diff --git a/cmake/gtest/CMakeLists.txt.in b/cmake/gtest/CMakeLists.txt.in
index e580e00bf8c0..aeebfe68db1e 100644
--- a/cmake/gtest/CMakeLists.txt.in
+++ b/cmake/gtest/CMakeLists.txt.in
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.4)
+cmake_minimum_required(VERSION 3.5)
 
 project(googletest-download NONE)
 
diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/CMakeLists.txt b/platforms/posix/src/px4/common/lockstep_scheduler/CMakeLists.txt
index 15c40a2e994f..7b4798c60014 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/CMakeLists.txt
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.5)
 
 # We want to test the lockstep schedule even if it is not used otherwise.
 px4_add_library(lockstep_scheduler
diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/test/CMakeLists.txt b/platforms/posix/src/px4/common/lockstep_scheduler/test/CMakeLists.txt
index ea779efc9e47..4b30be206bc8 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/test/CMakeLists.txt
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/test/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.5)
 
 add_executable(lockstep_scheduler_test
     src/lockstep_scheduler_test.cpp
diff --git a/src/drivers/ins/vectornav/libvnc/CMakeLists.txt b/src/drivers/ins/vectornav/libvnc/CMakeLists.txt
index 8f5cb2cb073b..804256c820de 100644
--- a/src/drivers/ins/vectornav/libvnc/CMakeLists.txt
+++ b/src/drivers/ins/vectornav/libvnc/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.4)
+cmake_minimum_required(VERSION 3.5)
 project(libvnc C)
 
 include_directories(include)