diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 777fe9f3563cec..19de2819044e15 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -1647,6 +1647,7 @@ void AP_UAVCAN::check_parameter_callback_timeout()
         param_request_sent_ms = 0;
         param_int_cb = nullptr;
         param_float_cb = nullptr;
+        param_string_cb = nullptr;
     }
 }
 
@@ -1673,7 +1674,8 @@ bool AP_UAVCAN::set_parameter_on_node(uint8_t node_id, const char *name, float v
 
     // fail if waiting for any previous get/set request
     if (param_int_cb != nullptr ||
-        param_float_cb != nullptr) {
+        param_float_cb != nullptr ||
+        param_string_cb != nullptr) {
         return false;
     }
     param_getset_req[_driver_index].index = 0;
@@ -1695,7 +1697,8 @@ bool AP_UAVCAN::set_parameter_on_node(uint8_t node_id, const char *name, int32_t
 
     // fail if waiting for any previous get/set request
     if (param_int_cb != nullptr ||
-        param_float_cb != nullptr) {
+        param_float_cb != nullptr ||
+        param_string_cb != nullptr) {
         return false;
     }
     param_getset_req[_driver_index].index = 0;
@@ -1709,7 +1712,33 @@ bool AP_UAVCAN::set_parameter_on_node(uint8_t node_id, const char *name, int32_t
 }
 
 /*
-  get named integer parameter on node
+  set named string parameter on node
+*/
+bool AP_UAVCAN::set_parameter_on_node(uint8_t node_id, const char *name, const string &value, ParamGetSetStringCb *cb)
+{
+    WITH_SEMAPHORE(_param_sem);
+
+    // fail if waiting for any previous get/set request
+    if (param_int_cb != nullptr ||
+        param_float_cb != nullptr ||
+        param_string_cb != nullptr) {
+        return false;
+    }
+    param_getset_req[_driver_index].index = 0;
+    param_getset_req[_driver_index].name = name;
+    //memcpy(&param_getset_req[_driver_index].value.c_str(), &value, sizeof(value));
+    //memcpy(&param_getset_req[_driver_index].value.to<uavcan::protocol::param::Value::Tag::string_value>(), &value, sizeof(value));
+    //memcpy(&param_getset_req[_driver_index].value.string_value.c_str(), &value, sizeof(value));
+    //param_getset_req[_driver_index].value.to<uavcan::protocol::param::Value::Tag::string_value>() = value;
+    param_string_cb = cb;
+    param_request_sent = false;
+    param_request_sent_ms = AP_HAL::millis();
+    param_request_node_id = node_id;
+    return true;
+}
+
+/*
+  get named float parameter on node
 */
 bool AP_UAVCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetFloatCb *cb)
 {
@@ -1717,7 +1746,8 @@ bool AP_UAVCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGe
 
     // fail if waiting for any previous get/set request
     if (param_int_cb != nullptr ||
-        param_float_cb != nullptr) {
+        param_float_cb != nullptr ||
+        param_string_cb != nullptr) {
         return false;
     }
     param_getset_req[_driver_index].index = 0;
@@ -1730,12 +1760,15 @@ bool AP_UAVCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGe
     return true;
 }
 
+/*
+  get named integer parameter on node
+*/
 bool AP_UAVCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetIntCb *cb)
 {
     WITH_SEMAPHORE(_param_sem);
     if (param_int_cb != nullptr ||
-        param_float_cb != nullptr) {
-        //busy
+        param_float_cb != nullptr ||
+        param_string_cb != nullptr) {
         return false;
     }
     param_getset_req[_driver_index].index = 0;
@@ -1748,11 +1781,35 @@ bool AP_UAVCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGe
     return true;
 }
 
+/*
+  get named string parameter on node
+*/
+bool AP_UAVCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetStringCb *cb)
+{
+    WITH_SEMAPHORE(_param_sem);
+
+    // fail if waiting for any previous get/set request
+    if (param_int_cb != nullptr ||
+        param_float_cb != nullptr ||
+        param_string_cb != nullptr) {
+        return false;
+    }
+    param_getset_req[_driver_index].index = 0;
+    param_getset_req[_driver_index].name = name;
+    param_getset_req[_driver_index].value.to<uavcan::protocol::param::Value::Tag::empty>();
+    param_string_cb = cb;
+    param_request_sent = false;
+    param_request_sent_ms = AP_HAL::millis();
+    param_request_node_id = node_id;
+    return true;
+}
+
 void AP_UAVCAN::handle_param_get_set_response(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ParamGetSetCb &cb)
 {
     WITH_SEMAPHORE(ap_uavcan->_param_sem);
     if (!ap_uavcan->param_int_cb &&
-        !ap_uavcan->param_float_cb) {
+        !ap_uavcan->param_float_cb &&
+        !ap_uavcan->param_string_cb) {
         return;
     }
     uavcan::protocol::param::GetSet::Response rsp = cb.rsp->getResponse();
@@ -1782,10 +1839,25 @@ void AP_UAVCAN::handle_param_get_set_response(AP_UAVCAN* ap_uavcan, uint8_t node
             ap_uavcan->param_request_node_id = node_id;
             return;
         }
+    } else if ((rsp.value.is(uavcan::protocol::param::Value::Tag::string_value)) && ap_uavcan->param_string_cb) {
+        string val;
+        memcpy(&val, &rsp.value.string_value, sizeof(val));
+        if ((*ap_uavcan->param_string_cb)(ap_uavcan, node_id, rsp.name.c_str(), val)) {
+            // we want the parameter to be set with val
+            param_getset_req[ap_uavcan->_driver_index].index = 0;
+            param_getset_req[ap_uavcan->_driver_index].name = rsp.name;
+            memcpy(&param_getset_req[ap_uavcan->_driver_index].value.string_value, &val, sizeof(val));
+            ap_uavcan->param_string_cb = ap_uavcan->param_string_cb;
+            ap_uavcan->param_request_sent = false;
+            ap_uavcan->param_request_sent_ms = AP_HAL::millis();
+            ap_uavcan->param_request_node_id = node_id;
+            return;
+        }
     }
     ap_uavcan->param_request_sent_ms = 0;
     ap_uavcan->param_int_cb = nullptr;
     ap_uavcan->param_float_cb = nullptr;
+    ap_uavcan->param_string_cb = nullptr;
 }
 
 
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN.h
index baf6ed8aa20e9e..668a7b8e511f43 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.h
@@ -147,8 +147,12 @@ class AP_UAVCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     uavcan::Node<0>* get_node() { return _node; }
     uint8_t get_driver_index() const { return _driver_index; }
 
+   // define string with length structure
+    struct string { uint8_t len; uint8_t data[128]; };
+
     FUNCTOR_TYPEDEF(ParamGetSetIntCb, bool, AP_UAVCAN*, const uint8_t, const char*, int32_t &);
     FUNCTOR_TYPEDEF(ParamGetSetFloatCb, bool, AP_UAVCAN*, const uint8_t, const char*, float &);
+    FUNCTOR_TYPEDEF(ParamGetSetStringCb, bool, AP_UAVCAN*, const uint8_t, const char*, string &);
     FUNCTOR_TYPEDEF(ParamSaveCb, void, AP_UAVCAN*,  const uint8_t, bool);
 
     ///// SRV output /////
@@ -180,8 +184,10 @@ class AP_UAVCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     // failures occur when waiting on node to respond to previous get or set request
     bool set_parameter_on_node(uint8_t node_id, const char *name, float value, ParamGetSetFloatCb *cb);
     bool set_parameter_on_node(uint8_t node_id, const char *name, int32_t value, ParamGetSetIntCb *cb);
+    bool set_parameter_on_node(uint8_t node_id, const char *name, const string &value, ParamGetSetStringCb *cb);
     bool get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetFloatCb *cb);
     bool get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetIntCb *cb);
+    bool get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetStringCb *cb);
 
     // Save parameters
     bool save_parameters_on_node(uint8_t node_id, ParamSaveCb *cb);
@@ -302,6 +308,7 @@ class AP_UAVCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     // get parameter on a node
     ParamGetSetIntCb *param_int_cb;         // latest get param request callback function (for integers)
     ParamGetSetFloatCb *param_float_cb;     // latest get param request callback function (for floats)
+    ParamGetSetStringCb *param_string_cb;   // latest get param request callback function (for strings)
     bool param_request_sent = true;         // true after a param request has been sent, false when queued to be sent
     uint32_t param_request_sent_ms;         // system time that get param request was sent
     HAL_Semaphore _param_sem;               // semaphore protecting this block of variables