diff --git a/include/serialization/uavcan/equipment/ahrs/Solution.h b/include/serialization/uavcan/equipment/ahrs/Solution.h
index 6b2f92c..f0220fc 100644
--- a/include/serialization/uavcan/equipment/ahrs/Solution.h
+++ b/include/serialization/uavcan/equipment/ahrs/Solution.h
@@ -56,12 +56,26 @@ static inline int8_t dronecan_equipment_ahrs_solution_deserialize(
         offset += 16;
         obj->orientation_xyzw[idx] = canardConvertFloat16ToNativeFloat(f16_dummy);
     }
+
+    offset+= 4;  // reserved void4
+
+    uint8_t covariance_len;
+    canardDecodeScalar(transfer, offset, 4, true, &covariance_len);
+    offset += 4;
+    offset += 16 * covariance_len;
+
     for (uint_fast8_t idx = 0; idx < 3; idx++) {
         canardDecodeScalar(transfer, offset, 16, true, &f16_dummy);
         offset += 16;
         obj->angular_velocity[idx] = canardConvertFloat16ToNativeFloat(f16_dummy);
     }
 
+    offset+= 4;  // reserved void4
+    canardDecodeScalar(transfer, offset, 4, true, &covariance_len);
+    offset += 4;
+
+    offset += 16 * covariance_len;
+
     for (uint_fast8_t idx = 0; idx < 3; idx++) {
         canardDecodeScalar(transfer, offset, 16, true, &f16_dummy);
         offset += 16;
@@ -90,16 +104,24 @@ static inline int8_t dronecan_equipment_ahrs_solution_serialize(
     canardEncodeScalar(buffer, 0,  56,  &obj->timestamp);
     offset += 56;
 
-
     for (uint_fast8_t idx = 0; idx < 3; idx++) {
         canardEncodeFloat16(buffer, offset, obj->orientation_xyzw[idx]);
         offset += 16;
     }
+
+    offset += 4;
+    canardEncodeScalar(buffer, offset, 4,  0);
+    offset += 4;  // covariance len
+
     for (uint_fast8_t idx = 0; idx < 2; idx++) {
         canardEncodeFloat16(buffer, offset, obj->angular_velocity[idx]);
         offset += 16;
     }
 
+    offset += 4;  // void4
+    canardEncodeScalar(buffer, offset, 4,  0);
+    offset += 4;  // covariance len
+
     for (uint_fast8_t idx = 0; idx < 2; idx++) {
         canardEncodeFloat16(buffer, offset, obj->linear_acceleration[idx]);
         offset += 16;
diff --git a/include/serialization/uavcan/equipment/hardpoint/Status.h b/include/serialization/uavcan/equipment/hardpoint/Status.h
index 8fda326..96c4fd5 100644
--- a/include/serialization/uavcan/equipment/hardpoint/Status.h
+++ b/include/serialization/uavcan/equipment/hardpoint/Status.h
@@ -11,7 +11,7 @@
 
 #define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_ID                        1071
 #define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_SIGNATURE                 0x624a519d42553d82
-#define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_MESSAGE_SIZE              8
+#define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_MESSAGE_SIZE              7
 
 typedef struct {
     uint8_t hardpoint_id;
@@ -53,9 +53,8 @@ static inline int8_t dronecan_equipment_hardpoint_status_serialize(
 
     canardEncodeScalar(buffer,  0,   8,  &obj->hardpoint_id);
     canardEncodeFloat16(buffer, 8,  obj->payload_weight);
-    canardEncodeFloat16(buffer, 24, obj->payload_weight);
-    canardEncodeFloat16(buffer, 40, obj->payload_weight_variance);
-    canardEncodeScalar(buffer,  56, 16,  &obj->status);
+    canardEncodeFloat16(buffer, 24, obj->payload_weight_variance);
+    canardEncodeScalar(buffer,  40, 16,  &obj->status);
 
     return 0;
 }