diff --git a/robots/mini_quadrotor/config/StateEstimation.yaml b/robots/mini_quadrotor/config/StateEstimation.yaml
index 3a1109305..6ef452637 100644
--- a/robots/mini_quadrotor/config/StateEstimation.yaml
+++ b/robots/mini_quadrotor/config/StateEstimation.yaml
@@ -46,8 +46,11 @@ sensor_plugin:
estimate_mode: 3 # 1<<0 + 1<<1
mocap:
estimate_mode: 6 # 1<<1 + 1<<2
- vo:
+ vo1:
estimate_mode: 1 # 1<<0
- vo_sub_topic_name: realsense/odom/throttle
+ vo_sub_topic_name: /quadrotor/camera/odom/sample
sensor_frame: realsense_pose_frame
+ z_vel_mode: false
+ fusion_mode: 0 # ONLY POS MODE
+ throttle_rate: 120 # Hz
diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml
index 10c1fb961..dd57c2683 100644
--- a/robots/mini_quadrotor/launch/includes/sensors.launch.xml
+++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml
@@ -31,5 +31,6 @@
+