diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
index ef0061553e..adb9bc62cd 100644
--- a/libraries/AP_RPM/AP_RPM.cpp
+++ b/libraries/AP_RPM/AP_RPM.cpp
@@ -304,6 +304,18 @@ void AP_RPM::Log_RPM() const
 }
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+// Return the sensor id to use for streaming over DroneCAN, negative number disables
+int8_t AP_RPM::get_dronecan_sensor_id(uint8_t instance) const
+{
+    if (!enabled(instance)) {
+        return -1;
+    }
+    return _params[instance].dronecan_sensor_id;
+}
+#endif
+
+
 // singleton instance
 AP_RPM *AP_RPM::_singleton;
 
diff --git a/libraries/AP_RPM/AP_RPM.h b/libraries/AP_RPM/AP_RPM.h
index 6a6b0e4817..bb5b5b4612 100644
--- a/libraries/AP_RPM/AP_RPM.h
+++ b/libraries/AP_RPM/AP_RPM.h
@@ -104,6 +104,11 @@ public:
     // check settings are valid
     bool arming_checks(size_t buflen, char *buffer) const;
 
+#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+    // Return the sensor id to use for streaming over DroneCAN, negative number disables
+    int8_t get_dronecan_sensor_id(uint8_t instance) const;
+#endif
+
 private:
     void convert_params(void);
 
diff --git a/libraries/AP_RPM/AP_RPM_Params.cpp b/libraries/AP_RPM/AP_RPM_Params.cpp
index 1d58d41eb6..1d9ed86d64 100644
--- a/libraries/AP_RPM/AP_RPM_Params.cpp
+++ b/libraries/AP_RPM/AP_RPM_Params.cpp
@@ -78,6 +78,16 @@ const AP_Param::GroupInfo AP_RPM_Params::var_info[] = {
     AP_GROUPINFO("ESC_INDEX", 8, AP_RPM_Params, esc_telem_outbound_index, 0),
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+    // @Param: DC_SEND_ID
+    // @DisplayName: DroneCAN Sensor ID
+    // @Description: DroneCAN sensor ID to send as on AP-Periph -1 disables
+    // @Range: -1 10
+    // @Increment: 1
+    // @User: Advanced
+    AP_GROUPINFO("DC_SEND_ID", 9, AP_RPM_Params, dronecan_sensor_id, -1),
+#endif
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_RPM/AP_RPM_Params.h b/libraries/AP_RPM/AP_RPM_Params.h
index 591bd76e7f..194fb464c3 100644
--- a/libraries/AP_RPM/AP_RPM_Params.h
+++ b/libraries/AP_RPM/AP_RPM_Params.h
@@ -33,6 +33,9 @@ public:
 #if AP_RPM_ESC_TELEM_OUTBOUND_ENABLED
     AP_Int8  esc_telem_outbound_index;
 #endif
+#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
+    AP_Int8 dronecan_sensor_id;
+#endif
 
     static const struct AP_Param::GroupInfo var_info[];