diff --git a/reg/drone/physics/kinematics/cartesian/PointStateVar.0.1.uavcan b/reg/drone/physics/kinematics/cartesian/PointStateVar.0.1.uavcan
index 585768cd..86846319 100644
--- a/reg/drone/physics/kinematics/cartesian/PointStateVar.0.1.uavcan
+++ b/reg/drone/physics/kinematics/cartesian/PointStateVar.0.1.uavcan
@@ -1,6 +1,6 @@
 # See PointState for details.
 
 PointVar.0.1 position
-reg.drone.physics.kinematics.translation.Velocity3Var.0.1 velocity
+reg.drone.physics.kinematics.translation.Velocity3Var.0.2 velocity
 
 @sealed
diff --git a/reg/drone/physics/kinematics/geodetic/PointStateVar.0.1.uavcan b/reg/drone/physics/kinematics/geodetic/PointStateVar.0.1.uavcan
index 944e6f0e..85df1399 100644
--- a/reg/drone/physics/kinematics/geodetic/PointStateVar.0.1.uavcan
+++ b/reg/drone/physics/kinematics/geodetic/PointStateVar.0.1.uavcan
@@ -1,7 +1,7 @@
 # See PointState for details.
 
 PointVar.0.1 position
-reg.drone.physics.kinematics.translation.Velocity3Var.0.1 velocity
+reg.drone.physics.kinematics.translation.Velocity3Var.0.2 velocity
 
 @sealed
 @assert _offset_ == reg.drone.physics.kinematics.cartesian.PointStateVar.0.1._bit_length_
diff --git a/reg/drone/physics/kinematics/translation/Velocity3Var.0.1.uavcan b/reg/drone/physics/kinematics/translation/Velocity3Var.0.1.uavcan
index 974d2961..377f7244 100644
--- a/reg/drone/physics/kinematics/translation/Velocity3Var.0.1.uavcan
+++ b/reg/drone/physics/kinematics/translation/Velocity3Var.0.1.uavcan
@@ -1,6 +1,8 @@
 # Linear velocity with covariance.
 # Observe that this is a structural subtype of uavcan.si.unit.velocity.Scalar.1.0.
 
+@deprecated
+
 uavcan.si.sample.velocity.Vector3.1.0 value
 float16[6] covariance_urt  # [(meter/second)^2] Upper-right triangle of the covariance matrix.
 
diff --git a/reg/drone/physics/kinematics/translation/Velocity3Var.0.2.uavcan b/reg/drone/physics/kinematics/translation/Velocity3Var.0.2.uavcan
new file mode 100644
index 00000000..7ab01fce
--- /dev/null
+++ b/reg/drone/physics/kinematics/translation/Velocity3Var.0.2.uavcan
@@ -0,0 +1,7 @@
+# Linear velocity with covariance.
+# Observe that this is a structural subtype of uavcan.si.unit.velocity.Scalar.1.0.
+
+uavcan.si.unit.velocity.Vector3.1.0 value
+float16[6] covariance_urt  # [(meter/second)^2] Upper-right triangle of the covariance matrix.
+
+@sealed