diff --git a/include/pros/gps.h b/include/pros/gps.h
index 1b2e7e7b..917f6938 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -188,6 +188,91 @@ double gps_get_error(uint8_t port);
  */
 gps_status_s_t gps_get_status(uint8_t port);
 
+/**
+ * Gets the X position in meters of the robot relative to the starting position.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The X position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_x_position(uint8_t port);
+
+/**
+ * Gets the Y position in meters of the robot relative to the starting position.
+ * 
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The Y position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_y_position(uint8_t port);
+
+/**
+ * Gets the pitch of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The pitch in (-90,90] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_pitch(uint8_t port);
+
+/**
+ * Gets the roll of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The roll in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_roll(uint8_t port);
+
+/**
+ * Gets the yaw of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The yaw in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_yaw(uint8_t port);
+
 /**
  * Get the heading in [0,360) degree values.
  *
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index fce40c2a..f25bd608 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -173,6 +173,81 @@ class Gps {
 	 */
 	virtual pros::c::gps_status_s_t get_status() const;
 
+	/**
+	 * Gets the X position in meters of the robot relative to the starting position.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The X position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_x_position() const;
+
+	/**
+	 * Gets the Y position in meters of the robot relative to the starting position.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The Y position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_y_position() const;
+
+	/**
+	 * Gets the pitch of the GPS in degrees relative to the starting orientation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The pitch in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_pitch() const;
+
+	/**
+	 * Gets the roll of the GPS in degrees relative to the starting orientation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The roll in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_roll() const;
+
+	/**
+	 * Gets the yaw of the GPS in degrees relative to the starting orientation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The yaw in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_yaw() const;
+
 	/**
 	 * Get the heading in [0,360) degree values.
 	 *
diff --git a/src/devices/vdml_gps.c b/src/devices/vdml_gps.c
index 93b15500..32d044de 100644
--- a/src/devices/vdml_gps.c
+++ b/src/devices/vdml_gps.c
@@ -87,6 +87,51 @@ gps_status_s_t gps_get_status(uint8_t port) {
 	return_port(port - 1, rtv);
 }
 
+double gps_get_x_position(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.position_x;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_y_position(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);	
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.position_y;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_pitch(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.pitch;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_roll(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.roll;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_yaw(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);		
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.yaw;
+	return_port(port - 1, rtv);
+}
+
 double gps_get_heading(uint8_t port) {
 	claim_port_f(port - 1, E_DEVICE_GPS);
 	double rtv = vexDeviceGpsDegreesGet(device->device_info);
@@ -101,7 +146,7 @@ double gps_get_heading_raw(uint8_t port) {
 
 double gps_get_rotation(uint8_t port) {
 	claim_port_f(port - 1, E_DEVICE_GPS);
-	double rtv = vexDeviceGpsRotationGet(device->device_info);
+	double rtv = vexDeviceGpsHeadingGet(device->device_info);
 	return_port(port - 1, rtv);
 }
 
diff --git a/src/devices/vdml_gps.cpp b/src/devices/vdml_gps.cpp
index bc0d4e85..df3d3efd 100644
--- a/src/devices/vdml_gps.cpp
+++ b/src/devices/vdml_gps.cpp
@@ -43,6 +43,26 @@ pros::c::gps_status_s_t Gps::get_status() const {
 	return pros::c::gps_get_status(_port);
 }
 
+double Gps::get_x_position() const {
+	return pros::c::gps_get_x_position(_port);
+}
+
+double Gps::get_y_position() const {
+	return pros::c::gps_get_y_position(_port);
+}
+
+double Gps::get_pitch() const {
+	return pros::c::gps_get_pitch(_port);
+}
+
+double Gps::get_roll() const {
+	return pros::c::gps_get_roll(_port);
+}
+
+double Gps::get_yaw() const {
+	return pros::c::gps_get_yaw(_port);
+}
+
 double Gps::get_heading() const {
 	return pros::c::gps_get_heading(_port);
 }