diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index ed173e600a..60bd5263af 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -98,6 +98,7 @@ public:
     bool isFrozen() const { return frozen_; }
 
     const DataTypeDescriptor* find(DataTypeKind kind, const char* name) const;
+    const DataTypeDescriptor* find(DataTypeKind kind, DataTypeID dtid) const;
 
     DataTypeSignature computeAggregateSignature(DataTypeKind kind, DataTypeIDMask& inout_id_mask) const;
 
diff --git a/libuavcan/src/node/global_data_type_registry.cpp b/libuavcan/src/node/global_data_type_registry.cpp
index 13288da683..3d41c08ede 100644
--- a/libuavcan/src/node/global_data_type_registry.cpp
+++ b/libuavcan/src/node/global_data_type_registry.cpp
@@ -140,6 +140,24 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, const
     return NULL;
 }
 
+const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTypeID dtid) const
+{
+    const List* list = selectList(kind);
+    if (!list)
+    {
+        assert(0);
+        return NULL;
+    }
+    Entry* p = list->get();
+    while (p)
+    {
+        if (p->descriptor.match(kind, dtid))
+            return &p->descriptor;
+        p = p->getNextListNode();
+    }
+    return NULL;
+}
+
 DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind kind,
                                                                     DataTypeIDMask& inout_id_mask) const
 {
diff --git a/libuavcan/test/node/global_data_type_registry.cpp b/libuavcan/test/node/global_data_type_registry.cpp
index 84d1dcd181..b0cc5e640f 100644
--- a/libuavcan/test/node/global_data_type_registry.cpp
+++ b/libuavcan/test/node/global_data_type_registry.cpp
@@ -166,17 +166,25 @@ TEST(GlobalDataTypeRegistry, Basic)
      */
     const uavcan::DataTypeDescriptor* pdtd = NULL;
     ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "Nonexistent"));
+    ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, 987));
     // Asking for service, but this is a message:
     ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "my_namespace.DataTypeB"));
+    ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, 42));
 
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "my_namespace.DataTypeB")));
     ASSERT_EQ(extractDescriptor<DataTypeB>(741), *pdtd);
+    ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, 741)));
+    ASSERT_EQ(extractDescriptor<DataTypeB>(741), *pdtd);
 
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "my_namespace.DataTypeA")));
     ASSERT_EQ(extractDescriptor<DataTypeAMessage>(), *pdtd);
+    ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, uavcan::DataTypeID(0))));
+    ASSERT_EQ(extractDescriptor<DataTypeAMessage>(), *pdtd);
 
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "my_namespace.DataTypeA")));
     ASSERT_EQ(extractDescriptor<DataTypeAService>(147), *pdtd);
+    ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, 147)));
+    ASSERT_EQ(extractDescriptor<DataTypeAService>(147), *pdtd);
 }