diff --git a/include/roscontroller.h b/include/roscontroller.h
index 7599c58..5259343 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -12,6 +12,7 @@
 #include "mavros_msgs/SetMode.h"
 #include "mavros_msgs/State.h"
 #include "mavros_msgs/BatteryStatus.h"
+#include "sensor_msgs/BatteryState.h"
 #include "mavros_msgs/Mavlink.h"
 #include "mavros_msgs/PositionTarget.h"
 #include "sensor_msgs/NavSatStatus.h"
@@ -205,7 +206,7 @@ private:
                        double gps_r_lat);
 
   /*battery status callback */
-  void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
+  void battery(const sensor_msgs::BatteryState::ConstPtr& msg);
 
   /*flight extended status callback*/
   void flight_extended_status_update(const mavros_msgs::ExtendedState::ConstPtr& msg);
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index cf54154..9dc1374 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -836,12 +836,12 @@ void roscontroller::gps_convert_ned(float& ned_x, float& ned_y, double gps_t_lon
   ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(gps_t_lat));
 };
 
-void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg)
+void roscontroller::battery(const sensor_msgs::BatteryState::ConstPtr& msg)
 /*
 / Update battery status into BVM from subscriber
 /------------------------------------------------------*/
 {
-  buzzuav_closures::set_battery(msg->voltage, msg->current, msg->remaining);
+  buzzuav_closures::set_battery(msg->voltage, msg->current, msg->percentage);
   //  DEBUG
   // ROS_INFO("voltage : %d  current : %d  remaining : %d",msg->voltage,
   // msg->current, msg ->remaining);