diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp
index 9bb84dd902..f8968e4881 100644
--- a/platforms/nuttx/src/px4/common/SerialImpl.cpp
+++ b/platforms/nuttx/src/px4/common/SerialImpl.cpp
@@ -180,8 +180,34 @@ bool SerialImpl::configure()
 	//
 	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
 
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+	// Control modes
+	uart_config.c_cflag = 0;
+
+	switch (_bytesize) {
+	case ByteSize::FiveBits:  uart_config.c_cflag |= CS5; break;
+
+	case ByteSize::SixBits:   uart_config.c_cflag |= CS6; break;
+
+	case ByteSize::SevenBits: uart_config.c_cflag |= CS7; break;
+
+	case ByteSize::EightBits: uart_config.c_cflag |= CS8; break;
+	}
+
+	if (_flowcontrol == FlowControl::Enabled) {
+		uart_config.c_cflag |= CRTSCTS;
+	}
+
+	if (_parity != Parity::None) {
+		uart_config.c_cflag |= PARENB;
+	}
+
+	if (_parity == Parity::Odd) {
+		uart_config.c_cflag |= PARODD;
+	}
+
+	if (_stopbits == StopBits::Two) {
+		uart_config.c_cflag |= CSTOPB;
+	}
 
 	/* set baud rate */
 	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
@@ -486,7 +512,19 @@ ByteSize SerialImpl::getBytesize() const
 
 bool SerialImpl::setBytesize(ByteSize bytesize)
 {
-	return bytesize == ByteSize::EightBits;
+	// check if already configured
+	if ((bytesize == _bytesize) && _open) {
+		return true;
+	}
+
+	_bytesize = bytesize;
+
+	// process bytesize change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 Parity SerialImpl::getParity() const
@@ -496,7 +534,19 @@ Parity SerialImpl::getParity() const
 
 bool SerialImpl::setParity(Parity parity)
 {
-	return parity == Parity::None;
+	// check if already configured
+	if ((parity == _parity) && _open) {
+		return true;
+	}
+
+	_parity = parity;
+
+	// process parity change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 StopBits SerialImpl::getStopbits() const
@@ -506,7 +556,19 @@ StopBits SerialImpl::getStopbits() const
 
 bool SerialImpl::setStopbits(StopBits stopbits)
 {
-	return stopbits == StopBits::One;
+	// check if already configured
+	if ((stopbits == _stopbits) && _open) {
+		return true;
+	}
+
+	_stopbits = stopbits;
+
+	// process stopbits change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 FlowControl SerialImpl::getFlowcontrol() const
@@ -516,7 +578,19 @@ FlowControl SerialImpl::getFlowcontrol() const
 
 bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
 {
-	return flowcontrol == FlowControl::Disabled;
+	// check if already configured
+	if ((flowcontrol == _flowcontrol) && _open) {
+		return true;
+	}
+
+	_flowcontrol = flowcontrol;
+
+	// process flowcontrol change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 bool SerialImpl::getSingleWireMode() const
diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp
index 0c23b050e0..cb12b6919d 100644
--- a/platforms/posix/src/px4/common/SerialImpl.cpp
+++ b/platforms/posix/src/px4/common/SerialImpl.cpp
@@ -169,8 +169,34 @@ bool SerialImpl::configure()
 	//
 	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
 
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+	// Control modes
+	uart_config.c_cflag = 0;
+
+	switch (_bytesize) {
+	case ByteSize::FiveBits:  uart_config.c_cflag |= CS5; break;
+
+	case ByteSize::SixBits:   uart_config.c_cflag |= CS6; break;
+
+	case ByteSize::SevenBits: uart_config.c_cflag |= CS7; break;
+
+	case ByteSize::EightBits: uart_config.c_cflag |= CS8; break;
+	}
+
+	if (_flowcontrol == FlowControl::Enabled) {
+		uart_config.c_cflag |= CRTSCTS;
+	}
+
+	if (_parity != Parity::None) {
+		uart_config.c_cflag |= PARENB;
+	}
+
+	if (_parity == Parity::Odd) {
+		uart_config.c_cflag |= PARODD;
+	}
+
+	if (_stopbits == StopBits::Two) {
+		uart_config.c_cflag |= CSTOPB;
+	}
 
 	/* set baud rate */
 	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
@@ -445,7 +471,6 @@ uint32_t SerialImpl::getBaudrate() const
 
 bool SerialImpl::setBaudrate(uint32_t baudrate)
 {
-	// check if already configured
 	if ((baudrate == _baudrate) && _open) {
 		return true;
 	}
@@ -467,7 +492,17 @@ ByteSize SerialImpl::getBytesize() const
 
 bool SerialImpl::setBytesize(ByteSize bytesize)
 {
-	return bytesize == ByteSize::EightBits;
+	if ((bytesize == _bytesize) && _open) {
+		return true;
+	}
+
+	_bytesize = bytesize;
+
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 Parity SerialImpl::getParity() const
@@ -477,7 +512,17 @@ Parity SerialImpl::getParity() const
 
 bool SerialImpl::setParity(Parity parity)
 {
-	return parity == Parity::None;
+	if ((parity == _parity) && _open) {
+		return true;
+	}
+
+	_parity = parity;
+
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 StopBits SerialImpl::getStopbits() const
@@ -487,7 +532,17 @@ StopBits SerialImpl::getStopbits() const
 
 bool SerialImpl::setStopbits(StopBits stopbits)
 {
-	return stopbits == StopBits::One;
+	if ((stopbits == _stopbits) && _open) {
+		return true;
+	}
+
+	_stopbits = stopbits;
+
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 FlowControl SerialImpl::getFlowcontrol() const
@@ -497,7 +552,17 @@ FlowControl SerialImpl::getFlowcontrol() const
 
 bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
 {
-	return flowcontrol == FlowControl::Disabled;
+	if ((flowcontrol == _flowcontrol) && _open) {
+		return true;
+	}
+
+	_flowcontrol = flowcontrol;
+
+	if (_open) {
+		return configure();
+	}
+
+	return true;
 }
 
 bool SerialImpl::getSingleWireMode() const
diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp
index 312c830041..5c31be9a5c 100644
--- a/platforms/qurt/src/px4/SerialImpl.cpp
+++ b/platforms/qurt/src/px4/SerialImpl.cpp
@@ -103,25 +103,14 @@ bool SerialImpl::open()
 		return false;
 	}
 
-	if (_bytesize != ByteSize::EightBits) {
-		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
-		return false;
-	}
+	// Check all non-supported configurations without duplicating the error strings
+	if (!setBytesize(_bytesize)) { return false; }
 
-	if (_parity != Parity::None) {
-		PX4_ERR("Qurt platform only supports Parity::None");
-		return false;
-	}
+	if (!setParity(_parity)) { return false; }
 
-	if (_stopbits != StopBits::One) {
-		PX4_ERR("Qurt platform only supports StopBits::One");
-		return false;
-	}
+	if (!setStopbits(_stopbits)) { return false; }
 
-	if (_flowcontrol != FlowControl::Disabled) {
-		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
-		return false;
-	}
+	if (!setFlowcontrol(_flowcontrol)) { return false; }
 
 	if (!validatePort(_port)) {
 		PX4_ERR("Invalid port %s", _port);
@@ -348,7 +337,12 @@ ByteSize SerialImpl::getBytesize() const
 
 bool SerialImpl::setBytesize(ByteSize bytesize)
 {
-	return bytesize == ByteSize::EightBits;
+	if (bytesize != ByteSize::EightBits) {
+		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
+		return false;
+	}
+
+	return true;
 }
 
 Parity SerialImpl::getParity() const
@@ -358,7 +352,12 @@ Parity SerialImpl::getParity() const
 
 bool SerialImpl::setParity(Parity parity)
 {
-	return parity == Parity::None;
+	if (parity != Parity::None) {
+		PX4_ERR("Qurt platform only supports Parity::None");
+		return false;
+	}
+
+	return true;
 }
 
 StopBits SerialImpl::getStopbits() const
@@ -368,7 +367,12 @@ StopBits SerialImpl::getStopbits() const
 
 bool SerialImpl::setStopbits(StopBits stopbits)
 {
-	return stopbits == StopBits::One;
+	if (stopbits != StopBits::One) {
+		PX4_ERR("Qurt platform only supports StopBits::One");
+		return false;
+	}
+
+	return true;
 }
 
 FlowControl SerialImpl::getFlowcontrol() const
@@ -378,7 +382,12 @@ FlowControl SerialImpl::getFlowcontrol() const
 
 bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
 {
-	return flowcontrol == FlowControl::Disabled;
+	if (flowcontrol != FlowControl::Disabled) {
+		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
+		return false;
+	}
+
+	return true;
 }
 
 bool SerialImpl::getSingleWireMode() const
@@ -388,8 +397,12 @@ bool SerialImpl::getSingleWireMode() const
 
 bool SerialImpl::setSingleWireMode()
 {
-	// Qurt platform does not support single wire mode
-	return false;
+	if (enable) {
+		PX4_ERR("Qurt platform does not support single wire mode");
+		return false;
+	}
+
+	return true;
 }
 
 bool SerialImpl::getSwapRxTxMode() const
@@ -399,14 +412,22 @@ bool SerialImpl::getSwapRxTxMode() const
 
 bool SerialImpl::setSwapRxTxMode()
 {
-	// Qurt platform does not support swap rx tx mode
-	return false;
+	if (enable) {
+		PX4_ERR("Qurt platform does not support swap rx tx mode");
+		return false;
+	}
+
+	return true;
 }
 
 bool SerialImpl::setInvertedMode(bool enable)
 {
-	// Qurt platform does not support inverted mode
-	return false == enable;
+	if (enable) {
+		PX4_ERR("Qurt platform does not support inverted mode");
+		return false;
+	}
+
+	return true;
 }
 bool SerialImpl::getInvertedMode() const
 {