diff --git a/Tools/kconfig/merge_config.py b/Tools/kconfig/merge_config.py
index d619f6cd8c..2c2d0688d6 100755
--- a/Tools/kconfig/merge_config.py
+++ b/Tools/kconfig/merge_config.py
@@ -110,10 +110,16 @@ def main(kconfig_file, config1, config2):
 
     for line in f:
         match = unset_match(line)
-        #pprint.pprint(match)
+        #pprint.pprint(line)
         if match is not None:
             sym_name = match.group(1)
             kconf.syms[sym_name].unset_value()
+
+            for default, cond in kconf.syms[sym_name].orig_defaults:
+                if(cond.str_value == 'y'):
+                    # Default is y, our diff is unset thus we've set it to no
+                    kconf.syms[sym_name].set_value(0)
+
     f.close()
 
     # Print warnings for symbols whose actual value doesn't match the assigned
diff --git a/src/drivers/uavcan_v1/NodeClient.hpp b/src/drivers/uavcan_v1/NodeClient.hpp
new file mode 100644
index 0000000000..a0d82cef95
--- /dev/null
+++ b/src/drivers/uavcan_v1/NodeClient.hpp
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file NodeClient.hpp
+ *
+ * Defines basic implementation of UAVCAN PNP for dynamic Node ID
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#pragma once
+
+
+#include <px4_platform_common/defines.h>
+#include <drivers/drv_hrt.h>
+
+#include "CanardInterface.hpp"
+
+#include <uavcan/node/ID_1_0.h>
+#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
+#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
+
+#include "Services/AccessRequest.hpp"
+#include "Services/ListRequest.hpp"
+
+#define PNP1_PORT_ID                                 uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_
+#define PNP1_PAYLOAD_SIZE                            uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
+#define PNP2_PORT_ID                                 uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_
+#define PNP2_PAYLOAD_SIZE                            uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_
+
+class NodeClient : public UavcanBaseSubscriber
+{
+public:
+	NodeClient(CanardInstance &ins, UavcanParamManager &pmgr) : UavcanBaseSubscriber(ins, "NodeIDAllocationData", 0),
+		_canard_instance(ins) { };
+
+	void subscribe() override
+	{
+
+		canardRxSubscribe(&_canard_instance,
+				  CanardTransferKindMessage,
+				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
+				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
+				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
+				  &_subj_sub._canard_sub);
+	}
+
+	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
+	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
+
+	void callback(const CanardTransfer &receive); // NodeIDAllocation callback
+
+	void update();
+
+private:
+
+	CanardInstance &_canard_instance;
+	CanardTransferID _node_id_alloc_transfer_id{0};
+
+	hrt_abstime _nodealloc_request_last{0};
+};