diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
index f1d11a6126..c0e0751341 160000
--- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
@@ -1 +1 @@
-Subproject commit f1d11a6126990d487d4aa8ff68c23ff370516510
+Subproject commit c0e0751341d46108377bbae2ae1bb6da8a5d4106
diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink
index bb52e30d2b..b4add52929 160000
--- a/src/modules/mavlink/mavlink
+++ b/src/modules/mavlink/mavlink
@@ -1 +1 @@
-Subproject commit bb52e30d2b924d5a250f2400144d33012271a19d
+Subproject commit b4add5292992cc43bd471b431b425338787982be
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index e0a4a9c2ba..d3258023ff 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1074,6 +1074,21 @@ Mavlink::send_autopilot_capabilities()
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
+
+
+		{
+			param_t param_handle = param_find_no_notification("MNT_MODE_IN");
+			int32_t mnt_mode_in = 0;
+
+			if (mnt_mode_in != PARAM_INVALID) {
+				param_get(param_handle, &mnt_mode_in);
+
+				if (mnt_mode_in == 4) {
+					msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER;
+				}
+			}
+		}
+
 		msg.flight_sw_version = px4_firmware_version();
 		msg.middleware_sw_version = px4_firmware_version();
 		msg.os_sw_version = px4_os_version();