diff --git a/msg/AuxGlobalPosition.msg b/msg/AuxGlobalPosition.msg
new file mode 100644
index 0000000000..d7516dd2b0
--- /dev/null
+++ b/msg/AuxGlobalPosition.msg
@@ -0,0 +1,22 @@
+# Auxiliary global position
+
+# This message provides global position data from an external source such as
+# radio-triangulation, 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 sourcxe, 1X for Visual Navigation, 2X for Radio Triangulation
+
+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/CMakeLists.txt b/msg/CMakeLists.txt
index 29b538401a..1af002307e 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -47,6 +47,7 @@ set(msg_files
 	Airspeed.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
+	AuxGlobalPosition.msg
 	BatteryInfo.msg
 	ButtonEvent.msg
 	CameraCapture.msg
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 44f9973a39..526a1c30d3 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -208,7 +208,7 @@ 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
@@ -317,7 +317,7 @@ 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");
 }