diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 0686806fd9..db9a70eccb 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 0686806fd94bd429aa66d2500e5e2aad16d2835b
+Subproject commit db9a70eccbb49240b70eeaea867c1389bcbd73aa
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index f0df09845b..d9db8d8139 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -111,6 +111,7 @@ struct RawAirspeedData {
 
 #pragma pack(push, 1)
 struct RawGPSData {
+	int64_t timestamp;
 	int32_t lat;
 	int32_t lon;
 	int32_t alt;
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index c74bc30025..119c28d4d3 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -261,6 +261,7 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
 void Simulator::update_gps(mavlink_hil_gps_t *gps_sim)
 {
 	RawGPSData gps = {};
+	gps.timestamp = gps_sim->time_usec;
 	gps.lat = gps_sim->lat;
 	gps.lon = gps_sim->lon;
 	gps.alt = gps_sim->alt;
diff --git a/src/platforms/posix/drivers/gpssim/gpssim.cpp b/src/platforms/posix/drivers/gpssim/gpssim.cpp
index f6794a36d2..8eef4f1fb1 100644
--- a/src/platforms/posix/drivers/gpssim/gpssim.cpp
+++ b/src/platforms/posix/drivers/gpssim/gpssim.cpp
@@ -71,6 +71,7 @@ using namespace DriverFramework;
 #define GPSSIM_DEVICE_PATH "/dev/gpssim"
 
 #define TIMEOUT_5HZ 500
+#define TIMEOUT_10MS 10
 #define RATE_MEASUREMENT_PERIOD 5000000
 
 /* class for dynamic allocation of satellite info data */
@@ -274,22 +275,32 @@ GPSSIM::receive(int timeout)
 	simulator::RawGPSData gps;
 	sim->getGPSSample((uint8_t *)&gps, sizeof(gps));
 
-	_report_gps_pos.timestamp = hrt_absolute_time();
-	_report_gps_pos.lat = gps.lat;
-	_report_gps_pos.lon = gps.lon;
-	_report_gps_pos.alt = gps.alt;
-	_report_gps_pos.eph = (float)gps.eph * 1e-2f;
-	_report_gps_pos.epv = (float)gps.epv * 1e-2f;
-	_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
-	_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
-	_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
-	_report_gps_pos.vel_d_m_s = (float)(gps.vd) / 100.0f;
-	_report_gps_pos.cog_rad = (float)(gps.cog) * 3.1415f / (100.0f * 180.0f);
-	_report_gps_pos.fix_type = gps.fix_type;
-	_report_gps_pos.satellites_used = gps.satellites_visible;
+	static uint64_t timestamp_last = 0;
 
-	usleep(120000);
-	return 1;
+	if (gps.timestamp != timestamp_last) {
+		_report_gps_pos.timestamp = hrt_absolute_time();
+		_report_gps_pos.lat = gps.lat;
+		_report_gps_pos.lon = gps.lon;
+		_report_gps_pos.alt = gps.alt;
+		_report_gps_pos.eph = (float)gps.eph * 1e-2f;
+		_report_gps_pos.epv = (float)gps.epv * 1e-2f;
+		_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
+		_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
+		_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
+		_report_gps_pos.vel_d_m_s = (float)(gps.vd) / 100.0f;
+		_report_gps_pos.cog_rad = (float)(gps.cog) * 3.1415f / (100.0f * 180.0f);
+		_report_gps_pos.fix_type = gps.fix_type;
+		_report_gps_pos.satellites_used = gps.satellites_visible;
+
+		timestamp_last = gps.timestamp;
+
+		return 1;
+
+	} else {
+
+		usleep(timeout);
+		return 0;
+	}
 }
 
 void
@@ -349,10 +360,12 @@ GPSSIM::task_main()
 			// GPS is obviously detected successfully, reset statistics
 			//_Helper->reset_update_rates();
 
-			while ((receive(TIMEOUT_5HZ)) > 0 && !_task_should_exit) {
+			int recv_ret = 0;
+
+			while ((recv_ret = receive(TIMEOUT_10MS)) >= 0 && !_task_should_exit) {
 				/* opportunistic publishing - else invalid data would end up on the bus */
 
-				if (!(m_pub_blocked)) {
+				if (recv_ret && !(m_pub_blocked)) {
 					orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 
 					if (_p_report_sat_info) {