diff --git a/Makefile b/Makefile
index 3f1ccf4..914dad5 100644
--- a/Makefile
+++ b/Makefile
@@ -1,11 +1,12 @@
-CXX=clang++
-CXXFLAGS=-g -I./include
-
-test: tests/serial_tests.o src/serial.o src/impl/unix.o
-	$(CXX) -o test tests/serial_tests.o src/serial.o src/impl/unix.o
-
-# ifdef ROS_ROOT
-# include $(shell rospack find mk)/cmake.mk
-# else
-# include serial.makefile
-# endif
+# ash_gti's dumb downed makefile so I can more easily test stuff
+# CXX=clang++
+# CXXFLAGS=-g -I./include
+# 
+# test: tests/serial_tests.o src/serial.o src/impl/unix.o
+# 	$(CXX) -o test tests/serial_tests.o src/serial.o src/impl/unix.o
+# 
+ifdef ROS_ROOT
+include $(shell rospack find mk)/cmake.mk
+else
+include serial.makefile
+endif
diff --git a/src/impl/unix.cc b/src/impl/unix.cc
index 1039d3b..6d09558 100644
--- a/src/impl/unix.cc
+++ b/src/impl/unix.cc
@@ -291,6 +291,7 @@ Serial::SerialImpl::getPort () const {
 void
 Serial::SerialImpl::setTimeout (long timeout) {
   timeout_ = timeout;
+  if (isOpen_) reconfigurePort();
 }
 
 long
@@ -301,7 +302,7 @@ Serial::SerialImpl::getTimeout () const {
 void
 Serial::SerialImpl::setBaudrate (int baudrate) {
   baudrate_ = baudrate;
-  reconfigurePort();
+  if (isOpen_) reconfigurePort();
 }
 
 int
@@ -312,6 +313,7 @@ Serial::SerialImpl::getBaudrate () const {
 void
 Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) {
   bytesize_ = bytesize;
+  if (isOpen_) reconfigurePort();
 }
 
 serial::bytesize_t
@@ -322,6 +324,7 @@ Serial::SerialImpl::getBytesize () const {
 void
 Serial::SerialImpl::setParity (serial::parity_t parity) {
   parity_ = parity;
+  if (isOpen_) reconfigurePort();
 }
 
 serial::parity_t
@@ -332,6 +335,7 @@ Serial::SerialImpl::getParity () const {
 void
 Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) {
   stopbits_ = stopbits;
+  if (isOpen_) reconfigurePort();
 }
 
 serial::stopbits_t
@@ -342,6 +346,7 @@ Serial::SerialImpl::getStopbits () const {
 void
 Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) {
   flowcontrol_ = flowcontrol;
+  if (isOpen_) reconfigurePort();
 }
 
 serial::flowcontrol_t
diff --git a/src/serial.cc b/src/serial.cc
index ca9e8ed..5f06dab 100644
--- a/src/serial.cc
+++ b/src/serial.cc
@@ -106,7 +106,10 @@ Serial::write (const string &data) {
 
 void
 Serial::setPort (const string &port) {
+  bool was_open = pimpl->isOpen();
+  if (was_open) this->close();
   this->pimpl->setPort (port);
+  if (was_open) this->open();
 }
 
 string