diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index c646cf6348..ec33e9992d 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -790,7 +790,7 @@ static void update_GPS(void)
 
 		if(ground_start_count > 1){
 			ground_start_count--;
-			ground_start_avg += g_gps->ground_speed;
+			ground_start_avg += g_gps->ground_speed_cm;
 
 		} else if (ground_start_count == 1) {
 			// We countdown N number of good GPS fixes
@@ -808,7 +808,7 @@ static void update_GPS(void)
 				ground_start_count = 0;
 			}
 		}
-        ground_speed   = g_gps->ground_speed * 0.01;
+        ground_speed   = g_gps->ground_speed_cm * 0.01;
 	}
 }
 
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index d29af7e3c6..8589911b0b 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -227,7 +227,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
         fix_time,
         current_loc.lat,                // in 1E7 degrees
         current_loc.lng,                // in 1E7 degrees
-        g_gps->altitude * 10,             // millimeters above sea level
+        g_gps->altitude_cm * 10,             // millimeters above sea level
         (current_loc.alt - home.alt) * 10,           // millimeters above ground
         g_gps->velocity_north() * 100,  // X speed cm/s (+ve North)
         g_gps->velocity_east()  * 100,  // Y speed cm/s (+ve East)
@@ -258,11 +258,11 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
         g_gps->status(),
         g_gps->latitude,      // in 1E7 degrees
         g_gps->longitude,     // in 1E7 degrees
-        g_gps->altitude * 10, // in mm
+        g_gps->altitude_cm * 10, // in mm
         g_gps->hdop,
         65535,
-        g_gps->ground_speed,  // cm/s
-        g_gps->ground_course, // 1/100 degrees,
+        g_gps->ground_speed_cm,  // cm/s
+        g_gps->ground_course_cd, // 1/100 degrees,
         g_gps->num_sats);
 }
 
@@ -338,8 +338,8 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
 {
     mavlink_msg_vfr_hud_send(
         chan,
-        (float)g_gps->ground_speed / 100.0,
-        (float)g_gps->ground_speed / 100.0,
+        (float)g_gps->ground_speed_cm / 100.0,
+        (float)g_gps->ground_speed_cm / 100.0,
         (ahrs.yaw_sensor / 100) % 360,
         (uint16_t)(100 * channel_throttle->norm_output()),
         current_loc.alt / 100.0,
diff --git a/APMrover2/commands.pde b/APMrover2/commands.pde
index 47582f5926..c1e39135d8 100644
--- a/APMrover2/commands.pde
+++ b/APMrover2/commands.pde
@@ -166,8 +166,8 @@ void init_home()
 
 	home.lng 	= g_gps->longitude;				// Lon * 10**7
 	home.lat 	= g_gps->latitude;				// Lat * 10**7
-    gps_base_alt    = max(g_gps->altitude, 0);
-    home.alt        = g_gps->altitude;
+    gps_base_alt    = max(g_gps->altitude_cm, 0);
+    home.alt        = g_gps->altitude_cm;
 	home_is_set = true;
 
 	// Save Home to EEPROM - Command 0
diff --git a/APMrover2/test.pde b/APMrover2/test.pde
index 25f0d12ffc..60001a784e 100644
--- a/APMrover2/test.pde
+++ b/APMrover2/test.pde
@@ -357,7 +357,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
 			cliSerial->printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
 					g_gps->latitude,
 					g_gps->longitude,
-					g_gps->altitude/100,
+					g_gps->altitude_cm/100,
 					g_gps->num_sats);
 		}else{
 			cliSerial->printf_P(PSTR("."));