diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index a698de2a5e..e42c16b3e1 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -41,7 +41,7 @@ set(msg_files
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg
-	analog_voltage_current.msg
+	analog_measurement.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
diff --git a/msg/analog_measurement.msg b/msg/analog_measurement.msg
new file mode 100644
index 0000000000..6ade42abd0
--- /dev/null
+++ b/msg/analog_measurement.msg
@@ -0,0 +1,9 @@
+uint64 timestamp				# time since system start (microseconds)
+
+uint8[4] unit_type				# Units: mV, mA, Kelvin*10
+uint16[4] values 				# mV, mA, Kelvin*10
+
+uint8 UNITS_NONE = 0
+uint8 UNITS_MV 	 = 1
+uint8 UNITS_MA 	 = 2
+uint8 UNITS_CK 	 = 3
\ No newline at end of file
diff --git a/msg/analog_voltage_current.msg b/msg/analog_voltage_current.msg
deleted file mode 100644
index 09ebc0471f..0000000000
--- a/msg/analog_voltage_current.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-uint64 timestamp				# time since system start (microseconds)
-
-uint16[4] voltage 				# mV
-uint16[4] current 				# mA
-uint16[4] temperature 			# Kelvin * 100
-
diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt
index 3e534ea0b1..113ca92af3 100644
--- a/src/drivers/uavcan/CMakeLists.txt
+++ b/src/drivers/uavcan/CMakeLists.txt
@@ -126,7 +126,7 @@ px4_add_module(
 		actuators/hardpoint.cpp
 
 		# Sensors
-		sensors/adc.cpp
+		sensors/analog_measurement.cpp
 		sensors/airspeed.cpp
 		sensors/baro.cpp
 		sensors/battery.cpp
diff --git a/src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan b/src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.AnalogMeasurement.uavcan
similarity index 100%
rename from src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan
rename to src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.AnalogMeasurement.uavcan
diff --git a/src/drivers/uavcan/sensors/adc.cpp b/src/drivers/uavcan/sensors/analog_measurement.cpp
similarity index 68%
rename from src/drivers/uavcan/sensors/adc.cpp
rename to src/drivers/uavcan/sensors/analog_measurement.cpp
index 830b0da189..e6b32ca781 100644
--- a/src/drivers/uavcan/sensors/adc.cpp
+++ b/src/drivers/uavcan/sensors/analog_measurement.cpp
@@ -32,16 +32,16 @@
  ****************************************************************************/
 
 #include <drivers/drv_hrt.h>
-#include "adc.hpp"
+#include "analog_measurement.hpp"
 
-const char *const UavcanAdcBridge::NAME = "adc";
+const char *const UavcanAnalogMeasurementBridge::NAME = "analog_measurement";
 
-UavcanAdcBridge::UavcanAdcBridge(uavcan::INode &node) :
-	UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/adc", "/dev/adc", ORB_ID(analog_voltage_current)),
-	_sub_adc_data(node)
+UavcanAnalogMeasurementBridge::UavcanAnalogMeasurementBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/analog_measurement", "/dev/analog_measurement", ORB_ID(analog_measurement)),
+	_sub_analog_data(node)
 { }
 
-int UavcanAdcBridge::init()
+int UavcanAnalogMeasurementBridge::init()
 {
 	int res = device::CDev::init();
 
@@ -49,7 +49,7 @@ int UavcanAdcBridge::init()
 		return res;
 	}
 
-	res = _sub_adc_data.start(AdcCbBinder(this, &UavcanAdcBridge::adc_sub_cb));
+	res = _sub_analog_data.start(AnalogCbBinder(this, &UavcanAnalogMeasurementBridge::analog_measurement_sub_cb));
 
 	if (res < 0) {
 		DEVICE_LOG("failed to start uavcan sub: %d", res);
@@ -60,27 +60,15 @@ int UavcanAdcBridge::init()
 }
 
 void
-UavcanAdcBridge::adc_sub_cb(const
-				 uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &msg)
+UavcanAnalogMeasurementBridge::analog_measurement_sub_cb(const
+				 uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &msg)
 {
-	analog_voltage_current_s report{};
-
-	static constexpr int numIndices = 4;
-	static constexpr uint16_t mV = com::volansi::equipment::adc::Report::UNITS_MV;
-	static constexpr uint16_t mA = com::volansi::equipment::adc::Report::UNITS_MA;
-	static constexpr uint16_t cK = com::volansi::equipment::adc::Report::UNITS_CK;
+	analog_measurement_s report{};
+	int numIndices = msg.values.size();
 
 	for (int i = 0; i < numIndices; i++) {
-
-		if (msg.unit_type[i] == mV) {
-			report.voltage[i] = msg.values[i];
-
-		} else if (msg.unit_type[i] == mA) {
-			report.current[i] = msg.values[i];
-
-		} else if (msg.unit_type[i] == cK) {
-			report.temperature[i] = msg.values[i];
-		}
+		report.values[i] = msg.values[i];
+		report.unit_type[i] = msg.unit_type[i];
 	}
 
 	publish(msg.getSrcNodeID().get(), &report);
diff --git a/src/drivers/uavcan/sensors/adc.hpp b/src/drivers/uavcan/sensors/analog_measurement.hpp
similarity index 76%
rename from src/drivers/uavcan/sensors/adc.hpp
rename to src/drivers/uavcan/sensors/analog_measurement.hpp
index 807ae14d1f..d0307ce620 100644
--- a/src/drivers/uavcan/sensors/adc.hpp
+++ b/src/drivers/uavcan/sensors/analog_measurement.hpp
@@ -38,16 +38,16 @@
 #pragma once
 
 #include "sensor_bridge.hpp"
-#include <uORB/topics/analog_voltage_current.h>
+#include <uORB/topics/analog_measurement.h>
 
-#include <com/volansi/equipment/adc/Report.hpp>
+#include <com/volansi/equipment/adc/AnalogMeasurement.hpp>
 
-class UavcanAdcBridge : public UavcanCDevSensorBridgeBase
+class UavcanAnalogMeasurementBridge : public UavcanCDevSensorBridgeBase
 {
 public:
 	static const char *const NAME;
 
-	UavcanAdcBridge(uavcan::INode &node);
+	UavcanAnalogMeasurementBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -55,12 +55,12 @@ public:
 
 private:
 
-	void adc_sub_cb(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &msg);
+	void analog_measurement_sub_cb(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &msg);
 
-	typedef uavcan::MethodBinder < UavcanAdcBridge *,
-		void (UavcanAdcBridge::*)
-		(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &) >
-		AdcCbBinder;
+	typedef uavcan::MethodBinder < UavcanAnalogMeasurementBridge *,
+		void (UavcanAnalogMeasurementBridge::*)
+		(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &) >
+		AnalogCbBinder;
 
-	uavcan::Subscriber<com::volansi::equipment::adc::Report, AdcCbBinder> _sub_adc_data;
+	uavcan::Subscriber<com::volansi::equipment::adc::AnalogMeasurement, AnalogCbBinder> _sub_analog_data;
 };
diff --git a/src/drivers/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp
index 27cb18c41f..8593f37ac4 100644
--- a/src/drivers/uavcan/sensors/sensor_bridge.cpp
+++ b/src/drivers/uavcan/sensors/sensor_bridge.cpp
@@ -38,7 +38,7 @@
 #include "sensor_bridge.hpp"
 #include <cassert>
 
-#include "adc.hpp"
+#include "analog_measurement.hpp"
 #include "differential_pressure.hpp"
 #include "baro.hpp"
 #include "battery.hpp"
@@ -59,7 +59,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	list.add(new UavcanBatteryBridge(node));
 	list.add(new UavcanAirspeedBridge(node));
 	list.add(new UavcanDifferentialPressureBridge(node));
-	list.add(new UavcanAdcBridge(node));
+	list.add(new UavcanAnalogMeasurementBridge(node));
 }
 
 /*
diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index e8a48a3d95..478bac5719 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -81,7 +81,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_air_data_static_temperature_publisher(_node),
 	_raw_air_data_publisher(_node),
 	_range_sensor_measurement(_node),
-	_adc_report_publisher(_node),
+	_analog_measurement_publisher(_node),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
 	_reset_timer(_node)
@@ -331,7 +331,7 @@ void UavcanNode::Run()
 		PX4_ERR("node spin error %i", spin_res);
 	}
 
-	send_adc_measurements();
+	send_analog_measurements();
 	send_battery_info();
 	send_raw_air_data();
 	send_static_pressure();
@@ -352,7 +352,7 @@ void UavcanNode::send_battery_info()
 {
 	// battery_status -> uavcan::equipment::power::BatteryInfo
 	if (_battery_status_sub.updated()) {
-		battery_status_s battery;
+		battery_status_s battery{};
 
 		if (_battery_status_sub.copy(&battery)) {
 			uavcan::equipment::power::BatteryInfo battery_info{};
@@ -385,7 +385,7 @@ void UavcanNode::send_raw_air_data()
 {
 	// differential_pressure -> uavcan::equipment::air_data::RawAirData
 	if (_diff_pressure_sub.updated()) {
-		differential_pressure_s diff_press;
+		differential_pressure_s diff_press{};
 
 		if (_diff_pressure_sub.copy(&diff_press)) {
 
@@ -407,7 +407,7 @@ void UavcanNode::send_range_sensor_measurement()
 {
 	// distance_sensor[] -> uavcan::equipment::range_sensor::Measurement
 	for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
-		distance_sensor_s dist;
+		distance_sensor_s dist{};
 
 		if (_distance_sensor_sub[i].update(&dist)) {
 			uavcan::equipment::range_sensor::Measurement range_sensor{};
@@ -459,7 +459,7 @@ void UavcanNode::send_static_pressure()
 {
 	// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
 	if (_sensor_baro_sub.updated()) {
-		sensor_baro_s baro;
+		sensor_baro_s baro{};
 
 		if (_sensor_baro_sub.copy(&baro)) {
 			uavcan::equipment::air_data::StaticPressure static_pressure{};
@@ -480,7 +480,7 @@ void UavcanNode::send_magnetic_field_strength2()
 {
 	// sensor_mag -> uavcan::equipment::ahrs::MagneticFieldStrength2
 	if (_sensor_mag_sub.updated()) {
-		sensor_mag_s mag;
+		sensor_mag_s mag{};
 
 		if (_sensor_mag_sub.copy(&mag)) {
 			uavcan::equipment::ahrs::MagneticFieldStrength2 magnetic_field{};
@@ -497,7 +497,7 @@ void UavcanNode::send_gnss_fix2()
 {
 	// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
 	if (_vehicle_gps_position_sub.updated()) {
-		vehicle_gps_position_s gps;
+		vehicle_gps_position_s gps{};
 
 		if (_vehicle_gps_position_sub.copy(&gps)) {
 			uavcan::equipment::gnss::Fix2 fix2{};
@@ -531,50 +531,24 @@ void UavcanNode::send_gnss_fix2()
 	}
 }
 
-void UavcanNode::send_adc_measurements()
+void UavcanNode::send_analog_measurements()
 {
 	// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
-	if (_adc_report_sub.updated()) {
-		adc_report_s adc_report;
+	if (_analog_report_sub.updated()) {
+		analog_measurement_s measurement{};
 
-		if (_adc_report_sub.copy(&adc_report)) {
+		if (_analog_report_sub.copy(&measurement)) {
 
-			// We could probably convince people an ADC uavcan data type
-			// would be useful to have in tree...
-			com::volansi::equipment::adc::Report report{};
+			com::volansi::equipment::adc::AnalogMeasurement report{};
 
-			int32_t adc1_units = 0;
-			int32_t adc2_units = 0;
-			int32_t adc3_units = 0;
-			int32_t adc4_units = 0;
-
-			(void)param_get(param_find("ADC1_UNIT_TYPE"), &adc1_units);
-			(void)param_get(param_find("ADC2_UNIT_TYPE"), &adc2_units);
-			(void)param_get(param_find("ADC3_UNIT_TYPE"), &adc3_units);
-			(void)param_get(param_find("ADC4_UNIT_TYPE"), &adc4_units);
-
-			report.unit_type[0] = (unsigned)adc1_units;
-			report.unit_type[1] = (unsigned)adc2_units;
-			report.unit_type[2] = (unsigned)adc3_units;
-			report.unit_type[3] = (unsigned)adc4_units;
-
-			if (adc1_units != 0) {
-				report.values[0] = adc_report.raw_data[0];
+			for (size_t i = 0; i < sizeof(measurement.values)/sizeof(values[0])) {
+				if (measurement.unit_type[i]) {
+					report.unit_type[i] = measurement.unit_type[i];
+					report.values[i] = measurement.values[i];
+				}
 			}
 
-			if (adc2_units != 0) {
-				report.values[1] = adc_report.raw_data[1];
-			}
-
-			if (adc3_units != 0) {
-				report.values[2] = adc_report.raw_data[2];
-			}
-
-			if (adc4_units != 0) {
-				report.values[3] = adc_report.raw_data[3];
-			}
-
-			_adc_report_publisher.broadcast(report);
+			_analog_measurement_publisher.broadcast(report);
 		}
 	}
 }
diff --git a/src/drivers/uavcannode/UavcanNode.hpp b/src/drivers/uavcannode/UavcanNode.hpp
index 8303715828..b2bf4ab4e2 100644
--- a/src/drivers/uavcannode/UavcanNode.hpp
+++ b/src/drivers/uavcannode/UavcanNode.hpp
@@ -72,7 +72,7 @@
 
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/adc_report.h>
+#include <uORB/topics/analog_measurement.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
@@ -154,7 +154,7 @@ private:
 	void send_magnetic_field_strength2();
 	void send_gnss_fix2();
 	void send_range_sensor_measurement();
-	void send_adc_measurements();
+	void send_analog_measurements();
 
 	px4::atomic_bool	_task_should_exit{false};	///< flag to indicate to tear down the CAN driver
 
@@ -186,7 +186,7 @@ private:
 	uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
 	uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
 	uavcan::Publisher<uavcan::equipment::range_sensor::Measurement> _range_sensor_measurement;
-	uavcan::Publisher<com::volansi::equipment::adc::Report> _adc_report_publisher;
+	uavcan::Publisher<com::volansi::equipment::adc::AnalogMeasurement> _analog_measurement_publisher;
 
 
 	hrt_abstime _last_static_temperature_publish{0};
@@ -204,7 +204,7 @@ private:
 	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
 	uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
-	uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
+	uORB::SubscriptionCallbackWorkItem _analog_report_sub{this, ORB_ID(analog_measurement)};
 
 
 	perf_counter_t _cycle_perf;