 'LDFLAGS']
-@@ -1506,7 +1506,7 @@ else:
-                        LINK=ldshared,
-                        SHLIBPREFIX="",
-                        SHLIBSUFFIX=python_config['SO'],
--                       CPPPATH=[python_config['INCLUDEPY']],
-+                       CPPPATH=[os.path.normpath("%s/%s/%s/%s" % (env['sysroot'], env['prefix'], env['includedir'], python_config['INCLUDEPY']))] if env['sysroot'] else [python_config['INCLUDEPY']],
-                        CPPFLAGS=python_config['OPT'],
-                        CFLAGS=python_config['BASECFLAGS'],
-                        CXXFLAGS=python_config['BASECFLAGS'])
-@@ -1808,12 +1808,14 @@ if ((not env['debug'] and not env['profiling'] and not env['nostrip'] and
-     env.AddPostAction(binaryinstall, '$STRIP $TARGET')
- 
- if env['python']:
--    python_module_dir = str(python_libdir) + os.sep + 'gps'
-+    python_module_dir = python_libdir.replace(env['sysroot'], '') + os.sep + 'gps'
-     python_extensions_install = python_env.Install(DESTDIR + python_module_dir,
-                                                    python_built_extensions)
-     if ((not env['debug'] and not env['profiling'] and
-          not env['nostrip'] and not sys.platform.startswith('darwin'))):
-         python_env.AddPostAction(python_extensions_install, '$STRIP $TARGET')
-+    env.AddPostAction(python_extensions_install, '$CHRPATH -r "%s" "$TARGET"' \
-+                     % (python_libdir, ))
- 
-     python_modules_install = python_env.Install(DESTDIR + python_module_dir,
-                                                 python_modules)
diff --git a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-gpsd-dbusexport.c-Fix-broken-d-bus-message-time.patch b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-gpsd-dbusexport.c-Fix-broken-d-bus-message-time.patch
deleted file mode 100644
index 659865e..0000000
--- a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd/0001-gpsd-dbusexport.c-Fix-broken-d-bus-message-time.patch
+++ /dev/null
@@ -1,36 +0,0 @@
-From c9cec2a888d4fea8534be78a0f46d920155ceae6 Mon Sep 17 00:00:00 2001
-From: Paul Fertser <fercerpav@gmail.com>
-Date: Wed, 4 Nov 2020 12:40:50 -0800
-Subject: [PATCH] gpsd/dbusexport.c: Fix broken d-bus message time.
-
-Change-Id: I4b9990ce4517a8feb29fc9e090c62f5a0c56ddd5
----
- dbusexport.c | 4 +++-
- 1 file changed, 3 insertions(+), 1 deletion(-)
-
-diff --git a/dbusexport.c b/dbusexport.c
-index 40b35739e..5d08a8702 100644
---- a/dbusexport.c
-+++ b/dbusexport.c
-@@ -38,6 +38,7 @@ void send_dbus_fix(struct gps_device_t *channel)
-     /*DBusMessageIter   iter; */
-     dbus_uint32_t serial;	/* collected, but not used */
-     char *gpsd_devname;
-+    double dtime;               // time as a double, loss of precision!
- 
-     /* if the connection is non existent, return without doing anything */
-     if (connection == NULL)
-@@ -51,8 +52,9 @@ void send_dbus_fix(struct gps_device_t *channel)
-     /* the dbus/locationd doc fails to specify altitude as WGS84 or MSL.
-      * assume altMSL */
-     message = dbus_message_new_signal("/org/gpsd", "org.gpsd", "fix");
-+    dtime = TSTONS(&gpsfix->time);
-     dbus_message_append_args(message,
--			     DBUS_TYPE_DOUBLE, &(gpsfix->time),
-+			     DBUS_TYPE_DOUBLE, &dtime,
- 			     DBUS_TYPE_INT32, &(gpsfix->mode),
- 			     DBUS_TYPE_DOUBLE, &(gpsfix->ept),
- 			     DBUS_TYPE_DOUBLE, &(gpsfix->latitude),
--- 
-2.20.1
-
diff --git a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd_3.20.bb b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd_3.23.bb
similarity index 66%
rename from meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd_3.20.bb
rename to meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd_3.23.bb
index 7f8382e..aaf7429 100644
--- a/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd_3.20.bb
+++ b/meta-openembedded/meta-oe/recipes-navigation/gpsd/gpsd_3.23.bb
@@ -1,18 +1,16 @@
 SUMMARY = "A TCP/IP Daemon simplifying the communication with GPS devices"
 SECTION = "console/network"
 LICENSE = "BSD-2-Clause"
-LIC_FILES_CHKSUM = "file://COPYING;md5=01764c35ae34d9521944bb6ab312af53"
+LIC_FILES_CHKSUM = "file://COPYING;md5=7a5d174db44ec45f9638b2c747806821"
 DEPENDS = "dbus ncurses python3 pps-tools"
 PROVIDES = "virtual/gpsd"
 
 SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
-    file://0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch \
-    file://0001-Revert-SConstruct-Add-test-for-sizeof-time_t-result-.patch \
-    file://0001-gpsd-dbusexport.c-Fix-broken-d-bus-message-time.patch \
+    file://0001-SConscript-Correct-the-installation-of-gpsd.hotplug.patch \
     file://gpsd.init \
 "
-SRC_URI[md5sum] = "cf7fdec7ce7221d20bee1a7246362b05"
-SRC_URI[sha256sum] = "172a7805068eacb815a3c5225436fcb0be46e7e49a5001a94034eac43df85e50"
+SRC_URI[md5sum] = "b4f96cb01cbc06542b1cb66b3296078d"
+SRC_URI[sha256sum] = "522c2362a7eb2d7ac37eaa1504f12aded1c373479a87ba06cc6795974b567bbc"
 
 inherit scons update-rc.d python3-dir python3native systemd update-alternatives
 
@@ -38,11 +36,13 @@
     nostrip='true' \
     systemd='${SYSTEMD_OESCONS}' \
     libdir='${libdir}' \
+    udevdir='${nonarch_base_libdir}/udev' \
+    unitdir='${systemd_system_unitdir}' \
     manbuild='false' \
     LINK='${CC}' \
     ${PACKAGECONFIG_CONFARGS} \
 "
-# this cannot be used, because then chrpath is not found and only static lib is built
+# This cannot be used, because then chrpath is not found and only static lib is built
 # target=${HOST_SYS}
 
 do_compile:prepend() {
@@ -61,34 +61,20 @@
     export LINKFLAGS="${LDFLAGS}"
 
     export DESTDIR="${D}"
-    # prefix is used for RPATH and DESTDIR/prefix for instalation
-    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} python_libdir=${libdir} install ${EXTRA_OESCONS} || \
+    # prefix is used for RPATH and DESTDIR/prefix for installation
+    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} python_libdir=${libdir} udev-install ${EXTRA_OESCONS} || \
       bbfatal "scons install execution failed."
 }
 
 do_install:append() {
-    install -d ${D}/${sysconfdir}/init.d
-    install -m 0755 ${WORKDIR}/gpsd.init ${D}/${sysconfdir}/init.d/gpsd
-    install -d ${D}/${sysconfdir}/default
-    install -m 0644 ${S}/packaging/deb/etc_default_gpsd ${D}/${sysconfdir}/default/gpsd.default
+    install -d ${D}${sysconfdir}/init.d
+    install -m 0755 ${WORKDIR}/gpsd.init ${D}${sysconfdir}/init.d/gpsd
+    install -d ${D}${sysconfdir}/default
+    install -m 0644 ${S}/packaging/deb/etc_default_gpsd ${D}${sysconfdir}/default/gpsd.default
 
-    #support for udev
-    install -d ${D}/${sysconfdir}/udev/rules.d
-    install -m 0644 ${S}/gpsd.rules ${D}/${sysconfdir}/udev/rules.d/
-    install -d ${D}${base_libdir}/udev/
-    install -m 0755 ${S}/gpsd.hotplug ${D}${base_libdir}/udev/
-
-    #support for python
-    install -d ${D}/${PYTHON_SITEPACKAGES_DIR}/gps
-    install -m 755 ${S}/gps/*.py ${D}/${PYTHON_SITEPACKAGES_DIR}/gps
-
-    #support for systemd
-    install -d ${D}${systemd_unitdir}/system/
-    install -m 0644 ${S}/systemd/${BPN}.service ${D}${systemd_unitdir}/system/${BPN}.service
-    sed -i -e 's,/usr/local,/usr,g' ${D}${systemd_unitdir}/system/${BPN}.service
-    install -m 0644 ${S}/systemd/${BPN}ctl@.service ${D}${systemd_unitdir}/system/${BPN}ctl@.service
-    sed -i -e 's,/usr/local,/usr,g' ${D}${systemd_unitdir}/system/${BPN}ctl@.service
-    install -m 0644 ${S}/systemd/${BPN}.socket ${D}${systemd_unitdir}/system/${BPN}.socket
+    # Support for python
+    install -d ${D}${PYTHON_SITEPACKAGES_DIR}/gps
+    install -m 755 ${S}/gps/*.py ${D}${PYTHON_SITEPACKAGES_DIR}/gps
 }
 
 PACKAGES =+ "libgps libgpsd python3-pygps gpsd-udev gpsd-conf gpsd-gpsctl gps-utils"
@@ -98,11 +84,13 @@
 FILES:${PN}-dev += "${libdir}/pkgconfdir/libgpsd.pc ${libdir}/pkgconfdir/libgps.pc \
                     ${libdir}/libQgpsmm.prl"
 
+FILES:${PN}-doc += "${datadir}/${BPN}/doc"
+
 RDEPENDS:${PN} = "gpsd-gpsctl"
 RRECOMMENDS:${PN} = "gpsd-conf gpsd-udev gpsd-machine-conf"
 
 SUMMARY:gpsd-udev = "udev relevant files to use gpsd hotplugging"
-FILES:gpsd-udev = "${base_libdir}/udev ${sysconfdir}/udev/*"
+FILES:gpsd-udev = "${nonarch_base_libdir}/udev"
 RDEPENDS:gpsd-udev += "udev gpsd-conf"
 
 SUMMARY:libgpsd = "C service library used for communicating with gpsd"
@@ -138,7 +126,6 @@
 RCONFLICTS:${PN} += "${PN}-systemd"
 SYSTEMD_SERVICE:${PN} = "${BPN}.socket ${BPN}ctl@.service"
 
-
 ALTERNATIVE:${PN} = "gpsd-defaults"
 ALTERNATIVE_LINK_NAME[gpsd-defaults] = "${sysconfdir}/default/gpsd"
 ALTERNATIVE_TARGET[gpsd-defaults] = "${sysconfdir}/default/gpsd.default"