diff --git a/src/drivers/uavcan_v1/CMakeLists.txt b/src/drivers/uavcan_v1/CMakeLists.txt
index b07540af96..39c4800696 100644
--- a/src/drivers/uavcan_v1/CMakeLists.txt
+++ b/src/drivers/uavcan_v1/CMakeLists.txt
@@ -124,6 +124,7 @@ px4_add_module(
 		Publishers/uORB/uorb_publisher.cpp
 		Subscribers/uORB/uorb_subscriber.cpp
 		${SRCS}
+		Publishers/Publisher.cpp
 		o1heap/o1heap.c
 		o1heap/o1heap.h
 		${LIBCANARD_DIR}/libcanard/canard.c
diff --git a/src/drivers/uavcan_v1/Publishers/DS-015/Gnss.hpp b/src/drivers/uavcan_v1/Publishers/DS-015/Gnss.hpp
index 1447e42ae2..f9babd4da4 100644
--- a/src/drivers/uavcan_v1/Publishers/DS-015/Gnss.hpp
+++ b/src/drivers/uavcan_v1/Publishers/DS-015/Gnss.hpp
@@ -45,7 +45,9 @@
 #include <reg/drone/physics/kinematics/geodetic/Point_0_1.h>
 #include <reg/drone/service/gnss/DilutionOfPrecision_0_1.h>
 
-#include "../Publisher.hpp"
+class UavcanNode;
+
+#include "Publisher.hpp"
 
 class UavcanGnssPublisher : public UavcanPublisher
 {
@@ -124,6 +126,8 @@ public:
 				// set the data ready in the buffer and chop if needed
 				++_transfer_id_2;  // The transfer-ID shall be incremented after every transmission on this subject.
 				result = canardTxPush(&_canard_instance, &transfer2);
+
+				transmit();
 			}
 		}
 	};
diff --git a/src/drivers/uavcan_v1/Publishers/DS-015/Readiness.hpp b/src/drivers/uavcan_v1/Publishers/DS-015/Readiness.hpp
index 98b5cd4837..dc41bd479d 100644
--- a/src/drivers/uavcan_v1/Publishers/DS-015/Readiness.hpp
+++ b/src/drivers/uavcan_v1/Publishers/DS-015/Readiness.hpp
@@ -95,6 +95,8 @@ public:
 				// set the data ready in the buffer and chop if needed
 				++_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
 				result = canardTxPush(&_canard_instance, &transfer);
+
+				transmit();
 			}
 		}
 	};
diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.cpp b/src/drivers/uavcan_v1/Publishers/Publisher.cpp
new file mode 100644
index 0000000000..ca7b247056
--- /dev/null
+++ b/src/drivers/uavcan_v1/Publishers/Publisher.cpp
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Publisher.cpp
+ *
+ * Defines basic functionality of UAVCAN v1 publisher class
+ *
+ * @author Jacob Crabill <jacob@flyvoly.com>
+ */
+
+#include "Publisher.hpp"
+
+#include "../Uavcan.hpp"
+
+void UavcanPublisher::transmit()
+{
+	UavcanNode::do_transmit();
+}
diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.hpp b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
index f13c176b68..6de4d8fa49 100644
--- a/src/drivers/uavcan_v1/Publishers/Publisher.hpp
+++ b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
@@ -142,4 +142,6 @@ protected:
 	CanardTransferID _transfer_id {0};
 
 	UavcanPublisher *_next_pub {nullptr};
+
+	void transmit();
 };
diff --git a/src/drivers/uavcan_v1/Publishers/uORB/uorb_publisher.hpp b/src/drivers/uavcan_v1/Publishers/uORB/uorb_publisher.hpp
index 518915da12..a422b4cac0 100644
--- a/src/drivers/uavcan_v1/Publishers/uORB/uorb_publisher.hpp
+++ b/src/drivers/uavcan_v1/Publishers/uORB/uorb_publisher.hpp
@@ -81,6 +81,7 @@ public:
 			// set the data ready in the buffer and chop if needed
 			++_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
 			canardTxPush(&_canard_instance, &transfer);
+			transmit();
 		}
 	};
 
diff --git a/src/drivers/uavcan_v1/Uavcan.hpp b/src/drivers/uavcan_v1/Uavcan.hpp
index 500a5e9845..74f40026a3 100644
--- a/src/drivers/uavcan_v1/Uavcan.hpp
+++ b/src/drivers/uavcan_v1/Uavcan.hpp
@@ -140,6 +140,8 @@ public:
 
 	static UavcanNode *instance() { return _instance; }
 
+	static void do_transmit() { if (_instance) _instance->transmit(); };
+
 	/* The bit rate that can be passed back to the bootloader */
 	int32_t active_bitrate{0};