diff --git a/conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile b/conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile
index db20803a65..e0255fd978 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile
@@ -2,16 +2,29 @@
 
 GPS_LED ?= none
 
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_datalink.c
-
-ap.CFLAGS += -DUSE_GPS -DGPS_DATALINK
-
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), datalink))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_datalink
+else
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_datalink
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+endif
+
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_datalink.c
+
+ap.CFLAGS += -DUSE_GPS -DGPS_DATALINK
+
 nps.CFLAGS += -DUSE_GPS
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile b/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
index 9cbd2990f9..238c74afca 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
@@ -17,8 +17,21 @@ ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), sirf))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_sirf
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_sirf.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_sirf
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+endif
+
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sirf.c
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_udp.makefile b/conf/firmwares/subsystems/rotorcraft/gps_udp.makefile
index df238a85dc..0714dce4b1 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_udp.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/gps_udp.makefile
@@ -2,16 +2,28 @@
 
 GPS_LED ?= none
 
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_udp.c
-
-ap.CFLAGS += -DUSE_GPS
-
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), udp))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_udp.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_udp
+else
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_udp
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
+endif
+
+ap.CFLAGS += -DUSE_GPS
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_udp.c
+
 nps.CFLAGS += -DUSE_GPS
 nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
diff --git a/conf/firmwares/subsystems/shared/gps_furuno.makefile b/conf/firmwares/subsystems/shared/gps_furuno.makefile
index 26f6e2ca77..1a876aee81 100644
--- a/conf/firmwares/subsystems/shared/gps_furuno.makefile
+++ b/conf/firmwares/subsystems/shared/gps_furuno.makefile
@@ -18,6 +18,20 @@ ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), nmea furono))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_nmea
+else
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_nmea
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+endif
+
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
 ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
diff --git a/conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile b/conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile
index ab385150e4..d3df31cd5e 100644
--- a/conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile
+++ b/conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile
@@ -17,7 +17,20 @@ ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), mtk mediatek))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_mtk
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_mtk
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+endif
+
 ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_mtk.c
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
diff --git a/conf/firmwares/subsystems/shared/gps_nmea.makefile b/conf/firmwares/subsystems/shared/gps_nmea.makefile
index 4c2e988904..235260b62e 100644
--- a/conf/firmwares/subsystems/shared/gps_nmea.makefile
+++ b/conf/firmwares/subsystems/shared/gps_nmea.makefile
@@ -17,7 +17,20 @@ ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), nmea))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_nmea
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_nmea
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+endif
+
 ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
diff --git a/conf/firmwares/subsystems/shared/gps_skytraq.makefile b/conf/firmwares/subsystems/shared/gps_skytraq.makefile
index 23581fd892..2c5bb00884 100644
--- a/conf/firmwares/subsystems/shared/gps_skytraq.makefile
+++ b/conf/firmwares/subsystems/shared/gps_skytraq.makefile
@@ -15,7 +15,20 @@ ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), skytraq))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_skytraq
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_skytraq
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+endif
+
 ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
diff --git a/sw/airborne/subsystems/gps/gps_datalink.c b/sw/airborne/subsystems/gps/gps_datalink.c
index 8e18e3e75a..ef26d0505c 100644
--- a/sw/airborne/subsystems/gps/gps_datalink.c
+++ b/sw/airborne/subsystems/gps/gps_datalink.c
@@ -37,15 +37,14 @@
 struct LtpDef_i ltp_def;
 struct EnuCoor_i enu_pos, enu_speed;
 
-bool_t gps_available;   ///< Is set to TRUE when a new REMOTE_GPS packet is received and parsed
+struct GpsDatalink gps_datalink;
 
 /** GPS initialization */
 void gps_datalink_init(void)
 {
-  gps.fix = GPS_FIX_NONE;
-  gps_available = FALSE;
-  gps.gspeed = 700; // To enable course setting
-  gps.cacc = 0; // To enable course setting
+  gps_datalink.fix = GPS_FIX_NONE;
+  gps_datalink.gspeed = 700; // To enable course setting
+  gps_datalink.cacc = 0; // To enable course setting
 
   struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
   llh_nav0.lat = NAV_LAT0;
@@ -73,11 +72,11 @@ void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_x
   enu_pos.z = (int32_t)(pos_xyz & 0x3FF); // bits 9-0 z position in cm
 
   // Convert the ENU coordinates to ECEF
-  ecef_of_enu_point_i(&gps.ecef_pos, &ltp_def, &enu_pos);
-  SetBit(gps.valid_fields, GPS_VALID_POS_ECEF_BIT);
+  ecef_of_enu_point_i(&gps_datalink.ecef_pos, &ltp_def, &enu_pos);
+  SetBit(gps_datalink.valid_fields, GPS_VALID_POS_ECEF_BIT);
 
-  lla_of_ecef_i(&gps.lla_pos, &gps.ecef_pos);
-  SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
+  lla_of_ecef_i(&gps_datalink.lla_pos, &gps_datalink.ecef_pos);
+  SetBit(gps_datalink.valid_fields, GPS_VALID_POS_LLA_BIT);
 
   enu_speed.x = (int32_t)((speed_xyz >> 21) & 0x7FF); // bits 31-21 speed x in cm/s
   if (enu_speed.x & 0x400) {
@@ -92,34 +91,33 @@ void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_x
     enu_speed.z |= 0xFFFFFC00;  // sign extend for twos complements
   }
 
-  ecef_of_enu_vect_i(&gps.ecef_vel , &ltp_def , &enu_speed);
-  SetBit(gps.valid_fields, GPS_VALID_VEL_ECEF_BIT);
+  ecef_of_enu_vect_i(&gps_datalink.ecef_vel , &ltp_def , &enu_speed);
+  SetBit(gps_datalink.valid_fields, GPS_VALID_VEL_ECEF_BIT);
 
-  gps.ned_vel.x = enu_speed.y;
-  gps.ned_vel.y = enu_speed.x;
-  gps.ned_vel.z = -enu_speed.z;
-  SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
+  gps_datalink.ned_vel.x = enu_speed.y;
+  gps_datalink.ned_vel.y = enu_speed.x;
+  gps_datalink.ned_vel.z = -enu_speed.z;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_VEL_NED_BIT);
 
-  gps.hmsl = ltp_def.hmsl + enu_pos.z * 10;
-  SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
+  gps_datalink.hmsl = ltp_def.hmsl + enu_pos.z * 10;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_HMSL_BIT);
 
-  gps.course = ((int32_t)heading) * 1e3;
-  SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT);
+  gps_datalink.course = ((int32_t)heading) * 1e3;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_COURSE_BIT);
 
-  gps.num_sv = num_sv;
-  gps.tow = gps_tow_from_sys_ticks(sys_time.nb_tick);
-  gps.fix = GPS_FIX_3D; // set 3D fix to true
-  gps_available = TRUE; // set GPS available to true
+  gps_datalink.num_sv = num_sv;
+  gps_datalink.tow = gps_tow_from_sys_ticks(sys_time.nb_tick);
+  gps_datalink.fix = GPS_FIX_3D; // set 3D fix to true
 
   // publish new GPS data
   uint32_t now_ts = get_sys_time_usec();
-  gps.last_msg_ticks = sys_time.nb_sec_rem;
-  gps.last_msg_time = sys_time.nb_sec;
-  if (gps.fix == GPS_FIX_3D) {
-    gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-    gps.last_3dfix_time = sys_time.nb_sec;
+  gps_datalink.last_msg_ticks = sys_time.nb_sec_rem;
+  gps_datalink.last_msg_time = sys_time.nb_sec;
+  if (gps_datalink.fix == GPS_FIX_3D) {
+    gps_datalink.last_3dfix_ticks = sys_time.nb_sec_rem;
+    gps_datalink.last_3dfix_time = sys_time.nb_sec;
   }
-  AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps);
+  AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps_datalink.state);
 }
 
 /** Parse the REMOTE_GPS datalink packet */
@@ -127,50 +125,49 @@ void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, int32_t e
                         int32_t alt,
                         int32_t hmsl, int32_t ecef_xd, int32_t ecef_yd, int32_t ecef_zd, uint32_t tow, int32_t course)
 {
-  gps.lla_pos.lat = lat;
-  gps.lla_pos.lon = lon;
-  gps.lla_pos.alt = alt;
-  SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
+  gps_datalink.lla_pos.lat = lat;
+  gps_datalink.lla_pos.lon = lon;
+  gps_datalink.lla_pos.alt = alt;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_POS_LLA_BIT);
 
-  gps.hmsl        = hmsl;
-  SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
+  gps_datalink.hmsl        = hmsl;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_HMSL_BIT);
 
-  gps.ecef_pos.x = ecef_x;
-  gps.ecef_pos.y = ecef_y;
-  gps.ecef_pos.z = ecef_z;
-  SetBit(gps.valid_fields, GPS_VALID_POS_ECEF_BIT);
+  gps_datalink.ecef_pos.x = ecef_x;
+  gps_datalink.ecef_pos.y = ecef_y;
+  gps_datalink.ecef_pos.z = ecef_z;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_POS_ECEF_BIT);
 
-  gps.ecef_vel.x = ecef_xd;
-  gps.ecef_vel.y = ecef_yd;
-  gps.ecef_vel.z = ecef_zd;
-  SetBit(gps.valid_fields, GPS_VALID_VEL_ECEF_BIT);
+  gps_datalink.ecef_vel.x = ecef_xd;
+  gps_datalink.ecef_vel.y = ecef_yd;
+  gps_datalink.ecef_vel.z = ecef_zd;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_VEL_ECEF_BIT);
 
-  gps.ned_vel.x = enu_speed.y;
-  gps.ned_vel.y = enu_speed.x;
-  gps.ned_vel.z = -enu_speed.z;
-  SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
+  gps_datalink.ned_vel.x = enu_speed.y;
+  gps_datalink.ned_vel.y = enu_speed.x;
+  gps_datalink.ned_vel.z = -enu_speed.z;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_VEL_NED_BIT);
 
-  gps.course = course;
-  SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT);
+  gps_datalink.course = course;
+  SetBit(gps_datalink.valid_fields, GPS_VALID_COURSE_BIT);
 
-  gps.num_sv = numsv;
+  gps_datalink.num_sv = numsv;
   if (tow == 0) {
-    gps.tow = gps_tow_from_sys_ticks(sys_time.nb_tick); //tow;
+    gps_datalink.tow = gps_tow_from_sys_ticks(sys_time.nb_tick); //tow;
   } else {
-    gps.tow = gps_tow_from_sys_ticks(sys_time.nb_tick); //tow;
+    gps_datalink.tow = gps_tow_from_sys_ticks(sys_time.nb_tick); //tow;
   }
-  gps.fix = GPS_FIX_3D;
-  gps_available = TRUE;
+  gps_datalink.fix = GPS_FIX_3D;
 
   // publish new GPS data
   uint32_t now_ts = get_sys_time_usec();
-  gps.last_msg_ticks = sys_time.nb_sec_rem;
-  gps.last_msg_time = sys_time.nb_sec;
-  if (gps.fix == GPS_FIX_3D) {
-    gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-    gps.last_3dfix_time = sys_time.nb_sec;
+  gps_datalink.last_msg_ticks = sys_time.nb_sec_rem;
+  gps_datalink.last_msg_time = sys_time.nb_sec;
+  if (gps_datalink.fix == GPS_FIX_3D) {
+    gps_datalink.last_3dfix_ticks = sys_time.nb_sec_rem;
+    gps_datalink.last_3dfix_time = sys_time.nb_sec;
   }
-  AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps);
+  AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps_datalink.state);
 }
 
 
diff --git a/sw/airborne/subsystems/gps/gps_datalink.h b/sw/airborne/subsystems/gps/gps_datalink.h
index 51630a52ee..f71a2ad239 100644
--- a/sw/airborne/subsystems/gps/gps_datalink.h
+++ b/sw/airborne/subsystems/gps/gps_datalink.h
@@ -32,12 +32,14 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#define DATALINK_GPS_NB_CHANNELS 0
+#include "subsystems/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS gps_datalink
 #endif
 
+extern struct GpsState gps_datalink;
+
 extern void gps_datalink_init(void);
 extern void gps_datalink_register(void);
 
diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c
index 1cb33710dc..105191d277 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.c
+++ b/sw/airborne/subsystems/gps/gps_nmea.c
@@ -548,5 +548,5 @@ static void nmea_parse_GSV(void)
  */
 void gps_nmea_register(void)
 {
-  gps_register_impl(nmea_gps_init, nmea_gps_event, GPS_NMEA_ID);
+  gps_register_impl(gps_nmea_init, gps_nmea_event, GPS_NMEA_ID);
 }
diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/subsystems/gps/gps_sirf.h
index f42623e87e..ae3f9d0b1f 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.h
+++ b/sw/airborne/subsystems/gps/gps_sirf.h
@@ -30,6 +30,7 @@
 #define GPS_SIRF_H
 
 #include "std.h"
+#include "subsystems/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS gps_sirf
diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/subsystems/gps/gps_udp.c
index 988d68e5e8..fc8868a075 100644
--- a/sw/airborne/subsystems/gps/gps_udp.c
+++ b/sw/airborne/subsystems/gps/gps_udp.c
@@ -39,7 +39,7 @@ struct FmsNetwork *gps_network = NULL;
 
 void gps_udp_init(void)
 {
-  gps.fix = GPS_FIX_NONE;
+  gps_udp.fix = GPS_FIX_NONE;
   gps_network = network_new(STRINGIFY(GPS_UDP_HOST), 6000 /*out*/, 7000 /*in*/, TRUE);
 }
 
@@ -57,35 +57,35 @@ void gps_udp_parse(void)
   if (size > 0) {
     // Correct MSG
     if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX)) {
-      gps.lla_pos.lat = UDP_GPS_INT(gps_udp_read_buffer + 4);
-      gps.lla_pos.lon = UDP_GPS_INT(gps_udp_read_buffer + 8);
-      gps.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer + 12);
-      SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
+      gps_udp.lla_pos.lat = UDP_GPS_INT(gps_udp_read_buffer + 4);
+      gps_udp.lla_pos.lon = UDP_GPS_INT(gps_udp_read_buffer + 8);
+      gps_udp.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer + 12);
+      SetBit(gps_udp.valid_fields, GPS_VALID_POS_LLA_BIT);
 
-      gps.hmsl        = UDP_GPS_INT(gps_udp_read_buffer + 16);
-      SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
+      gps_udp.hmsl        = UDP_GPS_INT(gps_udp_read_buffer + 16);
+      SetBit(gps_udp.valid_fields, GPS_VALID_HMSL_BIT);
 
-      gps.ecef_pos.x = UDP_GPS_INT(gps_udp_read_buffer + 20);
-      gps.ecef_pos.y = UDP_GPS_INT(gps_udp_read_buffer + 24);
-      gps.ecef_pos.z = UDP_GPS_INT(gps_udp_read_buffer + 28);
-      SetBit(gps.valid_fields, GPS_VALID_POS_ECEF_BIT);
+      gps_udp.ecef_pos.x = UDP_GPS_INT(gps_udp_read_buffer + 20);
+      gps_udp.ecef_pos.y = UDP_GPS_INT(gps_udp_read_buffer + 24);
+      gps_udp.ecef_pos.z = UDP_GPS_INT(gps_udp_read_buffer + 28);
+      SetBit(gps_udp.valid_fields, GPS_VALID_POS_ECEF_BIT);
 
-      gps.ecef_vel.x = UDP_GPS_INT(gps_udp_read_buffer + 32);
-      gps.ecef_vel.y = UDP_GPS_INT(gps_udp_read_buffer + 36);
-      gps.ecef_vel.z = UDP_GPS_INT(gps_udp_read_buffer + 40);
-      SetBit(gps.valid_fields, GPS_VALID_VEL_ECEF_BIT);
+      gps_udp.ecef_vel.x = UDP_GPS_INT(gps_udp_read_buffer + 32);
+      gps_udp.ecef_vel.y = UDP_GPS_INT(gps_udp_read_buffer + 36);
+      gps_udp.ecef_vel.z = UDP_GPS_INT(gps_udp_read_buffer + 40);
+      SetBit(gps_udp.valid_fields, GPS_VALID_VEL_ECEF_BIT);
 
-      gps.fix = GPS_FIX_3D;
+      gps_udp.fix = GPS_FIX_3D;
 
       // publish new GPS data
       uint32_t now_ts = get_sys_time_usec();
-      gps.last_msg_ticks = sys_time.nb_sec_rem;
-      gps.last_msg_time = sys_time.nb_sec;
-      if (gps.fix == GPS_FIX_3D) {
-        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-        gps.last_3dfix_time = sys_time.nb_sec;
+      gps_udp.last_msg_ticks = sys_time.nb_sec_rem;
+      gps_udp.last_msg_time = sys_time.nb_sec;
+      if (gps_udp.fix == GPS_FIX_3D) {
+        gps_udp.last_3dfix_ticks = sys_time.nb_sec_rem;
+        gps_udp.last_3dfix_time = sys_time.nb_sec;
       }
-      AbiSendMsgGPS(GPS_UDP_ID, now_ts, &gps);
+      AbiSendMsgGPS(GPS_UDP_ID, now_ts, &gps_udp);
 
     } else {
       printf("gps_udp error: msg len invalid %d bytes\n", size);
diff --git a/sw/airborne/subsystems/gps/gps_udp.h b/sw/airborne/subsystems/gps/gps_udp.h
index 892286c05b..b530687e0b 100644
--- a/sw/airborne/subsystems/gps/gps_udp.h
+++ b/sw/airborne/subsystems/gps/gps_udp.h
@@ -2,13 +2,14 @@
 #define GPS_UDP_H
 
 #include "std.h"
-
-#define UDP_GPS_NB_CHANNELS 16
+#include "subsystems/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS gps_udp
 #endif
 
+extern struct GpsState gps_udp;
+
 extern void gps_udp_parse(void);
 extern void gps_udp_init(void);
 extern void gps_udp_register(void);