diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 9981f359d4..d094077501 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -57,6 +57,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("commander_state");
 	add_topic("config_overrides");
 	add_topic("cpuload");
+	add_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 d751faa131..ed914bdabb 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -76,6 +76,9 @@ subscriptions:
   - topic: /fmu/in/register_ext_component_request
     type: px4_msgs::msg::RegisterExtComponentRequest
 
+  - topic: /fmu/in/differential_drive_setpoint
+    type: px4_msgs::msg::DifferentialDriveSetpoint
+
   - topic: /fmu/in/unregister_ext_component
     type: px4_msgs::msg::UnregisterExtComponent