diff --git a/.github/workflows/deploy_all.yml b/.github/workflows/deploy_all.yml
index 9fdbc81482..18480ac036 100644
--- a/.github/workflows/deploy_all.yml
+++ b/.github/workflows/deploy_all.yml
@@ -35,11 +35,11 @@ jobs:
 
     - name: parameter & events metadata
       run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen events_json actuators_json
         ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
         cd build/${{ matrix.target }}
         mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* events/*.xz actuators.json* _metadata
 
     - uses: jakejarvis/s3-sync-action@master
       with:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8a6c30cd56..bca9b38eaa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -423,6 +423,8 @@ endforeach()
 
 # add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
 add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+# metadata needs PX4_MODULE_CONFIG_FILES
+add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 0918c6e84e..ef555a5fd5 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -194,10 +194,12 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	if (NOT CONSTRAINED_FLASH AND NOT EXTERNAL_METADATA AND NOT ${PX4_BOARD_LABEL} STREQUAL "test")
 		list(APPEND romfs_extra_files
 			${PX4_BINARY_DIR}/parameters.json.xz
-			${PX4_BINARY_DIR}/events/all_events.json.xz)
+			${PX4_BINARY_DIR}/events/all_events.json.xz
+			${PX4_BINARY_DIR}/actuators.json.xz)
 		list(APPEND romfs_extra_dependencies
 			parameters_xml
-			events_json)
+			events_json
+			actuators_json)
 	endif()
 	list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
 	list(APPEND romfs_extra_dependencies component_general_json)
diff --git a/src/lib/component_information/CMakeLists.txt b/src/lib/component_information/CMakeLists.txt
index 9e40d72909..6d0b62be3d 100644
--- a/src/lib/component_information/CMakeLists.txt
+++ b/src/lib/component_information/CMakeLists.txt
@@ -37,6 +37,7 @@
 # 2: COMP_METADATA_TYPE_COMMANDS
 # 3: COMP_METADATA_TYPE_PERIPHERALS
 # 4: COMP_METADATA_TYPE_EVENTS
+# 5: COMP_METADATA_TYPE_ACTUATORS
 set(comp_metadata_types)
 set(comp_metadata_board "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}")
 set(s3_url "https://px4-travis.s3.amazonaws.com")
@@ -67,6 +68,18 @@ else()
 endif()
 list(APPEND comp_metadata_types "--type" "4,${PX4_BINARY_DIR}/events/all_events.json.xz,${comp_metadata_events_uri},${comp_metadata_events_uri_fallback},")
 
+set(comp_metadata_actuators_uri_board "${s3_url}/Firmware/{version}/${comp_metadata_board}/actuators.json.xz")
+list(FIND config_romfs_extra_dependencies "actuators_json" index)
+if (${index} EQUAL -1)
+	set(comp_metadata_actuators_uri ${comp_metadata_actuators_uri_board})
+	set(comp_metadata_actuators_uri_fallback "")
+else()
+	set(comp_metadata_actuators_uri "mftp://etc/extras/actuators.json.xz")
+	set(comp_metadata_actuators_uri_fallback ${comp_metadata_actuators_uri_board})
+endif()
+list(APPEND comp_metadata_types "--type" "5,${PX4_BINARY_DIR}/actuators.json.xz,${comp_metadata_actuators_uri},${comp_metadata_actuators_uri_fallback},")
+
+
 set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
 set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h)
 add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz ${component_information_header}
@@ -84,6 +97,8 @@ add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz
 		parameters_xml
 		${PX4_BINARY_DIR}/events/all_events.json.xz
 		events_json
+		${PX4_BINARY_DIR}/actuators.json.xz
+		actuators_json
 		ver_gen
 		generate_crc.py
 	COMMENT "Generating component_general.json and checksums.h"
diff --git a/src/lib/component_information/generate_component_general.py b/src/lib/component_information/generate_component_general.py
index 6b8f605913..964302f355 100755
--- a/src/lib/component_information/generate_component_general.py
+++ b/src/lib/component_information/generate_component_general.py
@@ -65,8 +65,9 @@ for metadata_type_tuple in args.type:
             'type': int(type_id),
             'uri': uri.replace('{version}', version_dir),
             'fileCrc': file_crc,
-            'uriFallback': fallback_uri.replace('{version}', version_dir),
             }
+    if len(fallback_uri) > 0:
+        json_type['uriFallback'] = fallback_uri.replace('{version}', version_dir)
     if len(translation_uri) > 0:
         json_type['translationUri'] = translation_uri
     metadata_types.append(json_type)
diff --git a/src/lib/metadata/CMakeLists.txt b/src/lib/metadata/CMakeLists.txt
new file mode 100644
index 0000000000..719c1483ca
--- /dev/null
+++ b/src/lib/metadata/CMakeLists.txt
@@ -0,0 +1,56 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+# actuator metadata generation
+get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+if(config_io_board)
+	set(board_with_io_arg --board-with-io)
+endif()
+set(generated_actuators_metadata_file ${PX4_BINARY_DIR}/actuators.json)
+add_custom_command(OUTPUT ${generated_actuators_metadata_file}
+	${generated_actuators_metadata_file}.xz
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
+		${board_with_io_arg}
+		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
+		--config-files ${module_config_files} #--verbose
+		--compress
+		--board ${PX4_BOARD}
+		--output-file ${generated_actuators_metadata_file}
+	DEPENDS
+		${module_config_files}
+		${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
+		${PX4_SOURCE_DIR}/src/lib/mixer_module/output_functions.yaml
+	COMMENT "Generating actuators.json"
+)
+add_custom_target(actuators_json DEPENDS ${generated_actuators_metadata_file})
+