diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c
index 5a7c4ec253..a4d05f9f1c 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/main_ap.c
@@ -743,10 +743,18 @@ void event_task_ap( void ) {
 //			UseGpsPos(estimator_update_state_gps);
 			UseGpsPosUgear(estimator_update_state_gps);
 			gps_msg_received_counter = gps_msg_received_counter+1;
+			#ifdef GX2			
+			if (gps_msg_received_counter == 1){
+				gps_downlink();
+				gps_msg_received_counter = 0;
+			}
+			#endif
+			#ifdef XSENSDL
 			if (gps_msg_received_counter == 25){
 				gps_downlink();
 				gps_msg_received_counter = 0;
 			}
+			#endif
 			gps_pos_available = FALSE;
 		}
 	}