diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 2064d91ba2..7a776d71f3 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -124,6 +124,7 @@ set(msg_files
 	optical_flow.msg
 	orbit_status.msg
 	parameter_update.msg
+	pca_pwm.msg
 	ping.msg
 	pps_capture.msg
 	position_controller_landing_status.msg
diff --git a/msg/pca_pwm.msg b/msg/pca_pwm.msg
new file mode 100644
index 0000000000..e2aa979d5c
--- /dev/null
+++ b/msg/pca_pwm.msg
@@ -0,0 +1,5 @@
+uint64 timestamp				# time since system start (microseconds)
+uint16 pwm_period				# PWM period in microseconds (us) [roof((1s/1526hz)*10^7us/s)=656us:floor((1s/24hz)*10^7us/s)=41666us]
+uint16[16] pulse_width				# pulse width in microseconds (us) [656:41666]
+
+# TOPICS pca_pwm