diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch
index f9dc88c5..14264af9 100644
--- a/clever/launch/aruco.launch
+++ b/clever/launch/aruco.launch
@@ -16,8 +16,8 @@
     </node>
 
     <node pkg="nodelet" type="nodelet" name="aruco_vpe" args="load clever/aruco_vpe nodelet_manager" clear_params="true">
-        <param name="aruco_orientation" value="local_origin"/>
-        <!--<param name="aruco_orientation" value="local_origin_upside_down"/>-->
+        <param name="aruco_orientation" value="map"/>
+        <!--<param name="aruco_orientation" value="map_upside_down"/>-->
 
         <param name="use_mocap" value="true"/>
     </node>
diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index 7c2c45b9..f39d3a5b 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -36,19 +36,19 @@
         <param name="num_worker_threads" value="2"/>
     </node>
 
-    <node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 map map_upside_down"/>
 
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
         <rosparam param="reference_frames">
-            fcu_horiz: local_origin
-            fcu: local_origin
+            body: map
+            base_link: map
         </rosparam>
     </node>
 
     <!-- Auxiliary frames -->
     <node name="frames" pkg="clever" type="frames" output="screen">
-        <param name="body/frame_id" value="fcu_horiz"/>
+        <param name="body/frame_id" value="body"/>
     </node>
 
     <!-- main camera -->
diff --git a/clever/launch/main_camera.launch b/clever/launch/main_camera.launch
index 8c0aba46..fbb9abc8 100755
--- a/clever/launch/main_camera.launch
+++ b/clever/launch/main_camera.launch
@@ -1,20 +1,20 @@
 <launch>
-    <!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
+    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
 
     <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
 
     <!-- camera is oriented downward, camera cable goes backward [option 1] -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>
+    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
 
     <!-- camera is oriented downward, camera cable goes forward  [option 2] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
 
     <!-- camera is oriented upward, camera cable goes backward   [option 3] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 fcu main_camera_optical"/>-->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
 
     <!-- camera is oriented upward, camera cable goes forward    [option 4] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 fcu main_camera_optical"/>-->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
 
     <!-- camera node -->
     <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index fc9794dc..cc45e1d6 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -54,12 +54,12 @@
         </rosparam>
 
         <!-- additional params -->
-        <param name="local_position/frame_id" value="local_origin"/>
+        <param name="local_position/frame_id" value="map"/>
         <param name="local_position/tf/send" value="true"/>
-        <param name="local_position/tf/frame_id" value="local_origin"/>
-        <param name="local_position/tf/child_frame_id" value="fcu"/>
+        <param name="local_position/tf/frame_id" value="map"/>
+        <param name="local_position/tf/child_frame_id" value="base_link"/>
         <param name="global_position/tf/send" value="false"/>
-        <param name="imu/frame_id" value="fcu"/>
+        <param name="imu/frame_id" value="base_link"/>
         <rosparam param="plugin_blacklist">
             - safety_area
             - image_pub
@@ -84,14 +84,14 @@
     </node>
 
     <!-- Rangefinders frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
 
     <!-- Copter visualization -->
     <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>
         <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
-        <param name="fixed_frame_id" value="local_origin"/>
-        <param name="child_frame_id" value="fcu"/>
+        <param name="fixed_frame_id" value="map"/>
+        <param name="child_frame_id" value="base_link"/>
         <param name="marker_scale" value="1"/>
         <param name="max_track_size" value="20"/>
         <param name="num_rotors" value="4"/>
diff --git a/clever/src/aruco_vpe.cpp b/clever/src/aruco_vpe.cpp
index 21ca69de..a1009910 100644
--- a/clever/src/aruco_vpe.cpp
+++ b/clever/src/aruco_vpe.cpp
@@ -39,7 +39,7 @@ private:
         ros::NodeHandle& nh = getNodeHandle();
         ros::NodeHandle& nh_priv = getPrivateNodeHandle();
 
-        nh_priv.param<string>("aruco_orientation", aruco_orientation_, "local_origin");
+        nh_priv.param<string>("aruco_orientation", aruco_orientation_, "map");
         bool use_mocap;
         nh_priv.param<bool>("use_mocap", use_mocap, false);
         nh_priv.param<bool>("reset_vpe", reset_vpe_, !use_mocap);
@@ -107,20 +107,20 @@ private:
                (reset_vpe_ && (ros::Time::now() - last_published_ > reset_timeout_))) // vpe origin outdated
             {
                 ROS_INFO("Reset VPE");
-                t = tf_buffer.lookupTransform("local_origin", "aruco_map_vision", stamp, lookup_timeout_);
+                t = tf_buffer.lookupTransform("map", "aruco_map_vision", stamp, lookup_timeout_);
                 t.child_frame_id = "aruco_map";
                 static_br.sendTransform(t);
             }
 
             // Calculate VPE
-            ps.header.frame_id = "fcu_horiz";
+            ps.header.frame_id = "body";
             ps.header.stamp = stamp;
             ps.pose.orientation.w = 1;
 
             tf_buffer.transform(ps, vpe_raw, "aruco_map_vision", lookup_timeout_);
 
             vpe_raw.header.frame_id = "aruco_map";
-            tf_buffer.transform(vpe_raw, vpe, "local_origin", lookup_timeout_);
+            tf_buffer.transform(vpe_raw, vpe, "map", lookup_timeout_);
 
             vision_position_pub_.publish(vpe);
 
diff --git a/clever/src/interactive.py b/clever/src/interactive.py
index 1ec5d7ab..4547d5b7 100755
--- a/clever/src/interactive.py
+++ b/clever/src/interactive.py
@@ -35,7 +35,7 @@ def make_box_control(msg):
 
 def make_quadcopter_marker():
     marker = InteractiveMarker()
-    marker.header.frame_id = 'fcu'
+    marker.header.frame_id = 'base_link'
     marker.header.stamp = rospy.get_rostime()
     marker.scale = 1
     marker.pose.orientation.w = 1
diff --git a/clever/src/optical_flow.cpp b/clever/src/optical_flow.cpp
index 02eae273..3d494e29 100644
--- a/clever/src/optical_flow.cpp
+++ b/clever/src/optical_flow.cpp
@@ -59,7 +59,7 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		nh_priv.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "fcu");
+		nh_priv.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
 		nh_priv.param("roi", roi_, 128);
 		roi_2_ = roi_ / 2;
 
diff --git a/clever/src/selfcheck.py b/clever/src/selfcheck.py
index 7a34d6e6..8ef2e496 100755
--- a/clever/src/selfcheck.py
+++ b/clever/src/selfcheck.py
@@ -16,7 +16,7 @@ import tf.transformations as t
 # TODO: clever.service is running
 # TODO: check attitude is present
 # TODO: disk free space
-# TODO: local_origin, fcu, fcu_horiz
+# TODO: map, base_link, body
 # TODO: rc service
 # TODO: perform commander check, ekf2 status on PX4
 # TODO: check if FCU params setter succeed