diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
index 60b60f46f..529b9b810 100644
--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -64,7 +64,8 @@ bool Pigeon::send_with_ack(std::string cmd){
 }
 
 void Pigeon::init() {
-  while (!do_exit){
+  for (int i = 0; i < 10; i++){
+    if (do_exit) return;
     LOGW("panda GPS start");
 
     // power off pigeon
@@ -106,10 +107,10 @@ void Pigeon::init() {
     if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
     if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
 
-    break;
+    LOGW("panda GPS on");
+    return;
   }
-
-  LOGW("panda GPS on");
+  LOGE("failed to initialize panda GPS");
 }
 
 void PandaPigeon::connect(Panda * p) {