diff --git a/pyulog/ulog2kml.py b/pyulog/ulog2kml.py
index 45c20fc..a3f8fcb 100644
--- a/pyulog/ulog2kml.py
+++ b/pyulog/ulog2kml.py
@@ -134,9 +134,13 @@ def _kml_add_camera_triggers(kml, ulog, camera_trigger_topic_name, altitude_offs
     if len(cur_dataset) > 0:
         cur_dataset = cur_dataset[0]
 
-        pos_lon = cur_dataset.data['lon']
-        pos_lat = cur_dataset.data['lat']
-        pos_alt = cur_dataset.data['alt']
+        # 'longitude_deg' is used in newer PX4 versions
+        pos_lon = (cur_dataset.data['lon'] if 'lon' in cur_dataset.data else
+                   cur_dataset.data['longitude_deg'])
+        pos_lat = (cur_dataset.data['lat'] if 'lat' in cur_dataset.data else
+                   cur_dataset.data['latitude_deg'])
+        pos_alt = (cur_dataset.data['alt'] if 'alt' in cur_dataset.data else
+                   cur_dataset.data['altitude_msl_m'])
         sequence = cur_dataset.data['seq']
 
         for i in range(len(pos_lon)):
@@ -163,9 +167,13 @@ def _kml_add_position_data(kml, ulog, position_topic_name, colors, style,
     cur_dataset = cur_dataset[0]
 
 
-    pos_lon = cur_dataset.data['lon']
-    pos_lat = cur_dataset.data['lat']
-    pos_alt = cur_dataset.data['alt']
+    # 'longitude_deg' is used in newer PX4 versions
+    pos_lon = (cur_dataset.data['lon'] if 'lon' in cur_dataset.data else
+               cur_dataset.data['longitude_deg'])
+    pos_lat = (cur_dataset.data['lat'] if 'lat' in cur_dataset.data else
+               cur_dataset.data['latitude_deg'])
+    pos_alt = (cur_dataset.data['alt'] if 'alt' in cur_dataset.data else
+               cur_dataset.data['altitude_msl_m'])
     pos_t = cur_dataset.data['timestamp']
 
     if 'fix_type' in cur_dataset.data: