diff --git a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
index f8e072935b..dac5f8dc15 100644
--- a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
@@ -295,14 +295,12 @@ CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
 CONFIG_UART5_RXDMA=y
 CONFIG_UART5_TXBUFSIZE=10000
-# CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
 CONFIG_UART7_OFLOWCONTROL=y
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
-# CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
@@ -319,7 +317,6 @@ CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
-# CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500
diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics
index a1fe848d07..3a31153890 100644
--- a/src/modules/zenoh/Kconfig.topics
+++ b/src/modules/zenoh/Kconfig.topics
@@ -65,6 +65,10 @@ menu "Zenoh publishers/subscribers"
 		bool "battery_status"
 		default n
 
+	config ZENOH_PUBSUB_BUFFER128
+		bool "buffer128"
+		default n
+
 	config ZENOH_PUBSUB_BUTTON_EVENT
 		bool "button_event"
 		default n
@@ -129,6 +133,10 @@ menu "Zenoh publishers/subscribers"
 		bool "debug_vect"
 		default n
 
+	config ZENOH_PUBSUB_DIFFERENTIAL_DRIVE_SETPOINT
+		bool "differential_drive_setpoint"
+		default n
+
 	config ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE
 		bool "differential_pressure"
 		default n
@@ -549,6 +557,10 @@ menu "Zenoh publishers/subscribers"
 		bool "sensor_accel_fifo"
 		default n
 
+	config ZENOH_PUBSUB_SENSOR_AIRFLOW
+		bool "sensor_airflow"
+		default n
+
 	config ZENOH_PUBSUB_SENSOR_BARO
 		bool "sensor_baro"
 		default n
@@ -789,6 +801,10 @@ menu "Zenoh publishers/subscribers"
 		bool "vehicle_trajectory_waypoint"
 		default n
 
+	config ZENOH_PUBSUB_VELOCITY_LIMITS
+		bool "velocity_limits"
+		default n
+
 	config ZENOH_PUBSUB_VTOL_VEHICLE_STATUS
 		bool "vtol_vehicle_status"
 		default n
@@ -826,6 +842,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_ARMING_CHECK_REQUEST
 	select ZENOH_PUBSUB_AUTOTUNE_ATTITUDE_CONTROL_STATUS
 	select ZENOH_PUBSUB_BATTERY_STATUS
+	select ZENOH_PUBSUB_BUFFER128
 	select ZENOH_PUBSUB_BUTTON_EVENT
 	select ZENOH_PUBSUB_CAMERA_CAPTURE
 	select ZENOH_PUBSUB_CAMERA_STATUS
@@ -842,6 +859,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_DEBUG_KEY_VALUE
 	select ZENOH_PUBSUB_DEBUG_VALUE
 	select ZENOH_PUBSUB_DEBUG_VECT
+	select ZENOH_PUBSUB_DIFFERENTIAL_DRIVE_SETPOINT
 	select ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE
 	select ZENOH_PUBSUB_DISTANCE_SENSOR
 	select ZENOH_PUBSUB_EKF2_TIMESTAMPS
@@ -947,6 +965,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_SATELLITE_INFO
 	select ZENOH_PUBSUB_SENSOR_ACCEL
 	select ZENOH_PUBSUB_SENSOR_ACCEL_FIFO
+	select ZENOH_PUBSUB_SENSOR_AIRFLOW
 	select ZENOH_PUBSUB_SENSOR_BARO
 	select ZENOH_PUBSUB_SENSOR_COMBINED
 	select ZENOH_PUBSUB_SENSOR_CORRECTION
@@ -1007,6 +1026,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_VEHICLE_TORQUE_SETPOINT
 	select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER
 	select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT
+	select ZENOH_PUBSUB_VELOCITY_LIMITS
 	select ZENOH_PUBSUB_VTOL_VEHICLE_STATUS
 	select ZENOH_PUBSUB_WHEEL_ENCODERS
 	select ZENOH_PUBSUB_WIND