diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index 9e4bb64509..af560293dc 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -48,7 +48,8 @@ using namespace time_literals;
 UavcanEscController::UavcanEscController(uavcan::INode &node) :
 	_node(node),
 	_uavcan_pub_raw_cmd(node),
-	_uavcan_sub_status(node)
+	_uavcan_sub_status(node),
+	_uavcan_sub_status_extended(node)
 {
 	_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::NumericallyMin); // Highest priority
 }
@@ -64,6 +65,14 @@ UavcanEscController::init()
 		return res;
 	}
 
+	//ESC Status Extended subscription
+	res = _uavcan_sub_status_extended.start(StatusExtendedCbBinder(this, &UavcanEscController::esc_status_extended_sub_cb));
+
+	if (res < 0) {
+		PX4_ERR("ESC status extended sub failed %i", res);
+		return res;
+	}
+
 	_esc_status_pub.advertise();
 
 	int32_t iface_mask{0xFF};
diff --git a/src/drivers/uavcan/actuators/esc.hpp b/src/drivers/uavcan/actuators/esc.hpp
index 1a8e45c608..0c513b13e7 100644
--- a/src/drivers/uavcan/actuators/esc.hpp
+++ b/src/drivers/uavcan/actuators/esc.hpp
@@ -47,9 +47,17 @@
 #include <uavcan/uavcan.hpp>
 #include <uavcan/equipment/esc/RawCommand.hpp>
 #include <uavcan/equipment/esc/Status.hpp>
+#include <uavcan/equipment/esc/StatusExtended.hpp>
+#include <lib/perf/perf_counter.h>
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/esc_status.h>
-#include "../node_info.hpp"
+#include <uORB/topics/esc_report.h>
+#include <uORB/topics/dronecan_node_status.h>
+#include <uORB/topics/device_information.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/uavcan/node_info.hpp>
 
 class UavcanEscController
 {
@@ -67,7 +75,7 @@ public:
 
 	bool initialized() { return _initialized; };
 
-	void update_outputs(uint16_t outputs[MAX_ACTUATORS], uint8_t output_array_size);
+	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], uint8_t output_array_size);
 
 	/**
 	 * Sets the number of rotors and enable timer
@@ -85,6 +93,10 @@ private:
 	 * ESC status message reception will be reported via this callback.
 	 */
 	void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
+	/**
+	 * ESC extended status message reception will be stored via this callback.
+	 */
+	void esc_status_extended_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::StatusExtended> &msg);
 
 	/**
 	 * Checks all the ESCs freshness based on timestamp, if an ESC exceeds the timeout then is flagged offline.
@@ -94,6 +106,10 @@ private:
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;
 
+	typedef uavcan::MethodBinder<UavcanEscController *,
+		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::StatusExtended>&)>
+		StatusExtendedCbBinder;
+
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::TimerEvent &)> TimerCbBinder;
 
@@ -112,6 +128,7 @@ private:
 	uavcan::INode								&_node;
 	uavcan::Publisher<uavcan::equipment::esc::RawCommand>			_uavcan_pub_raw_cmd;
 	uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder>	_uavcan_sub_status;
+	uavcan::Subscriber<uavcan::equipment::esc::StatusExtended, StatusExtendedCbBinder>	_uavcan_sub_status_extended;
 
 	NodeInfoPublisher *_node_info_publisher{nullptr};
 };