diff --git a/src/drivers/uavcan/libdronecan/dsdl b/src/drivers/uavcan/libdronecan/dsdl
index 993be80a62..6035657d00 160000
--- a/src/drivers/uavcan/libdronecan/dsdl
+++ b/src/drivers/uavcan/libdronecan/dsdl
@@ -1 +1 @@
-Subproject commit 993be80a62ec957c01fb41115b83663959a49f46
+Subproject commit 6035657d000b4d7f414243d3a9b15f71ae634631
diff --git a/src/drivers/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp
index fb02f1d274..609306f7d3 100644
--- a/src/drivers/uavcan/sensors/gnss.cpp
+++ b/src/drivers/uavcan/sensors/gnss.cpp
@@ -57,6 +57,7 @@ UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node, NodeInfoPublisher *node_
 	UavcanSensorBridgeBase("uavcan_gnss", ORB_ID(sensor_gps), node_info_publisher),
 	_node(node),
 	_sub_auxiliary(node),
+	_sub_quality(node),
 	_sub_fix(node),
 	_sub_fix2(node),
 	_sub_gnss_heading(node),
@@ -90,6 +91,13 @@ UavcanGnssBridge::init()
 		return res;
 	}
 
+	res = _sub_quality.start(QualityCbBinder(this, &UavcanGnssBridge::gnss_quality_sub_cb));
+
+	if (res < 0) {
+		PX4_WARN("GNSS quality sub failed %i", res);
+		return res;
+	}
+
 	res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
 
 	if (res < 0) {
@@ -152,6 +160,13 @@ UavcanGnssBridge::gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavc
 	_last_gnss_auxiliary_vdop = msg.vdop;
 }
 
+void
+UavcanGnssBridge::gnss_quality_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Quality> &msg)
+{
+	_last_gnss_quality_timestamp = hrt_absolute_time();
+	_last_quality = msg;
+}
+
 void
 UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
 {
@@ -557,6 +572,21 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 	sensor_gps.selected_rtcm_instance = _selected_rtcm_instance;
 	sensor_gps.rtcm_injection_rate = _rtcm_injection_rate;
 
+	// Apply cached Quality message fields (if received within last 2s)
+	if (hrt_elapsed_time(&_last_gnss_quality_timestamp) < 2_s) {
+		sensor_gps.noise_per_ms           = _last_quality.noise;
+		sensor_gps.automatic_gain_control = _last_quality.agc;
+		sensor_gps.jamming_state          = _last_quality.jamming_state;
+		sensor_gps.jamming_indicator      = _last_quality.jamming_indicator;
+		sensor_gps.spoofing_state         = _last_quality.spoofing_state;
+		sensor_gps.authentication_state   = _last_quality.auth_state;
+		sensor_gps.diff_age               = _last_quality.diff_age;
+		sensor_gps.antenna_status         = _last_quality.antenna_status;
+		sensor_gps.antenna_power          = _last_quality.antenna_power;
+		sensor_gps.fix_quality            = _last_quality.fix_quality;
+		sensor_gps.system_error           = _last_quality.system_errors;
+	}
+
 	publish(msg.getSrcNodeID().get(), &sensor_gps);
 }
 
diff --git a/src/drivers/uavcan/sensors/gnss.hpp b/src/drivers/uavcan/sensors/gnss.hpp
index 72fe9b3453..cac5b5215b 100644
--- a/src/drivers/uavcan/sensors/gnss.hpp
+++ b/src/drivers/uavcan/sensors/gnss.hpp
@@ -55,6 +55,7 @@
 #include <uavcan/equipment/gnss/Auxiliary.hpp>
 #include <uavcan/equipment/gnss/Fix.hpp>
 #include <uavcan/equipment/gnss/Fix2.hpp>
+#include <uavcan/equipment/gnss/Quality.hpp>
 #include <ardupilot/gnss/MovingBaselineData.hpp>
 #include <ardupilot/gnss/RelPosHeading.hpp>
 #include <uavcan/equipment/gnss/RTCMStream.hpp>
@@ -82,6 +83,7 @@ private:
 	 * GNSS fix message will be reported via this callback.
 	 */
 	void gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg);
+	void gnss_quality_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Quality> &msg);
 	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
 	void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);
 	void gnss_relative_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg);
@@ -106,6 +108,10 @@ private:
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) >
 		AuxiliaryCbBinder;
 
+	typedef uavcan::MethodBinder < UavcanGnssBridge *,
+		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Quality> &) >
+		QualityCbBinder;
+
 	typedef uavcan::MethodBinder < UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
 		FixCbBinder;
@@ -129,6 +135,7 @@ private:
 	uavcan::INode &_node;
 
 	uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> _sub_auxiliary;
+	uavcan::Subscriber<uavcan::equipment::gnss::Quality, QualityCbBinder> _sub_quality;
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
 	uavcan::Subscriber<ardupilot::gnss::RelPosHeading, RelPosHeadingCbBinder> _sub_gnss_heading;
@@ -143,6 +150,9 @@ private:
 	float		_last_gnss_auxiliary_hdop{0.0f};
 	float		_last_gnss_auxiliary_vdop{0.0f};
 
+	uint64_t	_last_gnss_quality_timestamp{0};
+	uavcan::equipment::gnss::Quality _last_quality{};
+
 	uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
 	hrt_abstime		_last_rtcm_injection_time{0};	///< time of last rtcm injection
 	uint8_t			_selected_rtcm_instance{0};	///< uorb instance that is being used for RTCM corrections