diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index f6a067a4bc..a8f57664c7 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit f6a067a4bc75e1dd8b871cd78197f38dea28ea3b
+Subproject commit a8f57664c7bf6f4d8ab7a0c01d65181455151ca0
diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
index b65b03d6e7..1c080211f4 100644
--- a/posix-configs/SITL/init/ekf2/iris
+++ b/posix-configs/SITL/init/ekf2/iris
@@ -73,6 +73,6 @@ mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-sdlog2 start -r 100 -e -t -a
+logger start -e -t
 mavlink boot_complete
 replay trystart
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index f8c30f71d3..6045a816e9 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -403,11 +403,11 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 			hil_gpos.time_utc_usec = timestamp;
 			hil_gpos.lat = hil_state.lat;
 			hil_gpos.lon = hil_state.lon;
-			hil_gpos.alt = hil_state.alt;
+			hil_gpos.alt = hil_state.alt / 1000.0f;
 
-			hil_gpos.vel_n = hil_state.vx;
-			hil_gpos.vel_e = hil_state.vy;
-			hil_gpos.vel_d = hil_state.vz;
+			hil_gpos.vel_n = hil_state.vx / 100.0f;
+			hil_gpos.vel_e = hil_state.vy / 100.0f;
+			hil_gpos.vel_d = hil_state.vz / 100.0f;
 
 			// always publish ground truth attitude message
 			int hil_gpos_multi;