diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
index 736bf51..a03ac88 100644
--- a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
@@ -2014,7 +2014,8 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
         }
       }
     }
-    else if (msg->id == UBX_NAV_PVT && msg->len == UBX_NAV_PVT_LEN)
+    else if (msg->id == UBX_NAV_PVT 
+      && (msg->len == UBX_NAV_PVT_LEN || msg->len == UBX_7_NAV_PVT_LEN))
     {
       //Parse various byte fields into storage - but only if we have memory allocated for it
       if (packetUBXNAVPVT != NULL)
@@ -2048,9 +2049,11 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
         packetUBXNAVPVT->data.headAcc = extractLong(msg, 72);
         packetUBXNAVPVT->data.pDOP = extractInt(msg, 76);
         packetUBXNAVPVT->data.flags3.all = extractByte(msg, 78);
-        packetUBXNAVPVT->data.headVeh = extractSignedLong(msg, 84);
-        packetUBXNAVPVT->data.magDec = extractSignedInt(msg, 88);
-        packetUBXNAVPVT->data.magAcc = extractInt(msg, 90);
+        if(msg->len == UBX_NAV_PVT_LEN) {
+          packetUBXNAVPVT->data.headVeh = extractSignedLong(msg, 84);
+          packetUBXNAVPVT->data.magDec = extractSignedInt(msg, 88);
+          packetUBXNAVPVT->data.magAcc = extractInt(msg, 90);
+        }
 
         //Mark all datums as fresh (not read before)
         packetUBXNAVPVT->moduleQueried.moduleQueried1.all = 0xFFFFFFFF;
diff --git a/src/u-blox_structs.h b/src/u-blox_structs.h
index 8f39453..60b165b 100644
--- a/src/u-blox_structs.h
+++ b/src/u-blox_structs.h
@@ -340,6 +340,7 @@ typedef struct
 
 // UBX-NAV-PVT (0x01 0x07): Navigation position velocity time solution
 const uint16_t UBX_NAV_PVT_LEN = 92;
+const uint16_t UBX_7_NAV_PVT_LEN = 84;
 
 typedef struct
 {