diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index 68450b1c1c..e550166797 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -420,6 +420,7 @@ struct sensor_gps           /* Type: Gps */
   float epv;                /* GPS vertical position accuracy (metres) */
 
   float hdop;               /* Horizontal dilution of precision */
+  float pdop;               /* Position dilution of precision */
   float vdop;               /* Vertical dilution of precision */
 
   float ground_speed;       /* GPS ground speed, Unit is m/s */
@@ -430,6 +431,11 @@ struct sensor_gps           /* Type: Gps */
 
   float course;
 
+  float hspeed_err;         /* Horizontal speed error RMS (m/s) */
+  float vspeed_err;         /* Vertical speed error RMS (m/s) */
+  float env_range_resid;    /* Environment RangeResid (meters) */
+  float altitude_err;       /* Altitude error RMS (meters) */
+
   uint32_t satellites_used; /* Number of satellites used */
 };