boards: update all NuttX defconfigs

boards/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -147,11 +147,10 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETMAN_FALLBACK_IPADDR=0xC0A80004
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_IPADDR=0xC0A80004
 CONFIG_NETINIT_DNSIPADDR=0xC0A800FE
 CONFIG_NETINIT_DRIPADDR=0xC0A80001
+CONFIG_NETINIT_IPADDR=0xC0A80004
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49

boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig

@@ -49,6 +49,7 @@
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32H7_AUTONEG is not set
 # CONFIG_STM32H7_USE_LEGACY_PINMAP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
@@ -67,7 +68,6 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
@@ -141,7 +141,6 @@ CONFIG_NETINIT_DNS=y
 CONFIG_NETINIT_DNSIPADDR=0xA290AFE
 CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_IPADDR=0xA290A02
-CONFIG_NETINIT_MONITOR=n
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NET_ARP_IPIN=y
@@ -169,6 +168,7 @@ CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
@@ -212,6 +212,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_ETH100MBPS=y
+CONFIG_STM32H7_ETHFD=y
 CONFIG_STM32H7_ETHMAC=y
 CONFIG_STM32H7_FLASH_OVERRIDE_I=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
@@ -219,12 +221,8 @@ CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_NO_PHY=y
-CONFIG_STM32H7_AUTONEG=n
-CONFIG_STM32H7_ETHFD=y
-CONFIG_STM32H7_ETH100MBPS=y
-CONFIG_STM32H7_RMII_EXTCLK=y
+CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
@@ -257,45 +255,36 @@ CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
-
-CONFIG_USART1_BAUD=3000000
-CONFIG_USART1_IFLOWCONTROL=y
-CONFIG_USART1_OFLOWCONTROL=y
-CONFIG_USART1_RXBUFSIZE=1500
-CONFIG_USART1_TXBUFSIZE=10000
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXDMA=y
-
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=500
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART2_TXDMA=y
-CONFIG_USART2_SERIAL_CONSOLE=y
-
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXDMA=y
-
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=500
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART4_TXDMA=y
-
 CONFIG_UART5_BAUD=100000
 CONFIG_UART5_RXBUFSIZE=600
 CONFIG_UART5_RXDMA=y
-
-CONFIG_UART7_BAUD=115200
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_RXDMA=y
-
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_TXDMA=y
-
+CONFIG_USART1_BAUD=3000000
+CONFIG_USART1_IFLOWCONTROL=y
+CONFIG_USART1_OFLOWCONTROL=y
+CONFIG_USART1_RXBUFSIZE=1500
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=10000
+CONFIG_USART1_TXDMA=y
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=500
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USEC_PER_TICK=1000
 CONFIG_WATCHDOG=y

boards/holybro/kakuteh7-wing/nuttx-config/nsh/defconfig

@@ -214,14 +214,14 @@ CONFIG_STM32H7_SPI3=y
 CONFIG_STM32H7_SPI3_DMA=y
 CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
 CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM17=y
 CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_TIM15=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_TIM17=y
 CONFIG_STM32H7_UART5=y
 CONFIG_STM32H7_UART7=y
 CONFIG_STM32H7_UART8=y
@@ -246,8 +246,8 @@ CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500

boards/holybro/kakuteh7dualimu/nuttx-config/nsh/defconfig

@@ -147,9 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -230,14 +227,14 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXDMA=y
 CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_SERIAL_CONSOLE=y

boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig

@@ -195,7 +195,6 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

src/modules/zenoh/Kconfig.topics

@@ -61,12 +61,12 @@ menu "Zenoh publishers/subscribers"
 		bool "autotune_attitude_control_status"
 		default n
 
-	config ZENOH_PUBSUB_BATTERY_STATUS
-		bool "battery_status"
+	config ZENOH_PUBSUB_BATTERY_INFO
+		bool "battery_info"
 		default n
 
-	config ZENOH_PUBSUB_BUFFER128
-		bool "buffer128"
+	config ZENOH_PUBSUB_BATTERY_STATUS
+		bool "battery_status"
 		default n
 
 	config ZENOH_PUBSUB_BUTTON_EVENT
@@ -145,6 +145,10 @@ menu "Zenoh publishers/subscribers"
 		bool "distance_sensor_mode_change_request"
 		default n
 
+	config ZENOH_PUBSUB_DRONECAN_NODE_STATUS
+		bool "dronecan_node_status"
+		default n
+
 	config ZENOH_PUBSUB_EKF2_TIMESTAMPS
 		bool "ekf2_timestamps"
 		default n
@@ -225,6 +229,26 @@ menu "Zenoh publishers/subscribers"
 		bool "figure_eight_status"
 		default n
 
+	config ZENOH_PUBSUB_FIXED_WING_LATERAL_GUIDANCE_STATUS
+		bool "fixed_wing_lateral_guidance_status"
+		default n
+
+	config ZENOH_PUBSUB_FIXED_WING_LATERAL_SETPOINT
+		bool "fixed_wing_lateral_setpoint"
+		default n
+
+	config ZENOH_PUBSUB_FIXED_WING_LATERAL_STATUS
+		bool "fixed_wing_lateral_status"
+		default n
+
+	config ZENOH_PUBSUB_FIXED_WING_LONGITUDINAL_SETPOINT
+		bool "fixed_wing_longitudinal_setpoint"
+		default n
+
+	config ZENOH_PUBSUB_FIXED_WING_RUNWAY_CONTROL
+		bool "fixed_wing_runway_control"
+		default n
+
 	config ZENOH_PUBSUB_FLIGHT_PHASE_ESTIMATION
 		bool "flight_phase_estimation"
 		default n
@@ -341,6 +365,10 @@ menu "Zenoh publishers/subscribers"
 		bool "input_rc"
 		default n
 
+	config ZENOH_PUBSUB_INTERNAL_COMBUSTION_ENGINE_CONTROL
+		bool "internal_combustion_engine_control"
+		default n
+
 	config ZENOH_PUBSUB_INTERNAL_COMBUSTION_ENGINE_STATUS
 		bool "internal_combustion_engine_status"
 		default n
@@ -369,6 +397,10 @@ menu "Zenoh publishers/subscribers"
 		bool "landing_target_pose"
 		default n
 
+	config ZENOH_PUBSUB_LATERAL_CONTROL_CONFIGURATION
+		bool "lateral_control_configuration"
+		default n
+
 	config ZENOH_PUBSUB_LAUNCH_DETECTION_STATUS
 		bool "launch_detection_status"
 		default n
@@ -385,6 +417,10 @@ menu "Zenoh publishers/subscribers"
 		bool "logger_status"
 		default n
 
+	config ZENOH_PUBSUB_LONGITUDINAL_CONTROL_CONFIGURATION
+		bool "longitudinal_control_configuration"
+		default n
+
 	config ZENOH_PUBSUB_MAG_WORKER_DATA
 		bool "mag_worker_data"
 		default n
@@ -441,6 +477,10 @@ menu "Zenoh publishers/subscribers"
 		bool "navigator_status"
 		default n
 
+	config ZENOH_PUBSUB_NEURAL_CONTROL
+		bool "neural_control"
+		default n
+
 	config ZENOH_PUBSUB_NORMALIZED_UNSIGNED_SETPOINT
 		bool "normalized_unsigned_setpoint"
 		default n
@@ -541,6 +581,10 @@ menu "Zenoh publishers/subscribers"
 		bool "pps_capture"
 		default n
 
+	config ZENOH_PUBSUB_PURE_PURSUIT_STATUS
+		bool "pure_pursuit_status"
+		default n
+
 	config ZENOH_PUBSUB_PWM_INPUT
 		bool "pwm_input"
 		default n
@@ -581,40 +625,40 @@ menu "Zenoh publishers/subscribers"
 		bool "register_ext_component_request"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_ACKERMANN_GUIDANCE_STATUS
-		bool "rover_ackermann_guidance_status"
+	config ZENOH_PUBSUB_ROVER_ATTITUDE_SETPOINT
+		bool "rover_attitude_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_ACKERMANN_SETPOINT
-		bool "rover_ackermann_setpoint"
+	config ZENOH_PUBSUB_ROVER_ATTITUDE_STATUS
+		bool "rover_attitude_status"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_ACKERMANN_STATUS
-		bool "rover_ackermann_status"
+	config ZENOH_PUBSUB_ROVER_POSITION_SETPOINT
+		bool "rover_position_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_DIFFERENTIAL_GUIDANCE_STATUS
-		bool "rover_differential_guidance_status"
+	config ZENOH_PUBSUB_ROVER_RATE_SETPOINT
+		bool "rover_rate_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_DIFFERENTIAL_SETPOINT
-		bool "rover_differential_setpoint"
+	config ZENOH_PUBSUB_ROVER_RATE_STATUS
+		bool "rover_rate_status"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_DIFFERENTIAL_STATUS
-		bool "rover_differential_status"
+	config ZENOH_PUBSUB_ROVER_STEERING_SETPOINT
+		bool "rover_steering_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_MECANUM_GUIDANCE_STATUS
-		bool "rover_mecanum_guidance_status"
+	config ZENOH_PUBSUB_ROVER_THROTTLE_SETPOINT
+		bool "rover_throttle_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_MECANUM_SETPOINT
-		bool "rover_mecanum_setpoint"
+	config ZENOH_PUBSUB_ROVER_VELOCITY_SETPOINT
+		bool "rover_velocity_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_ROVER_MECANUM_STATUS
-		bool "rover_mecanum_status"
+	config ZENOH_PUBSUB_ROVER_VELOCITY_STATUS
+		bool "rover_velocity_status"
 		default n
 
 	config ZENOH_PUBSUB_RPM
@@ -741,8 +785,8 @@ menu "Zenoh publishers/subscribers"
 		bool "trajectory_setpoint"
 		default n
 
-	config ZENOH_PUBSUB_TRAJECTORY_WAYPOINT
-		bool "trajectory_waypoint"
+	config ZENOH_PUBSUB_TRAJECTORY_SETPOINT6DOF
+		bool "trajectory_setpoint6dof"
 		default n
 
 	config ZENOH_PUBSUB_TRANSPONDER_REPORT
@@ -913,8 +957,8 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_ARMING_CHECK_REPLY
 	select ZENOH_PUBSUB_ARMING_CHECK_REQUEST
 	select ZENOH_PUBSUB_AUTOTUNE_ATTITUDE_CONTROL_STATUS
+	select ZENOH_PUBSUB_BATTERY_INFO
 	select ZENOH_PUBSUB_BATTERY_STATUS
-	select ZENOH_PUBSUB_BUFFER128
 	select ZENOH_PUBSUB_BUTTON_EVENT
 	select ZENOH_PUBSUB_CAMERA_CAPTURE
 	select ZENOH_PUBSUB_CAMERA_STATUS
@@ -934,6 +978,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE
 	select ZENOH_PUBSUB_DISTANCE_SENSOR
 	select ZENOH_PUBSUB_DISTANCE_SENSOR_MODE_CHANGE_REQUEST
+	select ZENOH_PUBSUB_DRONECAN_NODE_STATUS
 	select ZENOH_PUBSUB_EKF2_TIMESTAMPS
 	select ZENOH_PUBSUB_ESC_REPORT
 	select ZENOH_PUBSUB_ESC_STATUS
@@ -954,6 +999,11 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_FAILSAFE_FLAGS
 	select ZENOH_PUBSUB_FAILURE_DETECTOR_STATUS
 	select ZENOH_PUBSUB_FIGURE_EIGHT_STATUS
+	select ZENOH_PUBSUB_FIXED_WING_LATERAL_GUIDANCE_STATUS
+	select ZENOH_PUBSUB_FIXED_WING_LATERAL_SETPOINT
+	select ZENOH_PUBSUB_FIXED_WING_LATERAL_STATUS
+	select ZENOH_PUBSUB_FIXED_WING_LONGITUDINAL_SETPOINT
+	select ZENOH_PUBSUB_FIXED_WING_RUNWAY_CONTROL
 	select ZENOH_PUBSUB_FLIGHT_PHASE_ESTIMATION
 	select ZENOH_PUBSUB_FOLLOW_TARGET
 	select ZENOH_PUBSUB_FOLLOW_TARGET_ESTIMATOR
@@ -983,6 +1033,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_HOME_POSITION
 	select ZENOH_PUBSUB_HOVER_THRUST_ESTIMATE
 	select ZENOH_PUBSUB_INPUT_RC
+	select ZENOH_PUBSUB_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	select ZENOH_PUBSUB_INTERNAL_COMBUSTION_ENGINE_STATUS
 	select ZENOH_PUBSUB_IRIDIUMSBD_STATUS
 	select ZENOH_PUBSUB_IRLOCK_REPORT
@@ -990,10 +1041,12 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_LANDING_GEAR_WHEEL
 	select ZENOH_PUBSUB_LANDING_TARGET_INNOVATIONS
 	select ZENOH_PUBSUB_LANDING_TARGET_POSE
+	select ZENOH_PUBSUB_LATERAL_CONTROL_CONFIGURATION
 	select ZENOH_PUBSUB_LAUNCH_DETECTION_STATUS
 	select ZENOH_PUBSUB_LED_CONTROL
 	select ZENOH_PUBSUB_LOG_MESSAGE
 	select ZENOH_PUBSUB_LOGGER_STATUS
+	select ZENOH_PUBSUB_LONGITUDINAL_CONTROL_CONFIGURATION
 	select ZENOH_PUBSUB_MAG_WORKER_DATA
 	select ZENOH_PUBSUB_MAGNETOMETER_BIAS_ESTIMATE
 	select ZENOH_PUBSUB_MANUAL_CONTROL_SETPOINT
@@ -1008,8 +1061,8 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_MOUNT_ORIENTATION
 	select ZENOH_PUBSUB_NAVIGATOR_MISSION_ITEM
 	select ZENOH_PUBSUB_NAVIGATOR_STATUS
+	select ZENOH_PUBSUB_NEURAL_CONTROL
 	select ZENOH_PUBSUB_NORMALIZED_UNSIGNED_SETPOINT
-	select ZENOH_PUBSUB_NPFG_STATUS
 	select ZENOH_PUBSUB_OBSTACLE_DISTANCE
 	select ZENOH_PUBSUB_OFFBOARD_CONTROL_MODE
 	select ZENOH_PUBSUB_ONBOARD_COMPUTER_STATUS
@@ -1034,6 +1087,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_POWER_BUTTON_STATE
 	select ZENOH_PUBSUB_POWER_MONITOR
 	select ZENOH_PUBSUB_PPS_CAPTURE
+	select ZENOH_PUBSUB_PURE_PURSUIT_STATUS
 	select ZENOH_PUBSUB_PWM_INPUT
 	select ZENOH_PUBSUB_PX4IO_STATUS
 	select ZENOH_PUBSUB_QSHELL_REQ
@@ -1044,15 +1098,15 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_RC_PARAMETER_MAP
 	select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY
 	select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST
-	select ZENOH_PUBSUB_ROVER_ACKERMANN_GUIDANCE_STATUS
-	select ZENOH_PUBSUB_ROVER_ACKERMANN_SETPOINT
-	select ZENOH_PUBSUB_ROVER_ACKERMANN_STATUS
-	select ZENOH_PUBSUB_ROVER_DIFFERENTIAL_GUIDANCE_STATUS
-	select ZENOH_PUBSUB_ROVER_DIFFERENTIAL_SETPOINT
-	select ZENOH_PUBSUB_ROVER_DIFFERENTIAL_STATUS
-	select ZENOH_PUBSUB_ROVER_MECANUM_GUIDANCE_STATUS
-	select ZENOH_PUBSUB_ROVER_MECANUM_SETPOINT
-	select ZENOH_PUBSUB_ROVER_MECANUM_STATUS
+	select ZENOH_PUBSUB_ROVER_ATTITUDE_SETPOINT
+	select ZENOH_PUBSUB_ROVER_ATTITUDE_STATUS
+	select ZENOH_PUBSUB_ROVER_POSITION_SETPOINT
+	select ZENOH_PUBSUB_ROVER_RATE_SETPOINT
+	select ZENOH_PUBSUB_ROVER_RATE_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
@@ -1084,7 +1138,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_TILTROTOR_EXTRA_CONTROLS
 	select ZENOH_PUBSUB_TIMESYNC_STATUS
 	select ZENOH_PUBSUB_TRAJECTORY_SETPOINT
-	select ZENOH_PUBSUB_TRAJECTORY_WAYPOINT
+	select ZENOH_PUBSUB_TRAJECTORY_SETPOINT6DOF
 	select ZENOH_PUBSUB_TRANSPONDER_REPORT
 	select ZENOH_PUBSUB_TUNE_CONTROL
 	select ZENOH_PUBSUB_UAVCAN_PARAMETER_REQUEST