diff --git a/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan b/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
index 9d7ab703b5..5e78fab822 100644
--- a/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
+++ b/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
@@ -5,6 +5,6 @@
 
 uavcan.FigureOfMerit figure_of_merit
 
-uint8[<=32] actuator_id      # Can be empty, in which case the ID is defined by the command index
+uint8[<=32] actuator_id      # Can be empty, in which case ID is defined by the command index
 
 float16[<=32] command        # For a servo use [-1; 1]
diff --git a/dsdl/uavcan/equipment/airdata/281.AltitudeAndClimbRate.uavcan b/dsdl/uavcan/equipment/airdata/281.AltitudeAndClimbRate.uavcan
index 8e7404728c..5740b53cb7 100644
--- a/dsdl/uavcan/equipment/airdata/281.AltitudeAndClimbRate.uavcan
+++ b/dsdl/uavcan/equipment/airdata/281.AltitudeAndClimbRate.uavcan
@@ -8,5 +8,6 @@ uavcan.Timestamp timestamp
 float32 pressure_altitude
 float16 pressure_altitude_variance
 
+# Positive if climbing up
 float16 climb_rate
 float16 climb_rate_variance
diff --git a/dsdl/uavcan/equipment/airdata/282.AngleOfAttack.uavcan b/dsdl/uavcan/equipment/airdata/282.AngleOfAttack.uavcan
index d892bb88f5..de7574beec 100644
--- a/dsdl/uavcan/equipment/airdata/282.AngleOfAttack.uavcan
+++ b/dsdl/uavcan/equipment/airdata/282.AngleOfAttack.uavcan
@@ -2,9 +2,9 @@
 # Angle of attack.
 #
 
-uint8 ID_LEFT = 254
-uint8 ID_RIGHT = 255
-uint8 id
+uint8 SENSOR_ID_LEFT = 254
+uint8 SENSOR_ID_RIGHT = 255
+uint8 sensor_id
 
 float16 aoa
 float16 aoa_variance
diff --git a/dsdl/uavcan/equipment/altitude_agl/290.AltitudeAGL.uavcan b/dsdl/uavcan/equipment/altitude_agl/290.AltitudeAGL.uavcan
index bfbc07e4c3..5231a9fd09 100644
--- a/dsdl/uavcan/equipment/altitude_agl/290.AltitudeAGL.uavcan
+++ b/dsdl/uavcan/equipment/altitude_agl/290.AltitudeAGL.uavcan
@@ -11,9 +11,9 @@ float16 altitude_agl_variance    # +inf if too close or too far
 float16 sensor_max_range
 float16 sensor_min_range
 
-uint4 SENSOR_UNKNOWN = 0
-uint4 SENSOR_SONAR   = 1
-uint4 SENSOR_LASER   = 2
-uint4 SENSOR_RADAR   = 3
-uint4 SENSOR_CV      = 4
-uint4 sensor_type
+uint8 SENSOR_UNKNOWN = 0
+uint8 SENSOR_SONAR   = 1
+uint8 SENSOR_LASER   = 2
+uint8 SENSOR_RADAR   = 3
+uint8 SENSOR_CV      = 4
+uint8 sensor_type
diff --git a/dsdl/uavcan/equipment/gnss/300.Fix.uavcan b/dsdl/uavcan/equipment/gnss/300.Fix.uavcan
index d8303cbf05..0883330cc2 100644
--- a/dsdl/uavcan/equipment/gnss/300.Fix.uavcan
+++ b/dsdl/uavcan/equipment/gnss/300.Fix.uavcan
@@ -23,7 +23,7 @@ uint2 STATUS_2D_FIX    = 2
 uint2 STATUS_3D_FIX    = 3
 uint2 status
 
-float16 pdop                       # Negative if unknown
+float16 pdop
 
 float16[<=9] position_covariance   # m^2
 float16[<=9] velocity_covariance   # (m/s)^2
diff --git a/dsdl/uavcan/equipment/hardpoint/701.Status.uavcan b/dsdl/uavcan/equipment/hardpoint/701.Status.uavcan
index a40c71e9a1..e8b1821437 100644
--- a/dsdl/uavcan/equipment/hardpoint/701.Status.uavcan
+++ b/dsdl/uavcan/equipment/hardpoint/701.Status.uavcan
@@ -3,7 +3,7 @@
 #
 
 float16 cargo_weight           # Newton
-float16 cargo_weight_variance  # Negative if not equipped for weight measurement
+float16 cargo_weight_variance
 
 # Meaning is the same as for command field in the Command message
 uint16 status
diff --git a/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan b/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan
index 9444bc0bff..206da8392b 100644
--- a/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan
+++ b/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan
@@ -1,8 +1,7 @@
 #
-# Scaled RC input for manual control/override.
+# Scaled remote control input for manual control/override.
 #
 
 uavcan.FigureOfMerit figure_of_merit  # E.g. receiver RSSI
 
-uint10 CHANNEL_MAX_VALUE = 1023
-uint10[<=16] channels                 # Normalized in range [0; CHANNEL_MAX_VALUE]
+float16[<=32] channels                # Normalized in range [-1, 1], NAN means no such channel
diff --git a/dsdl/uavcan/equipment/manual/741.MasterSwitchStatus.uavcan b/dsdl/uavcan/equipment/manual/741.MasterSwitchStatus.uavcan
index 4f16971f36..5e5f873f8d 100644
--- a/dsdl/uavcan/equipment/manual/741.MasterSwitchStatus.uavcan
+++ b/dsdl/uavcan/equipment/manual/741.MasterSwitchStatus.uavcan
@@ -1,6 +1,5 @@
 #
 # Some nodes may refuse to operate unless some other node publishes this message with correct value.
-# ESC should obey.
 #
 
 bool enable
diff --git a/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan b/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan
index 3e91234610..d53f07add0 100644
--- a/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan
+++ b/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan
@@ -1,5 +1,5 @@
 #
-# X/Y velocities estimated by simple optical flow sensor.
+# X/Y velocities estimated by simple downward looking optical flow sensor.
 #
 
 uavcan.Timestamp timestamp
diff --git a/dsdl/uavcan/equipment/power/710.PowerStatus.uavcan b/dsdl/uavcan/equipment/power/710.PowerStatus.uavcan
index 74b175da78..3dca4fc172 100644
--- a/dsdl/uavcan/equipment/power/710.PowerStatus.uavcan
+++ b/dsdl/uavcan/equipment/power/710.PowerStatus.uavcan
@@ -4,4 +4,4 @@
 
 bool external_power_connected
 
-BatteryStatus[<16] batteries
+BatteryStatus[<=16] batteries