diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 1264b74493..70ca646540 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 1264b74493cd2f362d852530bcc7423a013f2151
+Subproject commit 70ca64654061fb7a4279846d9da1ad3512cfc6ba
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 6c9083a166..b45331bd3f 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -29,7 +29,9 @@ include(ExternalProject)
 # project to build sitl_gazebo if necessary
 ExternalProject_Add(sitl_gazebo
 	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	CMAKE_ARGS
+		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+		-DSEND_VISION_ESTIMATION_DATA=ON
 	BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
 	INSTALL_COMMAND ""
 	DEPENDS