diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index 94ca33ee34..53314ce015 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -87,6 +87,9 @@ subscriptions:
   - topic: /fmu/in/config_control_setpoints
     type: px4_msgs::msg::VehicleControlMode
 
+  - topic: /fmu/in/manual_control_input
+    type: px4_msgs::msg::ManualControlSetpoint
+
   - topic: /fmu/in/offboard_control_mode
     type: px4_msgs::msg::OffboardControlMode