diff --git a/conf/modules/uavcan.xml b/conf/modules/uavcan.xml
index 9398dbad77..de19b90b50 100644
--- a/conf/modules/uavcan.xml
+++ b/conf/modules/uavcan.xml
@@ -38,5 +38,6 @@
 
     <!-- Load uavcan itself -->
     <file_arch name="uavcan.c" dir="modules/uavcan"/>
+    <file name="circular_buffer.c" dir="utils"/>
   </makefile>
 </module>
diff --git a/sw/airborne/arch/chibios/modules/uavcan/uavcan.c b/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
index 73624b5314..0f6758fdca 100644
--- a/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
+++ b/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
@@ -47,6 +47,14 @@ static uavcan_event *uavcan_event_hd = NULL;
 #define UAVCAN_CAN1_BAUDRATE UAVCAN_BAUDRATE
 #endif
 
+struct uavcan_msg_header_t {
+  uint64_t data_type_signature;
+  uint16_t data_type_id;
+  uint8_t priority;
+  uint16_t payload_len;
+  uint8_t *payload;
+};
+
 
 struct uavcan_iface_t uavcan1 = {
   .can_net = {.can_ifindex = 1},
@@ -82,7 +90,7 @@ static void can_frame_cb(struct pprzcan_frame* rx_msg, UNUSED struct pprzaddr_ca
 
   pprz_mtx_lock(&iface->mutex);
 
-  CanardCANFrame rx_frame;
+  CanardCANFrame rx_frame = {0};
   memcpy(rx_frame.data, rx_msg->data, 8);
   rx_frame.data_len = rx_msg->len;
   if (rx_msg->can_id & CAN_FRAME_EFF) {
@@ -97,6 +105,9 @@ static void can_frame_cb(struct pprzcan_frame* rx_msg, UNUSED struct pprzaddr_ca
   pprz_mtx_unlock(&iface->mutex);
 }
 
+
+uint8_t msg_payload[UAVCAN_MSG_MAX_SIZE];
+
 /*
  * Transmitter thread.
  */
@@ -109,6 +120,26 @@ static void uavcan_tx(void* p)
     pprz_bsem_wait(&iface->bsem);
 
     pprz_mtx_lock(&iface->mutex);
+
+
+    // read the Tx FIFO to canard
+    pprz_mtx_lock(&iface->tx_fifo_mutex);
+    while(true) {
+      struct uavcan_msg_header_t header;
+      int ret = circular_buffer_get(&iface->_tx_fifo, (uint8_t*)&header, sizeof(header));
+      if(ret < 0) {break;}
+      if(header.payload_len >= UAVCAN_MSG_MAX_SIZE) {
+        chSysHalt("UAVCAN_MSG_MAX_SIZE too small");
+      }
+      ret = circular_buffer_get(&iface->_tx_fifo, msg_payload, UAVCAN_MSG_MAX_SIZE);
+      if(ret < 0) {break;}
+      canardBroadcast(&iface->canard,
+                    header.data_type_signature,
+                    header.data_type_id, &iface->transfer_id,
+                    header.priority, msg_payload, header.payload_len);
+    }
+    pprz_mtx_unlock(&iface->tx_fifo_mutex);
+
     for (const CanardCANFrame *txf = NULL; (txf = canardPeekTxQueue(&iface->canard)) != NULL;) {
       struct pprzcan_frame tx_msg;
       memcpy(tx_msg.data, txf->data, 8);
@@ -181,6 +212,10 @@ static void uavcanInitIface(struct uavcan_iface_t *iface)
 {
   pprz_mtx_init(&iface->mutex);
   pprz_bsem_init(&iface->bsem, true);
+  pprz_mtx_init(&iface->tx_fifo_mutex);
+
+  // Initialize tx fifo
+  circular_buffer_init(&iface->_tx_fifo, iface->_tx_fifo_buffer, UAVCAN_TX_FIFO_SIZE);
 
   // Initialize canard
   canardInit(&iface->canard, iface->canard_memory_pool, sizeof(iface->canard_memory_pool),
@@ -232,11 +267,29 @@ void uavcan_broadcast(struct uavcan_iface_t *iface, uint64_t data_type_signature
                       uint16_t payload_len)
 {
   if (!iface->initialized) { return; }
-  pprz_mtx_lock(&iface->mutex);
-  canardBroadcast(&iface->canard,
-                  data_type_signature,
-                  data_type_id, &iface->transfer_id,
-                  priority, payload, payload_len);
-  pprz_mtx_unlock(&iface->mutex);
+  pprz_mtx_lock(&iface->tx_fifo_mutex);
+
+  struct uavcan_msg_header_t header = {
+    .data_type_signature = data_type_signature,
+    .data_type_id = data_type_id,
+    .priority = priority,
+    .payload_len = payload_len
+  };
+
+  if(circular_buffer_put(&iface->_tx_fifo, (uint8_t*)&header, sizeof(header))) {
+    // fail to post header
+    pprz_mtx_unlock(&iface->tx_fifo_mutex);
+    return;
+  }
+
+  if(circular_buffer_put(&iface->_tx_fifo, payload, payload_len)) {
+    // fail to post payload. Remove the header from the fifo
+    circular_buffer_drop(&iface->_tx_fifo);
+    pprz_mtx_unlock(&iface->tx_fifo_mutex);
+    return;
+  }
+  pprz_mtx_unlock(&iface->tx_fifo_mutex);
+  
+  // Wake Tx thread
   pprz_bsem_signal(&iface->bsem);
 }
diff --git a/sw/airborne/arch/chibios/modules/uavcan/uavcan.h b/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
index 1b392873c4..17f8288fbe 100644
--- a/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
+++ b/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
@@ -30,6 +30,17 @@
 #include <string.h>
 #include "mcu_periph/can.h"
 #include "modules/core/threads.h"
+#include "utils/circular_buffer.h"
+
+
+#ifndef UAVCAN_TX_FIFO_SIZE
+#define UAVCAN_TX_FIFO_SIZE 1024
+#endif
+
+#ifndef UAVCAN_MSG_MAX_SIZE
+#define UAVCAN_MSG_MAX_SIZE 256
+#endif
+
 
 /** uavcan interface structure */
 struct uavcan_iface_t {
@@ -50,6 +61,10 @@ struct uavcan_iface_t {
   CanardInstance canard;
   uint8_t canard_memory_pool[1024 * 2];
 
+  uint8_t _tx_fifo_buffer[UAVCAN_TX_FIFO_SIZE];
+  struct circular_buffer _tx_fifo;
+  pprz_mutex_t tx_fifo_mutex;
+
   uint8_t transfer_id;
   bool initialized;
 };
diff --git a/sw/airborne/utils/circular_buffer.c b/sw/airborne/utils/circular_buffer.c
index 436d4ab7a2..47a1c92e85 100644
--- a/sw/airborne/utils/circular_buffer.c
+++ b/sw/airborne/utils/circular_buffer.c
@@ -34,7 +34,7 @@ int circular_buffer_get(struct circular_buffer *cb, uint8_t *buf, size_t len)
   }
   uint8_t *start = cb->_buf + cb->read_offset + 2;
 
-  if (end_offset > cb->read_offset + 2) {
+  if (end_offset >= cb->read_offset + 2) {
     memcpy(buf, start, *msg_len_p);
   } else {
     size_t len1 = cb->_buf_len - (cb->read_offset + 2);