diff --git a/gnss/GnssAdapter.cpp b/gnss/GnssAdapter.cpp
index 87565d73..de4934f4 100644
--- a/gnss/GnssAdapter.cpp
+++ b/gnss/GnssAdapter.cpp
@@ -353,27 +353,27 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out,
         out.navSolutionMask = locationExtended.navSolutionMask;
     }
     if (GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK & locationExtended.flags) {
-        out.flags |= GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK;
+        out.flags |= GNSS_LOCATION_INFO_POS_TECH_MASK_BIT;
         out.posTechMask = locationExtended.tech_mask;
     }
     if (GPS_LOCATION_EXTENDED_HAS_POS_DYNAMICS_DATA & locationExtended.flags) {
         out.flags |= GPS_LOCATION_EXTENDED_HAS_POS_DYNAMICS_DATA;
-        if (locationExtended.bodyFrameData.bodyFrameDatamask &
+        if (locationExtended.bodyFrameData.bodyFrameDataMask &
                 LOCATION_NAV_DATA_HAS_LONG_ACCEL_BIT) {
             out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_LONG_ACCEL_BIT;
         }
-        if (locationExtended.bodyFrameData.bodyFrameDatamask &
+        if (locationExtended.bodyFrameData.bodyFrameDataMask &
                 LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT) {
             out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT;
         }
-        if (locationExtended.bodyFrameData.bodyFrameDatamask &
+        if (locationExtended.bodyFrameData.bodyFrameDataMask &
                 LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT) {
             out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT;
         }
-        if (locationExtended.bodyFrameData.bodyFrameDatamask & LOCATION_NAV_DATA_HAS_YAW_RATE_BIT) {
+        if (locationExtended.bodyFrameData.bodyFrameDataMask & LOCATION_NAV_DATA_HAS_YAW_RATE_BIT) {
             out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_YAW_RATE_BIT;
         }
-        if (locationExtended.bodyFrameData.bodyFrameDatamask & LOCATION_NAV_DATA_HAS_PITCH_BIT) {
+        if (locationExtended.bodyFrameData.bodyFrameDataMask & LOCATION_NAV_DATA_HAS_PITCH_BIT) {
             out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_PITCH_BIT;
         }
         out.bodyFrameData.longAccel = locationExtended.bodyFrameData.longAccel;
@@ -1289,6 +1289,7 @@ GnssAdapter::gnssGetConfigCommand(GnssConfigFlagsMask configMask) {
 
             mAdapter.reportResponse(index, errs, mIds);
             delete[] errs;
+
         }
     };
 
@@ -2686,6 +2687,7 @@ GnssAdapter::gnssNiResponseCommand(GnssNiResponse response, void* rawRequest)
         inline virtual ~MsgGnssNiResponse() {
         }
         inline virtual void proc() const {
+            const void *rawPayload = mPayload;
             mApi.informNiResponse(mResponse, mPayload);
         }
     };
diff --git a/gnss/GnssAdapter.h b/gnss/GnssAdapter.h
index 7ca605af..55a558a1 100644
--- a/gnss/GnssAdapter.h
+++ b/gnss/GnssAdapter.h
@@ -258,6 +258,7 @@ public:
     void setControlCallbacksCommand(LocationControlCallbacks& controlCallbacks);
     void readConfigCommand();
     void setConfigCommand();
+    void requestUlpCommand();
     void initEngHubProxyCommand();
     uint32_t* gnssUpdateConfigCommand(GnssConfig config);
     uint32_t* gnssGetConfigCommand(GnssConfigFlagsMask mask);
diff --git a/location/LocationDataTypes.h b/location/LocationDataTypes.h
index 1b82e47d..1f2a422a 100644
--- a/location/LocationDataTypes.h
+++ b/location/LocationDataTypes.h
@@ -128,7 +128,17 @@ typedef enum {
     LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT   = (1<<1), // Navigation data has Sideward Acceleration
     LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT  = (1<<2), // Navigation data has Vertical Acceleration
     LOCATION_NAV_DATA_HAS_YAW_RATE_BIT    = (1<<3), // Navigation data has Heading Rate
-    LOCATION_NAV_DATA_HAS_PITCH_BIT       = (1<<4)  // Navigation data has Body pitch
+    LOCATION_NAV_DATA_HAS_PITCH_BIT       = (1<<4),  // Navigation data has Body pitch
+    // Navigation data has Forward Acceleration uncertainty
+    LOCATION_NAV_DATA_HAS_LONG_ACCEL_UNC_BIT = (1<<5),
+    // Navigation data has Sideward Acceleration uncertainty
+    LOCATION_NAV_DATA_HAS_LAT_ACCEL_UNC_BIT  = (1<<6),
+    // Navigation data has Vertical Acceleration uncertainty
+    LOCATION_NAV_DATA_HAS_VERT_ACCEL_UNC_BIT = (1<<7),
+    // Navigation data has Heading Rate uncertainty
+    LOCATION_NAV_DATA_HAS_YAW_RATE_UNC_BIT   = (1<<8),
+    // Navigation data has Body pitch uncertainty
+    LOCATION_NAV_DATA_HAS_PITCH_UNC_BIT      = (1<<9)
 } GnssLocationPosDataBits;
 
 typedef uint32_t GnssLocationInfoFlagMask;
@@ -725,6 +735,11 @@ typedef struct {
     float vertAccel;                           // Vertical Acceleration in body frame (m/s2)
     float yawRate;                             // Heading Rate (Radians/second)
     float pitch;                               // Body pitch (Radians)
+    float longAccelUnc;   // Uncertainty of Forward Acceleration in body frame
+    float latAccelUnc;    // Uncertainty of Side-ward Acceleration in body frame
+    float vertAccelUnc;   // Uncertainty of Vertical Acceleration in body frame
+    float yawRateUnc;     // Uncertainty of Heading Rate
+    float pitchUnc;       // Uncertainty of Body pitch
 } GnssLocationPositionDynamics;
 
 typedef struct {
diff --git a/utils/gps_extended_c.h b/utils/gps_extended_c.h
index a76b03df..b9bb11e7 100644
--- a/utils/gps_extended_c.h
+++ b/utils/gps_extended_c.h
@@ -663,7 +663,7 @@ typedef struct {
     /** SV Info source used in computing this fix */
     LocSvInfoSource sv_source;
     /** Body Frame Dynamics: 4wayAcceleration and pitch set with validity */
-    LocPositionDynamics bodyFrameData;
+    GnssLocationPositionDynamics bodyFrameData;
     /** GPS Time */
     GPSTimeStruct gpsTime;
     GnssSystemTime gnssSystemTime;
diff --git a/utils/loc_cfg.h b/utils/loc_cfg.h
index 652d86eb..f0334d0b 100644
--- a/utils/loc_cfg.h
+++ b/utils/loc_cfg.h
@@ -37,7 +37,7 @@
 #include <grp.h>
 
 #define LOC_MAX_PARAM_NAME                 80
-#define LOC_MAX_PARAM_STRING               80
+#define LOC_MAX_PARAM_STRING               170
 #define LOC_MAX_PARAM_LINE    (LOC_MAX_PARAM_NAME + LOC_MAX_PARAM_STRING)
 
 #define LOC_FEATURE_MODE_DISABLED "DISABLED"