diff --git a/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
index 70241950fc..d50ecab632 100644
--- a/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
+++ b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
@@ -114,7 +114,7 @@ void SensorAgpSim::Run()
 		_time_last_update = now;
 
 		if (!(_param_sim_agp_fail.get() & static_cast<int32_t>(FailureMode::Stuck))) {
-			_measured_lla = LatLonAlt(gpos.lat, gpos.lon, gpos.alt_ellipsoid);
+			_measured_lla = LatLonAlt(gpos.lat, gpos.lon, gpos.alt);
 		}
 
 		if (_param_sim_agp_fail.get() & static_cast<int32_t>(FailureMode::Drift)) {
@@ -131,17 +131,17 @@ void SensorAgpSim::Run()
 					 CONSTANTS_RADIUS_OF_EARTH);
 		const double altitude = (double)(_measured_lla.altitude() + (generate_wgn() * 0.5f));
 
-		vehicle_global_position_s sample{};
+		aux_global_position_s sample{};
 
+		sample.id = 123;
+		sample.source = aux_global_position_s::SOURCE_VISION;
 		sample.timestamp_sample = gpos.timestamp_sample;
 		sample.lat = latitude;
 		sample.lon = longitude;
 		sample.alt = altitude;
-		sample.lat_lon_valid = true;
-		sample.alt_ellipsoid = altitude;
-		sample.alt_valid = true;
 		sample.eph = 20.f;
 		sample.epv = 5.f;
+		sample.lat_lon_reset_counter = 0;
 
 		sample.timestamp = hrt_absolute_time();
 		_aux_global_position_pub.publish(sample);
diff --git a/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp
index cc9cae1330..8f92182bfd 100644
--- a/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp
+++ b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp
@@ -44,6 +44,7 @@
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/aux_global_position.h>
 
 using namespace time_literals;
 
@@ -85,7 +86,7 @@ private:
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
 
-	uORB::PublicationMulti<vehicle_global_position_s> _aux_global_position_pub{ORB_ID(aux_global_position)};
+	uORB::PublicationMulti<aux_global_position_s> _aux_global_position_pub{ORB_ID(aux_global_position)};
 
 	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};