diff --git a/src/modules/uuv_att_control/uuv_att_control.cpp b/src/modules/uuv_att_control/uuv_att_control.cpp
index 719f4c59d6..7a8babda07 100644
--- a/src/modules/uuv_att_control/uuv_att_control.cpp
+++ b/src/modules/uuv_att_control/uuv_att_control.cpp
@@ -294,12 +294,38 @@ void UUVAttitudeControl::Run()
 	    _vcontrol_mode.flag_control_attitude_enabled) {
 		/* publish the actuator controls */
 		_actuator_controls_pub.publish(_actuators);
-
+		publishTorqueSetpoint(0);
+		publishThrustSetpoint(0);
 	}
 
 	perf_end(_loop_perf);
 }
 
+void UUVAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
+{
+	vehicle_torque_setpoint_s v_torque_sp = {};
+	v_torque_sp.timestamp = hrt_absolute_time();
+	v_torque_sp.timestamp_sample = timestamp_sample;
+	v_torque_sp.xyz[0] = _actuators.control[actuator_controls_s::INDEX_ROLL];
+	v_torque_sp.xyz[1] = _actuators.control[actuator_controls_s::INDEX_PITCH];
+	v_torque_sp.xyz[2] = _actuators.control[actuator_controls_s::INDEX_YAW];
+
+	_vehicle_torque_setpoint_pub.publish(v_torque_sp);
+}
+
+void UUVAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_sample)
+{
+	vehicle_thrust_setpoint_s v_thrust_sp = {};
+	v_thrust_sp.timestamp = hrt_absolute_time();
+	v_thrust_sp.timestamp_sample = timestamp_sample;
+	v_thrust_sp.xyz[0] = _actuators.control[actuator_controls_s::INDEX_THROTTLE];
+	v_thrust_sp.xyz[1] = 0.0f;
+	v_thrust_sp.xyz[2] = 0.0f;
+
+	_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
+}
+
+
 int UUVAttitudeControl::task_spawn(int argc, char *argv[])
 {
 	UUVAttitudeControl *instance = new UUVAttitudeControl();
diff --git a/src/modules/uuv_att_control/uuv_att_control.hpp b/src/modules/uuv_att_control/uuv_att_control.hpp
index 095bc80502..f41fdaa103 100644
--- a/src/modules/uuv_att_control/uuv_att_control.hpp
+++ b/src/modules/uuv_att_control/uuv_att_control.hpp
@@ -69,6 +69,8 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/topics/vehicle_torque_setpoint.h>
 #include <uORB/uORB.h>
 
 using matrix::Eulerf;
@@ -98,7 +100,12 @@ public:
 	bool init();
 
 private:
+	void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
+	void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
+
 	uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)};
+	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
+	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};