diff --git a/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl b/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl
index 8733754e96..43164074da 100644
--- a/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl
@@ -78,6 +78,9 @@ interface IGnssMeasurementInterface {
      * output rate of 1Hz (occasional intra-measurement time offsets in the range from 0-2000msec
      * can be tolerated.)
      *
+     * If setCallback() is invoked without a previous close(), the HAL must use the new callback
+     * and parameters to provide updates.
+     *
      * @param callback Handle to GnssMeasurement callback interface.
      * @param enableFullTracking If true, GNSS chipset must switch off duty cycling. In such mode
      *     no clock discontinuities are expected and, when supported, carrier phase should be
@@ -104,6 +107,9 @@ interface IGnssMeasurementInterface {
     /**
      * Initializes the interface and registers the callback routines with the HAL.
      *
+     * If setCallbackWithOptions() is invoked without a previous close(), the HAL must use the new
+     * callback and options to provide updates.
+     *
      * @param options See Options definition.
      */
     void setCallbackWithOptions(in IGnssMeasurementCallback callback, in Options options);
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index 3696233d3b..f1a9894c3e 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -1494,3 +1494,32 @@ TEST_P(GnssHalTest, TestGnssMeasurementIntervals_LocationOnAfterMeasurement) {
         assertMeanAndStdev(locationIntervalMs, deltas);
     }
 }
+
+TEST_P(GnssHalTest, TestGnssMeasurementSetCallback) {
+    if (aidl_gnss_hal_->getInterfaceVersion() <= 2) {
+        return;
+    }
+
+    sp<IGnssMeasurementInterface> iGnssMeasurement;
+    auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
+    ASSERT_TRUE(status.isOk());
+    ASSERT_TRUE(iGnssMeasurement != nullptr);
+
+    ALOGD("TestGnssMeasurementSetCallback");
+    auto callback = sp<GnssMeasurementCallbackAidl>::make();
+    std::vector<int> deltas;
+
+    // setCallback at 20s interval and wait for 1 measurement
+    startMeasurementWithInterval(20000, iGnssMeasurement, callback);
+    collectMeasurementIntervals(callback, /* numEvents= */ 1, /* timeoutSeconds= */ 10, deltas);
+
+    // setCallback at 1s interval and wait for 5 measurements
+    startMeasurementWithInterval(1000, iGnssMeasurement, callback);
+    collectMeasurementIntervals(callback, /* numEvents= */ 5, /* timeoutSeconds= */ 10, deltas);
+
+    // verify the measurements were received at 1Hz
+    assertMeanAndStdev(1000, deltas);
+
+    status = iGnssMeasurement->close();
+    ASSERT_TRUE(status.isOk());
+}