diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index ce00d30413..54854898bf 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -280,6 +280,7 @@ bool AP_GPS_NMEA::_term_complete()
                     state.ground_speed     = _new_speed*0.01f;
                     state.ground_course_cd = _new_course;
                     make_gps_time(_new_date, _new_time * 10);
+                    state.last_gps_time_ms = hal.scheduler->millis();
                     // To-Do: add support for proper reporting of 2D and 3D fix
                     state.status           = AP_GPS::GPS_OK_FIX_3D;
                     fill_3d_velocity();