diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5978290..539c13a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,10 @@ project(libdcnode VERSION 0.6.0 LANGUAGES C CXX)
 #
 # 1. Generate DSDL
 #
-set(DSDL_IN_DIR  "${CMAKE_CURRENT_LIST_DIR}/Libs/DSDL/uavcan")
+set(DSDL_IN_DIRS 
+    "${CMAKE_CURRENT_LIST_DIR}/Libs/DSDL/uavcan"
+    "${CMAKE_CURRENT_LIST_DIR}/Libs/DSDL/ardupilot"
+)
 set(DSDL_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated/libdcnode/serialization")
 set(DSDL_COMPILER "${CMAKE_CURRENT_LIST_DIR}/Libs/dronecan_dsdlc/dronecan_dsdlc.py")
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/generate_dsdl.cmake)
diff --git a/cmake/generate_dsdl.cmake b/cmake/generate_dsdl.cmake
index 3933ee9..89f6e92 100644
--- a/cmake/generate_dsdl.cmake
+++ b/cmake/generate_dsdl.cmake
@@ -22,7 +22,7 @@ endif()
 if(_run_dsdlc)
     message(STATUS "Generating DSDL sources into: ${DSDL_OUT_DIR}")
     execute_process(
-        COMMAND ${DSDL_COMPILER} -O ${DSDL_OUT_DIR} ${DSDL_IN_DIR}
+        COMMAND ${DSDL_COMPILER} -O ${DSDL_OUT_DIR} ${DSDL_IN_DIRS}
         RESULT_VARIABLE ret
     )
     if(NOT ret EQUAL 0)
diff --git a/include/libdcnode/pub.hpp b/include/libdcnode/pub.hpp
index 481d340..f5cf60e 100644
--- a/include/libdcnode/pub.hpp
+++ b/include/libdcnode/pub.hpp
@@ -19,7 +19,7 @@
 // Max encoded message size (bytes) for publisher stack buffer.
 // Override via -DLIBDCNODE_MAX_PUB_MESSAGE_SIZE=... if your DSDL set requires more.
 #ifndef LIBDCNODE_MAX_PUB_MESSAGE_SIZE
-#define LIBDCNODE_MAX_PUB_MESSAGE_SIZE 250U
+#define LIBDCNODE_MAX_PUB_MESSAGE_SIZE 600U
 #endif
 
 // Initial delay before first publish after boot/reset (ms).
@@ -67,6 +67,7 @@ namespace libdcnode
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_actuator_Status, UAVCAN_EQUIPMENT_ACTUATOR_STATUS)
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_esc_Status, UAVCAN_EQUIPMENT_ESC_STATUS)
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_hardpoint_Status, UAVCAN_EQUIPMENT_HARDPOINT_STATUS)
+    LIBDCNODE_DEFINE_PUB_TRAITS(::ardupilot_equipment_power_BatteryInfoAux, ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX)
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_air_data_StaticPressure,
                                 UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE)
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_range_sensor_Measurement,