diff --git a/sw/airborne/arch/chibios/modules/uavcan/uavcan.c b/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
index 38d2a6bffa..9c0fee744d 100644
--- a/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
+++ b/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
@@ -58,9 +58,7 @@ struct uavcan_iface_t uavcan1 = {
   .thread_tx_wa_size = sizeof(uavcan1_tx_wa),
   .node_id = UAVCAN_CAN1_NODE_ID,
   .transfer_id = 0,
-  .initialized = false,
-  .cnt_act_raw = 0,
-  .cnt_act_cmd = 0
+  .initialized = false
 };
 #endif
 
@@ -86,9 +84,7 @@ struct uavcan_iface_t uavcan2 = {
   .thread_tx_wa_size = sizeof(uavcan2_tx_wa),
   .node_id = UAVCAN_CAN2_NODE_ID,
   .transfer_id = 0,
-  .initialized = false,
-  .cnt_act_raw = 0,
-  .cnt_act_cmd = 0
+  .initialized = false
 };
 #endif
 
diff --git a/sw/airborne/arch/chibios/modules/uavcan/uavcan.h b/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
index 46898c837c..2920324034 100644
--- a/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
+++ b/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
@@ -51,9 +51,6 @@ struct uavcan_iface_t {
 
   uint8_t transfer_id;
   bool initialized;
-
-  uint16_t cnt_act_raw;
-  uint16_t cnt_act_cmd;
 };
 
 /** Generic uavcan callback definition */
@@ -82,4 +79,4 @@ void uavcan_bind(uint16_t data_type_id, uint64_t data_type_signature, uavcan_eve
 void uavcan_broadcast(struct uavcan_iface_t *iface, uint64_t data_type_signature, uint16_t data_type_id,
                       uint8_t priority, const void *payload, uint16_t payload_len);
 
-#endif /* MODULES_UAVCAN_ARCH_H */
\ No newline at end of file
+#endif /* MODULES_UAVCAN_ARCH_H */
diff --git a/sw/airborne/modules/actuators/actuators_uavcan.c b/sw/airborne/modules/actuators/actuators_uavcan.c
index d538de07e4..5b862399a9 100644
--- a/sw/airborne/modules/actuators/actuators_uavcan.c
+++ b/sw/airborne/modules/actuators/actuators_uavcan.c
@@ -454,14 +454,9 @@ void actuators_uavcan_commit(struct uavcan_iface_t *iface, int16_t *values, uint
     offset += 14;
   }
 
-  iface->cnt_act_raw++;
-  if(iface->cnt_act_raw >= ACTUATORS_UAVCAN_RAW_DIV) {
-    iface->cnt_act_raw = 0;
-
-    // Broadcast the raw command message on the interface
-    uavcan_broadcast(iface, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID,
-                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, (offset + 7) / 8);
-  }
+  // Broadcast the raw command message on the interface
+  RunOnceEvery(ACTUATORS_UAVCAN_RAW_DIV, uavcan_broadcast(iface, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID,
+                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, (offset + 7) / 8));
 }
 
 /**
@@ -493,12 +488,7 @@ void actuators_uavcan_cmd_commit(struct uavcan_iface_t *iface, int16_t *values,
     offset += 16;
   }
 
-  iface->cnt_act_cmd++;
-  if(iface->cnt_act_cmd >= ACTUATORS_UAVCAN_CMD_DIV) {
-    iface->cnt_act_cmd = 0;
-
-    // Broadcast the raw command message on the interface
-    uavcan_broadcast(iface, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID,
-                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, (offset + 7) / 8);
-  }
+  // Broadcast the raw command message on the interface
+  RunOnceEvery(ACTUATORS_UAVCAN_CMD_DIV, uavcan_broadcast(iface, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID,
+                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, (offset + 7) / 8));
 }