diff --git a/boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig b/boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig
index 8dacaf564c..eed622209e 100644
--- a/boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig
+++ b/boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig
@@ -226,8 +226,8 @@ CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_RTC_MAGIC=0xA5A5A5A5
+CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_RTC_MAGIC_TIME_SET=0xA6A6A6A6
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
diff --git a/boards/micoair/h743-lite/nuttx-config/nsh/defconfig b/boards/micoair/h743-lite/nuttx-config/nsh/defconfig
index c5f981cbd4..11a2d6967f 100644
--- a/boards/micoair/h743-lite/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743-lite/nuttx-config/nsh/defconfig
@@ -199,8 +199,8 @@ CONFIG_STM32H7_SPI3=y
 CONFIG_STM32H7_SPI3_DMA=y
 CONFIG_STM32H7_SPI3_DMA_BUFFER=2048
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
-CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
diff --git a/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig b/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig
index c397305d7e..65e28164f8 100644
--- a/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig
+++ b/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig
@@ -206,7 +206,6 @@ CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
@@ -279,7 +278,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1768
-CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
diff --git a/boards/radiolink/PIX6/nuttx-config/nsh/defconfig b/boards/radiolink/PIX6/nuttx-config/nsh/defconfig
index 56616a4298..f69b7b84b8 100644
--- a/boards/radiolink/PIX6/nuttx-config/nsh/defconfig
+++ b/boards/radiolink/PIX6/nuttx-config/nsh/defconfig
@@ -209,8 +209,6 @@ CONFIG_STM32F7_SPI1=y
 CONFIG_STM32F7_SPI1_DMA=y
 CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32F7_SPI2=y
-#CONFIG_STM32F7_SPI2_DMA=y
-#CONFIG_STM32F7_SPI2_DMA_BUFFER=1024
 CONFIG_STM32F7_SPI4=y
 CONFIG_STM32F7_SPI_DMATHRESHOLD=8
 CONFIG_STM32F7_TIM5=y
diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics
index b16a0c41fa..1b59139374 100644
--- a/src/modules/zenoh/Kconfig.topics
+++ b/src/modules/zenoh/Kconfig.topics
@@ -645,6 +645,14 @@ menu "Zenoh publishers/subscribers"
 		bool "rover_rate_status"
 		default n
 
+	config ZENOH_PUBSUB_ROVER_SPEED_SETPOINT
+		bool "rover_speed_setpoint"
+		default n
+
+	config ZENOH_PUBSUB_ROVER_SPEED_STATUS
+		bool "rover_speed_status"
+		default n
+
 	config ZENOH_PUBSUB_ROVER_STEERING_SETPOINT
 		bool "rover_steering_setpoint"
 		default n
@@ -653,14 +661,6 @@ menu "Zenoh publishers/subscribers"
 		bool "rover_throttle_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_VELOCITY_SETPOINT
-		bool "rover_velocity_setpoint"
-		default n
-
-	config ZENOH_PUBSUB_ROVER_VELOCITY_STATUS
-		bool "rover_velocity_status"
-		default n
-
 	config ZENOH_PUBSUB_RPM
 		bool "rpm"
 		default n
@@ -705,6 +705,10 @@ menu "Zenoh publishers/subscribers"
 		bool "sensor_gnss_relative"
 		default n
 
+	config ZENOH_PUBSUB_SENSOR_GNSS_STATUS
+		bool "sensor_gnss_status"
+		default n
+
 	config ZENOH_PUBSUB_SENSOR_GPS
 		bool "sensor_gps"
 		default n
@@ -741,6 +745,10 @@ menu "Zenoh publishers/subscribers"
 		bool "sensor_selection"
 		default n
 
+	config ZENOH_PUBSUB_SENSOR_TEMP
+		bool "sensor_temp"
+		default n
+
 	config ZENOH_PUBSUB_SENSOR_UWB
 		bool "sensor_uwb"
 		default n
@@ -1103,10 +1111,10 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_ROVER_POSITION_SETPOINT
 	select ZENOH_PUBSUB_ROVER_RATE_SETPOINT
 	select ZENOH_PUBSUB_ROVER_RATE_STATUS
+	select ZENOH_PUBSUB_ROVER_SPEED_SETPOINT
+	select ZENOH_PUBSUB_ROVER_SPEED_STATUS
 	select ZENOH_PUBSUB_ROVER_STEERING_SETPOINT
 	select ZENOH_PUBSUB_ROVER_THROTTLE_SETPOINT
-	select ZENOH_PUBSUB_ROVER_VELOCITY_SETPOINT
-	select ZENOH_PUBSUB_ROVER_VELOCITY_STATUS
 	select ZENOH_PUBSUB_RPM
 	select ZENOH_PUBSUB_RTL_STATUS
 	select ZENOH_PUBSUB_RTL_TIME_ESTIMATE
@@ -1118,6 +1126,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_SENSOR_COMBINED
 	select ZENOH_PUBSUB_SENSOR_CORRECTION
 	select ZENOH_PUBSUB_SENSOR_GNSS_RELATIVE
+	select ZENOH_PUBSUB_SENSOR_GNSS_STATUS
 	select ZENOH_PUBSUB_SENSOR_GPS
 	select ZENOH_PUBSUB_SENSOR_GYRO
 	select ZENOH_PUBSUB_SENSOR_GYRO_FFT
@@ -1127,6 +1136,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_SENSOR_OPTICAL_FLOW
 	select ZENOH_PUBSUB_SENSOR_PREFLIGHT_MAG
 	select ZENOH_PUBSUB_SENSOR_SELECTION
+	select ZENOH_PUBSUB_SENSOR_TEMP
 	select ZENOH_PUBSUB_SENSOR_UWB
 	select ZENOH_PUBSUB_SENSORS_STATUS
 	select ZENOH_PUBSUB_SENSORS_STATUS_IMU