diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 8ebf189c33..d6dcc8916a 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1204,12 +1204,12 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
     case MSP_POSITION_ESTIMATION_CONFIG:
     #ifdef NAV
 
-        sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100);     // inav_w_z_baro_p	float as value * 100
+        sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p	float as value * 100
         sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100);  // 2	inav_w_z_gps_p	float as value * 100
         sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100);  // 2	inav_w_z_gps_v	float as value * 100
         sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2	inav_w_xy_gps_p	float as value * 100
         sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2	inav_w_xy_gps_v	float as value * 100
-        sbufWriteU8(dst, 0);                                             // 1	not used (was inav_gps_min_sats)
+        sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats);                // 1	
         sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned);    // 1	inav_use_gps_velned	ON/OFF
 
     #else
@@ -1681,7 +1681,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
         positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
         positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
-        //positionEstimationConfigMutable()->gps_min_sats = constrain(sbufReadU8(src), 5, 10); 
+        gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
         positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1); 
     #endif
         break;