diff --git a/src/drivers/uavcan_v1/SubscriptionManager.cpp b/src/drivers/uavcan_v1/SubscriptionManager.cpp
index f4eddd0007..136e08c191 100644
--- a/src/drivers/uavcan_v1/SubscriptionManager.cpp
+++ b/src/drivers/uavcan_v1/SubscriptionManager.cpp
@@ -88,10 +88,20 @@ void SubscriptionManager::subscribe()
 
 void SubscriptionManager::printInfo()
 {
+	UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
 
+	while (dynsub != NULL) {
+		dynsub->printInfo();
+		dynsub = dynsub->next();
+	}
 }
 
 void SubscriptionManager::updateParams()
 {
-	//TODO dynamically update params and unsubscribe
+	UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
+
+	while (dynsub != NULL) {
+		dynsub->updateParam();
+		dynsub = dynsub->next();
+	}
 }
diff --git a/src/drivers/uavcan_v1/SubscriptionManager.hpp b/src/drivers/uavcan_v1/SubscriptionManager.hpp
index 93b33bbc9d..498a8c7c91 100644
--- a/src/drivers/uavcan_v1/SubscriptionManager.hpp
+++ b/src/drivers/uavcan_v1/SubscriptionManager.hpp
@@ -78,6 +78,7 @@ private:
 	UavcanDynamicPortSubscriber *_dynsubscribers {NULL};
 
 	UavcanHeartbeatSubscriber _heartbeat_sub {_canard_instance};
+
 	// GetInfo response
 	UavcanGetInfoResponse _getinfo_rsp {_canard_instance};