diff --git a/ROMFS/px4fmu_common/init.d-posix/1018_iris_vision_velocity b/ROMFS/px4fmu_common/init.d-posix/1018_iris_vision_velocity
new file mode 100644
index 0000000000..6e8876f4dc
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1018_iris_vision_velocity
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision velocity and heading
+	param set EKF2_AID_MASK 272
+	param set EKF2_EV_DELAY 5
+fi
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 0823f5e006..d76ac7f9f9 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 0823f5e006011d36858c2dd39881874c1edac10b
+Subproject commit d76ac7f9f9813fd52acf0b9f344edbf72d3b4406
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 596d47869c..78de84497f 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -35,7 +35,7 @@ ExternalProject_Add(sitl_gazebo
 	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
 	CMAKE_ARGS
 		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-		-DSEND_VISION_ESTIMATION_DATA=ON
+		-DSEND_ODOMETRY_DATA=ON
 	BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
 	INSTALL_COMMAND ""
 	DEPENDS
diff --git a/test/mavsdk_tests/configs/sitl.json b/test/mavsdk_tests/configs/sitl.json
index c6a780a747..42a51df182 100644
--- a/test/mavsdk_tests/configs/sitl.json
+++ b/test/mavsdk_tests/configs/sitl.json
@@ -6,22 +6,33 @@
     [
         {
             "model": "iris",
+            "vehicle": "iris",
             "test_filter": "[multicopter],[offboard]",
             "timeout_min": 10
         },
         {
             "model": "iris_opt_flow_mockup",
+            "vehicle": "iris_opt_flow_mockup",
             "test_filter": "[multicopter][offboard][nogps]",
             "timeout_min": 10
         },
+        {
+            "model": "iris_vision_velocity",
+            "vehicle": "iris_vision",
+            "test_filter": "[multicopter][offboard][nogps]",
+            "timeout_min": 10,
+            "max_speed_factor": 1
+        },
         {
             "model": "iris_vision",
+            "vehicle": "iris_vision",
             "test_filter": "[multicopter][offboard][nogps]",
             "timeout_min": 10,
             "max_speed_factor": 1
         },
         {
             "model": "standard_vtol",
+            "vehicle": "standard_vtol",
             "test_filter": "[multicopter][vtol]",
             "timeout_min": 10
         }
diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py
index 6b3059ce10..8bcc3e083a 100755
--- a/test/mavsdk_tests/mavsdk_test_runner.py
+++ b/test/mavsdk_tests/mavsdk_test_runner.py
@@ -377,7 +377,7 @@ class Tester:
                 gzserver_runner = ph.GzserverRunner(
                     os.getcwd(),
                     log_dir,
-                    test['model'],
+                    test['vehicle'],
                     case,
                     self.get_max_speed_factor(test),
                     self.verbose)
@@ -386,7 +386,7 @@ class Tester:
                 gzmodelspawn_runner = ph.GzmodelspawnRunner(
                     os.getcwd(),
                     log_dir,
-                    test['model'],
+                    test['vehicle'],
                     case,
                     self.verbose)
                 self.active_runners.append(gzmodelspawn_runner)