diff --git a/msg/DifferentialDriveSetpoint.msg b/msg/DifferentialDriveSetpoint.msg
index d21c8151a0..fddcc24365 100644
--- a/msg/DifferentialDriveSetpoint.msg
+++ b/msg/DifferentialDriveSetpoint.msg
@@ -3,4 +3,4 @@ uint64 timestamp # time since system start (microseconds)
 float32 speed # [m/s] collective roll-off speed in body x-axis
 float32 yaw_rate # [rad/s] yaw rate
 
-# TOPICS feed_forward_differential_drive_setpoint closed_loop_differential_drive_setpoint
+# TOPICS differential_drive_setpoint differential_drive_control_output
diff --git a/src/modules/differential_drive_control/DifferentialDriveControl.cpp b/src/modules/differential_drive_control/DifferentialDriveControl.cpp
index 88da3ee42f..2817da472b 100644
--- a/src/modules/differential_drive_control/DifferentialDriveControl.cpp
+++ b/src/modules/differential_drive_control/DifferentialDriveControl.cpp
@@ -142,7 +142,7 @@ void DifferentialDriveControl::Run()
 				_differential_drive_setpoint.speed = manual_control_setpoint.throttle * _param_rdd_speed_scale.get() * _max_speed;
 				_differential_drive_setpoint.yaw_rate = manual_control_setpoint.roll * _param_rdd_ang_velocity_scale.get() *
 									_max_angular_velocity;
-				_feed_forward_differential_drive_setpoint_pub.publish(_differential_drive_setpoint);
+				_differential_drive_control_output_pub.publish(_differential_drive_setpoint);
 			}
 		}
 
@@ -159,19 +159,19 @@ void DifferentialDriveControl::Run()
 		_differential_drive_setpoint.timestamp = now;
 		_differential_drive_setpoint.speed = guidance_output(0);
 		_differential_drive_setpoint.yaw_rate = guidance_output(1);
-		_closed_loop_differential_drive_setpoint_pub.publish(_differential_drive_setpoint);
+		_differential_drive_setpoint_pub.publish(_differential_drive_setpoint);
 	}
 
 	// check if the topic is updated and update the setpoint
-	if (_feed_forward_differential_drive_setpoint_sub.updated()) {
-		_feed_forward_differential_drive_setpoint_sub.copy(&_differential_drive_setpoint);
+	if (_differential_drive_control_output_sub.updated()) {
+		_differential_drive_control_output_sub.copy(&_differential_drive_setpoint);
 
 		_speed_pid_output = 0;
 		_angular_velocity_pid_output = 0;
 	}
 
-	if (_closed_loop_differential_drive_setpoint_sub.updated()) {
-		_closed_loop_differential_drive_setpoint_sub.copy(&_differential_drive_setpoint);
+	if (_differential_drive_setpoint_sub.updated()) {
+		_differential_drive_setpoint_sub.copy(&_differential_drive_setpoint);
 
 		_speed_pid_output = pid_calculate(&_speed_pid, _differential_drive_setpoint.speed, _velocity_in_body_frame(0), 0, dt);
 		_angular_velocity_pid_output = pid_calculate(&_angular_velocity_pid, _differential_drive_setpoint.yaw_rate,
diff --git a/src/modules/differential_drive_control/DifferentialDriveControl.hpp b/src/modules/differential_drive_control/DifferentialDriveControl.hpp
index 663561000f..17bd0f4ba1 100644
--- a/src/modules/differential_drive_control/DifferentialDriveControl.hpp
+++ b/src/modules/differential_drive_control/DifferentialDriveControl.hpp
@@ -99,8 +99,8 @@ protected:
 private:
 	void Run() override;
 
-	uORB::Subscription _feed_forward_differential_drive_setpoint_sub{ORB_ID(feed_forward_differential_drive_setpoint)};
-	uORB::Subscription _closed_loop_differential_drive_setpoint_sub{ORB_ID(closed_loop_differential_drive_setpoint)};
+	uORB::Subscription _differential_drive_control_output_sub{ORB_ID(differential_drive_control_output)};
+	uORB::Subscription _differential_drive_setpoint_sub{ORB_ID(differential_drive_setpoint)};
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
@@ -110,8 +110,8 @@ private:
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
-	uORB::Publication<differential_drive_setpoint_s> _feed_forward_differential_drive_setpoint_pub{ORB_ID(feed_forward_differential_drive_setpoint)};
-	uORB::Publication<differential_drive_setpoint_s> _closed_loop_differential_drive_setpoint_pub{ORB_ID(closed_loop_differential_drive_setpoint)};
+	uORB::Publication<differential_drive_setpoint_s> _differential_drive_control_output_pub{ORB_ID(differential_drive_control_output)};
+	uORB::Publication<differential_drive_setpoint_s> _differential_drive_setpoint_pub{ORB_ID(differential_drive_setpoint)};
 
 	differential_drive_setpoint_s _differential_drive_setpoint{};
 	vehicle_angular_velocity_s _vehicle_angular_velocity{};
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 5068299b33..c19f31ee13 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -57,8 +57,8 @@ void LoggedTopics::add_default_topics()
 	add_topic("commander_state");
 	add_topic("config_overrides");
 	add_topic("cpuload");
-	add_optional_topic("feed_forward_differential_drive_setpoint", 100);
-	add_optional_topic("closed_loop_differential_drive_setpoint", 100);
+	add_optional_topic("differential_drive_control_output", 100);
+	add_optional_topic("differential_drive_setpoint", 100);
 	add_optional_topic("external_ins_attitude");
 	add_optional_topic("external_ins_global_position");
 	add_optional_topic("external_ins_local_position");
diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index bce6677d06..2da2b99d00 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -127,10 +127,10 @@ subscriptions:
   - topic: /fmu/in/vehicle_rates_setpoint
     type: px4_msgs::msg::VehicleRatesSetpoint
 
-  - topic: /fmu/in/feed_forward_differential_drive_setpoint
+  - topic: /fmu/in/differential_drive_control_output
     type: px4_msgs::msg::DifferentialDriveSetpoint
 
-  - topic: /fmu/in/closed_loop_differential_drive_setpoint
+  - topic: /fmu/in/differential_drive_setpoint
     type: px4_msgs::msg::DifferentialDriveSetpoint
 
   - topic: /fmu/in/vehicle_visual_odometry