diff --git a/src/modules/uavcan/actuators/hardpoint.cpp b/src/modules/uavcan/actuators/hardpoint.cpp
index 828ad90245..86d6d8b425 100644
--- a/src/modules/uavcan/actuators/hardpoint.cpp
+++ b/src/modules/uavcan/actuators/hardpoint.cpp
@@ -74,14 +74,17 @@ void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t comma
      * Publish the command message to the bus
      */
 	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
+
+	/*
+	 * Start the periodic update timer after a command is set
+	 */
+	if (!_timer.isRunning())
+	{
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	}
 }
-void UavcanHardpointController::periodic_update()
+void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
 {
-	//lets not broadcast if command is not set
-	if(_cmd_set == false){
-		return;
-	}
-
 	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
 	//do something
 }
diff --git a/src/modules/uavcan/actuators/hardpoint.hpp b/src/modules/uavcan/actuators/hardpoint.hpp
index b245330825..cd21bf95e0 100644
--- a/src/modules/uavcan/actuators/hardpoint.hpp
+++ b/src/modules/uavcan/actuators/hardpoint.hpp
@@ -66,7 +66,7 @@ private:
 
 	bool _cmd_set = false;
 
-	void UavcanHardpointController::periodic_update();
+	void periodic_update(const uavcan::TimerEvent &);
 
 	typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
 	TimerCbBinder;