diff --git a/src/modules/uavcan/actuators/hardpoint.cpp b/src/modules/uavcan/actuators/hardpoint.cpp
index c419790ecb..ea1c165309 100644
--- a/src/modules/uavcan/actuators/hardpoint.cpp
+++ b/src/modules/uavcan/actuators/hardpoint.cpp
@@ -60,27 +60,15 @@ int UavcanHardpointController::init()
 	 * Setup timer and call back function for periodic updates
 	 */
 	_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
-	_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
 	return 0;
 }
 
 void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
 {
+	(void)pthread_mutex_lock(&_node_mutex);
 
 	_cmd.command = command;
 	_cmd.hardpoint_id = hardpoint_id;
-	_cmd_set = true;
-
-	/*
-	 * Rate limiting - we don't want to congest the bus
-	 */
-	const auto timestamp = _node.getMonotonicTime();
-
-	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
-		return;
-	}
-
-	_prev_cmd_pub = timestamp;
 
 	/*
 	 * Publish the command message to the bus
@@ -93,6 +81,7 @@ void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t comma
 	if (!_timer.isRunning()) {
 		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
 	}
+	(void)pthread_mutex_lock(&_node_mutex);
 }
 void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
 {
diff --git a/src/modules/uavcan/actuators/hardpoint.hpp b/src/modules/uavcan/actuators/hardpoint.hpp
index 770aa9ba3c..0435897f26 100644
--- a/src/modules/uavcan/actuators/hardpoint.hpp
+++ b/src/modules/uavcan/actuators/hardpoint.hpp
@@ -73,13 +73,12 @@ private:
 
 	uavcan::equipment::hardpoint::Command		_cmd;
 
-	bool						_cmd_set = false;
-
 	void periodic_update(const uavcan::TimerEvent &);
 
 	typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
 	TimerCbBinder;
 
+	pthread_mutex_t					_node_mutex;
 	/*
 	 * libuavcan related things
 	 */