diff --git a/conf/firmwares/subsystems/shared/gps_furuno.makefile b/conf/firmwares/subsystems/shared/gps_furuno.makefile
index 430720e43c..ace3306109 100644
--- a/conf/firmwares/subsystems/shared/gps_furuno.makefile
+++ b/conf/firmwares/subsystems/shared/gps_furuno.makefile
@@ -6,7 +6,7 @@ GPS_LED ?= none
 FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(FURUNO_GPS_PORT_LOWER)
+ap.CFLAGS += -DNMEA_GPS_LINK=$(FURUNO_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 ap.CFLAGS += -DNMEA_PARSE_PROP
@@ -15,7 +15,7 @@ ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
 ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
diff --git a/sw/airborne/subsystems/gps/gps_furuno.c b/sw/airborne/subsystems/gps/gps_furuno.c
index 764cf8a264..7927baa5b8 100644
--- a/sw/airborne/subsystems/gps/gps_furuno.c
+++ b/sw/airborne/subsystems/gps/gps_furuno.c
@@ -26,8 +26,8 @@
  * GPS furuno based NMEA parser
  */
 
-#include "gps_nmea.h"
 #include "subsystems/gps.h"
+#include "gps_nmea.h"
 #include <stdio.h>
 #include <string.h>
 
@@ -57,7 +57,7 @@ static uint8_t furuno_cfg_cnt = 0;
 
 static void nmea_parse_perdcrv(void);
 
-#define GpsLinkDevice (&(GPS_LINK).device)
+#define GpsLinkDevice (&(NMEA_GPS_LINK).device)
 
 /**
  * Configure furuno GPS.
@@ -111,17 +111,17 @@ void nmea_parse_perdcrv(void)
 
   //EAST VEL
   double east_vel = strtod(&gps_nmea.msg_buf[i], NULL);
-  gps.ned_vel.y = east_vel * 100; // in cm/s
+  gps_nmea.state.ned_vel.y = east_vel * 100; // in cm/s
 
   // Ignore reserved
   nmea_read_until(&i);
 
   // NORTH VEL
   double north_vel = strtod(&gps_nmea.msg_buf[i], NULL);
-  gps.ned_vel.x = north_vel * 100; // in cm/s
+  gps_nmea.state.ned_vel.x = north_vel * 100; // in cm/s
 
   //Convert velocity to ecef
   struct LtpDef_i ltp;
-  ltp_def_from_ecef_i(&ltp, &gps.ecef_pos);
-  ecef_of_ned_vect_i(&gps.ecef_vel, &ltp, &gps.ned_vel);
+  ltp_def_from_ecef_i(&ltp, &gps_nmea.state.ecef_pos);
+  ecef_of_ned_vect_i(&gps_nmea.state.ecef_vel, &ltp, &gps_nmea.state.ned_vel);
 }