diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 8086a7ff70..98e557ba91 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -99,6 +99,13 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SRV_RT", 4, AP_UAVCAN, _servo_rate_hz, 50),
 
+    // @Param: OPTION
+    // @DisplayName: UAVCAN options
+    // @Description: Option flags
+    // @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
+    // @User: Advanced
+    AP_GROUPINFO("OPTION", 5, AP_UAVCAN, _options, 0),
+    
     AP_GROUPEND
 };
 
@@ -835,4 +842,15 @@ void AP_UAVCAN::handle_debug(AP_UAVCAN* ap_uavcan, uint8_t node_id, const DebugC
 #endif
 }
 
+// check if a option is set and if it is then reset it to 0.
+// return true if it was set
+bool AP_UAVCAN::check_and_reset_option(Options option)
+{
+    bool ret = option_is_set(option);
+    if (ret) {
+        _options.set_and_save(int16_t(_options.get() & ~uint16_t(option)));
+    }
+    return ret;
+}
+
 #endif // HAL_NUM_CAN_IFACES
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN.h
index 82272fa8b2..e0cd8fed9c 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.h
@@ -140,6 +140,21 @@ public:
         const uavcan::ReceivedDataStructure<DataType_> *msg;
     };
 
+    // options bitmask
+    enum class Options : uint16_t {
+        DNA_CLEAR_DATABASE        = (1U<<0),
+        DNA_IGNORE_DUPLICATE_NODE = (1U<<1),
+    };
+
+    // check if a option is set
+    bool option_is_set(Options option) const {
+        return (uint16_t(_options.get()) & uint16_t(option)) != 0;
+    }
+
+    // check if a option is set and if it is then reset it to
+    // 0. return true if it was set
+    bool check_and_reset_option(Options option);
+
 private:
     // This will be needed to implement if UAVCAN is used with multithreading
     // Such cases will be firmware update, etc.
@@ -170,6 +185,7 @@ private:
     AP_Int32 _servo_bm;
     AP_Int32 _esc_bm;
     AP_Int16 _servo_rate_hz;
+    AP_Int16 _options;
 
     uavcan::Node<0> *_node;
 
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
index 45be963c3d..031c3e3de2 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
@@ -261,6 +261,8 @@ bool AP_UAVCAN_DNA_Server::init(AP_UAVCAN *ap_uavcan)
 
     WITH_SEMAPHORE(sem);
 
+    _ap_uavcan = ap_uavcan;
+
     //Read the details from ap_uavcan
     uavcan::Node<0>* _node = ap_uavcan->get_node();
     uint8_t node_id = _node->getNodeID().get();
@@ -315,6 +317,10 @@ bool AP_UAVCAN_DNA_Server::init(AP_UAVCAN *ap_uavcan)
         //Its not there a reset should write it in the Storage
         reset();
     }
+    if (ap_uavcan->check_and_reset_option(AP_UAVCAN::Options::DNA_CLEAR_DATABASE)) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UC DNA database reset");
+        reset();
+    }
     // Making sure that the server is started with the same node ID
     const uint8_t stored_own_node_id = getNodeIDForUniqueID(own_unique_id, own_unique_id_len);
     static bool reset_done;
@@ -541,7 +547,7 @@ void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[],
                 nodeInfo_resp_rcvd = true;
             }
             setVerificationMask(node_id);
-        } else {
+        } else if (!_ap_uavcan->option_is_set(AP_UAVCAN::Options::DNA_IGNORE_DUPLICATE_NODE)) {
             /* This is a device with node_id already registered
             for another device */
             server_state = DUPLICATE_NODES;
@@ -704,6 +710,10 @@ bool AP_UAVCAN_DNA_Server::prearm_check(char* fail_msg, uint8_t fail_msg_len) co
         return false;
     }
     case DUPLICATE_NODES: {
+        if (_ap_uavcan->option_is_set(AP_UAVCAN::Options::DNA_IGNORE_DUPLICATE_NODE)) {
+            // ignore error
+            return true;
+        }
         snprintf(fail_msg, fail_msg_len, "Duplicate Node %s../%d!", fault_node_name, fault_node_id);
         return false;
     }
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
index 9254aa9c05..1c1d9684ac 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
@@ -88,6 +88,7 @@ class AP_UAVCAN_DNA_Server
     bool isValidNodeDataAvailable(uint8_t node_id);
 
     HAL_Semaphore sem;
+    AP_UAVCAN *_ap_uavcan;
 
 public:
     AP_UAVCAN_DNA_Server(StorageAccess _storage) : storage(_storage) {}