diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index a75d1ee..14d7d31 100755
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -341,6 +341,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const bool cs_alive = sm.alive("controlsState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
+  (void)car_state;  // CLEARPILOT: suppress unused warning, will use later
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -350,11 +351,15 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     setSpeed *= KM_TO_MILE;
   }
 
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  // CLEARPILOT: use GPS speed if available, hide speed display if no GPS fix
+  has_gps_speed = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+  if (has_gps_speed) {
+    float gps_speed_ms = sm["gpsLocation"].getGpsLocation().getSpeed();
+    speed = std::max<float>(0.0, gps_speed_ms);
+    speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  } else {
+    speed = 0.0;
+  }
 
   // auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
   // speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -449,13 +454,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   // Todo: lead speed
   // Todo: Experimental speed
 
-  // // current speed
-  if (!(scene.hide_speed)) {
-    // CLEARPILOT changes to 120 from ~176
-    // Maybe we want to hide this?
+  // CLEARPILOT: show GPS speed, hide when no fix
+  if (has_gps_speed && !scene.hide_speed) {
     p.setFont(InterFont(140, QFont::Bold));
     drawText(p, rect().center().x(), 210, speedStr);
-    // CLEARPILOT changes to 40 from 66
     p.setFont(InterFont(50));
     drawText(p, rect().center().x(), 290, speedUnit, 200);
   }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 0499164..df67925 100755
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -55,6 +55,7 @@ private:
   QVBoxLayout *main_layout;
   QPixmap dm_img;
   float speed;
+  bool has_gps_speed = false;
   QString speedUnit;
   float setSpeed;
   float speedLimit;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 28a8536..a85a345 100755
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -442,6 +442,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
     "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
+    "gpsLocation",
   });
 
   Params params;