diff --git a/src/GPS/Drivers b/src/GPS/Drivers
index 5c1ae956552c3887c5fddd303a8f242efa715333..1fb06433752bdc22a7633a8f1c5e0640a253025a 160000
--- a/src/GPS/Drivers
+++ b/src/GPS/Drivers
@@ -1 +1 @@
-Subproject commit 5c1ae956552c3887c5fddd303a8f242efa715333
+Subproject commit 1fb06433752bdc22a7633a8f1c5e0640a253025a
diff --git a/src/GPS/GPSProvider.cc b/src/GPS/GPSProvider.cc
index f8c836b489f3ae9551d83ceb4b483b8b93fe57ff..d5541b8ea5eb6da697ad93a7c4305d30b7382033 100644
--- a/src/GPS/GPSProvider.cc
+++ b/src/GPS/GPSProvider.cc
@@ -10,7 +10,7 @@
 
 #include "GPSProvider.h"
 
-#define TIMEOUT_5HZ 500
+#define GPS_RECEIVE_TIMEOUT 1200
 
 #include <QDebug>
 
@@ -73,7 +73,7 @@ void GPSProvider::run()
             int numTries = 0;
 
             while (!_requestStop && numTries < 3) {
-                int helperRet = gpsHelper->receive(TIMEOUT_5HZ);
+                int helperRet = gpsHelper->receive(GPS_RECEIVE_TIMEOUT);
 
                 if (helperRet > 0) {
                     numTries = 0;
diff --git a/src/GPS/vehicle_gps_position.h b/src/GPS/vehicle_gps_position.h
index e0bbeb8393a28284932b09dc62d528ccdcd113eb..e8fa23dbc5c3cf84c969ce84e67ab866080810c8 100644
--- a/src/GPS/vehicle_gps_position.h
+++ b/src/GPS/vehicle_gps_position.h
@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+/* Auto-generated by genmsg_cpp from file /home/beat/px4/src/Firmware/msg/vehicle_gps_position.msg */
+
+
 #pragma once
 #include <stdint.h>
 
@@ -40,29 +43,27 @@
  */
 
 struct vehicle_gps_position_s {
-	uint64_t timestamp_position;
+	uint64_t timestamp;
+	uint64_t time_utc_usec;
 	int32_t lat;
 	int32_t lon;
 	int32_t alt;
 	int32_t alt_ellipsoid;
-	uint64_t timestamp_variance;
 	float s_variance_m_s;
 	float c_variance_rad;
-	uint8_t fix_type;
 	float eph;
 	float epv;
 	float hdop;
 	float vdop;
 	int32_t noise_per_ms;
 	int32_t jamming_indicator;
-	uint64_t timestamp_velocity;
 	float vel_m_s;
 	float vel_n_m_s;
 	float vel_e_m_s;
 	float vel_d_m_s;
 	float cog_rad;
+	int32_t timestamp_time_relative;
+	uint8_t fix_type;
 	bool vel_ned_valid;
-	uint64_t timestamp_time;
-	uint64_t time_utc_usec;
 	uint8_t satellites_used;
 };