diff --git a/Cargo.lock b/Cargo.lock
index 71bd8ff..70e1fef 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -296,6 +296,7 @@ dependencies = [
  "bytes",
  "futures-util",
  "prost",
+ "thiserror",
  "tokio",
  "tonic",
  "tonic-build",
@@ -585,6 +586,26 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "thiserror"
+version = "1.0.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "854babe52e4df1653706b98fcfc05843010039b406875930a70e4d9644e5c417"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa32fd3f627f367fe16f893e2597ae3c05020f8bba2666a4e6ea73d377e5714b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "tokio"
 version = "1.12.0"
diff --git a/Cargo.toml b/Cargo.toml
index 0989dac..704b61a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,6 +10,7 @@ bytes = "1.1.0"
 prost = "0.8.0"
 
 futures-util = { version = "0.3", default-features = false }
+thiserror = "1.0.30"
 
 [dev-dependencies]
 tokio = { version = "1.12.0", features = ["rt-multi-thread", "macros", "time"] }
diff --git a/examples/info.rs b/examples/info.rs
index efbdfea..9fefd00 100644
--- a/examples/info.rs
+++ b/examples/info.rs
@@ -1,4 +1,4 @@
-use libmavsdk::{info, RequestError, System};
+use libmavsdk::System;
 use std::io::{self, Write};
 
 #[tokio::main]
@@ -24,12 +24,6 @@ async fn main() {
 
     match system.info.get_version().await {
         Ok(v) => println!("Version received: {:?}", v),
-        Err(RequestError::MavErr(info::InfoError::Unknown(s))) => {
-            println!("Unknown MAVLink error ({:?})", s);
-        }
-        Err(RequestError::MavErr(info::InfoError::InformationNotReceivedYet(s))) => {
-            println!("{}", s);
-        }
-        Err(RequestError::RpcErr(rpc_err)) => println!("RPC error: {:?}", rpc_err),
+        Err(e) => println!("{}", e),
     };
 }
diff --git a/examples/mocap.rs b/examples/mocap.rs
index 865c7c9..358da52 100644
--- a/examples/mocap.rs
+++ b/examples/mocap.rs
@@ -1,4 +1,4 @@
-use libmavsdk::{mocap, RequestError, System};
+use libmavsdk::{mocap, System};
 use std::io::{self, Write};
 use std::time::Duration;
 
@@ -34,10 +34,7 @@ async fn main() {
             .set_vision_position_estimate(vision_position_estimate.clone())
             .await
         {
-            match error {
-                RequestError::MavErr(mav_err) => println!("MAVLink error: {:?}", mav_err),
-                RequestError::RpcErr(rpc_err) => println!("RPC error: {:?}", rpc_err.message()),
-            }
+            println!("{}", error);
             return;
         };
         counter -= 1;
diff --git a/src/generated/info/mod.rs b/src/generated/info/mod.rs
index 5076537..ab6f195 100644
--- a/src/generated/info/mod.rs
+++ b/src/generated/info/mod.rs
@@ -1,5 +1,5 @@
 use super::super::FromRpcResponse;
-use super::super::RequestError::{MavErr, RpcErr};
+use super::super::RequestError;
 use super::super::RequestResult;
 use super::super::TonicResult;
 
@@ -45,9 +45,11 @@ impl From<&pb::Version> for Version {
     }
 }
 
-#[derive(PartialEq, Clone, Debug)]
+#[derive(PartialEq, Clone, Debug, thiserror::Error)]
 pub enum InfoError {
+    #[error("Unknown error: {0}")]
     Unknown(String),
+    #[error("Information not yet received: {0}")]
     InformationNotReceivedYet(String),
 }
 
@@ -55,15 +57,15 @@ pub type GetVersionResult = RequestResult<Version, InfoError>;
 
 impl FromRpcResponse<pb::GetVersionResponse> for GetVersionResult {
     fn from_rpc_response(rpc_get_version_response: TonicResult<pb::GetVersionResponse>) -> Self {
-        let get_version_response = rpc_get_version_response.map_err(RpcErr)?.into_inner();
+        let get_version_response = rpc_get_version_response?.into_inner();
 
-        let rpc_info_result = get_version_response
-            .info_result
-            .ok_or_else(|| MavErr(InfoError::Unknown("InfoResult does not received".into())))?;
+        let rpc_info_result = get_version_response.info_result.ok_or_else(|| {
+            RequestError::Mav(InfoError::Unknown("InfoResult does not received".into()))
+        })?;
 
         let info_result =
             pb::info_result::Result::from_i32(rpc_info_result.result).ok_or_else(|| {
-                MavErr(InfoError::Unknown(
+                RequestError::Mav(InfoError::Unknown(
                     "Unsupported InfoResult.result value".into(),
                 ))
             })?;
@@ -71,14 +73,14 @@ impl FromRpcResponse<pb::GetVersionResponse> for GetVersionResult {
         match info_result {
             pb::info_result::Result::Success => match get_version_response.version {
                 Some(ref rpc_version) => Ok(Version::from(rpc_version)),
-                None => Err(MavErr(InfoError::Unknown(
+                None => Err(RequestError::Mav(InfoError::Unknown(
                     "Version does not received".into(),
                 ))),
             },
-            pb::info_result::Result::Unknown => {
-                Err(MavErr(InfoError::Unknown(rpc_info_result.result_str)))
-            }
-            pb::info_result::Result::InformationNotReceivedYet => Err(MavErr(
+            pb::info_result::Result::Unknown => Err(RequestError::Mav(InfoError::Unknown(
+                rpc_info_result.result_str,
+            ))),
+            pb::info_result::Result::InformationNotReceivedYet => Err(RequestError::Mav(
                 InfoError::InformationNotReceivedYet(rpc_info_result.result_str),
             )),
         }
diff --git a/src/generated/mocap/mod.rs b/src/generated/mocap/mod.rs
index 8a43226..0d4e5eb 100644
--- a/src/generated/mocap/mod.rs
+++ b/src/generated/mocap/mod.rs
@@ -1,5 +1,5 @@
 use super::super::FromRpcResponse;
-use super::super::RequestError::{MavErr, RpcErr};
+use super::super::RequestError;
 use super::super::RequestResult;
 use super::super::TonicResult;
 use std::convert::Into;
@@ -225,15 +225,19 @@ impl Into<pb::Quaternion> for Quaternion {
     }
 }
 
-#[derive(PartialEq, Clone, Debug)]
+#[derive(PartialEq, Clone, Debug, thiserror::Error)]
 pub enum MocapError {
     /// Unknown error
+    #[error("Unknown error: {0}")]
     Unknown(String),
     /// No system is connected
+    #[error("No system is connected: {0}")]
     NoSystem(String),
     /// Connection error
+    #[error("Connection error: {0}")]
     ConnectionError(String),
     /// Invalid request data
+    #[error("Invalid request: {0}")]
     InvalidRequestData(String),
 }
 
@@ -245,31 +249,32 @@ impl FromRpcResponse<pb::SetVisionPositionEstimateResponse> for SetVisionPositio
             pb::SetVisionPositionEstimateResponse,
         >,
     ) -> Self {
-        let rpc_mocap_result = rpc_set_vision_position_estimate_response
-            .map_err(RpcErr)?
+        let rpc_mocap_result = rpc_set_vision_position_estimate_response?
             .into_inner()
             .mocap_result
-            .ok_or_else(|| MavErr(MocapError::Unknown("MocapResult does not received".into())))?;
+            .ok_or_else(|| {
+                RequestError::Mav(MocapError::Unknown("MocapResult does not received".into()))
+            })?;
 
         let mocap_result =
             pb::mocap_result::Result::from_i32(rpc_mocap_result.result).ok_or_else(|| {
-                MavErr(MocapError::Unknown(
+                RequestError::Mav(MocapError::Unknown(
                     "Unsupported MocapResult.result value".into(),
                 ))
             })?;
 
         match mocap_result {
             pb::mocap_result::Result::Success => Ok(()),
-            pb::mocap_result::Result::Unknown => {
-                Err(MavErr(MocapError::Unknown(rpc_mocap_result.result_str)))
-            }
-            pb::mocap_result::Result::NoSystem => {
-                Err(MavErr(MocapError::NoSystem(rpc_mocap_result.result_str)))
-            }
-            pb::mocap_result::Result::ConnectionError => Err(MavErr(MocapError::ConnectionError(
+            pb::mocap_result::Result::Unknown => Err(RequestError::Mav(MocapError::Unknown(
+                rpc_mocap_result.result_str,
+            ))),
+            pb::mocap_result::Result::NoSystem => Err(RequestError::Mav(MocapError::NoSystem(
                 rpc_mocap_result.result_str,
             ))),
-            pb::mocap_result::Result::InvalidRequestData => Err(MavErr(
+            pb::mocap_result::Result::ConnectionError => Err(RequestError::Mav(
+                MocapError::ConnectionError(rpc_mocap_result.result_str),
+            )),
+            pb::mocap_result::Result::InvalidRequestData => Err(RequestError::Mav(
                 MocapError::InvalidRequestData(rpc_mocap_result.result_str),
             )),
         }
diff --git a/src/generated/telemetry/mod.rs b/src/generated/telemetry/mod.rs
index 3c9f061..addb3ab 100644
--- a/src/generated/telemetry/mod.rs
+++ b/src/generated/telemetry/mod.rs
@@ -1,4 +1,4 @@
-use super::super::RequestError::{MavErr, RpcErr};
+use super::super::RequestError;
 use super::super::RequestResult;
 use futures_util::stream::{Stream, StreamExt};
 use std::pin::Pin;
@@ -212,15 +212,19 @@ impl Into<pb::Quaternion> for Quaternion {
     }
 }
 
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, thiserror::Error)]
 pub enum TelemetryError {
     /// Unknown error
+    #[error("Unknown error: {0}")]
     Unknown(String),
     /// No system is connected
+    #[error("No system is connected: {0}")]
     NoSystem(String),
     /// Connection error
+    #[error("Connection error: {0}")]
     ConnectionError(String),
     /// Invalid request data
+    #[error("Invalid request: {0}")]
     InvalidRequestData(String),
 }
 
@@ -257,11 +261,11 @@ impl Stream for OdometryStream {
             Poll::Ready(Some(rpc_result)) => match rpc_result {
                 Ok(odometry_response) => match odometry_response.odometry {
                     Some(rpc_odometry) => Poll::Ready(Some(Ok(Odometry::from(rpc_odometry)))),
-                    None => Poll::Ready(Some(Err(MavErr(TelemetryError::Unknown(
+                    None => Poll::Ready(Some(Err(RequestError::Mav(TelemetryError::Unknown(
                         "Unexpected value".into(),
                     ))))),
                 },
-                Err(err) => Poll::Ready(Some(Err(RpcErr(err)))),
+                Err(err) => Poll::Ready(Some(Err(RequestError::Rpc(err)))),
             },
         }
     }
diff --git a/src/lib.rs b/src/lib.rs
index b8a560b..f7b036f 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -8,10 +8,15 @@ pub use generated::info;
 pub use generated::mocap;
 pub use generated::telemetry;
 
-#[derive(Debug)]
-pub enum RequestError<PluginMavErr> {
-    MavErr(PluginMavErr),
-    RpcErr(tonic::Status),
+#[derive(Debug, thiserror::Error)]
+pub enum RequestError<PluginMavErr>
+where
+    PluginMavErr: std::error::Error,
+{
+    #[error("MAVLink error: {0}")]
+    Mav(PluginMavErr),
+    #[error("RPC error: {0}")]
+    Rpc(#[from] tonic::Status),
 }
 
 pub type RequestResult<SuccessType, PluginMavErr> = Result<SuccessType, RequestError<PluginMavErr>>;