diff --git a/src/drivers/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp
index 2eb59d3b26..e57fc029d0 100644
--- a/src/drivers/uavcan/sensors/gnss.cpp
+++ b/src/drivers/uavcan/sensors/gnss.cpp
@@ -467,11 +467,11 @@ void UavcanGnssBridge::update()
 // to work.
 void UavcanGnssBridge::handleInjectDataTopic()
 {
-	// Limit maximum number of GPS injections to 6 since usually
+	// Limit maximum number of GPS injections to 8 since usually
 	// GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo).
 	// Looking at 6 packets thus guarantees, that at least a full injection
 	// data set is evaluated.
-	static constexpr size_t MAX_NUM_INJECTIONS = 6;
+	static constexpr size_t MAX_NUM_INJECTIONS = gps_inject_data_s::ORB_QUEUE_LENGTH;;
 
 	size_t num_injections = 0;
 	gps_inject_data_s gps_inject_data;