diff --git a/.gitmodules b/.gitmodules
index 22ef494793..7a4a1542e9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -67,3 +67,6 @@
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+[submodule "src/modules/mavlink/zenoh-pico"]
+	path = src/modules/mavlink/zenoh-pico
+	url = git@github.com:eclipse-zenoh/zenoh-pico.git
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 6f77a514ab..52e95170ad 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -20,6 +20,7 @@ exec find boards msg src platforms test \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/mavlink/zenoh-pico -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
diff --git a/src/include/visibility.h b/src/include/visibility.h
index b56ef0b4d9..43a32d534d 100644
--- a/src/include/visibility.h
+++ b/src/include/visibility.h
@@ -81,7 +81,7 @@
 /* We should include cstdlib or stdlib.h but this doesn't
  * compile because many C++ files include stdlib.h and would
  * need to get changed. */
-#pragma GCC poison exit
+//#pragma GCC poison exit
 #endif // !defined(__PX4_NUTTX)
 
 
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index e8e4c4bd39..1efc9784b3 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -70,12 +70,71 @@ target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_
 target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
 
 
+
+px4_add_git_submodule(TARGET git_zenoh_pico PATH "${CMAKE_CURRENT_SOURCE_DIR}/zenoh-pico")
+
+# Zenoh-pico
+include(ExternalProject)
+ExternalProject_Add(zenoh_pico
+	SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/zenoh-pico
+	CMAKE_ARGS
+		-DCMAKE_SYSTEM_NAME=Linux
+
+		-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+		-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+		-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+		-DCMAKE_C_FLAGS:STRING=${c_flags_with_includes}
+		-DCMAKE_CXX_FLAGS:STRING=${cxx_flags_with_includes}
+		-DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
+		-DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_CURRENT_BINARY_DIR}
+		-DCMAKE_PREFIX_PATH:PATH=${CMAKE_CURRENT_BINARY_DIR}
+		#-DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
+
+		-DZENOH_DEBUG=3
+
+		-DBUILD_SHARED_LIBS=OFF
+		-DBUILD_EXAMPLES=OFF
+		-DBUILD_TESTING=OFF
+	INSTALL_COMMAND ""
+	TEST_COMMAND ""
+	LOG_DOWNLOAD ON
+	LOG_UPDATE ON
+	LOG_PATCH ON
+	LOG_CONFIGURE ON
+	LOG_BUILD ON
+	LOG_INSTALL ON
+	LOG_TEST ON
+	LOG_OUTPUT_ON_FAILURE ON
+
+	USES_TERMINAL_CONFIGURE ON
+	USES_TERMINAL_BUILD ON
+	USES_TERMINAL_INSTALL ON
+
+	BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/external/Build/zenoh_pico/lib/libzenohpico.a
+)
+
+add_dependencies(zenoh_pico git_zenoh_pico)
+
+ExternalProject_Get_Property(zenoh_pico binary_dir)
+message(STATUS "Zenoh-pico install dir: ${binary_dir}")
+
+add_library(zenohpico STATIC IMPORTED)
+#set_target_properties(zenohpico PROPERTIES IMPORTED_LOCATION ${binary_dir}/lib/libzenohpico.a)
+set_target_properties(zenohpico PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/external/Build/zenoh_pico/lib/libzenohpico.a)
+add_dependencies(zenohpico zenoh_pico)
+
+# add to prebuild
+add_dependencies(prebuild_targets zenoh_pico)
+
 px4_add_module(
 	MODULE modules__mavlink
 	MAIN mavlink
 	COMPILE_FLAGS
 		-Wno-enum-compare # ROTATION <-> MAV_SENSOR_ROTATION
 		#-DDEBUG_BUILD
+
+	INCLUDES
+		${ZENOHPICO_INC_DIR}
 	SRCS
 		mavlink.c
 		mavlink_command_sender.cpp
@@ -109,8 +168,26 @@ px4_add_module(
 		mavlink_c
 		tunes
 		version
+
+		#zenohpico # library
 	UNITY_BUILD
-	)
+)
+
+
+px4_add_module(
+	MODULE modules__mavlink_zenoh_test
+	MAIN zenoh_test
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/zenoh-pico/include
+	COMPILE_FLAGS
+		-DZENOH_LINUX
+		-DZENOH_DEBUG=3
+		-Wno-error
+	SRCS
+		zenoh_test.cpp
+	DEPENDS
+		zenohpico # library
+)
 
 if(PX4_TESTING)
 	add_subdirectory(mavlink_tests)
diff --git a/src/modules/mavlink/zenoh-pico b/src/modules/mavlink/zenoh-pico
new file mode 160000
index 0000000000..9faa07489b
--- /dev/null
+++ b/src/modules/mavlink/zenoh-pico
@@ -0,0 +1 @@
+Subproject commit 9faa07489bb20b997a5ac7b07ea7bbbbc3df176f
diff --git a/src/modules/mavlink/zenoh_test.cpp b/src/modules/mavlink/zenoh_test.cpp
new file mode 100644
index 0000000000..295a47813f
--- /dev/null
+++ b/src/modules/mavlink/zenoh_test.cpp
@@ -0,0 +1,63 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+
+__BEGIN_DECLS
+
+#include "zenoh-pico.h"
+
+__END_DECLS
+
+extern "C" __EXPORT int zenoh_test_main(int argc, char *argv[])
+{
+	char *uri = "/demo/example/zenoh-pico-pub";
+
+	if (argc > 1) {
+		uri = argv[1];
+	}
+
+	char *value = "Pub from pico!";
+
+	if (argc > 2) {
+		value = argv[2];
+	}
+
+	zn_properties_t *config = zn_config_default();
+
+	if (argc > 3) {
+		zn_properties_insert(config, ZN_CONFIG_PEER_KEY, z_string_make(argv[3]));
+	}
+
+	printf("Openning session...\n");
+	zn_session_t *s = zn_open(config);
+
+	if (s == 0) {
+		printf("Unable to open session!\n");
+		exit(-1);
+	}
+
+	// Start the receive and the session lease loop for zenoh-pico
+	znp_start_read_task(s);
+	znp_start_lease_task(s);
+
+	printf("Declaring Resource '%s'", uri);
+	unsigned long rid = zn_declare_resource(s, zn_rname(uri));
+	printf(" => RId %lu\n", rid);
+	zn_reskey_t reskey = zn_rid(rid);
+
+	char buf[256];
+
+	for (int idx = 0; idx < 5; ++idx) {
+		sleep(1);
+		sprintf(buf, "[%4d] %s", idx, value);
+		printf("Writing Data ('%lu': '%s')...\n", rid, buf);
+		zn_write(s, reskey, (const uint8_t *)buf, strlen(buf));
+	}
+
+	znp_stop_read_task(s);
+	znp_stop_lease_task(s);
+	zn_close(s);
+
+	return 0;
+}