diff --git a/dsdl/uavcan/equipment/CoarseOrientation.uavcan b/dsdl/uavcan/equipment/CoarseOrientation.uavcan
index 0aec54d582..34f6145483 100644
--- a/dsdl/uavcan/equipment/CoarseOrientation.uavcan
+++ b/dsdl/uavcan/equipment/CoarseOrientation.uavcan
@@ -17,4 +17,4 @@ float32 ANGLE_MULTIPLIER = 4.7746482927568605
 
 int5[3] fixed_axis_roll_pitch_yaw
 
-bool defined    # False if the orientation is actually not defined
+bool orientation_defined    # False if the orientation is actually not defined
diff --git a/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan b/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan
index 5566c0b83a..369bb1cec7 100644
--- a/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan
+++ b/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan
@@ -2,7 +2,13 @@
 # Generic named parameter (key/value pair).
 #
 
-bool alignment
-uint8[<=100] key
+#
+# Integers are exactly representable in the range (-2^24, 2^24) which is (-16'777'216, 16'777'216).
+#
+float32 value
 
-float64[<=1] value
+#
+# Tail array optimization is enabled, so if key length does not exceed 4 characters,
+# the whole message can fit into one CAN frame.
+#
+uint8[<=34] key
diff --git a/dsdl/uavcan/protocol/file/218.Read.uavcan b/dsdl/uavcan/protocol/file/218.Read.uavcan
index c7a54724fa..b120a86301 100644
--- a/dsdl/uavcan/protocol/file/218.Read.uavcan
+++ b/dsdl/uavcan/protocol/file/218.Read.uavcan
@@ -1,11 +1,15 @@
 #
-# Read contents of the file from remote node.
-# Empty data in response means that the offset is out of file boundaries.
-# Non-empty data means the end of file is not reached yet, even if the length is less than maximum.
+# Read file from a remote node.
+# 
+# There are two possible outcomes of a successful service call:
+#  1. Data array size equals its capacity. This means that the end of the file is not reached yet.
+#  2. Data array size is less than its capacity, possibly zero. This means that the end of file is reached.
+# 
 # Thus, if the client needs to fetch the entire file, it should repeatedly call this service while increasing the
-# offset, until the empty data is returned.
+# offset, until incomplete data is returned.
+#
 # If the object pointed by 'path' cannot be read (e.g. it is a directory or it does not exist), appropriate error code
-# will be returned.
+# will be returned, and data array will be empty.
 #
 
 uint32 offset
@@ -14,4 +18,4 @@ Path path
 ---
 
 Error error
-uint8[<=250] data
+uint8[<=256] data
diff --git a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py
index 0de8fea8a9..b92627fd07 100644
--- a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py
+++ b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py
@@ -260,7 +260,7 @@ def make_template_expander(filename):
     template_text = re.sub(r'([^\$]{0,1})\$\{([^\}]+)\}', r'\1$!\2!$', template_text)
 
     # Flow control expression transformation: % foo: ==> <!--(foo)-->
-    template_text = re.sub(r'(?m)^(\ *)\%\ *([^\:]+?):{0,1}$', r'\1<!--(\2)-->', template_text)
+    template_text = re.sub(r'(?m)^(\ *)\%\ *(.+?):{0,1}$', r'\1<!--(\2)-->', template_text)
 
     # Block termination transformation: <!--(endfoo)--> ==> <!--(end)-->
     template_text = re.sub(r'\<\!--\(end[a-z]+\)--\>', r'<!--(end)-->', template_text)
diff --git a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
index 8fd4d2f726..305d715dc5 100644
--- a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
+++ b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
@@ -311,7 +311,7 @@ const ::uavcan::DefaultDataTypeRegistrator< ${t.cpp_full_type_name} > _uavcan_gd
 // No default registration
 % endif
 
-% for nsc in t.cpp_namespace_components:
+% for nsc in t.cpp_namespace_components[::-1]:
 } // Namespace ${nsc}
 % endfor
 
@@ -387,8 +387,8 @@ ${define_streaming_operator(type_name=t.cpp_full_type_name + '::Response')}
 ${define_streaming_operator(type_name=t.cpp_full_type_name)}
 % endif
 
-% for nsc in t.cpp_namespace_components:
-}
+% for nsc in t.cpp_namespace_components[::-1]:
+} // Namespace ${nsc}
 % endfor
 
 #endif // ${t.include_guard}