diff --git a/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan b/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan
index 15e1758e9e..8636341eff 100644
--- a/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan
+++ b/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan
@@ -4,4 +4,4 @@
 
 uavcan.FigureOfMerit figure_of_merit
 
-float16[3] angular_velocity
+float16[3] angular_velocity  # rad/s, camera frame
diff --git a/dsdl/uavcan/equipment/gnss/302.Auxiliary.uavcan b/dsdl/uavcan/equipment/gnss/302.Auxiliary.uavcan
index e6ad527921..6321bca887 100644
--- a/dsdl/uavcan/equipment/gnss/302.Auxiliary.uavcan
+++ b/dsdl/uavcan/equipment/gnss/302.Auxiliary.uavcan
@@ -1,5 +1,6 @@
 #
-# GNSS low priority auxiliary info; should be published at low frequency or not published at all.
+# GNSS low priority auxiliary info.
+# Unknown DOP parameters should be set to NAN.
 #
 
 float16 gdop
diff --git a/dsdl/uavcan/equipment/indication/743.LightsCommand.uavcan b/dsdl/uavcan/equipment/indication/743.LightsCommand.uavcan
index 91445482c7..a49770c122 100644
--- a/dsdl/uavcan/equipment/indication/743.LightsCommand.uavcan
+++ b/dsdl/uavcan/equipment/indication/743.LightsCommand.uavcan
@@ -2,4 +2,4 @@
 # Lights control command.
 #
 
-SingleLightCommand[<16] commands
+SingleLightCommand[<32] commands
diff --git a/dsdl/uavcan/equipment/range_sensor/292.RangeMeasurement.uavcan b/dsdl/uavcan/equipment/range_sensor/292.RangeMeasurement.uavcan
index 41a8b48f44..ab5d6b240d 100644
--- a/dsdl/uavcan/equipment/range_sensor/292.RangeMeasurement.uavcan
+++ b/dsdl/uavcan/equipment/range_sensor/292.RangeMeasurement.uavcan
@@ -2,7 +2,7 @@
 # Generic narrow-beam range sensor data.
 #
 
-uavcan.Timestamp timestamp                  # Time when the probe signal was reflected from the target
+uavcan.Timestamp timestamp
 
 uint8 sensor_id