diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 4355a4d820..6ff6d5893d 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -38,7 +38,6 @@ set(msg_files
 	actuator_outputs.msg
 	adc_report.msg
 	airspeed.msg
-	att_pos_mocap.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
diff --git a/msg/att_pos_mocap.msg b/msg/att_pos_mocap.msg
deleted file mode 100644
index 3651697036..0000000000
--- a/msg/att_pos_mocap.msg
+++ /dev/null
@@ -1,10 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-uint32 id			# ID of the estimator, commonly the component ID of the incoming message
-
-uint64 timestamp_received	# timestamp when the estimate was received
-
-float32[4] q			# Estimated attitude as quaternion
-
-float32 x			# X position in meters in NED earth-fixed frame
-float32 y			# Y position in meters in NED earth-fixed frame
-float32 z			# Z position in meters in NED earth-fixed frame (negative altitude)
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 9804891792..42cfef0c65 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -52,12 +52,12 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_magnetometer.h>
+#include <uORB/topics/vehicle_odometry.h>
 
 extern "C" __EXPORT int attitude_estimator_q_main(int argc, char *argv[]);
 
@@ -263,7 +263,7 @@ void AttitudeEstimatorQ::task_main()
 
 	_sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
 	_vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
-	_mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap));
+	_mocap_sub = orb_subscribe(ORB_ID(vehicle_mocap_odometry));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	_magnetometer_sub = orb_subscribe(ORB_ID(vehicle_magnetometer));
@@ -369,9 +369,9 @@ void AttitudeEstimatorQ::task_main()
 		orb_check(_mocap_sub, &mocap_updated);
 
 		if (mocap_updated) {
-			att_pos_mocap_s mocap;
+			vehicle_odometry_s mocap;
 
-			if (orb_copy(ORB_ID(att_pos_mocap), _mocap_sub, &mocap) == PX4_OK) {
+			if (orb_copy(ORB_ID(vehicle_mocap_odometry), _mocap_sub, &mocap) == PX4_OK) {
 				Dcmf Rmoc = Quatf(mocap.q);
 				Vector3f v(1.0f, 0.0f, 0.4f);
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 8853de9cca..0d09a294fb 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -58,7 +58,6 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/airspeed.h>
-#include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/camera_trigger.h>
 #include <uORB/topics/camera_capture.h>
@@ -2410,13 +2409,13 @@ private:
 
 protected:
 	explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink),
-		_mocap_sub(_mavlink->add_orb_subscription(ORB_ID(att_pos_mocap))),
+		_mocap_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_mocap_odometry))),
 		_mocap_time(0)
 	{}
 
 	bool send(const hrt_abstime t)
 	{
-		att_pos_mocap_s mocap;
+		vehicle_odometry_s mocap;
 
 		if (_mocap_sub->update(&_mocap_time, &mocap)) {
 			mavlink_att_pos_mocap_t msg = {};
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index eca09d73d6..0fddef7dc6 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -48,7 +48,6 @@
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/collision_report.h>
 #include <uORB/topics/debug_key_value.h>
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 74a753e60d..98d57f1762 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -79,7 +79,6 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_odometry.h>
 #include <uORB/topics/satellite_info.h>
-#include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/differential_pressure.h>
@@ -1813,7 +1812,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			}
 
 			/* --- MOCAP ATTITUDE AND POSITION --- */
-			if (copy_if_updated(ORB_ID(att_pos_mocap), &subs.mocap_odom_sub, &buf.mocap_odom)) {
+			if (copy_if_updated(ORB_ID(vehicle_mocap_odometry), &subs.mocap_odom_sub, &buf.mocap_odom)) {
 				log_msg.msg_type = LOG_MOCP_MSG;
 				log_msg.body.log_MOCP.qw = buf.mocap_odom.q[0];
 				log_msg.body.log_MOCP.qx = buf.mocap_odom.q[1];