diff --git a/src/drivers/uavcan/sensors/battery.cpp b/src/drivers/uavcan/sensors/battery.cpp
index ccf587980f..d62d43dfb2 100644
--- a/src/drivers/uavcan/sensors/battery.cpp
+++ b/src/drivers/uavcan/sensors/battery.cpp
@@ -95,7 +95,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	uint8_t instance = 0;
 
 	for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
-		if (_battery_status[instance].id == msg.getSrcNodeID().get() || _battery_status[instance].id == 0) {
+		if (_node_ids[instance] == msg.getSrcNodeID().get() || _node_ids[instance] == 0) {
 			break;
 		}
 	}
@@ -110,6 +110,8 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 		return;
 	}
 
+	_node_ids[instance] = msg.getSrcNodeID().get();
+
 	if (_batt_update_mod[instance] == BatteryDataType::Filter) {
 
 		filterData(msg, instance);
@@ -166,7 +168,7 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
 	uint8_t instance = 0;
 
 	for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
-		if (_battery_status[instance].id == msg.getSrcNodeID().get()) {
+		if (_node_ids[instance] == msg.getSrcNodeID().get()) {
 			break;
 		}
 	}
@@ -212,7 +214,7 @@ void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::
 	uint8_t instance = 0;
 
 	for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
-		if (_battery_status[instance].id == msg.getSrcNodeID().get()) {
+		if (_node_ids[instance] == msg.getSrcNodeID().get() || _node_ids[instance] == 0) {
 			break;
 		}
 	}
@@ -247,6 +249,7 @@ void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::
 	_battery_status[instance].connected = true;
 	_battery_status[instance].cell_count = msg.cell_count;
 	_battery_status[instance].source = battery_status_s::SOURCE_EXTERNAL;
+	_node_ids[instance] = msg.getSrcNodeID().get();
 	_battery_status[instance].id = msg.getSrcNodeID().get();
 	_battery_status[instance].is_powering_off = msg.is_powering_off;
 
@@ -293,7 +296,7 @@ void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::
 
 	if (_node_info_publisher != nullptr) {
 		_node_info_publisher->registerDeviceCapability(msg.getSrcNodeID().get(),
-				_battery_status[instance].id, NodeInfoPublisher::DeviceCapability::BATTERY);
+				_node_ids[instance], NodeInfoPublisher::DeviceCapability::BATTERY);
 	}
 }
 
@@ -306,10 +309,10 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi
 	_battery[instance]->updateCurrent(msg.current);
 	_battery[instance]->updateBatteryStatus(hrt_absolute_time());
 
-	/* Override data that is expected to arrive from UAVCAN msg*/
+	/* Override data that is expected to arrive from UAVCAN msg */
 	_battery_status[instance] = _battery[instance]->getBatteryStatus();
 	_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
-	_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery
+	_battery_status[instance].id = msg.battery_id;
 
 	publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
 
diff --git a/src/drivers/uavcan/sensors/battery.hpp b/src/drivers/uavcan/sensors/battery.hpp
index e0e050e9c4..84dc075227 100644
--- a/src/drivers/uavcan/sensors/battery.hpp
+++ b/src/drivers/uavcan/sensors/battery.hpp
@@ -110,6 +110,7 @@ private:
 	battery_info_s _battery_info[battery_status_s::MAX_INSTANCES] {};
 	battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
 	BatteryDataType _batt_update_mod[battery_status_s::MAX_INSTANCES] {};
+	uint8_t _node_ids[battery_status_s::MAX_INSTANCES] {}; // UAVCAN node ID per instance
 
 	static constexpr int FILTER_DATA = 2;
 	static constexpr int BATTERY_INDEX_1 = 1;