diff --git a/libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp b/libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
index 1016add7e1..820a00b94c 100644
--- a/libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
+++ b/libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
@@ -212,8 +212,7 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
 
     virtual void handleNodeStatusChange(const NodeStatusMonitor::NodeStatusChangeEvent& event)
     {
-        if (event.status.status_code == protocol::NodeStatus::STATUS_OFFLINE ||
-            !event.status.known)
+        if (event.status.mode == protocol::NodeStatus::MODE_OFFLINE)
         {
             pending_nodes_.remove(event.node_id);
             UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d is offline hence forgotten", int(event.node_id.get()));
diff --git a/libuavcan/test/node/node.cpp b/libuavcan/test/node/node.cpp
index e4c63df164..9fc8cc56bf 100644
--- a/libuavcan/test/node/node.cpp
+++ b/libuavcan/test/node/node.cpp
@@ -58,7 +58,7 @@ TEST(Node, Basic)
      * Init the second node - network is empty
      */
     ASSERT_LE(0, node2.start());
-    ASSERT_FALSE(node_status_monitor.findNodeWithWorstStatus().isValid());
+    ASSERT_FALSE(node_status_monitor.findNodeWithWorstHealth().isValid());
 
     /*
      * Init the first node
@@ -70,7 +70,7 @@ TEST(Node, Basic)
 
     ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
 
-    ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
+    ASSERT_EQ(1, node_status_monitor.findNodeWithWorstHealth().get());
 
     /*
      * Some logging
diff --git a/libuavcan/test/node/sub_node.cpp b/libuavcan/test/node/sub_node.cpp
index 7e6263b36c..b2c0f96af2 100644
--- a/libuavcan/test/node/sub_node.cpp
+++ b/libuavcan/test/node/sub_node.cpp
@@ -61,7 +61,7 @@ TEST(SubNode, Basic)
 
     ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
 
-    ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
+    ASSERT_EQ(1, node_status_monitor.findNodeWithWorstHealth().get());
 
     /*
      * Some logging
diff --git a/libuavcan/test/protocol/node_info_retriever.cpp b/libuavcan/test/protocol/node_info_retriever.cpp
index 20ea83b58e..d16e58eae8 100644
--- a/libuavcan/test/protocol/node_info_retriever.cpp
+++ b/libuavcan/test/protocol/node_info_retriever.cpp
@@ -13,11 +13,12 @@
 #include <uavcan/protocol/node_status_provider.hpp>
 #include "helpers.hpp"
 
-static void publishNodeStatus(PairableCanDriver& can, uavcan::NodeID node_id, uavcan::uint8_t status_code,
+static void publishNodeStatus(PairableCanDriver& can, uavcan::NodeID node_id,
                               uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
 {
     uavcan::protocol::NodeStatus msg;
-    msg.status_code = status_code;
+    msg.health     = uavcan::protocol::NodeStatus::HEALTH_OK;
+    msg.mode       = uavcan::protocol::NodeStatus::MODE_OPERATIONAL;
     msg.uptime_sec = uptime_sec;
     emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
 }
@@ -55,7 +56,7 @@ struct NodeInfoListener : public uavcan::INodeInfoListener
     virtual void handleNodeStatusChange(const uavcan::NodeStatusMonitor::NodeStatusChangeEvent& event)
     {
         std::cout << "NODE " << int(event.node_id.get()) << " STATUS CHANGE: "
-                  << int(event.old_status.status_code) << " --> " << int(event.status.status_code) << std::endl;
+                  << event.old_status.toString() << " --> " << event.status.toString() << std::endl;
         status_change_cnt++;
     }
 
@@ -137,9 +138,9 @@ TEST(NodeInfoRetriever, Basic)
 
     uavcan::TransferID tid;
 
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 10, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 10, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 10, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 10, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 10, tid);
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
     ASSERT_LE(1, retr.getNumPendingRequests());
@@ -151,9 +152,9 @@ TEST(NodeInfoRetriever, Basic)
     ASSERT_TRUE(retr.isRetrievingInProgress());
 
     tid.increment();
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 11, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 11, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 11, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 11, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 11, tid);
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
     ASSERT_LE(1, retr.getNumPendingRequests());
@@ -165,9 +166,9 @@ TEST(NodeInfoRetriever, Basic)
     ASSERT_TRUE(retr.isRetrievingInProgress());
 
     tid.increment();
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 12, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 12, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);     // Reset
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 12, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 12, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 10, tid);     // Reset
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
     ASSERT_LE(1, retr.getNumPendingRequests());
@@ -183,7 +184,7 @@ TEST(NodeInfoRetriever, Basic)
     EXPECT_EQ(2, listener.info_unavailable_cnt);
 
     tid.increment();
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 11, tid);
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
     ASSERT_EQ(1, retr.getNumPendingRequests());
@@ -193,7 +194,7 @@ TEST(NodeInfoRetriever, Basic)
     ASSERT_TRUE(retr.isRetrievingInProgress());
 
     tid.increment();
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 12, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 12, tid);
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
     ASSERT_FALSE(retr.isRetrievingInProgress());                // Out of attempts, stopping
@@ -214,9 +215,9 @@ TEST(NodeInfoRetriever, Basic)
     ASSERT_EQ(0, retr.getNumPendingRequests());
 
     tid.increment();
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 60, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 60, tid);
-    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 60, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 60, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 60, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 60, tid);
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
 
@@ -261,7 +262,7 @@ TEST(NodeInfoRetriever, MaxConcurrentRequests)
      */
     for (uint8_t node_id = 1U; node_id <= 127U; node_id++)
     {
-        publishNodeStatus(nodes.can_a, node_id, 0, 0, uavcan::TransferID());
+        publishNodeStatus(nodes.can_a, node_id, 0, uavcan::TransferID());
         nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
         ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
         ASSERT_TRUE(retr.isRetrievingInProgress());
diff --git a/libuavcan_drivers/linux/apps/test_dynamic_node_id_client.cpp b/libuavcan_drivers/linux/apps/test_dynamic_node_id_client.cpp
index 8743577730..d3be73197e 100644
--- a/libuavcan_drivers/linux/apps/test_dynamic_node_id_client.cpp
+++ b/libuavcan_drivers/linux/apps/test_dynamic_node_id_client.cpp
@@ -65,7 +65,7 @@ uavcan_linux::NodePtr initNodeWithDynamicID(const std::vector<std::string>& ifac
      */
     node->setNodeID(client.getAllocatedNodeID());
 
-    node->setStatusOk();
+    node->setModeOperational();
 
     return node;
 }
diff --git a/libuavcan_drivers/linux/apps/test_multithreading.cpp b/libuavcan_drivers/linux/apps/test_multithreading.cpp
index 3946e8c898..b2137a8a9e 100644
--- a/libuavcan_drivers/linux/apps/test_multithreading.cpp
+++ b/libuavcan_drivers/linux/apps/test_multithreading.cpp
@@ -406,7 +406,7 @@ static uavcan_linux::NodePtr initMainNode(const std::vector<std::string>& ifaces
     const int start_res = node->start();
     ENFORCE(0 == start_res);
 
-    node->setStatusOk();
+    node->setModeOperational();
     return node;
 }
 
@@ -483,7 +483,7 @@ static void runSubNode(const uavcan_linux::SubNodePtr& node)
         virtual void handleNodeStatusChange(const NodeStatusChangeEvent& event) override
         {
             std::cout << "Remote node NID " << int(event.node_id.get()) << " changed status: "
-                      << int(event.old_status.status_code) << " --> " << int(event.status.status_code) << std::endl;
+                      << event.old_status.toString() << " --> " << event.status.toString() << std::endl;
         }
     };
     NodeStatusMonitor nsm(*node);
diff --git a/libuavcan_drivers/linux/apps/test_node.cpp b/libuavcan_drivers/linux/apps/test_node.cpp
index 57f9bb9fc5..c284797aab 100644
--- a/libuavcan_drivers/linux/apps/test_node.cpp
+++ b/libuavcan_drivers/linux/apps/test_node.cpp
@@ -33,7 +33,7 @@ static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, ua
     /*
      * Say Hi to the world.
      */
-    node->setStatusOk();
+    node->setModeOperational();
     node->logInfo("init", "Hello world! I'm [%*], NID %*",
                   node->getNodeStatusProvider().getName().c_str(), int(node->getNodeID().get()));
     return node;