diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index 5a6827a759..fa23a161c4 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types):
   else:
     raise Exception(f"setup logs failed, {log_types=}")
 
-def mmcli(cmd: str) -> None:
+def at_cmd(cmd: str) -> None:
   for _ in range(5):
     try:
-      subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True)
+      subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
       break
     except subprocess.CalledProcessError:
       cloudlog.exception("rawgps.mmcli_command_failed")
   else:
     raise Exception(f"failed to execute mmcli command {cmd=}")
 
+
+def gps_enabled() -> bool:
+  try:
+    p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True)
+    return b"QGPS: 1" in p
+  except subprocess.CalledProcessError as exc:
+    raise Exception("failed to execute QGPS mmcli command") from exc
+
 def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
@@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag):
 
   setup_logs(diag, LOG_TYPES)
 
+  if gps_enabled():
+    at_cmd("AT+QGPSEND")
+
   # disable DPO power savings for more accuracy
-  mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'")
+  at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
-  mmcli("--command='AT+QGPSCFG=\"autogps\",0'")
-  mmcli("--location-enable-gps-raw --location-enable-gps-nmea")
+  at_cmd("AT+QGPSCFG=\"autogps\",0")
+
+  at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
+  at_cmd("AT+QGPS=1")
 
   # enable OEMDRE mode
   DIAG_SUBSYS_CMD_F = 75
@@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag):
   ))
 
 def teardown_quectel(diag):
-  mmcli("--location-disable-gps-raw --location-disable-gps-nmea")
+  at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
+  if gps_enabled():
+    at_cmd("AT+QGPSEND")
   try_setup_logs(diag, [])
 
 
@@ -156,7 +171,7 @@ def main() -> NoReturn:
   # wait for ModemManager to come up
   cloudlog.warning("waiting for modem to come up")
   while True:
-    ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
     if ret == 0:
       break
     time.sleep(0.1)