diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
index 5641706345..b7fb16a227 100644
--- a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
+++ b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -106,19 +106,19 @@ void SensorGpsSim::Run()
 		updateParams();
 	}
 
-	if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()) {
+	if (_vehicle_local_position_groundtruth_sub.updated() && _vehicle_global_position_groundtruth_sub.updated()) {
 
-		vehicle_local_position_s lpos{};
-		_vehicle_local_position_sub.copy(&lpos);
+		vehicle_local_position_s vehicle_local_position{};
+		_vehicle_local_position_groundtruth_sub.copy(&vehicle_local_position);
 
-		vehicle_global_position_s gpos{};
-		_vehicle_global_position_sub.copy(&gpos);
+		vehicle_global_position_s vehicle_global_position{};
+		_vehicle_global_position_groundtruth_sub.copy(&vehicle_global_position);
 
-		double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-		double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-		double altitude = (double)(gpos.alt + (generate_wgn() * 0.5f));
+		double latitude = vehicle_global_position.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
+		double longitude = vehicle_global_position.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
+		double altitude = (double)(vehicle_global_position.alt + (generate_wgn() * 0.5f));
 
-		Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f);
+		Vector3f gps_vel = Vector3f{vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f);
 
 		// device id
 		device::Device::DeviceId device_id;
@@ -150,7 +150,7 @@ void SensorGpsSim::Run()
 			sensor_gps.vdop = 100.f;
 		}
 
-		sensor_gps.timestamp_sample = gpos.timestamp_sample;
+		sensor_gps.timestamp_sample = vehicle_global_position.timestamp_sample;
 		sensor_gps.time_utc_usec = 0;
 		sensor_gps.device_id = device_id.devid;
 		sensor_gps.latitude_deg = latitude; // Latitude in degrees
@@ -159,7 +159,7 @@ void SensorGpsSim::Run()
 		sensor_gps.altitude_ellipsoid_m = altitude;
 		sensor_gps.noise_per_ms = 0;
 		sensor_gps.jamming_indicator = 0;
-		sensor_gps.vel_m_s = sqrtf(gps_vel(0) * gps_vel(0) + gps_vel(1) * gps_vel(1)); // GPS ground speed, (metres/sec)
+		sensor_gps.vel_m_s = Vector2f(gps_vel).length(); // GPS ground speed, (metres/sec)
 		sensor_gps.vel_n_m_s = gps_vel(0);
 		sensor_gps.vel_e_m_s = gps_vel(1);
 		sensor_gps.vel_d_m_s = gps_vel(2);
diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp
index fac4e5201e..6bfb06b581 100644
--- a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp
+++ b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -75,8 +75,8 @@ private:
 	matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz) { return matrix::Vector3f(generate_wgn() * stdx, generate_wgn() * stdy, generate_wgn() * stdz); }
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
-	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position_groundtruth)};
+	uORB::Subscription _vehicle_global_position_groundtruth_sub{ORB_ID(vehicle_global_position_groundtruth)};
+	uORB::Subscription _vehicle_local_position_groundtruth_sub{ORB_ID(vehicle_local_position_groundtruth)};
 
 	uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};