diff --git a/y2017/vision/BUILD b/y2017/vision/BUILD
index 83447e3..1997870 100644
--- a/y2017/vision/BUILD
+++ b/y2017/vision/BUILD
@@ -1,14 +1,15 @@
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 load("//tools/build_rules:gtk_dependent.bzl", "gtk_dependent_cc_binary", "gtk_dependent_cc_library")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
 
 package(default_visibility = ["//visibility:public"])
 
-queue_library(
-    name = "vision_queue",
+flatbuffer_cc_library(
+    name = "vision_fbs",
     srcs = [
-        "vision.q",
+        "vision.fbs",
     ],
+    gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
 
@@ -58,12 +59,11 @@
     visibility = ["//visibility:public"],
     deps = [
         ":target_finder",
-        ":vision_queue",
+        ":vision_fbs",
         ":vision_result",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/mutex",
         "//aos/time",
         "//aos/vision/events:udp",
diff --git a/y2017/vision/target_receiver.cc b/y2017/vision/target_receiver.cc
index 6b86972..e96fba9 100644
--- a/y2017/vision/target_receiver.cc
+++ b/y2017/vision/target_receiver.cc
@@ -1,13 +1,12 @@
 #include <netdb.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
 #include "aos/vision/events/udp.h"
 #include "y2017/vision/target_finder.h"
-#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_generated.h"
 #include "y2017/vision/vision_result.pb.h"
 
 namespace y2017 {
@@ -20,11 +19,13 @@
   char raw_data[65507];
   // TODO(parker): Have this pull in a config from somewhere.
   TargetFinder finder;
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
 
   ::aos::Sender<::y2017::vision::VisionStatus> vision_status_sender =
-      event_loop.MakeSender<::y2017::vision::VisionStatus>(
-          ".y2017.vision.vision_status");
+      event_loop.MakeSender<::y2017::vision::VisionStatus>("/vision");
 
   while (true) {
     // TODO(austin): Don't malloc.
@@ -42,22 +43,27 @@
       continue;
     }
 
-    auto new_vision_status = vision_status_sender.MakeMessage();
-    new_vision_status->image_valid = target.has_target();
-    if (new_vision_status->image_valid) {
-      new_vision_status->target_time =
+    auto builder = vision_status_sender.MakeBuilder();
+    VisionStatus::Builder vision_status_builder =
+        builder.MakeBuilder<VisionStatus>();
+    vision_status_builder.add_image_valid(target.has_target());
+    if (target.has_target()) {
+      vision_status_builder.add_target_time (
           std::chrono::duration_cast<std::chrono::nanoseconds>(
               target_time.time_since_epoch())
-              .count();
+              .count());
 
+      double distance = 0.0;
+      double angle = 0.0;
       finder.GetAngleDist(
           aos::vision::Vector<2>(target.target().x(), target.target().y()),
           /* TODO: Insert down estimate here in radians: */ 0.0,
-          &new_vision_status->distance, &new_vision_status->angle);
+          &distance, &angle);
+      vision_status_builder.add_distance(distance);
+      vision_status_builder.add_angle(angle);
     }
 
-    AOS_LOG_STRUCT(DEBUG, "vision", *new_vision_status);
-    if (!new_vision_status.Send()) {
+    if (!builder.Send(vision_status_builder.Finish())) {
       AOS_LOG(ERROR, "Failed to send vision information\n");
     }
   }
diff --git a/y2017/vision/vision.fbs b/y2017/vision/vision.fbs
new file mode 100644
index 0000000..f1bc013
--- /dev/null
+++ b/y2017/vision/vision.fbs
@@ -0,0 +1,16 @@
+namespace y2017.vision;
+
+// Published on ".y2017.vision.vision_status"
+table VisionStatus {
+  image_valid:bool;
+
+  // Distance to the target in meters.
+  distance:double;
+  // The angle in radians of the bottom of the target.
+  angle:double;
+
+  // Capture time of the angle using the clock behind monotonic_clock::now().
+  target_time:long;
+}
+
+root_type VisionStatus;
diff --git a/y2017/vision/vision.q b/y2017/vision/vision.q
deleted file mode 100644
index 6e4a02a..0000000
--- a/y2017/vision/vision.q
+++ /dev/null
@@ -1,14 +0,0 @@
-package y2017.vision;
-
-// Published on ".y2017.vision.vision_status"
-message VisionStatus {
-  bool image_valid;
-
-  // Distance to the target in meters.
-  double distance;
-  // The angle in radians of the bottom of the target.
-  double angle;
-
-  // Capture time of the angle using the clock behind monotonic_clock::now().
-  int64_t target_time;
-};