diff --git a/src/gps/GPS.cpp b/src/gps/GPS.cpp
index 55f62d8ad..e234fdb4a 100644
--- a/src/gps/GPS.cpp
+++ b/src/gps/GPS.cpp
@@ -570,6 +570,19 @@ bool GPS::setup()
             // Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
             _serial_gps->write("$PMTK886,1*29\r\n");
             delay(250);
+        } else if (gnssModel == GNSS_MODEL_MTK_PA1010D) {
+            // PA1010D is used in the Pimoroni GPS board.
+
+            // Enable all constellations.
+            _serial_gps->write("$PMTK353,1,1,1,1,1*2A\r\n");
+            // Above command will reset the GPS and takes longer before it will accept new commands
+            delay(1000);
+            // Only ask for RMC and GGA (GNRMC and GNGGA)
+            _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
+            delay(250);
+            // Enable SBAS / WAAS
+            _serial_gps->write("$PMTK301,2*2E\r\n");
+            delay(250);
         } else if (gnssModel == GNSS_MODEL_MTK_PA1616S) {
             // PA1616S is used in some GPS breakout boards from Adafruit
             // PA1616S does not have GLONASS capability. PA1616D does, but is not implemented here.
@@ -1238,9 +1251,11 @@ GnssModel_t GPS::probe(int serialSpeed)
     _serial_gps->write("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n");
     delay(20);
     std::vector<ChipInfo> mtk = {{"L76B", "Quectel-L76B", GNSS_MODEL_MTK_L76B},
+                                 {"PA1010D", "1010D", GNSS_MODEL_MTK_PA1010D},
                                  {"PA1616S", "1616S", GNSS_MODEL_MTK_PA1616S},
                                  {"LS20031", "MC-1513", GNSS_MODEL_MTK_L76B},
                                  {"L96", "Quectel-L96", GNSS_MODEL_MTK_L76B}};
+
     PROBE_FAMILY("MTK Family", "$PMTK605*31", mtk, 500);
 
     uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
diff --git a/src/gps/GPS.h b/src/gps/GPS.h
index 240cf66d2..9be57017f 100644
--- a/src/gps/GPS.h
+++ b/src/gps/GPS.h
@@ -27,6 +27,7 @@ typedef enum {
     GNSS_MODEL_UC6580,
     GNSS_MODEL_UNKNOWN,
     GNSS_MODEL_MTK_L76B,
+    GNSS_MODEL_MTK_PA1010D,
     GNSS_MODEL_MTK_PA1616S,
     GNSS_MODEL_AG3335,
     GNSS_MODEL_AG3352,