diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
index dd349dd45f..768acd8208 100644
--- a/conf/airframes/tudelft/rot_wing_25kg.xml
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -33,12 +33,11 @@
             <define name="IMU_GYRO_ABI_SEND_ID"     value="IMU_PIXHAWK2_ID"/>
             <define name="IMU_ACCEL_ABI_SEND_ID"    value="IMU_PIXHAWK2_ID"/>
 
-            <!-- Range sensor connected to supercan -->
+            <!-- Sensors connected to supercan -->
             <module name="range_sensor_uavcan"/>
-            <module name="battery_uavcan"/>
-
-            <!-- Disable current sensing using UAVCAN -->
-            <define name="UAVCAN_ACTUATORS_USE_CURRENT" value="FALSE"/>
+            <module name="power_uavcan">
+                <define name="POWER_UAVCAN_BATTERY_CIRCUITS" value="{{14,0},{6,1}}"/>
+            </module>
 
             <!-- Log in high speed (Remove for outdoor flights) -->
             <!-- <define name="IMU_LOG_HIGHSPEED"    value="TRUE"/> -->
@@ -203,7 +202,6 @@
         <set servo="MOTOR_PUSH"         value="($th_hold? -9600 : actuators_pprz[8])"/>
         <set servo="SERVO_ELEVATOR"     value="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[5]))"/>
         <set servo="SERVO_RUDDER"       value="($servo_hold? RadioControlValues(RADIO_YAW) : (!autopilot_in_flight()? 0 : actuators_pprz[4]))"/>
-        <!--set servo="ROTATION_MECH"      value="rotwing_state_skewing.servo_pprz_cmd"/>
         <set servo="AIL_RIGHT"          value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
         <set servo="FLAP_RIGHT"         value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
         <set servo="AIL_LEFT"           value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
@@ -218,7 +216,6 @@
         <set servo="BMOTOR_PUSH"        value="($th_hold? -9600 : actuators_pprz[8])"/>
         <set servo="BSERVO_ELEVATOR"    value="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[5]))"/>
         <set servo="BSERVO_RUDDER"      value="($servo_hold? RadioControlValues(RADIO_YAW) : (!autopilot_in_flight()? 0 : actuators_pprz[4]))"/>
-        <!--set servo="BROTATION_MECH"     value="rotwing_state_skewing.servo_pprz_cmd"/>
         <set servo="BAIL_RIGHT"         value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
         <set servo="BFLAP_RIGHT"        value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
         <set servo="BAIL_LEFT"          value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
@@ -493,7 +490,7 @@
         <define name="CATASTROPHIC_BAT_LEVEL"   value="36.0" unit="V"/>
         <define name="CRITIC_BAT_LEVEL"         value="37.2" unit="V"/>
         <define name="LOW_BAT_LEVEL"            value="48.4" unit="V"/>
-        <define name="MAX_BAT_LEVEL"            value="50.4" unit="V"/>
+        <define name="MAX_BAT_LEVEL"            value="52.2" unit="V"/>
         <define name="TAKEOFF_BAT_LEVEL"        value="48.4" unit="V"/>
         <define name="BAT_NB_CELLS"             value="12"/>
     </section>
diff --git a/conf/modules/battery_uavcan.xml b/conf/modules/battery_uavcan.xml
deleted file mode 100644
index 614665a7a0..0000000000
--- a/conf/modules/battery_uavcan.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="battery_uavcan" dir="sensors" task="sensors">
-  <doc>
-    <description>
-      Battery sensor over the uavcan protocol 
-    </description>
-  </doc>
-  <dep>
-    <depends>uavcan</depends>
-    <provides></provides>
-  </dep>
-  <header>
-    <file name="battery_uavcan.h"/>
-  </header>
-  <init fun="battery_uavcan_init()"/>
-  <makefile target="ap">
-    <file name="battery_uavcan.c"/>
-  </makefile>
-</module>
diff --git a/conf/modules/power_uavcan.xml b/conf/modules/power_uavcan.xml
new file mode 100644
index 0000000000..5c4660a7e5
--- /dev/null
+++ b/conf/modules/power_uavcan.xml
@@ -0,0 +1,27 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="power_uavcan" dir="sensors" task="sensors">
+  <doc>
+    <description>
+      Power sensors over the uavcan protocol:
+      - BatteryInfo
+      - CircuitStatus
+    </description>
+    <section name="POWER_UAVCAN" prefix="POWER_UAVCAN_">
+      <define name="BATTERIES_MAX" value="3" description="Maximum number of batteries"/>
+      <define name="CIRCUITS_MAX" value="3" description="Maximum number of circuits"/>
+      <define name="BATTERY_CIRCUITS" value="{}" description="Struct of {node_id, circuit_id} indicating the batteries"/>
+    </section>
+  </doc>
+  <dep>
+    <depends>uavcan</depends>
+    <provides></provides>
+  </dep>
+  <header>
+    <file name="power_uavcan.h"/>
+  </header>
+  <init fun="power_uavcan_init()"/>
+  <makefile target="ap">
+    <file name="power_uavcan.c"/>
+  </makefile>
+</module>
diff --git a/sw/airborne/modules/sensors/battery_uavcan.c b/sw/airborne/modules/sensors/battery_uavcan.c
deleted file mode 100644
index ed149d9b8d..0000000000
--- a/sw/airborne/modules/sensors/battery_uavcan.c
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * Copyright (C) 2023 Freek van Tienen <freek.v.tienen@gmail.com>
- *
- * This file is part of paparazzi
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file modules/sensors/battery_uavcan.c
- * Battery sensor on the uavcan bus
- */
-
-#include "battery_uavcan.h"
-#include "uavcan/uavcan.h"
-#include "modules/energy/electrical.h"
-
-/* uavcan EQUIPMENT_ESC_STATUS message definition */
-#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID 1092
-#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE (0x249C26548A711966ULL)
-#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE 55
-
-/* Local variables */
-static uavcan_event battery_uavcan_ev;
-
-struct uavcan_equipment_power_BatteryInfo {
-  bool set;
-  float temperature;
-  float voltage;
-  float current;
-  float average_power_10sec;
-  float remaining_capacity_wh;
-  float full_charge_capacity_wh;
-  float hours_to_full_charge;
-  uint16_t status_flags;
-  uint8_t state_of_health_pct;
-  uint8_t state_of_charge_pct;
-  uint8_t state_of_charge_pct_stdev;
-  uint8_t battery_id;
-  uint32_t model_instance_id;
-//  struct { uint8_t len; uint8_t data[31]; }model_name;
-};
-static struct uavcan_equipment_power_BatteryInfo batteries[3];
-
-static void battery_uavcan_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer)
-{
-  uint16_t tmp_float = 0;
-
-  /* Decode the message */
-  canardDecodeScalar(transfer, (uint32_t)0, 16, true, (void *)&tmp_float);
-  float temperature = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)16, 16, true, (void *)&tmp_float);
-  float voltage = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)32, 16, true, (void *)&tmp_float);
-  float current = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)48, 16, true, (void *)&tmp_float);
-  float average_power_10sec = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)64, 16, true, (void *)&tmp_float);
-  float remaining_capacity_wh = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)80, 16, true, (void *)&tmp_float);
-  float full_charge_capacity_wh = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)96, 16, true, (void *)&tmp_float);
-  float hours_to_full_charge = canardConvertFloat16ToNativeFloat(tmp_float);
-  uint16_t status_flags = 0;
-  canardDecodeScalar(transfer, (uint32_t)112, 11, false, (void *)&status_flags);
-  uint8_t state_of_health_pct = 0;
-  canardDecodeScalar(transfer, (uint32_t)123, 7, false, (void *)&state_of_health_pct);
-  uint8_t state_of_charge_pct = 0;
-  canardDecodeScalar(transfer, (uint32_t)130, 7, false, (void *)&state_of_charge_pct);
-  uint8_t state_of_charge_pct_stdev = 0;
-  canardDecodeScalar(transfer, (uint32_t)137, 7, false, (void *)&state_of_charge_pct_stdev);
-  uint8_t battery_id = 0;
-  canardDecodeScalar(transfer, (uint32_t)144, 8, false, (void *)&battery_id);
-  uint32_t model_instance_id = 0;
-  canardDecodeScalar(transfer, (uint32_t)152, 32, false, (void *)&model_instance_id);
-
-  // Set the battery info
-  if (battery_id < 3) {
-    batteries[battery_id].set = true;
-    batteries[battery_id].temperature = temperature;
-    batteries[battery_id].voltage = voltage;
-    batteries[battery_id].current = current;
-    batteries[battery_id].average_power_10sec = average_power_10sec;
-    batteries[battery_id].remaining_capacity_wh = remaining_capacity_wh;
-    batteries[battery_id].full_charge_capacity_wh = full_charge_capacity_wh;
-    batteries[battery_id].hours_to_full_charge = hours_to_full_charge;
-    batteries[battery_id].status_flags = status_flags;
-    batteries[battery_id].state_of_health_pct = state_of_health_pct;
-    batteries[battery_id].state_of_charge_pct = state_of_charge_pct;
-    batteries[battery_id].state_of_charge_pct_stdev = state_of_charge_pct_stdev;
-    batteries[battery_id].battery_id = battery_id;
-    batteries[battery_id].model_instance_id = model_instance_id;
-  }
-
-  // Sum the battery currents
-  float current_sum = 0;
-  for (uint8_t i = 0; i < 3; i++) {
-    if (batteries[i].set) {
-      current_sum += batteries[i].current;
-    }
-  }
-  electrical.current = current_sum;
-  if (voltage > 0) {
-    electrical.vsupply = voltage;
-  }
-}
-
-void battery_uavcan_init(void)
-{
-  // Bind uavcan BATTERYINFO message from EQUIPMENT.POWER
-  uavcan_bind(UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID, UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE, &battery_uavcan_ev,
-              &battery_uavcan_cb);
-}
diff --git a/sw/airborne/modules/sensors/power_uavcan.c b/sw/airborne/modules/sensors/power_uavcan.c
new file mode 100644
index 0000000000..c254d956d0
--- /dev/null
+++ b/sw/airborne/modules/sensors/power_uavcan.c
@@ -0,0 +1,253 @@
+/*
+ * Copyright (C) 2023 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file modules/sensors/power_uavcan.c
+ * Power sensors on the uavcan bus
+ */
+
+#include "power_uavcan.h"
+#include "uavcan/uavcan.h"
+#include "modules/energy/electrical.h"
+
+/* uavcan EQUIPMENT_ESC_STATUS message definition */
+#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID 1092
+#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE (0x249C26548A711966ULL)
+#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE 55
+
+/* uavcan EQUIPMENT_POWER_CIRCUITSTATUS message definition */
+#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID 1091
+#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE (0x8313D33D0DDDA115ULL)
+#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_MAX_SIZE 7
+
+/* Default maximum amount of batteries */
+#ifndef POWER_UAVCAN_BATTERIES_MAX
+#define POWER_UAVCAN_BATTERIES_MAX 3
+#endif
+
+/* Default maximum amount of circuits */
+#ifndef POWER_UAVCAN_CIRCUITS_MAX
+#define POWER_UAVCAN_CIRCUITS_MAX 15
+#endif
+
+/* Default Battery circuits */
+#ifndef POWER_UAVCAN_BATTERY_CIRCUITS
+#define POWER_UAVCAN_BATTERY_CIRCUITS {}
+#endif
+
+/* Local variables */
+static uavcan_event power_uavcan_ev;
+static uavcan_event circuit_uavcan_ev;
+
+/* Batteries */
+struct uavcan_equipment_power_BatteryInfo {
+  bool set;
+  uint8_t node_id;
+
+  float temperature;
+  float voltage;
+  float current;
+  float average_power_10sec;
+  float remaining_capacity_wh;
+  float full_charge_capacity_wh;
+  float hours_to_full_charge;
+  uint16_t status_flags;
+  uint8_t state_of_health_pct;
+  uint8_t state_of_charge_pct;
+  uint8_t state_of_charge_pct_stdev;
+  uint8_t battery_id;
+  uint32_t model_instance_id;
+//  struct { uint8_t len; uint8_t data[31]; }model_name;
+};
+static struct uavcan_equipment_power_BatteryInfo batteries[POWER_UAVCAN_BATTERIES_MAX] = {0};
+
+/* Circuits */
+struct uavcan_equipment_power_CircuitStatus {
+  bool set;
+  uint8_t node_id;
+  bool is_battery;
+
+  uint16_t circuit_id;
+  float voltage;
+  float current;
+  uint8_t error_flags;
+};
+static struct uavcan_equipment_power_CircuitStatus circuits[POWER_UAVCAN_CIRCUITS_MAX] = {0};
+
+/* Battery circuits */
+struct uavcan_circuit_battery_t {
+  uint8_t node_id;
+  uint16_t circuit_id;
+};
+static struct uavcan_circuit_battery_t battery_circuits[] = POWER_UAVCAN_BATTERY_CIRCUITS;
+
+
+static void power_uavcan_battery_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer)
+{
+  uint16_t tmp_float = 0;
+
+  /* Decode the message */
+  canardDecodeScalar(transfer, (uint32_t)0, 16, true, (void *)&tmp_float);
+  float temperature = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)16, 16, true, (void *)&tmp_float);
+  float voltage = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)32, 16, true, (void *)&tmp_float);
+  float current = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)48, 16, true, (void *)&tmp_float);
+  float average_power_10sec = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)64, 16, true, (void *)&tmp_float);
+  float remaining_capacity_wh = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)80, 16, true, (void *)&tmp_float);
+  float full_charge_capacity_wh = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)96, 16, true, (void *)&tmp_float);
+  float hours_to_full_charge = canardConvertFloat16ToNativeFloat(tmp_float);
+  uint16_t status_flags = 0;
+  canardDecodeScalar(transfer, (uint32_t)112, 11, false, (void *)&status_flags);
+  uint8_t state_of_health_pct = 0;
+  canardDecodeScalar(transfer, (uint32_t)123, 7, false, (void *)&state_of_health_pct);
+  uint8_t state_of_charge_pct = 0;
+  canardDecodeScalar(transfer, (uint32_t)130, 7, false, (void *)&state_of_charge_pct);
+  uint8_t state_of_charge_pct_stdev = 0;
+  canardDecodeScalar(transfer, (uint32_t)137, 7, false, (void *)&state_of_charge_pct_stdev);
+  uint8_t battery_id = 0;
+  canardDecodeScalar(transfer, (uint32_t)144, 8, false, (void *)&battery_id);
+  uint32_t model_instance_id = 0;
+  canardDecodeScalar(transfer, (uint32_t)152, 32, false, (void *)&model_instance_id);
+
+  // Search for the battery or free spot
+  uint8_t battery_idx = POWER_UAVCAN_BATTERIES_MAX;
+  for (uint8_t i = 0; i < POWER_UAVCAN_BATTERIES_MAX; i++) {
+    if (batteries[i].set && batteries[i].node_id == transfer->source_node_id && 
+        batteries[i].battery_id == battery_id && batteries[i].model_instance_id == model_instance_id) {
+      battery_idx = i;
+      break;
+    }
+    else if(!batteries[i].set) {
+      battery_idx = i;
+      break;
+    }
+  }
+
+  // No free spot found
+  if (battery_idx >= POWER_UAVCAN_BATTERIES_MAX) {
+    return;
+  }
+
+  // Set the battery info
+  batteries[battery_idx].set = true;
+  batteries[battery_idx].node_id = transfer->source_node_id;
+  batteries[battery_idx].temperature = temperature;
+  batteries[battery_idx].voltage = voltage;
+  batteries[battery_idx].current = current;
+  batteries[battery_idx].average_power_10sec = average_power_10sec;
+  batteries[battery_idx].remaining_capacity_wh = remaining_capacity_wh;
+  batteries[battery_idx].full_charge_capacity_wh = full_charge_capacity_wh;
+  batteries[battery_idx].hours_to_full_charge = hours_to_full_charge;
+  batteries[battery_idx].status_flags = status_flags;
+  batteries[battery_idx].state_of_health_pct = state_of_health_pct;
+  batteries[battery_idx].state_of_charge_pct = state_of_charge_pct;
+  batteries[battery_idx].state_of_charge_pct_stdev = state_of_charge_pct_stdev;
+  batteries[battery_idx].battery_id = battery_id;
+  batteries[battery_idx].model_instance_id = model_instance_id;
+
+  // Sum the battery currents
+  float current_sum = 0;
+  for (uint8_t i = 0; i < POWER_UAVCAN_BATTERIES_MAX; i++) {
+    if (batteries[i].set) {
+      current_sum += batteries[i].current;
+    }
+  }
+  electrical.current = current_sum;
+  if (voltage > 0) {
+    electrical.vsupply = voltage;
+  }
+}
+
+static void power_uavcan_circuit_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer)
+{
+  uint16_t tmp_float = 0;
+
+  /* Decode the message */
+  uint16_t circuit_id = 0;
+  canardDecodeScalar(transfer, (uint32_t)0, 16, false, (void *)&circuit_id);
+  canardDecodeScalar(transfer, (uint32_t)16, 16, true, (void *)&tmp_float);
+  float voltage = canardConvertFloat16ToNativeFloat(tmp_float);
+  canardDecodeScalar(transfer, (uint32_t)32, 16, true, (void *)&tmp_float);
+  float current = canardConvertFloat16ToNativeFloat(tmp_float);
+  uint8_t error_flags = 0;
+  canardDecodeScalar(transfer, (uint32_t)48, 8, false, (void *)&error_flags);
+
+  // Search for the circuit or free spot
+  uint8_t circuit_idx = POWER_UAVCAN_CIRCUITS_MAX;
+  for (uint8_t i = 0; i < POWER_UAVCAN_CIRCUITS_MAX; i++) {
+    if (circuits[i].set && circuits[i].node_id == transfer->source_node_id && circuits[i].circuit_id == circuit_id) {
+      circuit_idx = i;
+      break;
+    }
+    else if(!circuits[i].set) {
+      circuit_idx = i;
+      break;
+    }
+  }
+
+  // No free spot found
+  if (circuit_idx >= POWER_UAVCAN_CIRCUITS_MAX) {
+    return;
+  }
+
+  // Set the circuit info
+  circuits[circuit_idx].set = true;
+  circuits[circuit_idx].node_id = transfer->source_node_id;
+  circuits[circuit_idx].circuit_id = circuit_id;
+  circuits[circuit_idx].voltage = voltage;
+  circuits[circuit_idx].current = current;
+  circuits[circuit_idx].error_flags = error_flags;
+
+  // Sum the 'battery' circuit currents
+  float current_sum = 0;
+  for (uint8_t i = 0; i < POWER_UAVCAN_CIRCUITS_MAX; i++) {
+    if (circuits[i].set && circuits[i].is_battery) {
+      current_sum += circuits[i].current;
+    }
+  }
+  electrical.current = current_sum;
+  if (voltage > 0 && circuits[circuit_idx].is_battery) {
+    electrical.vsupply = voltage;
+  }
+}
+
+void power_uavcan_init(void)
+{
+  // Init the battery circuits
+  for (uint8_t i = 0; i < sizeof(battery_circuits) / sizeof(struct uavcan_circuit_battery_t); i++) {
+    circuits[i].set = true;
+    circuits[i].node_id = battery_circuits[i].node_id;
+    circuits[i].circuit_id = battery_circuits[i].circuit_id;
+    circuits[i].is_battery = true;
+  }
+
+  // Bind uavcan BATTERYINFO message from EQUIPMENT.POWER
+  uavcan_bind(UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID, UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE, &power_uavcan_ev,
+              &power_uavcan_battery_cb);
+
+  // Bind uavcan CIRCUIT_STATUS message from EQUIPMENT.POWER
+  uavcan_bind(UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID, UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE, &circuit_uavcan_ev,
+              &power_uavcan_circuit_cb);
+}
diff --git a/sw/airborne/modules/sensors/battery_uavcan.h b/sw/airborne/modules/sensors/power_uavcan.h
similarity index 81%
rename from sw/airborne/modules/sensors/battery_uavcan.h
rename to sw/airborne/modules/sensors/power_uavcan.h
index 781c8e375e..f9fae948a7 100644
--- a/sw/airborne/modules/sensors/battery_uavcan.h
+++ b/sw/airborne/modules/sensors/power_uavcan.h
@@ -19,16 +19,16 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file modules/sensors/battery_uavcan.h
- * Battery sensor on the uavcan bus
+/** @file modules/sensors/power_uavcan.h
+ * Power sensors on the uavcan bus
  */
 
-#ifndef BATTERY_UAVCAN_H
-#define BATTERY_UAVCAN_H
+#ifndef POWER_UAVCAN_H
+#define POWER_UAVCAN_H
 
 #include "std.h"
 
 /* External functions */
-extern void battery_uavcan_init(void);
+extern void power_uavcan_init(void);
 
-#endif /* BATTERY_UAVCAN_H */
\ No newline at end of file
+#endif /* POWER_UAVCAN_H */
\ No newline at end of file