diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 1f9df068..362a5e1b 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -421,6 +421,7 @@ void AcsController::performControlOperation() {
     // GPS Processed
     localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
     localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
+    localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
     localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
     poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
     // MEKF
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index 3ffcde85..64f5c09f 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -153,6 +153,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   acsctrl::GpsDataProcessed gpsDataProcessed;
   PoolEntry<double> gcLatitude = PoolEntry<double>();
   PoolEntry<double> gdLongitude = PoolEntry<double>();
+  PoolEntry<double> gpsPosition = PoolEntry<double>(3);
   PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
 
   // MEKF
diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index 7e49fcdd..5d68bc44 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -546,7 +546,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
                                   const AcsParameters::GpsParameters *gpsParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed) {
   // name to convert not process
-  double gdLongitude, gcLatitude;
+  double gdLongitude = 0, gcLatitude = 0, posSatE[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
   if (validGps) {
     // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
     gdLongitude = gpsLongitude * PI / 180.;
@@ -576,11 +576,9 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
     if (pg.getReadResult() == returnvalue::OK) {
       gpsDataProcessed->gdLongitude.value = gdLongitude;
       gpsDataProcessed->gcLatitude.value = gcLatitude;
-      gpsDataProcessed->setValidity(validGps, validGps);
-      if (!validGps) {
-        gpsDataProcessed->gdLongitude.value = 0.0;
-        gpsDataProcessed->gcLatitude.value = 0.0;
-      }
+      std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
+      std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
+      gpsDataProcessed->setValidity(validGps, true);
     }
   }
 }
diff --git a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
index ab5ed8da..0955581b 100644
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@@ -86,6 +86,7 @@ enum PoolIds : lp_id_t {
   // GPS Processed
   GC_LATITUDE,
   GD_LONGITUDE,
+  GPS_POSITION,
   GPS_VELOCITY,
   // MEKF
   SAT_ROT_RATE_MEKF,
@@ -106,7 +107,7 @@ static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
 static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
 static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
 static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
-static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 3;
+static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 4;
 static constexpr uint8_t MEKF_SET_ENTRIES = 2;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
@@ -225,6 +226,7 @@ class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
 
   lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
   lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
+  lp_vec_t<double, 3> gpsPosition = lp_vec_t<double, 3>(sid.objectId, GPS_POSITION, this);
   lp_vec_t<double, 3> gpsVelocity = lp_vec_t<double, 3>(sid.objectId, GPS_VELOCITY, this);
 
  private: