diff --git a/src/modules/uavcan/actuators/hardpoint.cpp b/src/modules/uavcan/actuators/hardpoint.cpp
index 86d6d8b425..3ea985a909 100644
--- a/src/modules/uavcan/actuators/hardpoint.cpp
+++ b/src/modules/uavcan/actuators/hardpoint.cpp
@@ -40,6 +40,14 @@
 #include "hardpoint.hpp"
 #include <systemlib/err.h>
 
+UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
+	_node(node),
+	_uavcan_pub_raw_cmd(node),
+	_timer(node)
+{
+
+}
+
 
 UavcanHardpointController::~UavcanHardpointController()
 {
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index fbb0708723..469e83d74c 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -81,10 +81,12 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_node(can_driver, system_clock, _pool_allocator),
 	_node_mutex(),
 	_esc_controller(_node),
+	_hardpoint_controller(_node),
 	_time_sync_master(_node),
 	_time_sync_slave(_node),
 	_master_timer(_node),
 	_setget_response(0)
+
 {
 	_task_should_exit = false;
 	_fw_server_action = None;
@@ -1103,14 +1105,14 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 					_mixers->groups_required(_groups_required);
 				}
 			}
-
-			break;
 		}
+		break;
+
 
-	case UAVCANIOC_HARDPOINT_SET:
+	case UAVCANIOC_HARDPOINT_SET: {
 		const auto& cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command*>(arg);
 		_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
-
+		}
 		break;
 
 	default:
@@ -1370,6 +1372,15 @@ int uavcan_main(int argc, char *argv[])
 			return inst->set_param(nodeid, argv[4], argv[5]);
 		}
 	}
+	if (!std::strcmp(argv[1],"uavcan_hardpoint_set")) {
+		if (argc < 3) {
+			errx(1, "Hardpoint Id and value is requred");
+		}
+		//UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
+		//UavcanNode.ioctl(???)
+		//		_hardpoint_controller.set_command()
+
+	}
 
 	if (!std::strcmp(argv[1], "stop")) {
 		if (fw) {
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index b2c570fb25..61678b9e74 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -53,6 +53,7 @@
 #include <uORB/topics/actuator_direct.h>
 
 #include "actuators/esc.hpp"
+#include "actuators/hardpoint.hpp"
 #include "sensors/sensor_bridge.hpp"
 
 #include "uavcan_servers.hpp"
@@ -71,9 +72,9 @@
 // we add two to allow for actuator_direct and busevent
 #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
 
-// no idea something to do with hardpoint controller
+// IOCTL control codes
 static constexpr unsigned UAVCANIOCBASE = 0x7800;
-static constexpr unsigned UAVCANIOC_HARDPOINT_SET = PX4_IOC(UAVCANIOCBASE, 0x10);
+static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10);
 
 /**
  * A UAVCAN node.
@@ -87,6 +88,7 @@ class UavcanNode : public device::CDev
 
 	static constexpr unsigned PollTimeoutMs      = 3;
 
+
 	/*
 	 * This memory is reserved for uavcan to use for queuing CAN frames.
 	 * At 1Mbit there is approximately one CAN frame every 145 uS.
@@ -180,6 +182,7 @@ private:
 	pthread_mutex_t		_node_mutex;
 	px4_sem_t                   _server_command_sem;
 	UavcanEscController	_esc_controller;
+	UavcanHardpointController _hardpoint_controller;
 	uavcan::GlobalTimeSyncMaster _time_sync_master;
 	uavcan::GlobalTimeSyncSlave _time_sync_slave;