diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index 24c30d8850..a1e33be861 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -163,5 +163,17 @@ subscriptions:
   - topic: /fmu/in/aux_global_position
     type: px4_msgs::msg::VehicleGlobalPosition
 
+  - topic: /fmu/in/fixed_wing_longitudinal_setpoint
+    type: px4_msgs::msg::FixedWingLongitudinalSetpoint
+
+  - topic: /fmu/in/fixed_wing_lateral_setpoint
+    type: px4_msgs::msg::FixedWingLateralSetpoint
+
+  - topic: /fmu/in/longitudinal_control_configuration
+    type: px4_msgs::msg::LongitudinalControlConfiguration
+
+  - topic: /fmu/in/lateral_control_configuration
+    type: px4_msgs::msg::LateralControlConfiguration
+
 # Create uORB::PublicationMulti
 subscriptions_multi: