diff --git a/flight/OpenPilot/Modules/GPS/GPS.c b/flight/OpenPilot/Modules/GPS/GPS.c
index beb7a9ba6..5d20de245 100644
--- a/flight/OpenPilot/Modules/GPS/GPS.c
+++ b/flight/OpenPilot/Modules/GPS/GPS.c
@@ -425,16 +425,25 @@ void nmeaProcessGPGGA(char* packet)
 	// get altitude (in meters mm.m)
 	tokens = strsep(&packet, delimiter);
 	//reuse variables for alt
-	deg=strtol (tokens,&pEnd,10); // always 0.1m resolution?
+	deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? No
 	desim=strtol (pEnd+1,NULL,10);
-	if(1) // OPGPS 3 desimal
+	if(1) // OPGPS 3 decimal
 		GpsData.Altitude=deg+desim/1000.0;
 	else
 		GpsData.Altitude=deg+desim/10.0;
 
 	// next field: altitude units, always 'M'
-	// next field: geoid seperation
-	// next field: seperation units
+	tokens = strsep(&packet, delimiter);
+	// next field: geoid separation
+	tokens = strsep(&packet, delimiter);
+	//reuse variables for geoid separation
+	deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? No
+	desim=strtol (pEnd+1,NULL,10);
+	if(1) // OPGPS 3 decimal
+		GpsData.GeoidSeparation=deg+desim/1000.0;
+	else
+		GpsData.GeoidSeparation=deg+desim/10.0;
+	// next field: separation units
 	// next field: DGPS age
 	// next field: DGPS station ID
 	// next field: checksum
diff --git a/flight/OpenPilot/UAVObjects/inc/positionactual.h b/flight/OpenPilot/UAVObjects/inc/positionactual.h
index 6b01caef3..cd619d348 100644
--- a/flight/OpenPilot/UAVObjects/inc/positionactual.h
+++ b/flight/OpenPilot/UAVObjects/inc/positionactual.h
@@ -33,7 +33,7 @@
 #define POSITIONACTUAL_H
 
 // Object constants
-#define POSITIONACTUAL_OBJID 981132812U
+#define POSITIONACTUAL_OBJID 1265479538U
 #define POSITIONACTUAL_NAME "PositionActual"
 #define POSITIONACTUAL_METANAME "PositionActualMeta"
 #define POSITIONACTUAL_ISSINGLEINST 1
@@ -61,6 +61,7 @@ typedef struct {
     float Latitude;
     float Longitude;
     float Altitude;
+    float GeoidSeparation;
     float Heading;
     float Groundspeed;
     int8_t Satellites;
@@ -77,6 +78,7 @@ typedef enum { POSITIONACTUAL_STATUS_NOGPS=0, POSITIONACTUAL_STATUS_NOFIX=1, POS
 // Field Latitude information
 // Field Longitude information
 // Field Altitude information
+// Field GeoidSeparation information
 // Field Heading information
 // Field Groundspeed information
 // Field Satellites information
diff --git a/ground/src/plugins/uavobjects/positionactual.cpp b/ground/src/plugins/uavobjects/positionactual.cpp
index 8a505f516..74eb44f1b 100644
--- a/ground/src/plugins/uavobjects/positionactual.cpp
+++ b/ground/src/plugins/uavobjects/positionactual.cpp
@@ -57,6 +57,9 @@ PositionActual::PositionActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
     QStringList AltitudeElemNames;
     AltitudeElemNames.append("0");
     fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
+    QStringList GeoidSeparationElemNames;
+    GeoidSeparationElemNames.append("0");
+    fields.append( new UAVObjectField(QString("GeoidSeparation"), QString("meters"), UAVObjectField::FLOAT32, GeoidSeparationElemNames, QStringList()) );
     QStringList HeadingElemNames;
     HeadingElemNames.append("0");
     fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );
diff --git a/ground/src/plugins/uavobjects/positionactual.h b/ground/src/plugins/uavobjects/positionactual.h
index 368ef7863..d56fc3cc9 100644
--- a/ground/src/plugins/uavobjects/positionactual.h
+++ b/ground/src/plugins/uavobjects/positionactual.h
@@ -45,6 +45,7 @@ public:
         float Latitude;
         float Longitude;
         float Altitude;
+        float GeoidSeparation;
         float Heading;
         float Groundspeed;
         qint8 Satellites;
@@ -61,6 +62,7 @@ public:
     // Field Latitude information
     // Field Longitude information
     // Field Altitude information
+    // Field GeoidSeparation information
     // Field Heading information
     // Field Groundspeed information
     // Field Satellites information
@@ -70,7 +72,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 981132812U;
+    static const quint32 OBJID = 1265479538U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 0;
diff --git a/ground/src/plugins/uavobjects/positionactual.py b/ground/src/plugins/uavobjects/positionactual.py
index 45a8fede1..5cad0fdd8 100644
--- a/ground/src/plugins/uavobjects/positionactual.py
+++ b/ground/src/plugins/uavobjects/positionactual.py
@@ -81,6 +81,16 @@ _fields = [ \
 		{
 		}
 	),
+	uavobject.UAVObjectField(
+		'GeoidSeparation',
+		'f',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
 	uavobject.UAVObjectField(
 		'Heading',
 		'f',
@@ -146,7 +156,7 @@ _fields = [ \
 
 class PositionActual(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 981132812
+    OBJID        = 1265479538
     NAME         = "PositionActual"
     METANAME     = "PositionActualMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/shared/uavobjectdefinition/positionactual.xml b/ground/src/shared/uavobjectdefinition/positionactual.xml
index ab7049130..5d7dbfdae 100644
--- a/ground/src/shared/uavobjectdefinition/positionactual.xml
+++ b/ground/src/shared/uavobjectdefinition/positionactual.xml
@@ -4,6 +4,7 @@
             <field name="Latitude" units="degrees" type="float" elements="1"/>
             <field name="Longitude" units="degrees" type="float" elements="1"/>
             <field name="Altitude" units="meters" type="float" elements="1"/>
+            <field name="GeoidSeparation" units="meters" type="float" elements="1"/>
             <field name="Heading" units="degrees" type="float" elements="1"/>
             <field name="Groundspeed" units="m/s" type="float" elements="1"/>
             <field name="Satellites" units="" type="int8" elements="1"/>