diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 928e19081e..70ccf3bb4e 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -354,6 +354,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
     this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
   }
 
+  this->last_gps_msg = sensor_time;
   this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
   this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
 }
@@ -588,12 +589,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
     this->handle_sensor(t, log.getAccelerometer());
   } else if (log.isGyroscope()) {
     this->handle_sensor(t, log.getGyroscope());
-  //} else if (log.isGpsLocation()) {
-  //  this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
-  //} else if (log.isGpsLocationExternal()) {
-  //  this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
-  } else if (log.isGnssMeasurements()) {
-    this->handle_gnss(t, log.getGnssMeasurements());
+  } else if (log.isGpsLocation()) {
+    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
+  } else if (log.isGpsLocationExternal()) {
+    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
+  //} else if (log.isGnssMeasurements()) {
+  //  this->handle_gnss(t, log.getGnssMeasurements());
   } else if (log.isCarState()) {
     this->handle_car_state(t, log.getCarState());
   } else if (log.isCameraOdometry()) {