diff --git a/src/drivers/uavcan_v1/ParamManager.hpp b/src/drivers/uavcan_v1/ParamManager.hpp
index a4b59407b1..7d30f693fb 100644
--- a/src/drivers/uavcan_v1/ParamManager.hpp
+++ b/src/drivers/uavcan_v1/ParamManager.hpp
@@ -120,15 +120,15 @@ private:
 		{"uavcan.pub.servo.0.id",              "UCAN1_SERVO_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		{"uavcan.pub.gps.0.id",                "UCAN1_GPS_PUB",		    px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		{"uavcan.pub.actuator_outputs.0.id",   "UCAN1_ACTR_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.esc.0.id",                "UCAN1_ESC0_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.gps.0.id",                "UCAN1_GPS0_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.gps.1.id",                "UCAN1_GPS1_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.energy_source.0.id",      "UCAN1_BMS_ES_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.battery_status.0.id",     "UCAN1_BMS_BS_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.legacy_bms.0.id",         "UCAN1_LG_BMS_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.esc.0.id",                "UCAN1_ESC0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.gps.0.id",                "UCAN1_GPS0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.gps.1.id",                "UCAN1_GPS1_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.energy_source.0.id",      "UCAN1_BMS_ES_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.battery_status.0.id",     "UCAN1_BMS_BS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.legacy_bms.0.id",         "UCAN1_LG_BMS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		{"uavcan.sub.uorb.sensor_gps.0.id",    "UCAN1_UORB_GPS",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		//{"uavcan.sub.bms.0.id",   "UCAN1_BMS0_PID"}, //FIXME instancing
-		//{"uavcan.sub.bms.1.id",   "UCAN1_BMS1_PID"},
+		//{"uavcan.sub.bms.0.id",   "UCAN1_BMS0_SUB"}, //FIXME instancing
+		//{"uavcan.sub.bms.1.id",   "UCAN1_BMS1_SUB"},
 	};
 };
diff --git a/src/drivers/uavcan_v1/SubscriptionManager.hpp b/src/drivers/uavcan_v1/SubscriptionManager.hpp
index 6476c2191c..26967866de 100644
--- a/src/drivers/uavcan_v1/SubscriptionManager.hpp
+++ b/src/drivers/uavcan_v1/SubscriptionManager.hpp
@@ -91,7 +91,7 @@ private:
 
 	const UavcanDynSubBinder _uavcan_subs[6] {
 		{
-			"UCAN1_ESC0_PID",
+			"UCAN1_ESC0_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanEscSubscriber(ins, pmgr, 0);
@@ -100,7 +100,7 @@ private:
 			0
 		},
 		{
-			"UCAN1_GPS0_PID",
+			"UCAN1_GPS0_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanGnssSubscriber(ins, pmgr, 0);
@@ -109,7 +109,7 @@ private:
 			0
 		},
 		{
-			"UCAN1_GPS1_PID",
+			"UCAN1_GPS1_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanGnssSubscriber(ins, pmgr, 1);
@@ -118,7 +118,7 @@ private:
 			1
 		},
 		{
-			"UCAN1_BMS_ES_PID",
+			"UCAN1_BMS_ES_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanBmsSubscriber(ins, pmgr, 0);
@@ -127,7 +127,7 @@ private:
 			0
 		},
 		{
-			"UCAN1_LG_BMS_PID",
+			"UCAN1_LG_BMS_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanLegacyBatteryInfoSubscriber(ins, pmgr, 0);
diff --git a/src/drivers/uavcan_v1/parameters.c b/src/drivers/uavcan_v1/parameters.c
index 0d37cdc7cc..e3274bb49e 100644
--- a/src/drivers/uavcan_v1/parameters.c
+++ b/src/drivers/uavcan_v1/parameters.c
@@ -69,58 +69,58 @@ PARAM_DEFINE_INT32(UAVCAN_V1_BAUD, 1000000);
 /* Subscription port ID, -1 will be treated as unset */
 
 /**
- * ESC0 port ID.
+ * ESC 0 subscription port ID.
  *
  * @min -1
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_ESC0_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_ESC0_SUB, -1);
 
 /**
- * GPS 0 port ID.
+ * GPS 0 subscription port ID.
  *
  * @min -1
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_GPS0_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_GPS0_SUB, -1);
 
 /**
- * GPS 1 port ID.
+ * GPS 1 subscription port ID.
  *
  * @min -1
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_GPS1_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_GPS1_SUB, -1);
 
 /**
- * DS-015 battery energy source port ID.
+ * DS-015 battery energy source subscription port ID.
  *
  * @min -1
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_BMS_ES_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_BMS_ES_SUB, -1);
 
 /**
- * DS-015 battery status port ID.
+ * DS-015 battery status subscription port ID.
  *
  * @min -1
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_BMS_BS_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
 
 /**
- * DS-015 battery parameters port ID.
+ * DS-015 battery parameters subscription  port ID.
  *
  * @min -1
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_BMS_BP_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
 
 /**
  * UAVCAN v1 leagcy battery port ID.
@@ -129,11 +129,11 @@ PARAM_DEFINE_INT32(UCAN1_BMS_BP_PID, -1);
  * @max 6143
  * @group UAVCAN v1
  */
-PARAM_DEFINE_INT32(UCAN1_LG_BMS_PID, -1);
+PARAM_DEFINE_INT32(UCAN1_LG_BMS_SUB, -1);
 
 
 /**
- * sensor_gps uORB over UAVCAN v1 port ID.
+ * sensor_gps uORB over UAVCAN v1 subscription port ID.
  *
  * @min -1
  * @max 6143
@@ -144,7 +144,7 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
 // Publication Port IDs
 
 /**
- * UAVCAN v1 ESC port ID.
+ * UAVCAN v1 ESC publication port ID.
  *
  * @min -1
  * @max 6143
@@ -153,7 +153,7 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
 PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
 
 /**
- * UAVCAN v1 GPS port ID.
+ * UAVCAN v1 GPS publication port ID.
  *
  * @min -1
  * @max 6143
@@ -162,7 +162,7 @@ PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
 PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
 
 /**
- * UAVCAN v1 Servo port ID.
+ * UAVCAN v1 Servo publication port ID.
  *
  * @min -1
  * @max 6143
@@ -171,7 +171,7 @@ PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
 PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
 
 /**
- * actuator_outputs uORB over UAVCAN v1 port ID.
+ * actuator_outputs uORB over UAVCAN v1 publication port ID.
  *
  * @min -1
  * @max 6143