diff --git a/Udral/magnetometer.cpp b/Udral/magnetometer.cpp
index 4189e37..ef52f64 100644
--- a/Udral/magnetometer.cpp
+++ b/Udral/magnetometer.cpp
@@ -4,15 +4,15 @@
 
 #include "magnetometer.hpp"
 
-namespace cyphal {
+namespace cyphal::udral {
 
-void MagneticFieldPublisher::publish(const uavcan_si_sample_magnetic_field_strength_Vector3_1_0& msg) {
-    static uint8_t buffer[uavcan_si_sample_magnetic_field_strength_Vector3_1_0_EXTENT_BYTES_];
-    size_t buffer_size = uavcan_si_sample_magnetic_field_strength_Vector3_1_0_EXTENT_BYTES_;
-    int32_t result = uavcan_si_sample_magnetic_field_strength_Vector3_1_0_serialize_(&msg, buffer, &buffer_size);
+void MagneticFieldPublisher::publish(const uavcan_si_sample_magnetic_field_strength_Vector3_1_1& msg) {
+    static uint8_t buffer[uavcan_si_sample_magnetic_field_strength_Vector3_1_1_EXTENT_BYTES_];
+    size_t buffer_size = uavcan_si_sample_magnetic_field_strength_Vector3_1_1_EXTENT_BYTES_;
+    int32_t result = uavcan_si_sample_magnetic_field_strength_Vector3_1_1_serialize_(&msg, buffer, &buffer_size);
     if (NUNAVUT_SUCCESS == result) {
         push(buffer_size, buffer);
     }
 }
 
-}  // namespace cyphal
+}  // namespace cyphal::udral
diff --git a/Udral/magnetometer.hpp b/Udral/magnetometer.hpp
index a92fb52..66408f6 100644
--- a/Udral/magnetometer.hpp
+++ b/Udral/magnetometer.hpp
@@ -6,15 +6,15 @@
 #define UDRAL_MAGNETOMETER_HPP_
 
 #include "cyphal.hpp"
-#include "uavcan/si/sample/magnetic_field_strength/Vector3_1_0.h"
+#include "uavcan/si/sample/magnetic_field_strength/Vector3_1_1.h"
 
-namespace cyphal {
+namespace cyphal::udral {
 
 struct MagneticFieldPublisher: public CyphalPublisher {
-    MagneticFieldPublisher(Cyphal* driver_, CanardPortID port_id) : CyphalPublisher(driver_, port_id) {};
-    void publish(const uavcan_si_sample_magnetic_field_strength_Vector3_1_0& msg);
+    MagneticFieldPublisher() : CyphalPublisher(Cyphal::get_instance(), 65535) {}
+    void publish(const uavcan_si_sample_magnetic_field_strength_Vector3_1_1& msg);
 };
 
-}  // namespace cyphal
+}  // namespace cyphal::udral
 
 #endif  // UDRAL_MAGNETOMETER_HPP_