diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 2dcffedd82..baeabe9557 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -528,11 +528,13 @@ void AP_UAVCAN::SRV_send_actuator(void)
             if (_SRV_conf[starting_servo].servo_pending && ((((uint32_t) 1) << starting_servo) & _servo_bm)) {
                 cmd.actuator_id = starting_servo + 1;
 
-                // TODO: other types
-                cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
-
-                // TODO: failsafe, safety
-                cmd.command_value = constrain_float(((float) _SRV_conf[starting_servo].pulse - 1000.0) / 500.0 - 1.0, -1.0, 1.0);
+                if (option_is_set(Options::USE_ACTUATOR_PWM)) {
+                    cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_PWM;
+                    cmd.command_value = _SRV_conf[starting_servo].pulse;
+                } else {
+                    cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
+                    cmd.command_value = constrain_float(((float) _SRV_conf[starting_servo].pulse - 1000.0) / 500.0 - 1.0, -1.0, 1.0);
+                }
 
                 msg.commands.push_back(cmd);
 
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN.h
index 2523bc54ed..9085a76c5a 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.h
@@ -203,6 +203,7 @@ public:
         DNA_IGNORE_DUPLICATE_NODE = (1U<<1),
         CANFD_ENABLED             = (1U<<2),
         DNA_IGNORE_UNHEALTHY_NODE = (1U<<3),
+        USE_ACTUATOR_PWM          = (1U<<4),
     };
 
     // check if a option is set