diff --git a/src/shared/sensors/Vectornav/VN300/VN300.cpp b/src/shared/sensors/Vectornav/VN300/VN300.cpp
index d5243bced4c1d5de2f9fa2daf0c5d03c7b969272..e23dc78b6acc30f44c14eb309c7d645d0527565a 100644
--- a/src/shared/sensors/Vectornav/VN300/VN300.cpp
+++ b/src/shared/sensors/Vectornav/VN300/VN300.cpp
@@ -314,6 +314,12 @@ void VN300::buildBinaryDataReduced(const VN300Defs::BinaryDataReduced& rawData,
     data.quaternionX         = rawData.quaternionX;
     data.quaternionY         = rawData.quaternionY;
     data.quaternionZ         = rawData.quaternionZ;
+
+    // Accelerometer
+    data.accelerationTimestamp = timestamp;
+    data.accelerationX         = rawData.accelX;
+    data.accelerationY         = rawData.accelY;
+    data.accelerationZ         = rawData.accelZ;
 }
 
 bool VN300::setAntennaA(VN300Defs::AntennaPosition antPos)
@@ -399,6 +405,7 @@ bool VN300::setBinaryOutput()
                 VN300Defs::BINARYGROUP_COMMON | VN300Defs::BINARYGROUP_GPS;
             commonGroup = VN300Defs::COMMONGROUP_YAWPITCHROLL |
                           VN300Defs::COMMONGROUP_QUATERNION |
+                          VN300Defs::COMMONGROUP_ACCEL |
                           VN300Defs::COMMONGROUP_ANGULARRATE;
             gnssGroup = VN300Defs::GPSGROUP_FIX | VN300Defs::GPSGROUP_POSLLA;
 
diff --git a/src/shared/sensors/Vectornav/VN300/VN300Defs.h b/src/shared/sensors/Vectornav/VN300/VN300Defs.h
index 7e2b186d0ce0263e18806a2fe65acafce8336796..9a32dddee3060189f7d1d756470d54002aa12c3b 100755
--- a/src/shared/sensors/Vectornav/VN300/VN300Defs.h
+++ b/src/shared/sensors/Vectornav/VN300/VN300Defs.h
@@ -277,6 +277,9 @@ struct __attribute__((packed)) BinaryDataReduced
     float angularX;
     float angularY;
     float angularZ;
+    float accelX;
+    float accelY;
+    float accelZ;
     uint8_t gpsFix;
     double latitude;
     double longitude;