diff --git a/assets/patches/sitl_gazebo.patch b/assets/patches/sitl_gazebo.patch
index d5a0a62..1d0aa18 100644
--- a/assets/patches/sitl_gazebo.patch
+++ b/assets/patches/sitl_gazebo.patch
@@ -13,3 +13,62 @@ index ae0fb34..12f17b8 100644
    <run_depend>eigen</run_depend>
    <run_depend>gazebo_ros</run_depend>
    <run_depend>geometry_msgs</run_depend>
+diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
+index 4fbeab2..18a192b 100644
+--- a/include/gazebo_opticalflow_plugin.h
++++ b/include/gazebo_opticalflow_plugin.h
+@@ -40,7 +40,7 @@
+ #include "flow_px4.hpp"
+ 
+ #define DEFAULT_RATE 20
+-#define HAS_GYRO TRUE
++#define HAS_GYRO true
+ 
+ using namespace cv;
+ using namespace std;
+diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
+index 050558f..7029199 100644
+--- a/src/gazebo_geotagged_images_plugin.cpp
++++ b/src/gazebo_geotagged_images_plugin.cpp
+@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
+         0,                                      // video status (Idle)
+         interval,                               // image interval
+         0,                                      // recording_time_s
+-        available_mib);                         // available_capacity
++        available_mib,                          // available_capacity
++        _imageCounter);
+     _send_mavlink_message(&msg, srcaddr);
+ }
+ 
+@@ -591,6 +592,7 @@ void GeotaggedImagesPlugin::_handle_storage_info(const mavlink_message_t *pMsg,
+     float total_mib     = 0.0f;
+     float available_mib = 0.0f;
+     boost::filesystem::space_info si = boost::filesystem::space(".");
++    const std::string storage_name = "SITL Camera Storage";
+     available_mib = (float)((double)si.available / (1024.0 * 1024.0));
+     total_mib     = (float)((double)si.capacity  / (1024.0 * 1024.0));
+     _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_STORAGE_INFORMATION, MAV_RESULT_ACCEPTED, srcaddr);
+@@ -608,7 +610,9 @@ void GeotaggedImagesPlugin::_handle_storage_info(const mavlink_message_t *pMsg,
+         total_mib - available_mib,          // used_capacity,
+         available_mib,
+         NAN,                                // read_speed,
+-        NAN                                 // write_speed
++        NAN,                                // write_speed
++        STORAGE_TYPE_OTHER,                 // storage type
++        storage_name.c_str()                // storage name
+     );
+     _send_mavlink_message(&msg, srcaddr);
+ }
+diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
+index 5d29017..d4dd6a7 100644
+--- a/src/gazebo_mavlink_interface.cpp
++++ b/src/gazebo_mavlink_interface.cpp
+@@ -1039,7 +1039,7 @@ void GazeboMavlinkInterface::VisionCallback(OdomPtr& odom_message) {
+ 
+     odom.time_usec = odom_message->time_usec();
+ 
+-    odom.frame_id = MAV_FRAME_VISION_NED;
++    odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
+     odom.child_frame_id = MAV_FRAME_BODY_FRD;
+ 
+     odom.x = position.X();
\ No newline at end of file