diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 8b3b148b36..b4e29d4fc1 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1522,6 +1522,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GPS2_RAW", 1.0f);
+		configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
@@ -1581,6 +1582,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
 		configure_stream_local("GPS2_RAW", unlimited_rate);
+		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
@@ -1642,6 +1644,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
 		configure_stream_local("GPS2_RAW", 1.0f);
+		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
@@ -1719,6 +1722,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream_local("GPS2_RAW", unlimited_rate);
+		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HIGHRES_IMU", 50.0f);
diff --git a/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp b/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
index c498973c57..22802b9082 100644
--- a/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
+++ b/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,61 +39,79 @@
 class MavlinkStreamGpsGlobalOrigin : public MavlinkStream
 {
 public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamGpsGlobalOrigin::get_name_static();
-	}
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGpsGlobalOrigin(mavlink); }
 
-	static constexpr const char *get_name_static()
-	{
-		return "GPS_GLOBAL_ORIGIN";
-	}
+	static constexpr const char *get_name_static() { return "GPS_GLOBAL_ORIGIN"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; }
 
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
-	}
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
 
-	uint16_t get_id() override
+	unsigned get_size() override
 	{
-		return get_id_static();
-	}
+		if (_vehicle_local_position_sub.advertised()) {
+			return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamGpsGlobalOrigin(mavlink);
+		return 0;
 	}
 
-	unsigned get_size() override
+	bool request_message(float param2, float param3, float param4, float param5, float param6, float param7) override
 	{
-		return _vehicle_local_position_sub.advertised() ?
-		       (MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+		if (_valid) {
+			_force_next_send = true;
+			return true;
+		}
+
+		return false;
 	}
 
 private:
+	explicit MavlinkStreamGpsGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
-	/* do not allow top copying this class */
-	MavlinkStreamGpsGlobalOrigin(MavlinkStreamGpsGlobalOrigin &) = delete;
-	MavlinkStreamGpsGlobalOrigin &operator = (const MavlinkStreamGpsGlobalOrigin &) = delete;
+	uint64_t _ref_timestamp{0};
+	double _ref_lat{static_cast<double>(NAN)};
+	double _ref_lon{static_cast<double>(NAN)};
+	float _ref_alt{NAN};
 
-protected:
-	explicit MavlinkStreamGpsGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
+	bool _valid{false};
+	bool _force_next_send{true};
 
 	bool send() override
 	{
 		vehicle_local_position_s vehicle_local_position;
 
-		if (_vehicle_local_position_sub.copy(&vehicle_local_position)
-		    && vehicle_local_position.xy_global && vehicle_local_position.z_global) {
-			mavlink_gps_global_origin_t msg{};
-			msg.latitude = static_cast<int32_t>(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7
-			msg.longitude = static_cast<int32_t>(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7
-			msg.altitude = static_cast<int32_t>(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm
-			msg.time_usec = vehicle_local_position.timestamp; // int64 time since system boot
-			mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg);
-			return true;
+		if (_vehicle_local_position_sub.update(&vehicle_local_position)) {
+			if (vehicle_local_position.xy_global && vehicle_local_position.z_global) {
+
+				static constexpr double LLA_MIN_DIFF = 0.0000001; // ~11.132 mm at the equator
+
+				if (_force_next_send
+				    || (_ref_timestamp != vehicle_local_position.ref_timestamp)
+				    || (fabs(_ref_lat - vehicle_local_position.ref_lat) > LLA_MIN_DIFF)
+				    || (fabs(_ref_lon - vehicle_local_position.ref_lon) > LLA_MIN_DIFF)
+				    || (fabsf(_ref_alt - vehicle_local_position.ref_alt) > 0.001f)) {
+
+					mavlink_gps_global_origin_t msg{};
+					msg.latitude = round(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7
+					msg.longitude = round(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7
+					msg.altitude = roundf(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm
+					msg.time_usec = vehicle_local_position.ref_timestamp; // int64 time since system boot
+					mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg);
+
+					_ref_timestamp = vehicle_local_position.ref_timestamp;
+					_ref_lat       = vehicle_local_position.ref_lat;
+					_ref_lon       = vehicle_local_position.ref_lon;
+					_ref_alt       = vehicle_local_position.ref_alt;
+
+					_force_next_send = false;
+					_valid = true;
+
+					return true;
+				}
+			}
 		}
 
 		return false;