diff --git a/include/sl/c_api/types_c.h b/include/sl/c_api/types_c.h
index e007e2a..06aa9f9 100644
--- a/include/sl/c_api/types_c.h
+++ b/include/sl/c_api/types_c.h
@@ -286,7 +286,7 @@ enum SL_UNIT {
 \image html CoordinateSystem.png
  */
 enum SL_COORDINATE_SYSTEM {
-	SL_COORDINATE_SYSTEM_IMAGE, /**< Standard coordinates system in computer vision. Used in OpenCV : see here : http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html */
+	SL_COORDINATE_SYSTEM_IMAGE, /**< Standard coordinates system in computer vision. Used in OpenCV : see <a href="http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html">here</a>. */
 	SL_COORDINATE_SYSTEM_LEFT_HANDED_Y_UP, /**< Left-Handed with Y up and Z forward. Used in Unity with DirectX. */
 	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Y_UP, /**< Right-Handed with Y pointing up and Z backward. Used in OpenGL. */
 	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP, /**< Right-Handed with Z pointing up and Y forward. Used in 3DSMax. */
@@ -941,10 +941,10 @@ enum SL_BODY_70_PARTS
 \brief Change the type of outputed position for the Fusion positional tracking (raw data or fusion data projected into zed camera)
 */
 enum SL_POSITION_TYPE {
-	RAW = 0, /*The output position will be the raw position data*/
-	FUSION, /*The output position will be the fused position projected into the requested camera repository*/
+	SL_POSITION_TYPE_RAW = 0, /*The output position will be the raw position data*/
+	SL_POSITION_TYPE_FUSION, /*The output position will be the fused position projected into the requested camera repository*/
 	///@cond SHOWHIDDEN 
-	LAST
+	SL_POSITION_TYPE_LAST
 	///@endcond
 };
 
@@ -2263,6 +2263,9 @@ struct SL_InputType
 //////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 enum SL_FUSION_ERROR_CODE {
+	SL_FUSION_ERROR_CODE_NO_NEW_DATA_AVAILABLE = -10, /** < All data from all sources were consumed, no new process available.*/
+	SL_FUSION_ERROR_CODE_INVALID_TIMESTAMP = -9, /** < Problem was detected with ingested timestamp*/
+	SL_FUSION_ERROR_CODE_INVALID_COVARIANCE = -8, /** < Problem was detected with ingested covariance */
 	SL_FUSION_ERROR_CODE_WRONG_BODY_FORMAT = -7, /**< The requested body tracking model is not available*/
 	SL_FUSION_ERROR_CODE_NOT_ENABLE = -6, /**< The following module was not enabled*/
 	SL_FUSION_ERROR_CODE_INPUT_FEED_MISMATCH = -5, /**< Some source are provided by SVO and some sources are provided by LIVE stream */
diff --git a/include/sl/c_api/zed_interface.h b/include/sl/c_api/zed_interface.h
index eb9f29a..c7e6a2c 100644
--- a/include/sl/c_api/zed_interface.h
+++ b/include/sl/c_api/zed_interface.h
@@ -1313,7 +1313,7 @@ extern "C" {
      * \param out [in]: the current GNSS data
      * \param radian [in] : true if the gnssdata is set in radian
      */
-    INTERFACE_API void sl_fusion_ingest_gnss_data(struct SL_GNSSData* gnss_data, bool radian);
+    INTERFACE_API enum SL_FUSION_ERROR_CODE sl_fusion_ingest_gnss_data(struct SL_GNSSData* gnss_data, bool radian);
 
     /**
      * @brief returns the current GNSS data
diff --git a/src/ZEDFusionController.cpp b/src/ZEDFusionController.cpp
index 4a79389..464069a 100644
--- a/src/ZEDFusionController.cpp
+++ b/src/ZEDFusionController.cpp
@@ -405,7 +405,7 @@ void ZEDFusionController::disablePositionalTracking() {
 	fusion.disablePositionalTracking();
 }
 
-void ZEDFusionController::ingestGNSSData(SL_GNSSData* data, bool radian)
+SL_FUSION_ERROR_CODE ZEDFusionController::ingestGNSSData(SL_GNSSData* data, bool radian)
 {
 	sl::GNSSData sdk_gnss;
 	sdk_gnss.setCoordinates(data->latitude, data->longitude, data->altitude, radian);
@@ -419,7 +419,7 @@ void ZEDFusionController::ingestGNSSData(SL_GNSSData* data, bool radian)
 		sdk_gnss.position_covariance[i] = data->position_covariance[i];
 	}
 
-	fusion.ingestGNSSData(sdk_gnss);
+	return (SL_FUSION_ERROR_CODE)fusion.ingestGNSSData(sdk_gnss);
 }
 
 SL_POSITIONAL_TRACKING_STATE ZEDFusionController::getCurrentGNSSData(SL_GNSSData* data, bool radian)
diff --git a/src/ZEDFusionController.hpp b/src/ZEDFusionController.hpp
index 7600fcb..bb659b9 100644
--- a/src/ZEDFusionController.hpp
+++ b/src/ZEDFusionController.hpp
@@ -118,7 +118,7 @@ class ZEDFusionController {
     void disablePositionalTracking();
 
 
-    void ingestGNSSData(SL_GNSSData* data, bool radian);
+    SL_FUSION_ERROR_CODE ingestGNSSData(SL_GNSSData* data, bool radian);
 
     SL_POSITIONAL_TRACKING_STATE getCurrentGNSSData(SL_GNSSData* data, bool radian);
 
diff --git a/src/zed_interface.cpp b/src/zed_interface.cpp
index a9635e6..de4f7d0 100644
--- a/src/zed_interface.cpp
+++ b/src/zed_interface.cpp
@@ -1418,11 +1418,11 @@ extern "C" {
         }
     }
 
-    INTERFACE_API void sl_fusion_ingest_gnss_data(struct SL_GNSSData* gnss_data, bool radian)
+    INTERFACE_API enum SL_FUSION_ERROR_CODE sl_fusion_ingest_gnss_data(struct SL_GNSSData* gnss_data, bool radian)
     {
         if (!ZEDFusionController::get()->isNotCreated())
         {
-            ZEDFusionController::get()->ingestGNSSData(gnss_data, radian);
+            return ZEDFusionController::get()->ingestGNSSData(gnss_data, radian);
         }
     }