diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index dbdaf79b7f..66a9f7e599 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -248,6 +248,7 @@ set(msg_files
 	versioned/AirspeedValidated.msg
 	versioned/ArmingCheckReply.msg
 	versioned/ArmingCheckRequest.msg
+	versioned/AuxGlobalPosition.msg
 	versioned/BatteryStatus.msg
 	versioned/ConfigOverrides.msg
 	versioned/FixedWingLateralSetpoint.msg
diff --git a/msg/versioned/AuxGlobalPosition.msg b/msg/versioned/AuxGlobalPosition.msg
new file mode 100644
index 0000000000..ccaf5d952d
--- /dev/null
+++ b/msg/versioned/AuxGlobalPosition.msg
@@ -0,0 +1,23 @@
+# Auxiliary global position
+
+# This message provides global position data from an external source such as
+# pseudolites, viusal navigation, or other positioning system.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                # [us] Time since system start
+uint64 timestamp_sample         # [us] Timestamp of the raw data
+
+uint8 id                        # Unique identifier for the AGP source
+uint8 source			# 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator
+
+float64 lat                     # [deg] Latitude in WGS84
+float64 lon                     # [deg] Longitude in WGS84
+float32 alt                     # [m] Altitude above mean sea level (AMSL)
+
+float32 eph                     # [m] Standard deviation of horizontal position error
+float32 epv                     # [m] Standard deviation of vertical position error
+
+uint8 lat_lon_reset_counter     # Counter for reset events on horizontal position coordinates
+
+# TOPICS aux_global_position
diff --git a/msg/versioned/VehicleGlobalPosition.msg b/msg/versioned/VehicleGlobalPosition.msg
index 387576d8c7..eae8a489a4 100644
--- a/msg/versioned/VehicleGlobalPosition.msg
+++ b/msg/versioned/VehicleGlobalPosition.msg
@@ -34,4 +34,3 @@ bool dead_reckoning		# True if this position is estimated through dead-reckoning
 
 # TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
 # TOPICS estimator_global_position
-# TOPICS aux_global_position
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 5e366273d3..2f28932af7 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -210,7 +210,7 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("vehicle_imu_status", 1000, 4);
 	add_optional_topic_multi("vehicle_magnetometer", 500, 4);
 	add_topic("vehicle_optical_flow", 500);
-	add_topic("aux_global_position", 500);
+	add_topic_multi("aux_global_position", 500);
 	add_optional_topic("pps_capture");
 
 	// additional control allocation logging
@@ -319,7 +319,7 @@ void LoggedTopics::add_estimator_replay_topics()
 	add_topic("vehicle_magnetometer");
 	add_topic("vehicle_status");
 	add_topic("vehicle_visual_odometry");
-	add_topic("aux_global_position");
+	add_topic_multi("aux_global_position");
 	add_topic_multi("distance_sensor");
 }
 
diff --git a/src/modules/mavlink/streams/GLOBAL_POSITION.hpp b/src/modules/mavlink/streams/GLOBAL_POSITION.hpp
index 198d8b26e8..ed8a43cfdf 100644
--- a/src/modules/mavlink/streams/GLOBAL_POSITION.hpp
+++ b/src/modules/mavlink/streams/GLOBAL_POSITION.hpp
@@ -36,7 +36,7 @@
 
 #include <stdint.h>
 
-#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/aux_global_position.h>
 
 class MavlinkStreamGLobalPosition : public MavlinkStream
 {
diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index dc6cc1f2cf..19270aa623 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -52,7 +52,7 @@ publications:
 
   - topic: /fmu/out/transponder_report
     type: px4_msgs::msg::TransponderReport
- 
+
   # - topic: /fmu/out/vehicle_angular_velocity
   #   type: px4_msgs::msg::VehicleAngularVelocity
 
@@ -191,7 +191,7 @@ subscriptions:
     type: px4_msgs::msg::ActuatorServos
 
   - topic: /fmu/in/aux_global_position
-    type: px4_msgs::msg::VehicleGlobalPosition
+    type: px4_msgs::msg::AuxGlobalPosition
 
   - topic: /fmu/in/fixed_wing_longitudinal_setpoint
     type: px4_msgs::msg::FixedWingLongitudinalSetpoint