diff --git a/msg/analog_voltage_current.msg b/msg/analog_voltage_current.msg
index 2e927dcfce..09ebc0471f 100644
--- a/msg/analog_voltage_current.msg
+++ b/msg/analog_voltage_current.msg
@@ -1,4 +1,6 @@
 uint64 timestamp				# time since system start (microseconds)
 
-uint16[2] voltage
-uint16[2] current
+uint16[4] voltage 				# mV
+uint16[4] current 				# mA
+uint16[4] temperature 			# Kelvin * 100
+
diff --git a/src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan b/src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
index 6bb74f5acf..365c25bf36 100644
--- a/src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
+++ b/src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
@@ -1,6 +1,7 @@
-uint2 UNITS_RAW 	= 0
-uint2 UNITS_MV 	= 1
-uint2 UNITS_MA 	= 2
-uint2[2] unit_type
+uint3 UNITS_NONE = 0
+uint3 UNITS_MV 	 = 1
+uint3 UNITS_MA 	 = 2
+uint3 UNITS_CK 	 = 3
+uint3[4] unit_type
 
-int16[2] values # TODO: do we want to include all of the ADC measurements or just two for voltage/current on power port?
+int16[4] values
diff --git a/src/drivers/uavcan/sensors/adc.cpp b/src/drivers/uavcan/sensors/adc.cpp
index c457d295c2..830b0da189 100644
--- a/src/drivers/uavcan/sensors/adc.cpp
+++ b/src/drivers/uavcan/sensors/adc.cpp
@@ -65,18 +65,21 @@ UavcanAdcBridge::adc_sub_cb(const
 {
 	analog_voltage_current_s report{};
 
-	static constexpr int numIndices = 2;
+	static constexpr int numIndices = 4;
 	static constexpr uint16_t mV = com::volansi::equipment::adc::Report::UNITS_MV;
 	static constexpr uint16_t mA = com::volansi::equipment::adc::Report::UNITS_MA;
+	static constexpr uint16_t cK = com::volansi::equipment::adc::Report::UNITS_CK;
 
 	for (int i = 0; i < numIndices; i++) {
 
-		// TODO: do we want to publish raw ADC values? What about temperature?
 		if (msg.unit_type[i] == mV) {
 			report.voltage[i] = msg.values[i];
 
 		} else if (msg.unit_type[i] == mA) {
 			report.current[i] = msg.values[i];
+
+		} else if (msg.unit_type[i] == cK) {
+			report.temperature[i] = msg.values[i];
 		}
 	}
 
diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index 8c70137c13..e8a48a3d95 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -545,15 +545,34 @@ void UavcanNode::send_adc_measurements()
 
 			int32_t adc1_units = 0;
 			int32_t adc2_units = 0;
+			int32_t adc3_units = 0;
+			int32_t adc4_units = 0;
+
 			(void)param_get(param_find("ADC1_UNIT_TYPE"), &adc1_units);
 			(void)param_get(param_find("ADC2_UNIT_TYPE"), &adc2_units);
+			(void)param_get(param_find("ADC3_UNIT_TYPE"), &adc3_units);
+			(void)param_get(param_find("ADC4_UNIT_TYPE"), &adc4_units);
 
 			report.unit_type[0] = (unsigned)adc1_units;
 			report.unit_type[1] = (unsigned)adc2_units;
+			report.unit_type[2] = (unsigned)adc3_units;
+			report.unit_type[3] = (unsigned)adc4_units;
 
-			// Always indices 0 and 1?
-			report.values[0] = adc_report.raw_data[0];
-			report.values[1] = adc_report.raw_data[1];
+			if (adc1_units != 0) {
+				report.values[0] = adc_report.raw_data[0];
+			}
+
+			if (adc2_units != 0) {
+				report.values[1] = adc_report.raw_data[1];
+			}
+
+			if (adc3_units != 0) {
+				report.values[2] = adc_report.raw_data[2];
+			}
+
+			if (adc4_units != 0) {
+				report.values[3] = adc_report.raw_data[3];
+			}
 
 			_adc_report_publisher.broadcast(report);
 		}
diff --git a/src/drivers/uavcannode/dsdl/com/volansi/equipment/adc/20201.Report.uavcan b/src/drivers/uavcannode/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
index 6bb74f5acf..365c25bf36 100644
--- a/src/drivers/uavcannode/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
+++ b/src/drivers/uavcannode/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
@@ -1,6 +1,7 @@
-uint2 UNITS_RAW 	= 0
-uint2 UNITS_MV 	= 1
-uint2 UNITS_MA 	= 2
-uint2[2] unit_type
+uint3 UNITS_NONE = 0
+uint3 UNITS_MV 	 = 1
+uint3 UNITS_MA 	 = 2
+uint3 UNITS_CK 	 = 3
+uint3[4] unit_type
 
-int16[2] values # TODO: do we want to include all of the ADC measurements or just two for voltage/current on power port?
+int16[4] values
diff --git a/src/drivers/uavcannode/uavcannode_params.c b/src/drivers/uavcannode/uavcannode_params.c
index 529698d3fe..d5c8131c74 100644
--- a/src/drivers/uavcannode/uavcannode_params.c
+++ b/src/drivers/uavcannode/uavcannode_params.c
@@ -53,10 +53,14 @@ PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
 
 /**
  * Units associated with ADC measurement.
- * 0 - raw
+ * 0 - unused
  * 1 - mV
  * 2 - mA
+ * 3 - cK
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(ADC1_UNIT_TYPE, 1);
 PARAM_DEFINE_INT32(ADC2_UNIT_TYPE, 2);
+PARAM_DEFINE_INT32(ADC3_UNIT_TYPE, 0);
+PARAM_DEFINE_INT32(ADC4_UNIT_TYPE, 0);
+