diff --git a/sw/airborne/arch/chibios/modules/uavcan/uavcan.c b/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
index 9c0fee744d..38d2a6bffa 100644
--- a/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
+++ b/sw/airborne/arch/chibios/modules/uavcan/uavcan.c
@@ -58,7 +58,9 @@ struct uavcan_iface_t uavcan1 = {
   .thread_tx_wa_size = sizeof(uavcan1_tx_wa),
   .node_id = UAVCAN_CAN1_NODE_ID,
   .transfer_id = 0,
-  .initialized = false
+  .initialized = false,
+  .cnt_act_raw = 0,
+  .cnt_act_cmd = 0
 };
 #endif
 
@@ -84,7 +86,9 @@ struct uavcan_iface_t uavcan2 = {
   .thread_tx_wa_size = sizeof(uavcan2_tx_wa),
   .node_id = UAVCAN_CAN2_NODE_ID,
   .transfer_id = 0,
-  .initialized = false
+  .initialized = false,
+  .cnt_act_raw = 0,
+  .cnt_act_cmd = 0
 };
 #endif
 
diff --git a/sw/airborne/arch/chibios/modules/uavcan/uavcan.h b/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
index 2920324034..46898c837c 100644
--- a/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
+++ b/sw/airborne/arch/chibios/modules/uavcan/uavcan.h
@@ -51,6 +51,9 @@ struct uavcan_iface_t {
 
   uint8_t transfer_id;
   bool initialized;
+
+  uint16_t cnt_act_raw;
+  uint16_t cnt_act_cmd;
 };
 
 /** Generic uavcan callback definition */
@@ -79,4 +82,4 @@ 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 */
+#endif /* MODULES_UAVCAN_ARCH_H */
\ No newline at end of file
diff --git a/sw/airborne/modules/actuators/actuators_uavcan.c b/sw/airborne/modules/actuators/actuators_uavcan.c
index 5b862399a9..d538de07e4 100644
--- a/sw/airborne/modules/actuators/actuators_uavcan.c
+++ b/sw/airborne/modules/actuators/actuators_uavcan.c
@@ -454,9 +454,14 @@ void actuators_uavcan_commit(struct uavcan_iface_t *iface, int16_t *values, uint
     offset += 14;
   }
 
-  // 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));
+  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);
+  }
 }
 
 /**
@@ -488,7 +493,12 @@ void actuators_uavcan_cmd_commit(struct uavcan_iface_t *iface, int16_t *values,
     offset += 16;
   }
 
-  // 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));
+  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);
+  }
 }