diff --git a/msg/SensorGps.msg b/msg/SensorGps.msg
index 1708f68092..44cddba42e 100644
--- a/msg/SensorGps.msg
+++ b/msg/SensorGps.msg
@@ -87,8 +87,6 @@ uint8 ANTENNA_POWER_OFF      = 1
 uint8 ANTENNA_POWER_ON       = 2
 uint8 antenna_power		# Antenna power status
 
-uint8 fix_quality		# Fix quality/confidence indicator [0-100]. 0 = no confidence, 100 = full confidence.
-
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])
diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices
index 99427567b6..51103d82ac 160000
--- a/src/drivers/gps/devices
+++ b/src/drivers/gps/devices
@@ -1 +1 @@
-Subproject commit 99427567b66a4ddd01384ed24097014a02acc70f
+Subproject commit 51103d82ac2697a78bc028c9fe957f2d23f9b66a
diff --git a/src/drivers/uavcan/libdronecan/dsdl b/src/drivers/uavcan/libdronecan/dsdl
index 6035657d00..9ef8622436 160000
--- a/src/drivers/uavcan/libdronecan/dsdl
+++ b/src/drivers/uavcan/libdronecan/dsdl
@@ -1 +1 @@
-Subproject commit 6035657d000b4d7f414243d3a9b15f71ae634631
+Subproject commit 9ef86224366d63de32502bc1ed1ecb9b76f2f596
diff --git a/src/drivers/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp
index 609306f7d3..bdd812fa9d 100644
--- a/src/drivers/uavcan/sensors/gnss.cpp
+++ b/src/drivers/uavcan/sensors/gnss.cpp
@@ -583,8 +583,17 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 		sensor_gps.diff_age               = _last_quality.diff_age;
 		sensor_gps.antenna_status         = _last_quality.antenna_status;
 		sensor_gps.antenna_power          = _last_quality.antenna_power;
-		sensor_gps.fix_quality            = _last_quality.fix_quality;
 		sensor_gps.system_error           = _last_quality.system_errors;
+
+		sensor_gnss_status_s sensor_gnss_status{};
+		sensor_gnss_status.timestamp                = hrt_absolute_time();
+		sensor_gnss_status.device_id                = sensor_gps.device_id;
+		sensor_gnss_status.quality_available        = true;
+		sensor_gnss_status.quality_corrections      = _last_quality.corrections_quality;
+		sensor_gnss_status.quality_receiver         = _last_quality.system_status_summary;
+		sensor_gnss_status.quality_gnss_signals     = _last_quality.gnss_signal_quality;
+		sensor_gnss_status.quality_post_processing  = _last_quality.post_processing_quality;
+		_sensor_gnss_status_pub.publish(sensor_gnss_status);
 	}
 
 	publish(msg.getSrcNodeID().get(), &sensor_gps);
diff --git a/src/drivers/uavcan/sensors/gnss.hpp b/src/drivers/uavcan/sensors/gnss.hpp
index cac5b5215b..118823ccbc 100644
--- a/src/drivers/uavcan/sensors/gnss.hpp
+++ b/src/drivers/uavcan/sensors/gnss.hpp
@@ -48,6 +48,7 @@
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_gps.h>
+#include <uORB/topics/sensor_gnss_status.h>
 #include <uORB/topics/gps_inject_data.h>
 #include <uORB/topics/gps_dump.h>
 
@@ -153,6 +154,8 @@ private:
 	uint64_t	_last_gnss_quality_timestamp{0};
 	uavcan::equipment::gnss::Quality _last_quality{};
 
+	uORB::PublicationMulti<sensor_gnss_status_s> _sensor_gnss_status_pub{ORB_ID(sensor_gnss_status)};
+
 	uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
 	hrt_abstime		_last_rtcm_injection_time{0};	///< time of last rtcm injection
 	uint8_t			_selected_rtcm_instance{0};	///< uorb instance that is being used for RTCM corrections
diff --git a/src/drivers/uavcannode/Publishers/GnssQuality.hpp b/src/drivers/uavcannode/Publishers/GnssQuality.hpp
index d9f530b04e..8ce9f78f84 100644
--- a/src/drivers/uavcannode/Publishers/GnssQuality.hpp
+++ b/src/drivers/uavcannode/Publishers/GnssQuality.hpp
@@ -37,8 +37,10 @@
 
 #include <uavcan/equipment/gnss/Quality.hpp>
 
+#include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/sensor_gps.h>
+#include <uORB/topics/sensor_gnss_status.h>
 
 namespace uavcannode
 {
@@ -71,7 +73,6 @@ public:
 	{
 		using uavcan::equipment::gnss::Quality;
 
-		// sensor_gps -> uavcan::equipment::gnss::Quality
 		sensor_gps_s gps;
 
 		if (uORB::SubscriptionCallbackWorkItem::update(&gps)) {
@@ -86,14 +87,29 @@ public:
 			quality.diff_age           = gps.diff_age;
 			quality.antenna_status     = gps.antenna_status;
 			quality.antenna_power      = gps.antenna_power;
-			quality.fix_quality        = gps.fix_quality;
 			quality.system_errors      = gps.system_error;
 
+			quality.corrections_quality     = 255;
+			quality.system_status_summary   = 255;
+			quality.gnss_signal_quality     = 255;
+			quality.post_processing_quality = 255;
+
+			sensor_gnss_status_s status;
+
+			if (_sensor_gnss_status_sub.copy(&status) && status.quality_available) {
+				quality.corrections_quality     = status.quality_corrections;
+				quality.system_status_summary   = status.quality_receiver;
+				quality.gnss_signal_quality     = status.quality_gnss_signals;
+				quality.post_processing_quality = status.quality_post_processing;
+			}
+
 			uavcan::Publisher<uavcan::equipment::gnss::Quality>::broadcast(quality);
 
-			// ensure callback is registered
 			uORB::SubscriptionCallbackWorkItem::registerCallback();
 		}
 	}
+
+private:
+	uORB::Subscription _sensor_gnss_status_sub{ORB_ID(sensor_gnss_status)};
 };
 } // namespace uavcannode