diff --git a/sw/ground_segment/tmtc/Makefile b/sw/ground_segment/tmtc/Makefile
index 05c3d0e860..8696bbe993 100644
--- a/sw/ground_segment/tmtc/Makefile
+++ b/sw/ground_segment/tmtc/Makefile
@@ -135,6 +135,8 @@ GLIB_LDFLAGS =  `pkg-config glib-2.0 --libs` -lglibivy -lpcre
 GTK_CFLAGS  = -Wall  `pkg-config gtk+-2.0 --cflags`
 GTK_LDFLAGS =  `pkg-config gtk+-2.0 --libs` -lglibivy -lpcre
 
+gpsd2ivy: gpsd2ivy.c
+	$(CC) $(GLIB_CFLAGS) -o $@ $< $(GLIB_LDFLAGS) -lgps
 
 c_ivy_client_example_1: c_ivy_client_example_1.c
 	$(CC) $(GLIB_CFLAGS) -o $@ $< $(GLIB_LDFLAGS)
diff --git a/sw/ground_segment/tmtc/gpsd2ivy.c b/sw/ground_segment/tmtc/gpsd2ivy.c
new file mode 100644
index 0000000000..9c2882ba58
--- /dev/null
+++ b/sw/ground_segment/tmtc/gpsd2ivy.c
@@ -0,0 +1,165 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009  Martin Mueller
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/** \file gpsd_ivy.c
+ *  \brief GPSd forwarder
+ *
+ *   This receives position information through gpsd and forwards it
+ * through the ivy bus to the gcs to display the ground station location
+ * on the map
+ */
+
+/* 
+  <message name="FLIGHT_PARAM" id="11">
+    <field name="ac_id"  type="string"/>
+    <field name="roll"   type="float" unit="deg"/>
+    <field name="pitch"  type="float" unit="deg"/>
+    <field name="heading" type="float" unit="deg"/>
+    <field name="lat"    type="float" unit="deg"/>
+    <field name="long"   type="float" unit="deg"/>
+    <field name="speed"  type="float" unit="m/s"/>
+    <field name="course" type="float" unit="deg" format="%.1f"/>
+    <field name="alt"    type="float" unit="m"/>
+    <field name="climb"  type="float" unit="m/s"/>
+    <field name="agl"    type="float" unit="m"/>
+    <field name="unix_time"    type="float" unit="s (Unix time)"/>
+    <field name="itow"   type="uint32" unit="ms"/>
+  </message>
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/select.h>
+#include <sys/socket.h>
+#include <glib.h>
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#include "gps.h"
+
+#define MSG_DEST	"ground"
+#define MSG_NAME 	"FLIGHT_PARAM"
+#define MSG_ID		"GCS"
+
+#define TIMEOUT_PERIOD 200
+
+static struct gps_data_t *gpsdata;
+
+static void update_gps(struct gps_data_t *gpsdata,
+                       char *message,
+                       size_t len,
+                       int level)
+{
+    static double fix_time = 0;
+    double fix_track = 0;
+    double fix_speed = 0;
+    double fix_altitude = 0;
+    double fix_climb = 0;
+
+    if ((isnan(gpsdata->fix.latitude) == 0) &&
+        (isnan(gpsdata->fix.longitude) == 0) &&
+        (isnan(gpsdata->fix.time) == 0) &&
+        (gpsdata->fix.mode >= MODE_2D) &&
+        (gpsdata->fix.time != fix_time))
+    {
+        if (isnan(gpsdata->fix.track) != 0) fix_track = gpsdata->fix.track;
+        if (isnan(gpsdata->fix.speed) != 0) fix_speed = gpsdata->fix.speed;
+
+        if (gpsdata->fix.mode >= MODE_3D)
+        {
+            if (isnan(gpsdata->fix.altitude) != 0) fix_altitude = gpsdata->fix.altitude;
+            if (isnan(gpsdata->fix.climb) != 0) fix_climb = gpsdata->fix.climb;
+        }
+
+    	IvySendMsg("%s %s %s %f %f %f %f %f %f %f %f %f %f %f %d",
+                MSG_DEST,
+                MSG_NAME,
+                MSG_ID, // ac_id
+                0.0, // roll,
+                0.0, // pitch,
+                0.0, // heading
+                gpsdata->fix.latitude,
+                gpsdata->fix.longitude,
+                fix_speed,
+                fix_track, // course
+                fix_altitude,
+                fix_climb,
+                0.0, // agl
+                gpsdata->fix.time,
+                0); // itow
+
+        fix_time = gpsdata->fix.time;
+    }
+}
+
+static gboolean gps_periodic(gpointer data __attribute__ ((unused)))
+{
+    struct timeval timeout;
+    int ret;
+    fd_set rfds;
+
+    FD_ZERO(&rfds);
+    FD_SET(gpsdata->gps_fd, &rfds);
+
+    timeout.tv_sec = 0;
+    timeout.tv_usec = 100000;
+
+    ret = select(gpsdata->gps_fd + 1, &rfds, NULL, NULL, &timeout);
+
+    if (ret == -1)
+    {
+        perror("socket error\n");
+        exit(2);
+    }
+    else if (ret) gps_poll(gpsdata);
+
+    return 1;
+}
+
+int main(int argc, char *argv[])
+{
+    char *server = NULL, *port = DEFAULT_GPSD_PORT;
+    GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
+
+    gpsdata = gps_open(server, port);
+
+    if (!gpsdata) perror("error connecting to gpsd");
+
+    gps_set_raw_hook(gpsdata, update_gps);
+
+    gps_query(gpsdata, "w+x\n");
+    gps_query(gpsdata, "j=1\n");
+  
+    IvyInit ("GPSd2Ivy", "GPSd2Ivy READY", NULL, NULL, NULL, NULL);
+    IvyStart("127.255.255.255");
+  
+    g_timeout_add(TIMEOUT_PERIOD, gps_periodic, NULL);
+  
+    g_main_loop_run(ml);
+
+    return 0;
+}
+