diff --git a/src/modules/uavcan/uavcan_params.c b/src/modules/uavcan/uavcan_params.c
index 5b20f11bf7..f58a5f0d87 100644
--- a/src/modules/uavcan/uavcan_params.c
+++ b/src/modules/uavcan/uavcan_params.c
@@ -47,8 +47,13 @@
  *  2 - Enabled support for dynamic node ID allocation and firmware update.
  *  3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.
  *
+ * @unit enum
  * @min 0
  * @max 3
+ * @value 0 disabled
+ * @value 1 enabled
+ * @value 2 update
+ * @value 3 motors/update
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
@@ -67,11 +72,9 @@ PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
 /**
  * UAVCAN CAN bus bitrate.
  *
+ * @unit bit/s
  * @min 20000
  * @max 1000000
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
-
-
-