diff --git a/config/px4_config.yaml b/config/px4_config.yaml
index 5d1dbb2..e87d23a 100644
--- a/config/px4_config.yaml
+++ b/config/px4_config.yaml
@@ -152,6 +152,7 @@ distance_sensor:
     sensor_position: {x:  0.0, y:  0.0, z:  -0.1}
   sonar_1_sub:
     subscriber: true
+    frame_id: "sonar_link"
     id: 2
     orientation: PITCH_270
   laser_1_sub:
diff --git a/config/px4_pluginlists.yaml b/config/px4_pluginlists.yaml
index cb3d58a..4402a42 100644
--- a/config/px4_pluginlists.yaml
+++ b/config/px4_pluginlists.yaml
@@ -3,7 +3,6 @@ plugin_blacklist:
 - safety_area
 # extras
 - image_pub
-- distance_sensor
 - rangefinder
 - wheel_odometry
 - mission