From d1c1c09b81f128bead5f16cb507bcd74de17f28b Mon Sep 17 00:00:00 2001
From: Thore Goll <thore.goll@franka.de>
Date: Fri, 18 Feb 2022 10:39:38 +0100
Subject: [PATCH] CHANGE: Use new FCI version 5 of libfranka-common

---
 common         | 2 +-
 src/errors.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/common b/common
index 2b852fab..e6aa0fc2 160000
--- a/common
+++ b/common
@@ -1 +1 @@
-Subproject commit 2b852fabb6176def77351cb0ba00f8033397409f
+Subproject commit e6aa0fc210d93fe618bfd8956829a264d5476ba8
diff --git a/src/errors.cpp b/src/errors.cpp
index 4fd8d2ce..fbc80c0a 100644
--- a/src/errors.cpp
+++ b/src/errors.cpp
@@ -96,9 +96,9 @@ Errors::Errors(const std::array<bool, 41>& errors)  // NOLINT(modernize-pass-by-
       joint_via_motion_generator_planning_joint_limit_violation(
           errors_[static_cast<size_t>(Error::kJointViaPlanLimitViolation)]),
       base_acceleration_initialization_timeout(
-          errors_[static_cast<size_t>(Error::kGravityVectorInitializationTimeout)]),
+          errors_[static_cast<size_t>(Error::kBaseAccelerationInitializationTimeout)]),
       base_acceleration_invalid_reading(
-          errors_[static_cast<size_t>(Error::kGravityVectorInvalidReading)]) {}
+          errors_[static_cast<size_t>(Error::kBaseAccelerationInvalidReading)]) {}
 
 Errors::operator bool() const noexcept {
   return std::any_of(errors_.cbegin(), errors_.cend(), [](bool x) { return x; });