diff --git a/boards/nxp/ucans32k146/default.cmake b/boards/nxp/ucans32k146/default.cmake
index 0a4f02a3ae..32f50735ae 100644
--- a/boards/nxp/ucans32k146/default.cmake
+++ b/boards/nxp/ucans32k146/default.cmake
@@ -71,7 +71,7 @@ px4_add_board(
 		#sd_bench
 		system_time
 		top
-		#topic_listener
+		topic_listener
 		#tune_control
 		ver
 		work_queue
diff --git a/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig b/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig
index 3b791ad5a3..90ca8c6fe6 100644
--- a/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig
+++ b/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig
@@ -44,11 +44,14 @@ CONFIG_I2CTOOL_MINADDR=0x00
 CONFIG_INTELHEX_BINARY=y
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LPUART0_RXBUFSIZE=64
-CONFIG_LPUART0_TXBUFSIZE=64
-CONFIG_LPUART1_RXBUFSIZE=64
+CONFIG_LPUART0_BAUD=38400
+CONFIG_LPUART0_RXBUFSIZE=600
+CONFIG_LPUART0_RXDMA=y
+CONFIG_LPUART0_TXBUFSIZE=1100
+CONFIG_LPUART0_TXDMA=y
+CONFIG_LPUART1_RXBUFSIZE=128
 CONFIG_LPUART1_SERIAL_CONSOLE=y
-CONFIG_LPUART1_TXBUFSIZE=64
+CONFIG_LPUART1_TXBUFSIZE=128
 CONFIG_MAX_TASKS=16
 CONFIG_MOTOROLA_SREC=y
 CONFIG_NET=y
@@ -71,13 +74,14 @@ CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
 CONFIG_PREALLOC_TIMERS=4
+CONFIG_PSEUDOTERM=y
 CONFIG_RAM_SIZE=126976
 CONFIG_RAM_START=0x1fff0000
 CONFIG_RAW_BINARY=y
 CONFIG_RR_INTERVAL=200
 CONFIG_RTC=y
-CONFIG_RTC_FREQUENCY=32768
-CONFIG_RTC_HIRES=y
+# CONFIG_RTC_FREQUENCY=32768
+# CONFIG_RTC_HIRES=y
 CONFIG_S32K1XX_FLEXCAN0=y
 CONFIG_S32K1XX_FLEXCAN1=y
 CONFIG_S32K1XX_LPI2C0=y
diff --git a/src/drivers/uavcan_v1/Uavcan.cpp b/src/drivers/uavcan_v1/Uavcan.cpp
index af245c6e8d..988ca334c8 100644
--- a/src/drivers/uavcan_v1/Uavcan.cpp
+++ b/src/drivers/uavcan_v1/Uavcan.cpp
@@ -235,7 +235,7 @@ void UavcanNode::Run()
 			if (_battery_status_sub.update(&battery_status)) {
 				regulated::drone::sensor::BMSStatus_1_0 bmsstatus{};
 				//bmsstatus.timestamp = battery_status.timestamp;
-				bmsstatus.remaining_capacity = battery_status.remaining;
+				//bmsstatus.remaining_capacity = battery_status.remaining;
 
 				bmsstatus.serializeToBuffer(_regulated_drone_sensor_bmsstatus_buffer);
 
@@ -320,7 +320,8 @@ void UavcanNode::Run()
 
 				battery_status_s battery_status{};
 				battery_status.id = bms_status.battery_id;
-				battery_status.remaining = bms_status.remaining_capacity;
+                                battery_status.voltage_v = bms_status.voltage;
+				//battery_status.remaining = bms_status.remaining_capacity;
 				battery_status.timestamp = hrt_absolute_time();
 				_battery_status_pub.publish(battery_status);
 			}
diff --git a/src/drivers/uavcan_v1/public_regulated_data_types b/src/drivers/uavcan_v1/public_regulated_data_types
index e378c3a4c5..4ef80c77c7 160000
--- a/src/drivers/uavcan_v1/public_regulated_data_types
+++ b/src/drivers/uavcan_v1/public_regulated_data_types
@@ -1 +1 @@
-Subproject commit e378c3a4c5eb38ad30866059b838d4099a85f2ea
+Subproject commit 4ef80c77c7ea9a5ac74ec1fa58055e7609b7758e