diff --git a/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig
index e6c8ff04a0..8ed0ed82d4 100644
--- a/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig
+++ b/boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig
@@ -51,7 +51,6 @@ CONFIG_DEBUG_ASSERTIONS=y
 CONFIG_DEBUG_ERROR=y
 CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_INFO=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEBUG_USAGEFAULT=y
diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics
index 643109d93f..07f002273d 100644
--- a/src/modules/zenoh/Kconfig.topics
+++ b/src/modules/zenoh/Kconfig.topics
@@ -49,6 +49,14 @@ menu "Zenoh publishers/subscribers"
 		bool "airspeed_wind"
 		default n
 
+	config ZENOH_PUBSUB_ARMING_CHECK_REPLY
+		bool "arming_check_reply"
+		default n
+
+	config ZENOH_PUBSUB_ARMING_CHECK_REQUEST
+		bool "arming_check_request"
+		default n
+
 	config ZENOH_PUBSUB_AUTOTUNE_ATTITUDE_CONTROL_STATUS
 		bool "autotune_attitude_control_status"
 		default n
@@ -85,6 +93,10 @@ menu "Zenoh publishers/subscribers"
 		bool "collision_report"
 		default n
 
+	config ZENOH_PUBSUB_CONFIG_OVERRIDES
+		bool "config_overrides"
+		default n
+
 	config ZENOH_PUBSUB_CONTROL_ALLOCATOR_STATUS
 		bool "control_allocator_status"
 		default n
@@ -201,6 +213,10 @@ menu "Zenoh publishers/subscribers"
 		bool "failure_detector_status"
 		default n
 
+	config ZENOH_PUBSUB_FIGURE_EIGHT_STATUS
+		bool "figure_eight_status"
+		default n
+
 	config ZENOH_PUBSUB_FOLLOW_TARGET
 		bool "follow_target"
 		default n
@@ -369,6 +385,14 @@ menu "Zenoh publishers/subscribers"
 		bool "mavlink_tunnel"
 		default n
 
+	config ZENOH_PUBSUB_MESSAGE_FORMAT_REQUEST
+		bool "message_format_request"
+		default n
+
+	config ZENOH_PUBSUB_MESSAGE_FORMAT_RESPONSE
+		bool "message_format_response"
+		default n
+
 	config ZENOH_PUBSUB_MISSION
 		bool "mission"
 		default n
@@ -493,6 +517,14 @@ menu "Zenoh publishers/subscribers"
 		bool "rc_parameter_map"
 		default n
 
+	config ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY
+		bool "register_ext_component_reply"
+		default n
+
+	config ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST
+		bool "register_ext_component_request"
+		default n
+
 	config ZENOH_PUBSUB_RPM
 		bool "rpm"
 		default n
@@ -641,6 +673,10 @@ menu "Zenoh publishers/subscribers"
 		bool "ulog_stream_ack"
 		default n
 
+	config ZENOH_PUBSUB_UNREGISTER_EXT_COMPONENT
+		bool "unregister_ext_component"
+		default n
+
 	config ZENOH_PUBSUB_VEHICLE_ACCELERATION
 		bool "vehicle_acceleration"
 		default n
@@ -778,6 +814,8 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_AIRSPEED
 	select ZENOH_PUBSUB_AIRSPEED_VALIDATED
 	select ZENOH_PUBSUB_AIRSPEED_WIND
+	select ZENOH_PUBSUB_ARMING_CHECK_REPLY
+	select ZENOH_PUBSUB_ARMING_CHECK_REQUEST
 	select ZENOH_PUBSUB_AUTOTUNE_ATTITUDE_CONTROL_STATUS
 	select ZENOH_PUBSUB_BATTERY_STATUS
 	select ZENOH_PUBSUB_BUTTON_EVENT
@@ -787,6 +825,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_CELLULAR_STATUS
 	select ZENOH_PUBSUB_COLLISION_CONSTRAINTS
 	select ZENOH_PUBSUB_COLLISION_REPORT
+	select ZENOH_PUBSUB_CONFIG_OVERRIDES
 	select ZENOH_PUBSUB_CONTROL_ALLOCATOR_STATUS
 	select ZENOH_PUBSUB_CPULOAD
 	select ZENOH_PUBSUB_DATAMAN_REQUEST
@@ -816,6 +855,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_EVENT
 	select ZENOH_PUBSUB_FAILSAFE_FLAGS
 	select ZENOH_PUBSUB_FAILURE_DETECTOR_STATUS
+	select ZENOH_PUBSUB_FIGURE_EIGHT_STATUS
 	select ZENOH_PUBSUB_FOLLOW_TARGET
 	select ZENOH_PUBSUB_FOLLOW_TARGET_ESTIMATOR
 	select ZENOH_PUBSUB_FOLLOW_TARGET_STATUS
@@ -858,6 +898,8 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_MANUAL_CONTROL_SWITCHES
 	select ZENOH_PUBSUB_MAVLINK_LOG
 	select ZENOH_PUBSUB_MAVLINK_TUNNEL
+	select ZENOH_PUBSUB_MESSAGE_FORMAT_REQUEST
+	select ZENOH_PUBSUB_MESSAGE_FORMAT_RESPONSE
 	select ZENOH_PUBSUB_MISSION
 	select ZENOH_PUBSUB_MISSION_RESULT
 	select ZENOH_PUBSUB_MODE_COMPLETED
@@ -889,6 +931,8 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_RATE_CTRL_STATUS
 	select ZENOH_PUBSUB_RC_CHANNELS
 	select ZENOH_PUBSUB_RC_PARAMETER_MAP
+	select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY
+	select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST
 	select ZENOH_PUBSUB_RPM
 	select ZENOH_PUBSUB_RTL_TIME_ESTIMATE
 	select ZENOH_PUBSUB_SATELLITE_INFO
@@ -926,6 +970,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_UAVCAN_PARAMETER_VALUE
 	select ZENOH_PUBSUB_ULOG_STREAM
 	select ZENOH_PUBSUB_ULOG_STREAM_ACK
+	select ZENOH_PUBSUB_UNREGISTER_EXT_COMPONENT
 	select ZENOH_PUBSUB_VEHICLE_ACCELERATION
 	select ZENOH_PUBSUB_VEHICLE_AIR_DATA
 	select ZENOH_PUBSUB_VEHICLE_ANGULAR_ACCELERATION_SETPOINT