diff --git a/src/drivers/uavcannode/Publishers/RelPosHeading.hpp b/src/drivers/uavcannode/Publishers/RelPosHeading.hpp
new file mode 100644
index 0000000000..9201ebd101
--- /dev/null
+++ b/src/drivers/uavcannode/Publishers/RelPosHeading.hpp
@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanPublisherBase.hpp"
+
+#include <ardupilot/gnss/RelPosHeading.hpp>
+
+#include <lib/drivers/device/Device.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_gnss_relative.h>
+
+namespace uavcannode
+{
+
+class RelPosHeadingPub :
+	public UavcanPublisherBase,
+	public uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<ardupilot::gnss::RelPosHeading>
+{
+public:
+	RelPosHeadingPub(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(ardupilot::gnss::RelPosHeading::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gnss_relative)),
+		uavcan::Publisher<ardupilot::gnss::RelPosHeading>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::NumericallyMax);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       ardupilot::gnss::RelPosHeading::getDataTypeFullName(),
+			       id());
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		using ardupilot::gnss::RelPosHeading;
+
+		// sensor_gnss_relative -> ardupilot::gnss::RelPosHeading
+		sensor_gnss_relative_s sensor_gnss_relative;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&sensor_gnss_relative)) {
+			ardupilot::gnss::RelPosHeading rel_pos_heading{};
+
+			// TODO: FIX (timestamp_sample and UAVCAN timestamp)
+			rel_pos_heading.timestamp = uavcan::UtcTime::fromUSec(getNode().getMonotonicTime().toUSec());
+
+			rel_pos_heading.reported_heading_acc_available = sensor_gnss_relative.heading_valid; // bool
+			rel_pos_heading.reported_heading_deg = math::degrees(sensor_gnss_relative.heading); // float32
+			rel_pos_heading.reported_heading_acc_deg = math::degrees(sensor_gnss_relative.heading_accuracy); // float32
+			rel_pos_heading.relative_distance_m = sensor_gnss_relative.position_length; // float16
+			rel_pos_heading.relative_down_pos_m = sensor_gnss_relative.position[2]; // float16
+
+			uavcan::Publisher<ardupilot::gnss::RelPosHeading>::broadcast(rel_pos_heading);
+
+			// ensure callback is registered
+			uORB::SubscriptionCallbackWorkItem::registerCallback();
+		}
+	}
+};
+} // namespace uavcannode
diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index d6c3fa43b2..3006954df2 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -44,9 +44,10 @@
 #include "Publishers/FlowMeasurement.hpp"
 #include "Publishers/GnssFix2.hpp"
 #include "Publishers/MagneticFieldStrength2.hpp"
+#include "Publishers/MovingBaselineData.hpp"
 #include "Publishers/RangeSensorMeasurement.hpp"
 #include "Publishers/RawAirData.hpp"
-#include "Publishers/MovingBaselineData.hpp"
+#include "Publishers/RelPosHeading.hpp"
 #include "Publishers/SafetyButton.hpp"
 #include "Publishers/StaticPressure.hpp"
 #include "Publishers/StaticTemperature.hpp"
@@ -304,6 +305,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 	_publisher_list.add(new MagneticFieldStrength2(this, _node));
 	_publisher_list.add(new RangeSensorMeasurement(this, _node));
 	_publisher_list.add(new RawAirData(this, _node));
+	_publisher_list.add(new RelPosHeadingPub(this, _node));
 
 	int32_t enable_movingbaselinedata = 0;
 	param_get(param_find("CANNODE_GPS_RTCM"), &enable_movingbaselinedata);