diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 354c7a2320..3b3bc0b44f 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 354c7a23200ddfe388a468165efea48fe81d2623
+Subproject commit 3b3bc0b44fadbd76aa64ef64fe6ac96126142b1f
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index c9c5ea455e..74a60fe3a7 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -242,6 +242,8 @@ private:
 		_gyro_pub(nullptr),
 		_mag_pub(nullptr),
 		_flow_pub(nullptr),
+		_vision_position_pub(nullptr),
+		_vision_attitude_pub(nullptr),
 		_dist_pub(nullptr),
 		_battery_pub(nullptr),
 		_initialized(false),
@@ -320,6 +322,8 @@ private:
 	orb_advert_t _gyro_pub;
 	orb_advert_t _mag_pub;
 	orb_advert_t _flow_pub;
+	orb_advert_t _vision_position_pub;
+	orb_advert_t _vision_attitude_pub;
 	orb_advert_t _dist_pub;
 	orb_advert_t _battery_pub;
 
@@ -334,6 +338,7 @@ private:
 	// class methods
 	int publish_sensor_topics(mavlink_hil_sensor_t *imu);
 	int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
+	int publish_ev_topic(mavlink_vision_position_estimate_t *ev_mavlink);
 	int publish_distance_topic(mavlink_distance_sensor_t *dist);
 
 #ifndef __PX4_QURT
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 7e3a432624..d8bc8b635e 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -345,6 +345,12 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 		publish_flow_topic(&flow);
 		break;
 
+	case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
+		mavlink_vision_position_estimate_t ev;
+		mavlink_msg_vision_position_estimate_decode(msg, &ev);
+		publish_ev_topic(&ev);
+		break;
+
 	case MAVLINK_MSG_ID_DISTANCE_SENSOR:
 		mavlink_distance_sensor_t dist;
 		mavlink_msg_distance_sensor_decode(msg, &dist);
@@ -1059,6 +1065,34 @@ int Simulator::publish_flow_topic(mavlink_hil_optical_flow_t *flow_mavlink)
 	return OK;
 }
 
+int Simulator::publish_ev_topic(mavlink_vision_position_estimate_t *ev_mavlink)
+{
+	uint64_t timestamp = hrt_absolute_time();
+
+	struct vehicle_local_position_s vision_position = {};
+
+	// Use the estimator type to identify the simple vision estimate
+	vision_position.estimator_type = MAV_ESTIMATOR_TYPE_VISION;
+
+	vision_position.timestamp = timestamp;
+	vision_position.x = ev_mavlink->x;
+	vision_position.y = ev_mavlink->y;
+	vision_position.z = ev_mavlink->z;
+
+	struct vehicle_attitude_s vision_attitude = {};
+
+	vision_attitude.timestamp = timestamp;
+
+	matrix::Quatf q(matrix::Eulerf(ev_mavlink->roll, ev_mavlink->pitch, ev_mavlink->yaw));
+	q.copyTo(vision_attitude.q);
+
+	int inst = 0;
+	orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &inst, ORB_PRIO_HIGH);
+	orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &inst, ORB_PRIO_HIGH);
+
+	return OK;
+}
+
 int Simulator::publish_distance_topic(mavlink_distance_sensor_t *dist_mavlink)
 {
 	uint64_t timestamp = hrt_absolute_time();