diff --git a/src/plugins/mocap/mocap_impl.cpp b/src/plugins/mocap/mocap_impl.cpp
index c0989e5938..12d4efbe8b 100644
--- a/src/plugins/mocap/mocap_impl.cpp
+++ b/src/plugins/mocap/mocap_impl.cpp
@@ -193,7 +193,8 @@ bool MocapImpl::send_odometry()
         odometry.angular_velocity_body.yaw_rad_s,
         odometry.pose_covariance.data(),
         odometry.velocity_covariance.data(),
-        0);
+        0,
+        MAV_ESTIMATOR_TYPE_MOCAP);
 
     return _parent->send_message(message);
 }
diff --git a/src/third_party/mavlink/include/mavlink/v2.0 b/src/third_party/mavlink/include/mavlink/v2.0
index a66f06dd30..a62c139225 160000
--- a/src/third_party/mavlink/include/mavlink/v2.0
+++ b/src/third_party/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit a66f06dd300338aef7da306b403941bd9c0dd3a8
+Subproject commit a62c13922547033d8dd0e3ef9da9edcce909a05d