diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index 60ff80184..d2ab2b3c5 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -46,6 +46,7 @@
 #include "gpsposition.h"
 #include "homelocation.h"
 #include "gpstime.h"
+#include "gpssatellites.h"
 #include "WorldMagModel.h"
 #include "CoordinateConversions.h"
 
@@ -126,7 +127,10 @@ int32_t GPSInitialize(void)
 {
 	GPSPositionInitialize();
 	GPSTimeInitialize();
+	GPSSatellitesInitialize();
+#ifdef PIOS_GPS_SETS_HOMELOCATION
 	HomeLocationInitialize();
+#endif
 	
 	// TODO: Get gps settings object
 	gpsPort = PIOS_COM_GPS;
@@ -195,14 +199,12 @@ static void gpsTask(void *parameters)
 	// Loop forever
 	while (1)
 	{
+		uint8_t c;
 		#ifdef ENABLE_GPS_BINARY_GTOP
 			// GTOP BINARY GPS mode
 
-			while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
+			while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
 			{
-				uint8_t c;
-				PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
-
 				if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
 				{
 					numUpdates++;
@@ -217,10 +219,8 @@ static void gpsTask(void *parameters)
 			// NMEA or SINGLE-SENTENCE GPS mode
 
 			// This blocks the task until there is something on the buffer
-			while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
+			while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
 			{
-				uint8_t c;
-				PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
 			
 				// detect start while acquiring stream
 				if (!start_flag && (c == '$'))
@@ -358,8 +358,6 @@ static void gpsTask(void *parameters)
 				AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
 		}
 
-		// Block task until next update
-		vTaskDelay(xDelay);
 	}
 }