diff --git a/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan b/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan
index f64a7d60..06120042 100644
--- a/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan
+++ b/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan
@@ -3,6 +3,6 @@
 # Negative values indicate reverse rotation.
 # If reversal is not supported, negative values should be treated as zero setpoint.
 
-uavcan.si.unit.angular_velocity.Scalar.1.0[<64] motor_mechanical_angular_velocity
+uavcan.si.unit.angular_velocity.Scalar.1.0[<64] motor_mechanical_angular_velocity  # [radian/second]
 
 @assert _offset_ % 8 == {0}
diff --git a/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan b/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan
index a7f19d0b..e2091b4a 100644
--- a/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan
+++ b/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan
@@ -12,6 +12,9 @@
 # For example, conventional trapezoidal (six-step) ESCs generally map the setpoint to the phase PWM duty cycle setting;
 # a vector control ESC may map the setpoint to the Q-axis voltage vector projection or torque.
 
+int16 FULL_REVERSE = -32768
+int16 FULL_FORWARD = +32767
+
 int16[<64] ratiometric
 
 @assert _offset_ % 8 == {0}
diff --git a/regulated/zubax/actuator/esc/Status.0.1.uavcan b/regulated/zubax/actuator/esc/Status.0.1.uavcan
index 36792355..6e466c89 100644
--- a/regulated/zubax/actuator/esc/Status.0.1.uavcan
+++ b/regulated/zubax/actuator/esc/Status.0.1.uavcan
@@ -15,7 +15,7 @@
 #
 # The setpoint message types that can be used to command a group of ESC are defined in this namespace.
 # Additional setpoint message types may also be supported on an implementation-specific basis.
-# If a group is controlled using different setpoint subjects concurrently (e.g., ratiometric and torque),
+# If a group is controlled using different setpoint subjects concurrently (e.g., ratiometric and speed),
 # the behavior is implementation-defined.
 #
 # ESC should stop automatically if no setpoint was received in one second; this limit may be configurable.
@@ -33,20 +33,20 @@
 uint8 MAX_PUBLICATION_PERIOD = 1  # [second]
 # Publication frequency limits.
 
-void2
 uint6 index
 # The index in the setpoint array that this status message refers to.
 # This value should never be changed while the node is running.
+void2
 
 uint8 demand_factor  # [percent]
 # Percentage of the maximum rated power output. May exceed 100% in case of overload.
 
-void12
 bool dc_voltage_warning             # DC link voltage above or below the SOA.
 bool overload_warning               # Output power/current above SOA or regeneration below the SOA.
 bool motor_temperature_warning      # Temperature above or below the SOA.
 bool inverter_temperature_warning   # Temperature above or below the SOA.
 # A warning flag is set when the corresponding parameter exceeds the safe operating area (SOA) of the ESC.
+void12
 
 @assert _offset_ % 32 == {0}
 
@@ -72,8 +72,6 @@ float16 inverter_temperature  # [kelvin]
 # Sampled temperatures. If multiple values are available, reduction is implementation-defined.
 # We use raw float16 here instead of the more type-safe SI types to reduce the footprint.
 
-void32
-
 @assert _offset_ % 8 == {0}
 @assert _offset_.count == 1     # Fixed-size
 @assert _offset_.max / 8 <= 63  # Fits into one CAN FD frame
diff --git a/regulated/zubax/sensor/bms/BatteryPackParams.0.1.uavcan b/regulated/zubax/sensor/bms/BatteryPackParams.0.1.uavcan
index 41b300bb..6e1a0fc1 100644
--- a/regulated/zubax/sensor/bms/BatteryPackParams.0.1.uavcan
+++ b/regulated/zubax/sensor/bms/BatteryPackParams.0.1.uavcan
@@ -43,10 +43,10 @@ uint32 cycle_count
 Technology.0.1 technology
 # Shall not change at runtime.
 
-void1
 uint7 state_of_health
 # The SoH of the pack, ranges from 0 to 100. May change at runtime.
 # If not provided by the BMS, use best guess or report 100%.
+void1
 
 void64
 void64
diff --git a/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.uavcan b/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.uavcan
index 06d8bd41..4b7ac737 100644
--- a/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.uavcan
+++ b/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.uavcan
@@ -32,10 +32,10 @@ uavcan.time.SynchronizedTimestamp.1.0 timestamp
 
 # --------------------------  ESTIMATES  --------------------------
 
-void1
 uint7 state_of_charge  # [percent]
 # The instant SoC of the pack, ranges from 0 to 100. Mandatory.
 # The methods of estimation are implementation-defined.
+void1
 
 @assert _offset_ % 32 == {0}
 
diff --git a/regulated/zubax/sensor/bms/Technology.0.1.uavcan b/regulated/zubax/sensor/bms/Technology.0.1.uavcan
index 0dc68731..93effcd6 100644
--- a/regulated/zubax/sensor/bms/Technology.0.1.uavcan
+++ b/regulated/zubax/sensor/bms/Technology.0.1.uavcan
@@ -1,7 +1,7 @@
 # Battery chemistry type and its form-factor. This is a nested type.
 
-void1
 uint7 value
+void1
 
 uint7 UNKNOWN = 0
 uint7 OTHER   = 1  # The technology is not specified in this enumeration. Please submit a pull request.