diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 01d9e9e9b9..a8df4c29ae 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -163,14 +163,10 @@ static void taskUpdateRxMain(uint32_t currentTime)
 static void taskProcessGPS(uint32_t currentTime)
 {
     // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
-    // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
+    // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsUdate() can and will
     // change this based on available hardware
     if (feature(FEATURE_GPS)) {
-        gpsThread();
-    }
-
-    if (sensors(SENSOR_GPS)) {
-        updateGpsIndicator(currentTime);
+        gpsUpdate(currentTime);
     }
 }
 #endif
@@ -179,7 +175,7 @@ static void taskProcessGPS(uint32_t currentTime)
 static void taskUpdateCompass(uint32_t currentTime)
 {
     if (sensors(SENSOR_MAG)) {
-        updateCompass(currentTime, &masterConfig.magZero);
+        compassUpdate(currentTime, &masterConfig.magZero);
     }
 }
 #endif
@@ -228,7 +224,7 @@ static void taskCalculateAltitude(uint32_t currentTime)
 static void taskUpdateDisplay(uint32_t currentTime)
 {
     if (feature(FEATURE_DISPLAY)) {
-        updateDisplay(currentTime);
+        displayUpdate(currentTime);
     }
 }
 #endif
@@ -248,7 +244,7 @@ static void taskTelemetry(uint32_t currentTime)
 static void taskLedStrip(uint32_t currentTime)
 {
     if (feature(FEATURE_LED_STRIP)) {
-        updateLedStrip(currentTime);
+        ledStripUpdate(currentTime);
     }
 }
 #endif
@@ -257,7 +253,7 @@ static void taskLedStrip(uint32_t currentTime)
 static void taskTransponder(uint32_t currentTime)
 {
     if (feature(FEATURE_TRANSPONDER)) {
-        updateTransponder(currentTime);
+        transponderUpdate(currentTime);
     }
 }
 #endif
diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index a9ccde12a8..e6bf2f8fe9 100644
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -779,7 +779,7 @@ void subTaskMainSubprocesses(void)
     #endif
 
     #ifdef TRANSPONDER
-        updateTransponder(startTime);
+        transponderUpdate(startTime);
     #endif
     if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
 }
diff --git a/src/main/io/display.c b/src/main/io/display.c
index 43a18f7715..032922af02 100644
--- a/src/main/io/display.c
+++ b/src/main/io/display.c
@@ -582,7 +582,7 @@ void showDebugPage(void)
 }
 #endif
 
-void updateDisplay(uint32_t currentTime)
+void displayUpdate(uint32_t currentTime)
 {
     static uint8_t previousArmedState = 0;
 
@@ -702,7 +702,7 @@ void displayInit(rxConfig_t *rxConfigToUse)
     memset(&pageState, 0, sizeof(pageState));
     displaySetPage(PAGE_WELCOME);
 
-    updateDisplay(micros());
+    displayUpdate(micros());
 
     displaySetNextPageChangeAt(micros() + (1000 * 1000 * 5));
 }
diff --git a/src/main/io/display.h b/src/main/io/display.h
index 1f8194de5e..75abffbe3c 100644
--- a/src/main/io/display.h
+++ b/src/main/io/display.h
@@ -37,7 +37,7 @@ typedef enum {
 
 struct rxConfig_s;
 void displayInit(struct rxConfig_s *intialRxConfig);
-void updateDisplay(uint32_t currentTime);
+void displayUpdate(uint32_t currentTime);
 
 void displayShowFixedPage(pageId_e pageId);
 
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
index 58859002aa..52dfecc170 100755
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@@ -244,7 +244,7 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
         mode &= ~MODE_TX;
 #endif
 
-    // no callback - buffer will be consumed in gpsThread()
+    // no callback - buffer will be consumed in gpsUpdate()
     gpsPort = openSerialPort(gpsPortConfig->identifier, FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrateIndex, mode, SERIAL_NOT_INVERTED);
     if (!gpsPort) {
         featureClear(FEATURE_GPS);
@@ -398,7 +398,16 @@ void gpsInitHardware(void)
     }
 }
 
-void gpsThread(void)
+static void updateGpsIndicator(uint32_t currentTime)
+{
+    static uint32_t GPSLEDTime;
+    if ((int32_t)(currentTime - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
+        GPSLEDTime = currentTime + 150000;
+        LED1_TOGGLE;
+    }
+}
+
+void gpsUpdate(uint32_t currentTime)
 {
     // read out available GPS bytes
     if (gpsPort) {
@@ -423,7 +432,7 @@ void gpsThread(void)
                 gpsData.baudrateIndex++;
                 gpsData.baudrateIndex %= GPS_INIT_ENTRIES;
             }
-            gpsData.lastMessage = millis();
+            gpsData.lastMessage = currentTime / 1000;
             // TODO - move some / all of these into gpsData
             GPS_numSat = 0;
             DISABLE_STATE(GPS_FIX);
@@ -432,13 +441,16 @@ void gpsThread(void)
 
         case GPS_RECEIVING_DATA:
             // check for no data/gps timeout/cable disconnection etc
-            if (millis() - gpsData.lastMessage > GPS_TIMEOUT) {
+            if (currentTime / 1000 - gpsData.lastMessage > GPS_TIMEOUT) {
                 // remove GPS from capability
                 sensorsClear(SENSOR_GPS);
                 gpsSetState(GPS_LOST_COMMUNICATION);
             }
             break;
     }
+    if (sensors(SENSOR_GPS)) {
+        updateGpsIndicator(currentTime);
+    }
 }
 
 static void gpsNewData(uint16_t c)
@@ -1065,13 +1077,12 @@ static void gpsHandlePassthrough(uint8_t data)
      gpsNewData(data);
  #ifdef DISPLAY
      if (feature(FEATURE_DISPLAY)) {
-         updateDisplay(micros());
+         displayUpdate(micros());
      }
  #endif
 
  }
 
-
 void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
 {
     waitForSerialPortToFinishTransmitting(gpsPort);
@@ -1088,13 +1099,4 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
 
     serialPassthrough(gpsPort, gpsPassthroughPort, &gpsHandlePassthrough, NULL);
 }
-
-void updateGpsIndicator(uint32_t currentTime)
-{
-    static uint32_t GPSLEDTime;
-    if ((int32_t)(currentTime - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
-        GPSLEDTime = currentTime + 150000;
-        LED1_TOGGLE;
-    }
-}
 #endif
diff --git a/src/main/io/gps.h b/src/main/io/gps.h
index efa0ec32c2..7663e52f2f 100644
--- a/src/main/io/gps.h
+++ b/src/main/io/gps.h
@@ -119,6 +119,5 @@ extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Str
 
 struct serialConfig_s;
 void gpsInit(struct serialConfig_s *serialConfig, gpsConfig_t *initialGpsConfig);
-void gpsThread(void);
+void gpsUpdate(uint32_t currentTime);
 bool gpsNewFrame(uint8_t c);
-void updateGpsIndicator(uint32_t currentTime);
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 86218721c7..f0b3e44e07 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -926,7 +926,7 @@ static applyLayerFn_timed* layerTable[] = {
     [timRing] = &applyLedThrustRingLayer
 };
 
-void updateLedStrip(uint32_t currentTime)
+void ledStripUpdate(uint32_t currentTime)
 {
     if (!(ledStripInitialised && isWS2811LedStripReady())) {
         return;
diff --git a/src/main/io/ledstrip.h b/src/main/io/ledstrip.h
index eff11d7cfd..351708abcb 100644
--- a/src/main/io/ledstrip.h
+++ b/src/main/io/ledstrip.h
@@ -167,7 +167,7 @@ void reevaluateLedConfig(void);
 
 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse);
 void ledStripEnable(void);
-void updateLedStrip(uint32_t currentTime);
+void ledStripUpdate(uint32_t currentTime);
 
 bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex);
 
diff --git a/src/main/io/transponder_ir.c b/src/main/io/transponder_ir.c
index b0b1f093ef..10626d2ebf 100644
--- a/src/main/io/transponder_ir.c
+++ b/src/main/io/transponder_ir.c
@@ -42,7 +42,7 @@ static uint32_t nextUpdateAt = 0;
 #define JITTER_DURATION_COUNT (sizeof(jitterDurations) / sizeof(uint8_t))
 static uint8_t jitterDurations[] = {0,9,4,8,3,9,6,7,1,6,9,7,8,2,6};
 
-void updateTransponder(uint32_t currentTime)
+void transponderUpdate(uint32_t currentTime)
 {
     static uint32_t jitterIndex = 0;
 
diff --git a/src/main/io/transponder_ir.h b/src/main/io/transponder_ir.h
index 0f943fed28..18a95f837a 100644
--- a/src/main/io/transponder_ir.h
+++ b/src/main/io/transponder_ir.h
@@ -21,7 +21,7 @@ void transponderInit(uint8_t* transponderCode);
 
 void transponderEnable(void);
 void transponderDisable(void);
-void updateTransponder(uint32_t currentTime);
+void transponderUpdate(uint32_t currentTime);
 void transponderUpdateData(uint8_t* transponderData);
 void transponderTransmitOnce(void);
 void transponderStartRepeating(void);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 8adbb66fae..7bd2fb1983 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -57,7 +57,7 @@ void compassInit(void)
     magInit = 1;
 }
 
-void updateCompass(uint32_t currentTime, flightDynamicsTrims_t *magZero)
+void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
 {
     static uint32_t tCal = 0;
     static flightDynamicsTrims_t magZeroTempMin;
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index d07be6164a..33ecbb1d56 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -29,7 +29,7 @@ typedef enum {
 
 void compassInit(void);
 union flightDynamicsTrims_u;
-void updateCompass(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
+void compassUpdate(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
 
 extern int32_t magADC[XYZ_AXIS_COUNT];