diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index 17074ca8a5..f79b64e26b 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -236,6 +236,9 @@ MulticopterRateControl::Run()
 			actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _landing_gear;
 			actuators.timestamp_sample = angular_velocity.timestamp_sample;
 
+			publishTorqueSetpoint(att_control, angular_velocity.timestamp_sample);
+			publishThrustSetpoint(angular_velocity.timestamp_sample);
+
 			// scale effort by battery status if enabled
 			if (_param_mc_bat_scale_en.get()) {
 				if (_battery_status_sub.updated()) {
@@ -271,6 +274,30 @@ MulticopterRateControl::Run()
 	perf_end(_loop_perf);
 }
 
+void MulticopterRateControl::publishTorqueSetpoint(const Vector3f &torque_sp, 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] = (PX4_ISFINITE(torque_sp(0))) ? torque_sp(0) : 0.0f;
+	v_torque_sp.xyz[1] = (PX4_ISFINITE(torque_sp(1))) ? torque_sp(1) : 0.0f;
+	v_torque_sp.xyz[2] = (PX4_ISFINITE(torque_sp(2))) ? torque_sp(2) : 0.0f;
+
+	_vehicle_torque_setpoint_pub.publish(v_torque_sp);
+}
+
+void MulticopterRateControl::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] = 0.0f;
+	v_thrust_sp.xyz[1] = 0.0f;
+	v_thrust_sp.xyz[2] = PX4_ISFINITE(_thrust_sp) ? -_thrust_sp : 0.0f; // Z is Down
+
+	_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
+}
+
 void MulticopterRateControl::updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt)
 {
 	for (int i = 0; i < 4; i++) {
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.hpp b/src/modules/mc_rate_control/MulticopterRateControl.hpp
index 410e5dc1f4..6f8ef98288 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.hpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.hpp
@@ -60,6 +60,8 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/topics/vehicle_torque_setpoint.h>
 
 using namespace time_literals;
 
@@ -90,6 +92,9 @@ private:
 
 	void updateActuatorControlsStatus(const actuator_controls_s &actuators, float dt);
 
+	void publishTorqueSetpoint(const matrix::Vector3f &torque_sp, const hrt_abstime &timestamp_sample);
+	void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
+
 	RateControl _rate_control; ///< class for rate control calculations
 
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
@@ -110,6 +115,8 @@ private:
 	uORB::Publication<actuator_controls_status_s>	_actuator_controls_status_0_pub{ORB_ID(actuator_controls_status_0)};
 	uORB::PublicationMulti<rate_ctrl_status_s>	_controller_status_pub{ORB_ID(rate_ctrl_status)};
 	uORB::Publication<vehicle_rates_setpoint_s>	_v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
+	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)};
 
 	vehicle_control_mode_s		_v_control_mode{};
 	vehicle_status_s		_vehicle_status{};