Pilot contamination is addressed in massive multiple-input multiple-output (MIMO) uplink. The main ideas of pilot decontamination are twofold: One is to design transmission timing of pilot sequences such that the pilot transmission periods in different cells do not fully overlap with each other, as considered in previous works. The other is joint channel and data estimation via approximate message-passing (AMP) for bilinear inference. The convergence property of conventional AMP is bad in bilinear inference problems, so that adaptive damping was required to help conventional AMP converge. The main contribution of this paper is a modification of the update rules in conventional AMP to improve the convergence property of AMP. Numerical simulations show that the proposed AMP outperforms conventional AMP in terms of estimation performance when adaptive damping is not used. Furthermore, it achieves better performance than state-of-the-art methods based on subspace estimation when the power difference between cells is small.