void position_task(void* args)
{
    TinyGPSPlus gps;
    HardwareSerial gpsSerial(UART2_RX, UART2_TX);
    gpsSerial.begin(57600);
    for(;;){
        while(gpsSerial.available() > 0){
            if(gps.encode(gpsSerial.read())){
                if (gps.location.isValid())
                {
                    Serial.print(gps.location.lat(), 6);
                    Serial.print(F(","));
                    Serial.print(gps.location.lng(), 6);
                    Serial.print(F(","));
                    Serial.print(gps.location.age());
                    Serial.print(F(","));
                    Serial.print(gps.altitude.meters());
                    Serial.print(F(","));
                    Serial.println(gps.failedChecksum());
                }
            }
        }
        vTaskDelay(100 / portTICK_PERIOD_MS);
    }
}