diff --git a/boards/modalai/voxl2-slpi/src/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/CMakeLists.txt
index 2803359247..f23a75ebf1 100644
--- a/boards/modalai/voxl2-slpi/src/CMakeLists.txt
+++ b/boards/modalai/voxl2-slpi/src/CMakeLists.txt
@@ -49,6 +49,6 @@ add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)
diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp
index 0fbdfff7ea..37abacd666 100644
--- a/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp
+++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp
@@ -989,10 +989,10 @@ handle_message_hil_gps_dsp(mavlink_message_t *msg)
 
 	gps.device_id = device_id.devid;
 
-	gps.lat = hil_gps.lat;
-	gps.lon = hil_gps.lon;
-	gps.alt = hil_gps.alt;
-	gps.alt_ellipsoid = hil_gps.alt;
+	gps.latitude_deg = hil_gps.lat;
+	gps.longitude_deg = hil_gps.lon;
+	gps.altitude_msl_m = hil_gps.alt;
+	gps.altitude_ellipsoid_m = hil_gps.alt;
 
 	gps.s_variance_m_s = 0.25f;
 	gps.c_variance_rad = 0.5f;