diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index ee2dfe2eba..5e5637fee1 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -80,10 +80,6 @@ extern const AP_HAL::HAL& hal;
 #define DRONECAN_STACK_SIZE     4096
 #endif
 
-#ifndef AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
-#define AP_DRONECAN_VOLZ_FEEDBACK_ENABLED 0
-#endif
-
 #ifndef AP_DRONECAN_DEFAULT_NODE
 #define AP_DRONECAN_DEFAULT_NODE 10
 #endif
@@ -1424,7 +1420,7 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
         ToDeg(msg.actual_position),
         msg.current * 0.025f,
         msg.voltage * 0.2f,
-        msg.motor_pwm * (100.0/255.0),
+        uint8_t(msg.motor_pwm * (100.0/255.0)),
         int16_t(msg.motor_temperature) - 50);
 #endif
 }
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
index b5527fb594..e1b713d33f 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.h
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -64,6 +64,10 @@
 #define AP_DRONECAN_SERIAL_ENABLED AP_SERIALMANAGER_REGISTER_ENABLED && (BOARD_FLASH_SIZE>1024)
 #endif
 
+#ifndef AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
+#define AP_DRONECAN_VOLZ_FEEDBACK_ENABLED 0
+#endif
+
 #if AP_DRONECAN_SERIAL_ENABLED
 #include "AP_DroneCAN_serial.h"
 #endif
@@ -334,6 +338,11 @@ private:
     Canard::ObjCallback<AP_DroneCAN, uavcan_protocol_debug_LogMessage> debug_cb{this, &AP_DroneCAN::handle_debug};
     Canard::Subscriber<uavcan_protocol_debug_LogMessage> debug_listener{debug_cb, _driver_index};
 
+#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
+    Canard::ObjCallback<AP_DroneCAN, com_volz_servo_ActuatorStatus> volz_servo_ActuatorStatus_cb{this, &AP_DroneCAN::handle_actuator_status_Volz};
+    Canard::Subscriber<com_volz_servo_ActuatorStatus> volz_servo_ActuatorStatus_listener{volz_servo_ActuatorStatus_cb, _driver_index};
+#endif
+
     // param client
     Canard::ObjCallback<AP_DroneCAN, uavcan_protocol_param_GetSetResponse> param_get_set_res_cb{this, &AP_DroneCAN::handle_param_get_set_response};
     Canard::Client<uavcan_protocol_param_GetSetResponse> param_get_set_client{canard_iface, param_get_set_res_cb};