diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
index 83ca20ec1f..e6def29678 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
@@ -766,7 +766,38 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
     // don't want to send duplicates
     if (_detected_module == 0 ||
         _detected_modules[_detected_module].ap_dronecan != _detected_modules[0].ap_dronecan) {
-        _detected_modules[_detected_module].ap_dronecan->send_RTCMStream(data, len);
+        if (_rtcm_stream.buf == nullptr) {
+            // give enough space for a full round from a NTRIP server with all
+            // constellations
+            _rtcm_stream.buf = new ByteBuffer(2400);
+            if (_rtcm_stream.buf == nullptr) {
+                return;
+            }
+        }
+        _rtcm_stream.buf->write(data, len);
+
+        const uint32_t now = AP_HAL::native_millis();
+        if (now - _rtcm_stream.last_send_ms < 20) {
+            // don't send more than 50 per second
+            return;
+        }
+        _rtcm_stream.last_send_ms = now;
+        uavcan_equipment_gnss_RTCMStream msg;
+        uint32_t outlen = _rtcm_stream.buf->available();
+        if (outlen > 128) {
+            outlen = 128;
+        }
+        msg.protocol_id = UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_PROTOCOL_ID_RTCM3;
+        for (uint8_t i=0; i<outlen; i++) {
+            uint8_t b;
+            if (!_rtcm_stream.buf->read_byte(&b)) {
+                return;
+            }
+            msg.data.data[i] = b;
+        }
+        msg.data.len = outlen;
+        _detected_modules[_detected_module].ap_dronecan->rtcm_stream.broadcast(msg);
+
     }
 }
 
diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.h b/libraries/AP_GPS/AP_GPS_DroneCAN.h
index 9e2968ecd2..fb1e20ab8e 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.h
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.h
@@ -138,5 +138,11 @@ private:
     bool handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, const uint8_t node_id, const char* name, int32_t &value);
     bool handle_param_get_set_response_float(AP_DroneCAN* ap_dronecan, const uint8_t node_id, const char* name, float &value);
     void handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success);
+
+    // GNSS RTCM injection
+    struct {
+        uint32_t last_send_ms;
+        ByteBuffer *buf;
+    } _rtcm_stream;
 };
 #endif