diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index e089c5396c..85f356659d 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -219,7 +219,8 @@ public:
     void rcout_init();
     void rcout_init_1Hz();
     void rcout_esc(int16_t *rc, uint8_t num_channels);
-    void rcout_srv(const uint8_t actuator_id, const float command_value);
+    void rcout_srv_unitless(const uint8_t actuator_id, const float command_value);
+    void rcout_srv_PWM(const uint8_t actuator_id, const float command_value);
     void rcout_update();
     void rcout_handle_safety_state(uint8_t safety_state);
 #endif
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 9f76b5684a..d7759bda54 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -796,11 +796,14 @@ static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer)
     }
 
     for (uint8_t i=0; i < data_count; i++) {
-        if (data[i].command_type != UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_UNITLESS) {
-            // this is the only type we support
-            continue;
+        switch (data[i].command_type) {
+        case UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_UNITLESS:
+            periph.rcout_srv_unitless(data[i].actuator_id, data[i].command_value);
+            break;
+        case UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_PWM:
+            periph.rcout_srv_PWM(data[i].actuator_id, data[i].command_value);
+            break;
         }
-        periph.rcout_srv(data[i].actuator_id, data[i].command_value);
     }
 }
 #endif // HAL_PERIPH_ENABLE_RC_OUT
diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp
index 3e697c9e7f..2b105184a6 100644
--- a/Tools/AP_Periph/rc_out.cpp
+++ b/Tools/AP_Periph/rc_out.cpp
@@ -99,7 +99,7 @@ void AP_Periph_FW::rcout_esc(int16_t *rc, uint8_t num_channels)
     rcout_has_new_data_to_update = true;
 }
 
-void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value)
+void AP_Periph_FW::rcout_srv_unitless(uint8_t actuator_id, const float command_value)
 {
 #if HAL_PWM_COUNT > 0
     const SRV_Channel::Aux_servo_function_t function = SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + actuator_id - 1);
@@ -109,6 +109,16 @@ void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value)
 #endif
 }
 
+void AP_Periph_FW::rcout_srv_PWM(uint8_t actuator_id, const float command_value)
+{
+#if HAL_PWM_COUNT > 0
+    const SRV_Channel::Aux_servo_function_t function = SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + actuator_id - 1);
+    SRV_Channels::set_output_pwm(function, uint16_t(command_value+0.5));
+
+    rcout_has_new_data_to_update = true;
+#endif
+}
+
 void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)
 {
     if (safety_state == 255) {