diff --git a/dsdl/uavcan/nav/500.AttitudeThrustCommand.uavcan b/dsdl/uavcan/nav/500.AttitudeThrustCommand.uavcan
new file mode 100644
index 0000000000..9275c61e71
--- /dev/null
+++ b/dsdl/uavcan/nav/500.AttitudeThrustCommand.uavcan
@@ -0,0 +1,8 @@
+#
+# Orientation and thrust setpoint for VTOL crafts.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+float16[4] orientation_xyzw
+float16 thrust  # Range [0; 1]
diff --git a/dsdl/uavcan/nav/501.PoseEstimate.uavcan b/dsdl/uavcan/nav/501.PoseEstimate.uavcan
new file mode 100644
index 0000000000..e817f57eb9
--- /dev/null
+++ b/dsdl/uavcan/nav/501.PoseEstimate.uavcan
@@ -0,0 +1,13 @@
+#
+# Vehicle pose estimate.
+#
+
+uavcan.Timestamp timestamp
+
+float16[4] orientation_xyzw
+float32[3] position
+float16[<=36] pose_covariance
+
+float16[3] linear_velocity
+float16[3] angular_velocity
+float16[<=36] velocity_covariance
diff --git a/dsdl/uavcan/nav/502.VelocityAttitudeEstimate.uavcan b/dsdl/uavcan/nav/502.VelocityAttitudeEstimate.uavcan
new file mode 100644
index 0000000000..b3092f61d1
--- /dev/null
+++ b/dsdl/uavcan/nav/502.VelocityAttitudeEstimate.uavcan
@@ -0,0 +1,12 @@
+#
+# Attitude and velocity in local frame.
+#
+
+uavcan.Timestamp timestamp
+
+float16[4] orientation_xyzw
+float16[<=9] orientation_covariance
+
+float16[3] linear_velocity
+float16[3] angular_velocity
+float16[<=36] velocity_covariance
diff --git a/dsdl/uavcan/nav/505.PoseCommand.uavcan b/dsdl/uavcan/nav/505.PoseCommand.uavcan
new file mode 100644
index 0000000000..8f34f82849
--- /dev/null
+++ b/dsdl/uavcan/nav/505.PoseCommand.uavcan
@@ -0,0 +1,9 @@
+#
+# Target pose of the vehicle in fixed frame.
+# Some components may be ignored on underactuated systems (i.e. pitch and roll on a quadrotor).
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+float16[4] orientation_xyzw
+float32[3] position