diff --git a/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig
index 7e56401723..1d75bb419d 100644
--- a/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig
@@ -219,12 +219,12 @@ CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART7=y
 CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics
index 14866f5ebf..58e5e522cd 100644
--- a/src/modules/zenoh/Kconfig.topics
+++ b/src/modules/zenoh/Kconfig.topics
@@ -85,6 +85,10 @@ menu "Zenoh publishers/subscribers"
 		bool "camera_trigger"
 		default n
 
+	config ZENOH_PUBSUB_CAN_INTERFACE_STATUS
+		bool "can_interface_status"
+		default n
+
 	config ZENOH_PUBSUB_CELLULAR_STATUS
 		bool "cellular_status"
 		default n
@@ -249,6 +253,10 @@ menu "Zenoh publishers/subscribers"
 		bool "geofence_result"
 		default n
 
+	config ZENOH_PUBSUB_GEOFENCE_STATUS
+		bool "geofence_status"
+		default n
+
 	config ZENOH_PUBSUB_GIMBAL_CONTROLS
 		bool "gimbal_controls"
 		default n
@@ -465,6 +473,22 @@ menu "Zenoh publishers/subscribers"
 		bool "orbit_status"
 		default n
 
+	config ZENOH_PUBSUB_PARAMETER_RESET_REQUEST
+		bool "parameter_reset_request"
+		default n
+
+	config ZENOH_PUBSUB_PARAMETER_SET_USED_REQUEST
+		bool "parameter_set_used_request"
+		default n
+
+	config ZENOH_PUBSUB_PARAMETER_SET_VALUE_REQUEST
+		bool "parameter_set_value_request"
+		default n
+
+	config ZENOH_PUBSUB_PARAMETER_SET_VALUE_RESPONSE
+		bool "parameter_set_value_response"
+		default n
+
 	config ZENOH_PUBSUB_PARAMETER_UPDATE
 		bool "parameter_update"
 		default n
@@ -545,6 +569,10 @@ menu "Zenoh publishers/subscribers"
 		bool "rpm"
 		default n
 
+	config ZENOH_PUBSUB_RTL_STATUS
+		bool "rtl_status"
+		default n
+
 	config ZENOH_PUBSUB_RTL_TIME_ESTIMATE
 		bool "rtl_time_estimate"
 		default n
@@ -851,6 +879,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_CAMERA_CAPTURE
 	select ZENOH_PUBSUB_CAMERA_STATUS
 	select ZENOH_PUBSUB_CAMERA_TRIGGER
+	select ZENOH_PUBSUB_CAN_INTERFACE_STATUS
 	select ZENOH_PUBSUB_CELLULAR_STATUS
 	select ZENOH_PUBSUB_COLLISION_CONSTRAINTS
 	select ZENOH_PUBSUB_COLLISION_REPORT
@@ -892,6 +921,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_FOLLOW_TARGET_STATUS
 	select ZENOH_PUBSUB_GENERATOR_STATUS
 	select ZENOH_PUBSUB_GEOFENCE_RESULT
+	select ZENOH_PUBSUB_GEOFENCE_STATUS
 	select ZENOH_PUBSUB_GIMBAL_CONTROLS
 	select ZENOH_PUBSUB_GIMBAL_DEVICE_ATTITUDE_STATUS
 	select ZENOH_PUBSUB_GIMBAL_DEVICE_INFORMATION
@@ -946,6 +976,10 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_ORB_TEST_LARGE
 	select ZENOH_PUBSUB_ORB_TEST_MEDIUM
 	select ZENOH_PUBSUB_ORBIT_STATUS
+	select ZENOH_PUBSUB_PARAMETER_RESET_REQUEST
+	select ZENOH_PUBSUB_PARAMETER_SET_USED_REQUEST
+	select ZENOH_PUBSUB_PARAMETER_SET_VALUE_REQUEST
+	select ZENOH_PUBSUB_PARAMETER_SET_VALUE_RESPONSE
 	select ZENOH_PUBSUB_PARAMETER_UPDATE
 	select ZENOH_PUBSUB_PING
 	select ZENOH_PUBSUB_POSITION_CONTROLLER_LANDING_STATUS
@@ -966,6 +1000,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY
 	select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST
 	select ZENOH_PUBSUB_RPM
+	select ZENOH_PUBSUB_RTL_STATUS
 	select ZENOH_PUBSUB_RTL_TIME_ESTIMATE
 	select ZENOH_PUBSUB_SATELLITE_INFO
 	select ZENOH_PUBSUB_SENSOR_ACCEL