diff --git a/src/main/fc/tasks.c b/src/main/fc/tasks.c
index aab5ce5bd5..5ed1179ffc 100644
--- a/src/main/fc/tasks.c
+++ b/src/main/fc/tasks.c
@@ -489,7 +489,7 @@ task_t tasks[TASK_COUNT] = {
 #endif
 
 #ifdef USE_GPS
-    [TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
+    [TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
 #endif
 
 #ifdef USE_MAG
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
index de5273def5..2415347bf6 100644
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@@ -683,13 +683,19 @@ void gpsUpdate(timeUs_t currentTimeUs)
     timeUs_t executeTimeUs;
     gpsState_e gpsCurState = gpsData.state;
 
-
     // read out available GPS bytes
     if (gpsPort) {
-        while (serialRxBytesWaiting(gpsPort) && (cmpTimeUs(micros(), currentTimeUs) < GPS_MAX_WAIT_DATA_RX)) {
+        while (serialRxBytesWaiting(gpsPort)) {
+            if (cmpTimeUs(micros(), currentTimeUs) > GPS_MAX_WAIT_DATA_RX) {
+                // Wait 1ms and come back
+                rescheduleTask(TASK_SELF, TASK_PERIOD_HZ(TASK_GPS_RATE_FAST));
+                return;
+            }
             gpsNewData(serialRead(gpsPort));
         }
-    } else if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
+        // Restore default task rate
+        rescheduleTask(TASK_SELF, TASK_PERIOD_HZ(TASK_GPS_RATE));
+   } else if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
         gpsSetState(GPS_STATE_RECEIVING_DATA);
         gpsData.lastMessage = millis();
         sensorsSet(SENSOR_GPS);
diff --git a/src/main/io/gps.h b/src/main/io/gps.h
index 7db419b0ac..7f355a6851 100644
--- a/src/main/io/gps.h
+++ b/src/main/io/gps.h
@@ -180,6 +180,9 @@ extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Str
 #define GPS_DBHZ_MIN 0
 #define GPS_DBHZ_MAX 55
 
+#define TASK_GPS_RATE       100
+#define TASK_GPS_RATE_FAST  1000
+
 void gpsInit(void);
 void gpsUpdate(timeUs_t currentTimeUs);
 bool gpsNewFrame(uint8_t c);