diff --git a/boards/nxp/ucans32k146/pca9685.px4board b/boards/nxp/ucans32k146/pca9685.px4board
index 8b60dc8160..4983214820 100644
--- a/boards/nxp/ucans32k146/pca9685.px4board
+++ b/boards/nxp/ucans32k146/pca9685.px4board
@@ -1,5 +1,8 @@
 CONFIG_DRIVERS_GPS=n
 CONFIG_CYPHAL_CANFD_SUPPORT=y
-CONFIG_CYPHAL_UORB_PCA_PWM_SUBSCRIBER=y
 CONFIG_DRIVERS_PCA9685_UCAN=y
-CONFIG_EXAMPLES_PCA_PWM_TEST=y
+CONFIG_CYPHAL_UORB_PCA_PWM_SUBSCRIBER=y
+CONFIG_DRIVERS_LIGHTS_APA102=y
+CONFIG_CYPHAL_UORB_APA102_CONTROL_SUBSCRIBER=y
+CONFIG_SYSTEMCMDS_UORB=y
+
diff --git a/src/drivers/cyphal/Kconfig b/src/drivers/cyphal/Kconfig
index 0e3fd07695..73e99cf0dc 100644
--- a/src/drivers/cyphal/Kconfig
+++ b/src/drivers/cyphal/Kconfig
@@ -95,6 +95,9 @@ if DRIVERS_CYPHAL
             bool "uORB pca_pwm Subscriber"
             default n
 
+	config CYPHAL_UORB_APA102_CONTROL_SUBSCRIBER
+            bool "uORB apa102_control Subscriber"
+            default n
     endmenu
 
     menu "Advertised Services"
diff --git a/src/drivers/cyphal/ParamManager.hpp b/src/drivers/cyphal/ParamManager.hpp
index 823acae183..13d46f97fb 100644
--- a/src/drivers/cyphal/ParamManager.hpp
+++ b/src/drivers/cyphal/ParamManager.hpp
@@ -116,21 +116,22 @@ public:
 private:
 
 
-	const UavcanParamBinder _uavcan_params[14] {
-		{"uavcan.pub.esc.0.id",                "UCAN1_ESC_PUB",		    px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.servo.0.id",              "UCAN1_SERVO_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.gps.0.id",                "UCAN1_GPS_PUB",		    px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.actuator_outputs.0.id",   "UCAN1_ACTR_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.esc.0.id",                "UCAN1_ESC0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.gps.0.id",                "UCAN1_GPS0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.gps.1.id",                "UCAN1_GPS1_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.energy_source.0.id",      "UCAN1_BMS_ES_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.battery_status.0.id",     "UCAN1_BMS_BS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.legacy_bms.0.id",         "UCAN1_LG_BMS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.uorb.sensor_gps.0.id",    "UCAN1_UORB_GPS",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.uorb.sensor_gps.0.id",    "UCAN1_UORB_GPS_P",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.uorb.pca_pwm.0.id",       "UCAN1_PCA_PWM_S",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+	const UavcanParamBinder _uavcan_params[15] {
+		{"uavcan.pub.esc.0.id",			"UCAN1_ESC_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.servo.0.id",		"UCAN1_SERVO_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.gps.0.id",			"UCAN1_GPS_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.actuator_outputs.0.id",	"UCAN1_ACTR_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.esc.0.id",			"UCAN1_ESC0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.gps.0.id",			"UCAN1_GPS0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.gps.1.id",			"UCAN1_GPS1_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.energy_source.0.id",	"UCAN1_BMS_ES_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.battery_status.0.id",	"UCAN1_BMS_BS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.battery_parameters.0.id",	"UCAN1_BMS_BP_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.legacy_bms.0.id",		"UCAN1_LG_BMS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.uorb.sensor_gps.0.id",	"UCAN1_UORB_GPS",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.uorb.sensor_gps.0.id",	"UCAN1_UORB_GPS_P",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.uorb.pca_pwm.0.id",	"UCAN1_PCA_PWM_S",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.uorb.apa102_control.0.id",	"UCAN1_APA102_CONTROL_S",	px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		//{"uavcan.sub.bms.0.id",   "UCAN1_BMS0_SUB"}, //FIXME instancing
 		//{"uavcan.sub.bms.1.id",   "UCAN1_BMS1_SUB"},
 	};
diff --git a/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp b/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp
index adfe026d59..d49281728e 100644
--- a/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp
+++ b/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp
@@ -48,6 +48,7 @@
 
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/pca_pwm.h>
+#include <uORB/topics/apa102_control.h>
 
 template <class T>
 class uORB_over_UAVCAN_Subscriber : public UavcanDynamicPortSubscriber
diff --git a/src/drivers/cyphal/SubscriptionManager.hpp b/src/drivers/cyphal/SubscriptionManager.hpp
index 57ce24bd46..a46a95f61c 100644
--- a/src/drivers/cyphal/SubscriptionManager.hpp
+++ b/src/drivers/cyphal/SubscriptionManager.hpp
@@ -65,6 +65,10 @@
 #define CONFIG_CYPHAL_UORB_PCA_PWM_SUBSCRIBER 0
 #endif
 
+#ifndef CONFIG_CYPHAL_UORB_AP102_CONTROL_SUBSCRIBER
+#define CONFIG_CYPHAL_UORB_AP102_CONTROL_SUBSCRIBER 0
+#endif
+
 /* Preprocessor calculation of Subscribers count */
 
 #define UAVCAN_SUB_COUNT CONFIG_CYPHAL_ESC_SUBSCRIBER + \
@@ -72,7 +76,8 @@
 	CONFIG_CYPHAL_GNSS_SUBSCRIBER_1 + \
 	CONFIG_CYPHAL_BMS_SUBSCRIBER + \
 	CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER + \
-	CONFIG_CYPHAL_UORB_PCA_PWM_SUBSCRIBER
+	CONFIG_CYPHAL_UORB_PCA_PWM_SUBSCRIBER + \
+	CONFIG_CYPHAL_UORB_AP102_CONTROL_SUBSCRIBER
 
 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
@@ -194,6 +199,16 @@ private:
 			"uorb.pca_pwm",
 			0
 		},
+#endif
+#if CONFIG_CYPHAL_UORB_APA102_CONTROL_SUBSCRIBER
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new uORB_over_UAVCAN_Subscriber<apa102_control_s>(handle, pmgr, ORB_ID(apa102_control));
+			},
+			"uorb.apa102_control",
+			0
+		},
 #endif
 	};
 };
diff --git a/src/drivers/cyphal/parameters.c b/src/drivers/cyphal/parameters.c
index aaa0d93df1..18007e258d 100644
--- a/src/drivers/cyphal/parameters.c
+++ b/src/drivers/cyphal/parameters.c
@@ -160,6 +160,15 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS_P, -1);
  */
 PARAM_DEFINE_INT32(UCAN1_PCA_PWM_S, -1);
 
+/**
+ * apa102_control uORB over Cyphal subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_APA102_CONTROL_S, -1);
+
 // Publication Port IDs
 
 /**