diff --git a/flight/Libraries/inc/insgps.h b/flight/Libraries/inc/insgps.h
index 1ff6c4de7..562937c75 100644
--- a/flight/Libraries/inc/insgps.h
+++ b/flight/Libraries/inc/insgps.h
@@ -80,7 +80,7 @@ void VelBaroCorrection(float Vel[3], float BaroAlt);
 uint16_t ins_get_num_states();
 
 //  Nav structure containing current solution
-struct NavStruct {
+extern struct NavStruct {
 	float Pos[3];		// Position in meters and relative to a local NED frame
 	float Vel[3];		// Velocity in meters and in NED
 	float q[4];		// unit quaternion rotation relative to NED
diff --git a/flight/Libraries/insgps13state.c b/flight/Libraries/insgps13state.c
index 8748ef4c9..051338572 100644
--- a/flight/Libraries/insgps13state.c
+++ b/flight/Libraries/insgps13state.c
@@ -66,6 +66,9 @@ float P[NUMX][NUMX], X[NUMX];	// covariance matrix and state vector
 float Q[NUMW], R[NUMV];		// input noise and measurement noise variances
 float K[NUMX][NUMV];		// feedback gain matrix
 
+// Global variables
+struct NavStruct Nav;
+
 //  *************  Exposed Functions ****************
 //  *************************************************