diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 8497027eb2..e7dbab947a 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -84,9 +84,11 @@
 using namespace device;
 using namespace time_literals;
 
-#define TIMEOUT_1HZ		1300	//!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
-#define TIMEOUT_5HZ		500	//!< Timeout time in mS,  200 mS (5Hz) + 300 mS delta for error
-#define TIMEOUT_DUMP_ADD	450	//!< Additional time in mS to account for RTCM3 parsing and dumping
+#define TIMEOUT_1HZ		1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
+#define TIMEOUT_5HZ		500 //!< Timeout time in mS,  200 mS (5Hz) + 300 mS delta for error
+#define TIMEOUT_INIT_1HZ	(3 * TIMEOUT_1HZ) //!< Timeout time in mS, used until GPS is healthy
+#define TIMEOUT_INIT_5HZ	(3 * TIMEOUT_5HZ) //!< Timeout time in mS, used until GPS is healthy
+#define TIMEOUT_DUMP_ADD	450 //!< Additional time in mS to account for RTCM3 parsing and dumping
 
 enum class gps_driver_mode_t {
 	None = 0,
@@ -996,19 +998,26 @@ GPS::run()
 			}
 
 			int helper_ret;
-			unsigned receive_timeout = TIMEOUT_5HZ;
+
+			/* After being configured (especially in combination with FLASH wipes) the GPS may require
+			 * additional time before outputting the first navigation data. To account for this, there is
+			 * an init timeout. As soon as the GPS is healthy, the timeout is decreased. This allows for
+			 * a quick reaction to a connection loss. */
+			unsigned receive_timeout = TIMEOUT_INIT_5HZ;
+			unsigned healthy_timeout = TIMEOUT_5HZ;
 
 			if ((ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBase)
 			    || (ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1)) {
 				/* The MB rover will wait as long as possible to compute a navigation solution,
 				 * possibly lowering the navigation rate all the way to 1 Hz while doing so. */
-				receive_timeout = TIMEOUT_1HZ;
+				receive_timeout = TIMEOUT_INIT_1HZ;
+				healthy_timeout = TIMEOUT_1HZ;
 			}
 
 			if (_dump_communication_mode != gps_dump_comm_mode_t::Disabled) {
 				/* Dumping the RTCM3/UBX data requires additional parsing and storing of data via uORB.
 				 * Without additional time this can lead to timeouts. */
-				receive_timeout += TIMEOUT_DUMP_ADD;
+				healthy_timeout += TIMEOUT_DUMP_ADD;
 			}
 
 			while ((helper_ret = _helper->receive(receive_timeout)) > 0 && !should_exit()) {
@@ -1068,6 +1077,7 @@ GPS::run()
 //
 //						PX4_WARN("module found: %s", mode_str);
 					_healthy = true;
+					receive_timeout = healthy_timeout;
 				}
 
 				/* Do not wipe the FLASH config multiple times. */