diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index d6936ec947..bb2c992730 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -66,6 +66,7 @@
 #include <systemlib/perf_counter.h>
 
 #include <uORB/topics/system_power.h>
+#include <uORB/topics/adc_report.h>
 
 /*
  * Register accessors.
@@ -123,6 +124,7 @@ private:
 	adc_msg_s		*_samples;		/**< sample buffer */
 
 	orb_advert_t		_to_system_power;
+	orb_advert_t		_to_adc_report;
 
 	/** work trampoline */
 	static void		_tick_trampoline(void *arg);
@@ -140,7 +142,9 @@ private:
 	uint16_t		_sample(unsigned channel);
 
 	// update system_power ORB topic, only on FMUv2
-	void update_system_power(void);
+	void update_system_power(hrt_abstime now);
+
+	void update_adc_report(hrt_abstime now);
 };
 
 ADC::ADC(uint32_t channels) :
@@ -148,7 +152,8 @@ ADC::ADC(uint32_t channels) :
 	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
 	_channel_count(0),
 	_samples(nullptr),
-	_to_system_power(nullptr)
+	_to_system_power(nullptr),
+	_to_adc_report(nullptr)
 {
 	_debug_enabled = true;
 
@@ -303,22 +308,46 @@ ADC::_tick_trampoline(void *arg)
 void
 ADC::_tick()
 {
+	hrt_abstime now = hrt_absolute_time();
+
 	/* scan the channel set and sample each */
 	for (unsigned i = 0; i < _channel_count; i++) {
 		_samples[i].am_data = _sample(_samples[i].am_channel);
 	}
 
-	update_system_power();
+	update_adc_report(now);
+	update_system_power(now);
 }
 
 void
-ADC::update_system_power(void)
+ADC::update_adc_report(hrt_abstime now)
+{
+	adc_report_s adc = {};
+	adc.timestamp = now;
+
+	unsigned max_num = _channel_count;
+
+	if (max_num > (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]))) {
+		max_num = (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]));
+	}
+
+	for (unsigned i = 0; i < max_num; i++) {
+		adc.channel_id[i] = _samples[i].am_channel;
+		adc.channel_value[i] = _samples[i].am_data * 3.3f / 4096.0f;
+	}
+
+	int instance;
+	orb_publish_auto(ORB_ID(adc_report), &_to_adc_report, &adc, &instance, ORB_PRIO_HIGH);
+}
+
+void
+ADC::update_system_power(hrt_abstime now)
 {
 #if defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || \
     defined (CONFIG_ARCH_BOARD_MINDPX_V2) || \
     defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
 	system_power_s system_power = {};
-	system_power.timestamp = hrt_absolute_time();
+	system_power.timestamp = now;
 
 	system_power.voltage5V_v = 0;