diff --git a/dsdl/uavcan/equipment/actuator/600.Status.uavcan b/dsdl/uavcan/equipment/actuator/600.Status.uavcan
index 600abac1df..ef15e5e395 100644
--- a/dsdl/uavcan/equipment/actuator/600.Status.uavcan
+++ b/dsdl/uavcan/equipment/actuator/600.Status.uavcan
@@ -5,9 +5,12 @@
 
 uint8 actuator_id
 
-float16 position     # Position feedback; same units as command
-float16 power
-float16 force        # Sign depends on the direction of the force
+#
+# Whether the units are linear or angular depends on the actuator type (refer to the Command data type).
+#
+float16 position        # meter or radian
+float16 force           # Newton or Newton metre
+float16 speed           # meter per second or radian per second
 
 uint7 POWER_RATING_PCT_UNKNOWN = 127
-uint7 power_rating_pct                # 0 - unloaded, 100 - full load/overload
+uint7 power_rating_pct                # 0 - unloaded, 100 - full load
diff --git a/dsdl/uavcan/equipment/actuator/Command.uavcan b/dsdl/uavcan/equipment/actuator/Command.uavcan
index 2728d682c3..e4d3d74084 100644
--- a/dsdl/uavcan/equipment/actuator/Command.uavcan
+++ b/dsdl/uavcan/equipment/actuator/Command.uavcan
@@ -6,10 +6,15 @@
 uint8 actuator_id
 
 #
-# Recommended units are, either:
-#  - Unitless [-1; 1]
-#  - Angular position in radians
-#  - Linear position in meters
-# Status report should normally use the same units.
+# Whether the units are linear or angular depends on the actuator type.
 #
-float16 command
+uint4 COMMAND_TYPE_UNITLESS     = 0     # [-1, 1]
+uint4 COMMAND_TYPE_POSITION     = 1     # meter or radian
+uint4 COMMAND_TYPE_FORCE        = 2     # Newton or Newton metre
+uint4 COMMAND_TYPE_SPEED        = 3     # meter per second or radian per second
+uint4 command_type
+
+#
+# Value of the above type
+#
+float16 command_value