diff --git a/.github/workflows/build_test_macos.yml b/.github/workflows/build_test_macos.yml
index 8954032e79..7ef3004fa9 100644
--- a/.github/workflows/build_test_macos.yml
+++ b/.github/workflows/build_test_macos.yml
@@ -21,7 +21,7 @@ jobs:
     - name: Before Install
       run: |
         brew update;
-        git clone -b release-1.10.0 https://github.com/google/googletest
+        git clone -b v1.15.2 https://github.com/google/googletest
         git clone https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink
     - name: Install
       run: |
diff --git a/.github/workflows/firmware_build_test.yml b/.github/workflows/firmware_build_test.yml
deleted file mode 100644
index dd5f4135a4..0000000000
--- a/.github/workflows/firmware_build_test.yml
+++ /dev/null
@@ -1,87 +0,0 @@
-name: Firmware Build and SITL Tests
-
-on:
-  push:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  Firmware-build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        model:
-          - "iris"
-          - "standard_vtol"
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-05-31
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - name: Checkout Firmware main
-      uses: actions/checkout@v2.3.1
-      with:
-        repository: PX4/Firmware
-        ref: main
-        path: Firmware
-        fetch-depth: 0
-        submodules: recurvise
-    - name: Checkout matching branch on PX4/Firmware if possible
-      run: |
-        git checkout ${{github.head_ref}} || echo "Firmware branch: ${{github.head_ref}} not found, using main instead"
-        git submodule update --init --recursive
-      working-directory: Firmware
-    - name: Configure Firmware to include current sitl_gazebo version
-      working-directory: Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}} || echo "Couldn't find the feature branch of the pull request, using default branch"
-        git checkout ${{github.head_ref}}
-    - name: Download MAVSDK
-      working-directory: Firmware
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      working-directory: Firmware
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-    - name: Build Firmware
-      working-directory: Firmware
-      env:
-        DONT_RUN: 1
-        GIT_SUBMODULES_ARE_EVIL: 1
-      run: make px4_sitl_default gazebo_iris
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build MAVSDK tests
-      working-directory: Firmware
-      env:
-        DONT_RUN: 1
-        GIT_SUBMODULES_ARE_EVIL: 1
-      run: make px4_sitl_default gazebo_iris mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-    - name: Run SITL tests
-      working-directory: Firmware
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.model}} test/mavsdk_tests/configs/sitl.json
diff --git a/src/gazebo_camera_manager_plugin.cpp b/src/gazebo_camera_manager_plugin.cpp
index 3f1cb22f3d..4c0d374198 100644
--- a/src/gazebo_camera_manager_plugin.cpp
+++ b/src/gazebo_camera_manager_plugin.cpp
@@ -657,7 +657,8 @@ void CameraManagerPlugin::_handle_request_camera_settings(const mavlink_message_
         0,                      // time_boot_ms
         _mode,                  // Camera Mode
         1.0E2 * (_zoom - 1.0)/ (_maxZoom - 1.0),                    // Zoom level
-        NAN);                   // Focus level
+        NAN,                    // Focus level
+	0);                     // MAVLink camera with its own component ID
     _send_mavlink_message(&msg, srcaddr);
 }
 
@@ -678,18 +679,19 @@ void CameraManagerPlugin::_handle_request_video_stream_status(const mavlink_mess
     mavlink_message_t msg;
     mavlink_msg_video_stream_status_pack_chan(
         _systemID,
-        _componentID,                                     // Component ID
+        _componentID,                                           // Component ID
         MAVLINK_COMM_1,
         &msg,
         static_cast<uint8_t>(sid),                              // Stream ID
         VIDEO_STREAM_STATUS_FLAGS_RUNNING,                      // Flags (It's always running)
         30,                                                     // Frame rate
-        _width,                                                  // Horizontal resolution
+        _width,                                                 // Horizontal resolution
         _height,                                                // Vertical resolution
         2048,                                                   // Bit rate (made up)
         0,                                                      // Rotation (none)
-        90                                                      // FOV (made up)
-    );
+        90,                                                     // FOV (made up)
+	0);                                                     // MAVLink camera with its own component ID
+
     _send_mavlink_message(&msg, srcaddr);
 }
 
@@ -801,7 +803,8 @@ void CameraManagerPlugin::_send_capture_status(struct sockaddr* srcaddr)
         interval,                               // image interval
         recording_time_ms,                      // recording time in ms
         available_mib,                          // available storage capacity
-        _imageCounter);                         // total number of images
+        _imageCounter,                          // total number of images
+	0);                                     // MAVLink camera with its own component ID
     _send_mavlink_message(&msg, srcaddr);
 }