diff --git a/src/drivers/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp
index 3f75077c49..6582195caa 100644
--- a/src/drivers/uavcan/sensors/sensor_bridge.cpp
+++ b/src/drivers/uavcan/sensors/sensor_bridge.cpp
@@ -56,28 +56,89 @@
  */
 void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
 {
-	list.add(new UavcanBarometerBridge(node));
-	list.add(new UavcanMagnetometerBridge(node));
-	list.add(new UavcanGnssBridge(node));
-	list.add(new UavcanFlowBridge(node));
+	// airspeed
+	int32_t uavcan_sub_aspd = 1;
+	param_get(param_find("UAVCAN_SUB_ASPD"), &uavcan_sub_aspd);
 
-	int32_t bat_monitor;
-	param_t _param_bat_monitor = param_find("UAVCAN_BAT_MON");
-	param_get(_param_bat_monitor, &bat_monitor);
+	if (uavcan_sub_aspd != 0) {
+		list.add(new UavcanAirspeedBridge(node));
+	}
 
-	if (bat_monitor == 0) {
+	// baro
+	int32_t uavcan_sub_baro = 1;
+	param_get(param_find("UAVCAN_SUB_BARO"), &uavcan_sub_baro);
+
+	if (uavcan_sub_baro != 0) {
+		list.add(new UavcanBarometerBridge(node));
+	}
+
+	// battery
+	int32_t uavcan_sub_bat = 1;
+	param_get(param_find("UAVCAN_SUB_BAT"), &uavcan_sub_bat);
+
+	if (uavcan_sub_bat == 1) {
 		list.add(new UavcanBatteryBridge(node));
 
-	} else if (bat_monitor == 1) {
+	} else if (uavcan_sub_bat == 2) {
 		list.add(new UavcanCBATBridge(node));
 	}
 
-	list.add(new UavcanAirspeedBridge(node));
-	list.add(new UavcanDifferentialPressureBridge(node));
-	list.add(new UavcanRangefinderBridge(node));
-	list.add(new UavcanAccelBridge(node));
-	list.add(new UavcanGyroBridge(node));
-	list.add(new UavcanIceStatusBridge(node));
+	// differential pressure
+	int32_t uavcan_sub_dpres = 1;
+	param_get(param_find("UAVCAN_SUB_DPRES"), &uavcan_sub_dpres);
+
+	if (uavcan_sub_dpres != 0) {
+		list.add(new UavcanDifferentialPressureBridge(node));
+	}
+
+	// flow
+	int32_t uavcan_sub_flow = 1;
+	param_get(param_find("UAVCAN_SUB_FLOW"), &uavcan_sub_flow);
+
+	if (uavcan_sub_flow != 0) {
+		list.add(new UavcanFlowBridge(node));
+	}
+
+	// GPS
+	int32_t uavcan_sub_gps = 1;
+	param_get(param_find("UAVCAN_SUB_GPS"), &uavcan_sub_gps);
+
+	if (uavcan_sub_gps != 0) {
+		list.add(new UavcanGnssBridge(node));
+	}
+
+	// ice (internal combustion engine)
+	int32_t uavcan_sub_ice = 1;
+	param_get(param_find("UAVCAN_SUB_ICE"), &uavcan_sub_ice);
+
+	if (uavcan_sub_ice != 0) {
+		list.add(new UavcanIceStatusBridge(node));
+	}
+
+	// IMU
+	int32_t uavcan_sub_imu = 1;
+	param_get(param_find("UAVCAN_SUB_IMU"), &uavcan_sub_imu);
+
+	if (uavcan_sub_imu != 0) {
+		list.add(new UavcanAccelBridge(node));
+		list.add(new UavcanGyroBridge(node));
+	}
+
+	// magnetometer
+	int32_t uavcan_sub_mag = 1;
+	param_get(param_find("UAVCAN_SUB_MAG"), &uavcan_sub_mag);
+
+	if (uavcan_sub_mag != 0) {
+		list.add(new UavcanMagnetometerBridge(node));
+	}
+
+	// range finder
+	int32_t uavcan_sub_rng = 1;
+	param_get(param_find("UAVCAN_SUB_RNG"), &uavcan_sub_rng);
+
+	if (uavcan_sub_rng != 0) {
+		list.add(new UavcanRangefinderBridge(node));
+	}
 }
 
 /*
diff --git a/src/drivers/uavcan/sensors/sensor_bridge.hpp b/src/drivers/uavcan/sensors/sensor_bridge.hpp
index b71a9edcc5..4cc765f1be 100644
--- a/src/drivers/uavcan/sensors/sensor_bridge.hpp
+++ b/src/drivers/uavcan/sensors/sensor_bridge.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/drivers/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c
index 1d5c0edf0b..b8fe597c81 100644
--- a/src/drivers/uavcan/uavcan_params.c
+++ b/src/drivers/uavcan/uavcan_params.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -195,18 +195,131 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
 PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
 
 /**
- * UAVCAN BATTERY_MONITOR battery monitor selection
+ * subscription airspeed
  *
- * This parameter defines that the system will select the battery monitor under the following conditions
+ * Enable UAVCAN airspeed subscriptions.
+ *  uavcan::equipment::air_data::IndicatedAirspeed
+ *  uavcan::equipment::air_data::TrueAirspeed
+ *  uavcan::equipment::air_data::StaticTemperature
  *
- *  0 - default battery monitor
- *  1 - CUAV battery monitor
- *
- * @min 0
- * @max 1
- * @value 0 default battery monitor
- * @value 1 CUAV battery monitor
+ * @boolean
  * @reboot_required true
  * @group UAVCAN
  */
-PARAM_DEFINE_INT32(UAVCAN_BAT_MON, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_ASPD, 0);
+
+/**
+ * subscription barometer
+ *
+ * Enable UAVCAN barometer subscription.
+ *  uavcan::equipment::air_data::StaticPressure
+ *  uavcan::equipment::air_data::StaticTemperature
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
+
+/**
+ * subscription battery
+ *
+ * Enable UAVCAN battery subscription.
+ *  1) uavcan::equipment::power::BatteryInfo
+ *  2) cuav::equipment::power::CBAT
+ *
+ * @min 0
+ * @max 2
+ * @value 0 disabled
+ * @value 1 default
+ * @value 2 CUAV battery monitor
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_BAT, 0);
+
+/**
+ * subscription differential pressure
+ *
+ * Enable UAVCAN differential pressure subscription.
+ *  uavcan::equipment::air_data::RawAirData
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);
+
+/**
+ * subscription flow
+ *
+ * Enable UAVCAN optical flow subscription.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
+
+/**
+ * subscription GPS
+ *
+ * Enable UAVCAN GPS subscriptions.
+ *  uavcan::equipment::gnss::Fix
+ *  uavcan::equipment::gnss::Fix2
+ *  uavcan::equipment::gnss::Auxiliary
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
+
+/**
+ * subscription ICE
+ *
+ * Enable UAVCAN internal combusion engine (ICE) subscription.
+ *  uavcan::equipment::ice::reciprocating::Status
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
+
+/**
+ * subscription IMU
+ *
+ * Enable UAVCAN IMU subscription.
+ *  uavcan::equipment::ahrs::RawIMU
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
+
+/**
+ * subscription magnetometer
+ *
+ * Enable UAVCAN GPS subscription.
+ *  uavcan::equipment::ahrs::MagneticFieldStrength
+ *  uavcan::equipment::ahrs::MagneticFieldStrength2
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_MAG, 1);
+
+/**
+ * subscription range finder
+ *
+ * Enable UAVCAN GPS subscription.
+ *  uavcan::equipment::range_sensor::Measurement
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_RNG, 0);