diff --git a/src/modules/airship_att_control/airship_att_control.hpp b/src/modules/airship_att_control/airship_att_control.hpp
index 201d791c06..857f773bf9 100644
--- a/src/modules/airship_att_control/airship_att_control.hpp
+++ b/src/modules/airship_att_control/airship_att_control.hpp
@@ -41,6 +41,8 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
+#include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/topics/vehicle_torque_setpoint.h>
 
 using namespace time_literals;
 
@@ -82,6 +84,9 @@ private:
 
 	void		publish_actuator_controls();
 
+	void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
+	void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
+
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};		/**< parameter updates subscription */
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};			/**< vehicle status subscription */
 	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};	/**< manual control setpoint subscription */
@@ -89,6 +94,8 @@ private:
 	uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
 
 	uORB::Publication<actuator_controls_s>		_actuators_0_pub;
+	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
+	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
 
 	struct manual_control_setpoint_s	_manual_control_sp {};	/**< manual control setpoint */
 	struct vehicle_status_s			_vehicle_status {};	/**< vehicle status */
diff --git a/src/modules/airship_att_control/airship_att_control_main.cpp b/src/modules/airship_att_control/airship_att_control_main.cpp
index 57ff120e13..d642746421 100644
--- a/src/modules/airship_att_control/airship_att_control_main.cpp
+++ b/src/modules/airship_att_control/airship_att_control_main.cpp
@@ -102,6 +102,30 @@ AirshipAttitudeControl::publish_actuator_controls()
 	_actuators_0_pub.publish(_actuators);
 }
 
+void AirshipAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
+{
+	vehicle_torque_setpoint_s v_torque_sp = {};
+	v_torque_sp.timestamp = hrt_absolute_time();
+	v_torque_sp.timestamp_sample = timestamp_sample;
+	v_torque_sp.xyz[0] = _actuators.control[0];
+	v_torque_sp.xyz[1] = _actuators.control[1];
+	v_torque_sp.xyz[2] = _actuators.control[2];
+
+	_vehicle_torque_setpoint_pub.publish(v_torque_sp);
+}
+
+void AirshipAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_sample)
+{
+	vehicle_thrust_setpoint_s v_thrust_sp = {};
+	v_thrust_sp.timestamp = hrt_absolute_time();
+	v_thrust_sp.timestamp_sample = timestamp_sample;
+	v_thrust_sp.xyz[0] = _actuators.control[3];
+	v_thrust_sp.xyz[1] = 0.0f;
+	v_thrust_sp.xyz[2] = 0.0f;
+
+	_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
+}
+
 void
 AirshipAttitudeControl::Run()
 {
@@ -118,22 +142,18 @@ AirshipAttitudeControl::Run()
 
 	if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
 
-		const Vector3f rates{angular_velocity.xyz};
-
 		_actuators.timestamp_sample = angular_velocity.timestamp_sample;
 
 		/* run the rate controller immediately after a gyro update */
 		publish_actuator_controls();
+		publishTorqueSetpoint(angular_velocity.timestamp_sample);
+		publishThrustSetpoint(angular_velocity.timestamp_sample);
 
 		/* check for updates in manual control topic */
-		if (_manual_control_sp_sub.updated()) {
-			_manual_control_sp_sub.update(&_manual_control_sp);
-		}
+		_manual_control_sp_sub.update(&_manual_control_sp);
 
 		/* check for updates in vehicle status topic */
-		if (_vehicle_status_sub.updated()) {
-			_vehicle_status_sub.update(&_vehicle_status);
-		}
+		_vehicle_status_sub.update(&_vehicle_status);
 
 		parameter_update_poll();
 	}