diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index acee6afe8d..1235b8d98d 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/fw_longitudinal_control_setpoint
+    type: px4_msgs::msg::FwLongitudinalControlSetpoint
+
+  - topic: /fmu/in/fw_lateral_control_setpoint
+    type: px4_msgs::msg::FwLateralControlSetpoint
+
+  - topic: /fmu/in/longitudinal_control_limits
+    type: px4_msgs::msg::LongitudinalControlLimits
+
+  - topic: /fmu/in/lateral_control_limits
+    type: px4_msgs::msg::LateralControlLimits
+
 # Create uORB::PublicationMulti
 subscriptions_multi: