diff --git a/src/drivers/uavcan_v1/ParamManager.hpp b/src/drivers/uavcan_v1/ParamManager.hpp
index b8c672eeb9..3bc56be4eb 100644
--- a/src/drivers/uavcan_v1/ParamManager.hpp
+++ b/src/drivers/uavcan_v1/ParamManager.hpp
@@ -107,10 +107,11 @@ public:
 private:
 
 
-	const UavcanParamBinder _uavcan_params[11] {
+	const UavcanParamBinder _uavcan_params[12] {
 		{"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_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		{"uavcan.sub.gps.0.id",                "UCAN1_GPS0_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		{"uavcan.sub.gps.1.id",                "UCAN1_GPS1_PID",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.hpp b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
index 1a444d7485..1a24fa0c67 100644
--- a/src/drivers/uavcan_v1/Publishers/Publisher.hpp
+++ b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
@@ -80,7 +80,7 @@ public:
 		// Set _port_id from _uavcan_param
 		uavcan_register_Value_1_0 value;
 		_param_manager.GetParamByName(uavcan_param, value);
-		int32_t new_id = value.integer32.value.elements[0];
+		uint16_t new_id = value.natural16.value.elements[0];
 
 		// Allow, for example, a default PX4 param value of '-1' to disable publication
 		if (!isValidPortId(new_id)) {
diff --git a/src/drivers/uavcan_v1/Publishers/uORB/actuator_outputs.hpp b/src/drivers/uavcan_v1/Publishers/uORB/actuator_outputs.hpp
new file mode 100644
index 0000000000..42b80ac72c
--- /dev/null
+++ b/src/drivers/uavcan_v1/Publishers/uORB/actuator_outputs.hpp
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   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 actuator_outputs.hpp
+ *
+* Defines uORB over UAVCANv1 actuator_outputs publisher
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#pragma once
+
+#include <uORB/topics/actuator_outputs.h>
+
+#include "../Publisher.hpp"
+
+class UORB_over_UAVCAN_actuator_outputs_Publisher : public UavcanPublisher
+{
+public:
+	UORB_over_UAVCAN_actuator_outputs_Publisher(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
+		UavcanPublisher(ins, pmgr, "actuator_outputs", instance)
+	{};
+
+	// Update the uORB Subscription and broadcast a UAVCAN message
+	// FIXME think about update and limiting
+	virtual void update() override
+	{
+		// Not sure if actuator_armed is a good indication of readiness but seems close to it
+		if (_actuator_outputs_sub.updated() && _port_id != CANARD_PORT_ID_UNSET && _port_id != 0) {
+			actuator_outputs_s actuator_msg {};
+			_actuator_outputs_sub.update(&actuator_msg);
+
+			CanardTransfer transfer = {
+				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+				.priority       = CanardPriorityNominal,
+				.transfer_kind  = CanardTransferKindMessage,
+				.port_id        = _port_id, // This is the subject-ID.
+				.remote_node_id = CANARD_NODE_ID_UNSET,
+				.transfer_id    = _transfer_id,
+				.payload_size   = actuator_payload_size(&actuator_msg),
+				.payload        = &actuator_msg,
+			};
+
+			// 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);
+		}
+	};
+
+private:
+
+	// Remove unvalid output & padding from payload_size to save bandwidth
+	size_t actuator_payload_size(actuator_outputs_s *msg)
+	{
+		return sizeof(struct actuator_outputs_s) - sizeof(msg->_padding0) -
+		       ((sizeof(msg->output) / sizeof(msg->output[0]) - msg->noutputs) * sizeof(msg->output[0]));
+	}
+
+	uORB::Subscription _actuator_outputs_sub{ORB_ID(actuator_outputs)};
+};
diff --git a/src/drivers/uavcan_v1/Uavcan.hpp b/src/drivers/uavcan_v1/Uavcan.hpp
index 59889cf30d..217bac839f 100644
--- a/src/drivers/uavcan_v1/Uavcan.hpp
+++ b/src/drivers/uavcan_v1/Uavcan.hpp
@@ -59,6 +59,7 @@
 
 #include "Publishers/Publisher.hpp"
 #include "Publishers/Gnss.hpp"
+#include "Publishers/uORB/actuator_outputs.hpp"
 
 #include "NodeManager.hpp"
 
@@ -183,11 +184,13 @@ private:
 
 	UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager};
 
+	UORB_over_UAVCAN_actuator_outputs_Publisher _actuator_pub {_canard_instance, _param_manager}; // uORB
+
 	UavcanEscController _esc_controller {_canard_instance, _param_manager};
 
 	// Publication objects: Any object used to bridge a uORB message to a UAVCAN message
 	/// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers
-	UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
+	UavcanPublisher *_publishers[3] {&_gps_pub, &_esc_controller, &_actuator_pub};
 
 	UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};
 
diff --git a/src/drivers/uavcan_v1/parameters.c b/src/drivers/uavcan_v1/parameters.c
index f1241fc761..0d37cdc7cc 100644
--- a/src/drivers/uavcan_v1/parameters.c
+++ b/src/drivers/uavcan_v1/parameters.c
@@ -169,3 +169,12 @@ PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
  * @group UAVCAN v1
  */
 PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
+
+/**
+ * actuator_outputs uORB over UAVCAN v1 port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group UAVCAN v1
+ */
+PARAM_DEFINE_INT32(UCAN1_ACTR_PUB, -1);