diff --git a/mavros/launch/px4_config.yaml b/mavros/launch/px4_config.yaml
index 6b2913c94..bb18b088f 100644
--- a/mavros/launch/px4_config.yaml
+++ b/mavros/launch/px4_config.yaml
@@ -231,8 +231,9 @@ mount:
 # odom
 odometry:
   fcu:
-    odom_parent_id_des: "map"    # desired parent frame rotation of the FCU's odometry
+    odom_parent_id_des: "odom"        # desired parent frame rotation of the FCU's odometry
     odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry
+    map_id_des: "map"
 
 # px4flow
 px4flow:
diff --git a/mavros_extras/src/plugins/odom.cpp b/mavros_extras/src/plugins/odom.cpp
index fed8b31be..44b8f4621 100644
--- a/mavros_extras/src/plugins/odom.cpp
+++ b/mavros_extras/src/plugins/odom.cpp
@@ -57,9 +57,9 @@ class OdometryPlugin : public plugin::PluginBase {
 		PluginBase::initialize(uas_);
 
 		// frame params:
-		odom_nh.param<std::string>("fcu/odom_parent_id_des", fcu_map_id_des, uas_.get_map_frame_id());
+		odom_nh.param<std::string>("fcu/odom_parent_id_des", fcu_odom_parent_id_des, uas_.get_odom_frame_id());
 		odom_nh.param<std::string>("fcu/odom_child_id_des", fcu_odom_child_id_des, uas_.get_base_link_frame_id());
-		fcu_odom_parent_id_des = uas_.get_odom_frame_id();
+		odom_nh.param<std::string>("fcu/map_id_des", fcu_map_id_des, uas_.get_map_frame_id());
 
 		// publishers
 		odom_pub = odom_nh.advertise<nav_msgs::Odometry>("in", 10);