diff --git a/libuavcan/dsdl_compiler/data_type_template.hpp b/libuavcan/dsdl_compiler/data_type_template.hpp
index 69f9be1367..a0bf0c426c 100644
--- a/libuavcan/dsdl_compiler/data_type_template.hpp
+++ b/libuavcan/dsdl_compiler/data_type_template.hpp
@@ -105,6 +105,19 @@ struct ${t.cpp_type_name}
 #endif
     }
 
+    bool operator!=(const ${type_name}& rhs) const { return !operator==(rhs); }
+    bool operator==(const ${type_name}& rhs) const
+    {
+% if fields:
+        return
+    % for idx,a in enumerate(fields):
+            ${a.name} == rhs.${a.name} ${'&&' if (idx + 1) < len(fields) else ';'}
+    % endfor
+% else:
+        return true;
+% endif
+    }
+
 <%def name="generate_codec_calls_per_field(call_name, self_parameter_type)">
     static int ${call_name}(${self_parameter_type} self, ::uavcan::ScalarCodec& codec,
                       ::uavcan::TailArrayOptimizationMode tao_mode = ::uavcan::TailArrayOptEnabled)
diff --git a/libuavcan/test/dsdl_test/dsdl_test.cpp b/libuavcan/test/dsdl_test/dsdl_test.cpp
index 267469d342..6869878345 100644
--- a/libuavcan/test/dsdl_test/dsdl_test.cpp
+++ b/libuavcan/test/dsdl_test/dsdl_test.cpp
@@ -55,6 +55,25 @@ TEST(Dsdl, Signature)
     ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
 }
 
+
+TEST(Dsdl, Operators)
+{
+    {
+        root_ns_a::EmptyService::Request a, b;
+        ASSERT_TRUE(a == b);
+        ASSERT_FALSE(a != b);
+    }
+    {
+        root_ns_a::NestedMessage c, d;
+        ASSERT_TRUE(c == d);
+        ASSERT_FALSE(c != d);
+
+        c.field = 1;
+        ASSERT_FALSE(c == d);
+        ASSERT_TRUE(c != d);
+    }
+}
+
 /*
  * This test assumes that it will be executed before other GDTR tests; otherwise it fails.
  * TODO: Probably it needs to be called directly from main()
diff --git a/libuavcan/test/subscriber.cpp b/libuavcan/test/subscriber.cpp
index 89dfe2147c..7d70836174 100644
--- a/libuavcan/test/subscriber.cpp
+++ b/libuavcan/test/subscriber.cpp
@@ -55,17 +55,6 @@ struct SubscriptionListener
     SimpleBinder bindSimple() { return SimpleBinder(this, &SelfType::receiveSimple); }
 };
 
-// TODO: add autogenerated comparison operators, then remove this
-static bool operator==(const uavcan::mavlink::Message& a, const uavcan::mavlink::Message& b)
-{
-    return
-        a.seq     == b.seq &&
-        a.sysid   == b.sysid &&
-        a.compid  == b.compid &&
-        a.msgid   == b.msgid &&
-        a.payload == b.payload;
-}
-
 
 TEST(Subscriber, Basic)
 {