boards: update all NuttX defconfigs

.github/workflows/clang-tidy.yml

@@ -16,51 +16,9 @@ permissions:
   contents: read
 
 jobs:
-  # Push-to-main: unchanged historical behavior. Single clang build dir
-  # with BUILD_TESTING=OFF. `make clang-tidy` builds and analyzes every
-  # TU in compile_commands.json. Test files are not in the DB and
-  # therefore never analyzed.
-  clang_tidy_push:
+  clang_tidy:
     name: Clang-Tidy
-    if: github.event_name != 'pull_request'
     runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-    permissions:
-      contents: read
-    steps:
-    - uses: runs-on/action@v2
-    - uses: actions/checkout@v6
-      with:
-        fetch-depth: 0
-        fetch-tags: true
-
-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - uses: ./.github/actions/setup-ccache
-      id: ccache
-      with:
-        cache-key-prefix: ccache-clang-tidy
-        max-size: 150M
-
-    - name: Build and Analyze - Clang-Tidy
-      run: make -j$(nproc) clang-tidy
-
-    - uses: ./.github/actions/save-ccache
-      if: always()
-      with:
-        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
-
-  # Pull request: diff-based analysis with a second BUILD_TESTING=ON
-  # build dir so test files in the PR diff can be linted by
-  # clang-tidy-diff-18.py with resolved gtest/fuzztest includes.
-  # Results are uploaded as a `pr-review` artifact for the PR Review
-  # Poster workflow to post as inline comments.
-  clang_tidy_pr:
-    name: Clang-Tidy
-    if: github.event_name == 'pull_request'
-    runs-on: [runs-on, runner=8cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     permissions:
@@ -72,7 +30,6 @@ jobs:
       with:
         fetch-depth: 0
         fetch-tags: true
-
     - name: Configure Git Safe Directory
       run: git config --system --add safe.directory '*'
 
@@ -82,57 +39,35 @@ jobs:
         cache-key-prefix: ccache-clang-tidy
         max-size: 150M
 
-    # fuzztest (enabled via BUILD_TESTING in the -test build dir) pulls
-    # in abseil via FetchContent, and abseil runs a try_compile with
-    # fuzztest's -fsanitize=address flags. The px4-dev container ships
-    # clang but not the clang compiler-rt runtime, so that link fails
-    # and the configure reports a misleading "pthreads not found".
-    # libclang-rt-18-dev provides libclang_rt.asan and friends.
-    - name: Install clang compiler-rt
-      run: |
-        apt-get update
-        apt-get install -y --no-install-recommends libclang-rt-18-dev
-
-    # `make clang-ci` prepares both clang build directories:
-    #   - build/px4_sitl_default-clang:       full build, BUILD_TESTING=OFF
-    #     (used by run-clang-tidy-pr.py for whole-file analysis of
-    #      changed production code)
-    #   - build/px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON
-    #     (used by clang-tidy-diff-18.py so test files are in the
-    #      compilation database with resolved gtest/fuzztest includes)
-    - name: Build clang SITL
-      run: make -j$(nproc) clang-ci
+    - name: Build - px4_sitl_default (Clang)
+      run: make -j16 px4_sitl_default-clang
 
     - name: Run Clang-Tidy Analysis
-      run: python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
-
-    # Produce a `pr-review` artifact for the PR Review Poster workflow
-    # to consume. clang-tidy-diff-18 emits a unified fixes.yml that
-    # the producer script translates into line-anchored review comments.
-    - name: Export clang-tidy fixes for PR review
-      if: always()
+      id: clang_tidy
       run: |
-        mkdir -p pr-review
-        # Drop changed C/C++ source files that are not in
-        # compile_commands.json for the test-enabled build. Files not
-        # in the DB are platform-specific sources, vendored code, or
-        # submodule code we don't own. Feeding them to clang-tidy-diff
-        # produces false positives from unresolved headers.
-        python3 Tools/ci/clang-tidy-diff-filter.py \
-          --build-dir build/px4_sitl_default-clang-test \
-          --base-ref origin/${{ github.base_ref }} \
-          --out pr-review/diff.patch
-        if [ -s pr-review/diff.patch ]; then
-          clang-tidy-diff-18.py -p1 \
-            -path build/px4_sitl_default-clang-test \
-            -export-fixes pr-review/fixes.yml \
-            -j0 < pr-review/diff.patch || true
+        if [ "${{ github.event_name }}" != "pull_request" ]; then
+          make -j$(nproc) clang-tidy
         else
-          echo "No analyzable files in diff; skipping clang-tidy-diff"
+          python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
         fi
 
+    # On PRs, also produce a `pr-review` artifact for the PR Review Poster
+    # workflow to consume. clang-tidy-diff-18 emits a unified fixes.yml that
+    # the producer script translates into line-anchored review comments.
+    # Running this inside the same container as the build means there is no
+    # workspace-path rewriting and no cross-runner artifact handoff.
+    - name: Export clang-tidy fixes for PR review
+      if: always() && github.event_name == 'pull_request'
+      run: |
+        mkdir -p pr-review
+        git diff -U0 origin/${{ github.base_ref }}...HEAD -- ':!*/test/*' \
+          | clang-tidy-diff-18.py -p1 \
+              -path build/px4_sitl_default-clang \
+              -export-fixes pr-review/fixes.yml \
+              -j0 || true
+
     - name: Build pr-review artifact
-      if: always()
+      if: always() && github.event_name == 'pull_request'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       run: |
@@ -146,7 +81,7 @@ jobs:
           --event COMMENT
 
     - name: Upload pr-review artifact
-      if: always()
+      if: always() && github.event_name == 'pull_request'
       uses: actions/upload-artifact@v7
       with:
         name: pr-review

.github/workflows/compile_ubuntu.yml

@@ -63,11 +63,8 @@ jobs:
           cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
           max-size: 200M
 
-      - name: Build px4_sitl_default
-        run: make px4_sitl_default
-
-      - name: Build px4_fmu-v5_default
-        run: make px4_fmu-v5_default
+      - name: Make Quick Check
+        run: make quick_check
 
       - uses: ./.github/actions/save-ccache
         if: always()

.github/workflows/fuzzing.yml

@@ -14,18 +14,17 @@ jobs:
   Fuzzing:
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
       - uses: runs-on/action@v2
 
       - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
 
       - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
-      - name: Install clang
-        run: apt-get update && apt-get install -y clang
-
       - uses: ./.github/actions/setup-ccache
         id: ccache
         with:

Makefile

@@ -494,7 +494,7 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang px4_sitl_default-clang-test clang-ci clang-tidy clang-tidy-fix
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
@@ -512,26 +512,6 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
-# Clang SITL configure with BUILD_TESTING=ON so test files land in
-# compile_commands.json with resolved gtest/fuzztest includes. Used by CI
-# to produce a compilation database for diff-based clang-tidy that can
-# lint test files. Configure only: we don't build the test binaries here,
-# just generate the database.
-px4_sitl_default-clang-test:
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang-test
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang-test && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -DCMAKE_TESTING=ON
-
-# CI-oriented target that prepares both clang build directories used by
-# the Static Analysis workflow:
-#   - px4_sitl_default-clang:       full build, BUILD_TESTING=OFF.
-#       Used by `make clang-tidy` (push-to-main) and run-clang-tidy-pr.py.
-#   - px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON.
-#       Used by clang-tidy-diff-18.py so test files are in the
-#       compilation database with resolved gtest/fuzztest includes.
-# Running one target ensures both dirs exist before any clang-tidy
-# variant runs, and keeps the workflow free of raw cmake invocations.
-clang-ci: px4_sitl_default-clang px4_sitl_default-clang-test
-
 # Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
 # - All submodules (external code we consume, not edit)
 # - Test code (allowed looser style)

Tools/ci/clang-tidy-diff-filter.py

@@ -1,111 +0,0 @@
-#!/usr/bin/env python3
-"""
-Filter a git diff for consumption by clang-tidy-diff.
-
-Produces a unified diff containing only files that clang-tidy can
-actually analyze against the current compilation database:
-
-  - C/C++ source files (.c, .cpp, .cc, .cxx, .m, .mm) must be present
-    in compile_commands.json. Files absent from the database are test
-    files, excluded code, or platform-specific sources that were not
-    compiled. Feeding them to clang-tidy-diff produces spurious
-    "header not found" errors (gtest/gtest.h in particular).
-
-  - Header files (.h, .hpp, .hxx) always pass through. clang-tidy
-    analyzes header changes via the TUs that include them; there is
-    no separate TU for a header to match against the database.
-
-  - All other files (CMakeLists.txt, .yml, .md, etc.) are dropped.
-
-Output is a unified diff suitable for piping into clang-tidy-diff.py.
-If nothing remains, the output file is empty.
-
-Used by .github/workflows/clang-tidy.yml as a pre-filter for the
-`pr-review` artifact producer. Python stdlib only.
-"""
-
-import argparse
-import json
-import os
-import subprocess
-import sys
-
-
-SOURCE_EXTS = {'.c', '.cpp', '.cc', '.cxx', '.m', '.mm'}
-HEADER_EXTS = {'.h', '.hpp', '.hxx'}
-
-
-def load_db_files(build_dir):
-    """Return the set of source paths (repo-relative) in compile_commands.json."""
-    path = os.path.join(build_dir, 'compile_commands.json')
-    with open(path) as f:
-        db = json.load(f)
-    root = os.path.abspath('.')
-    prefix = root + os.sep
-    paths = set()
-    for entry in db:
-        p = entry.get('file', '')
-        if p.startswith(prefix):
-            paths.add(p[len(prefix):])
-        else:
-            # Relative or external path; record as-is
-            paths.add(p)
-    return paths
-
-
-def changed_files(base_ref):
-    out = subprocess.check_output(
-        ['git', 'diff', '--name-only', '{}...HEAD'.format(base_ref)],
-        text=True,
-    )
-    return [line.strip() for line in out.splitlines() if line.strip()]
-
-
-def keep_file(path, db_files):
-    """Decide whether to keep this path in the filtered diff."""
-    ext = os.path.splitext(path)[1].lower()
-    if ext in HEADER_EXTS:
-        return True
-    if ext in SOURCE_EXTS:
-        return path in db_files
-    return False
-
-
-def filtered_diff(base_ref, keep_paths):
-    if not keep_paths:
-        return ''
-    cmd = ['git', 'diff', '-U0', '{}...HEAD'.format(base_ref), '--'] + sorted(keep_paths)
-    return subprocess.check_output(cmd, text=True)
-
-
-def main():
-    parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument('--build-dir', required=True,
-                        help='CMake build dir containing compile_commands.json')
-    parser.add_argument('--base-ref', required=True,
-                        help='Git ref to diff against (e.g. origin/main)')
-    parser.add_argument('--out', required=True,
-                        help='Output path for the filtered unified diff')
-    args = parser.parse_args()
-
-    db_files = load_db_files(args.build_dir)
-    changed = changed_files(args.base_ref)
-
-    keep = [p for p in changed if keep_file(p, db_files)]
-    dropped = [p for p in changed if p not in keep]
-
-    print('clang-tidy-diff-filter: kept {} of {} changed files'.format(
-        len(keep), len(changed)))
-    if dropped:
-        print('  dropped (not in compile_commands.json or not source/header):')
-        for p in dropped:
-            print('    {}'.format(p))
-
-    diff = filtered_diff(args.base_ref, keep)
-    with open(args.out, 'w') as f:
-        f.write(diff)
-    return 0
-
-
-if __name__ == '__main__':
-    sys.exit(main())

boards/gearup/airbrainh743/nuttx-config/nsh/defconfig

@@ -8,9 +8,6 @@
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLE_CAT is not set
@@ -49,7 +46,6 @@
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set
-# CONFIG_SPI_CALLBACK is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
@@ -99,15 +95,13 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
-CONFIG_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -129,7 +123,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_W25N=y
-CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -187,7 +180,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C4=y
@@ -255,4 +247,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_WATCHDOG=y

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -16,36 +16,24 @@
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
-CONFIG_NSH_DISABLE_DATE=y
-CONFIG_NSH_DISABLE_DF=y
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-CONFIG_NSH_DISABLE_EXPORT=y
-CONFIG_NSH_DISABLE_FREE=y
-CONFIG_NSH_DISABLE_GET=y
 # CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
-CONFIG_NSH_DISABLE_MKDIR=y
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
-CONFIG_NSH_DISABLE_PRINTF=y
-CONFIG_NSH_DISABLE_PS=y
-CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DISABLE_PWD=y
 # CONFIG_NSH_DISABLE_RM is not set
-CONFIG_NSH_DISABLE_RMDIR=y
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_SET is not set
 # CONFIG_NSH_DISABLE_SLEEP is not set
 # CONFIG_NSH_DISABLE_SOURCE is not set
 # CONFIG_NSH_DISABLE_TEST is not set
-CONFIG_NSH_DISABLE_TIME=y
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -99,15 +99,13 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
-CONFIG_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -130,9 +128,7 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-# CONFIG_MTD_RAMTRON is not set
 CONFIG_MTD_W25N=y
-CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -141,7 +137,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
-# CONFIG_NSH_MMCSDSPIPORTNO is not set
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -191,7 +186,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -251,4 +245,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_WATCHDOG=y

src/modules/zenoh/Kconfig.topics

@@ -61,6 +61,10 @@ menu "Zenoh publishers/subscribers"
 		bool "autotune_attitude_control_status"
 		default n
 
+	config ZENOH_PUBSUB_AUX_GLOBAL_POSITION
+		bool "aux_global_position"
+		default n
+
 	config ZENOH_PUBSUB_BATTERY_INFO
 		bool "battery_info"
 		default n
@@ -133,6 +137,10 @@ menu "Zenoh publishers/subscribers"
 		bool "debug_vect"
 		default n
 
+	config ZENOH_PUBSUB_DEVICE_INFORMATION
+		bool "device_information"
+		default n
+
 	config ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE
 		bool "differential_pressure"
 		default n
@@ -153,6 +161,14 @@ menu "Zenoh publishers/subscribers"
 		bool "ekf2_timestamps"
 		default n
 
+	config ZENOH_PUBSUB_ESC_EEPROM_READ
+		bool "esc_eeprom_read"
+		default n
+
+	config ZENOH_PUBSUB_ESC_EEPROM_WRITE
+		bool "esc_eeprom_write"
+		default n
+
 	config ZENOH_PUBSUB_ESC_REPORT
 		bool "esc_report"
 		default n
@@ -185,6 +201,10 @@ menu "Zenoh publishers/subscribers"
 		bool "estimator_event_flags"
 		default n
 
+	config ZENOH_PUBSUB_ESTIMATOR_FUSION_CONTROL
+		bool "estimator_fusion_control"
+		default n
+
 	config ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS
 		bool "estimator_gps_status"
 		default n
@@ -269,6 +289,10 @@ menu "Zenoh publishers/subscribers"
 		bool "fuel_tank_status"
 		default n
 
+	config ZENOH_PUBSUB_GAIN_COMPRESSION
+		bool "gain_compression"
+		default n
+
 	config ZENOH_PUBSUB_GENERATOR_STATUS
 		bool "generator_status"
 		default n
@@ -605,6 +629,18 @@ menu "Zenoh publishers/subscribers"
 		bool "radio_status"
 		default n
 
+	config ZENOH_PUBSUB_RANGING_BEACON
+		bool "ranging_beacon"
+		default n
+
+	config ZENOH_PUBSUB_RAPTOR_INPUT
+		bool "raptor_input"
+		default n
+
+	config ZENOH_PUBSUB_RAPTOR_STATUS
+		bool "raptor_status"
+		default n
+
 	config ZENOH_PUBSUB_RATE_CTRL_STATUS
 		bool "rate_ctrl_status"
 		default n
@@ -933,6 +969,10 @@ menu "Zenoh publishers/subscribers"
 		bool "vtol_vehicle_status"
 		default n
 
+	config ZENOH_PUBSUB_VTX
+		bool "vtx"
+		default n
+
 	config ZENOH_PUBSUB_WHEEL_ENCODERS
 		bool "wheel_encoders"
 		default n
@@ -965,6 +1005,7 @@ 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_AUX_GLOBAL_POSITION
 	select ZENOH_PUBSUB_BATTERY_INFO
 	select ZENOH_PUBSUB_BATTERY_STATUS
 	select ZENOH_PUBSUB_BUTTON_EVENT
@@ -983,11 +1024,14 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_DEBUG_KEY_VALUE
 	select ZENOH_PUBSUB_DEBUG_VALUE
 	select ZENOH_PUBSUB_DEBUG_VECT
+	select ZENOH_PUBSUB_DEVICE_INFORMATION
 	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_EEPROM_READ
+	select ZENOH_PUBSUB_ESC_EEPROM_WRITE
 	select ZENOH_PUBSUB_ESC_REPORT
 	select ZENOH_PUBSUB_ESC_STATUS
 	select ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE1D
@@ -996,6 +1040,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_ESTIMATOR_BIAS
 	select ZENOH_PUBSUB_ESTIMATOR_BIAS3D
 	select ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS
+	select ZENOH_PUBSUB_ESTIMATOR_FUSION_CONTROL
 	select ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS
 	select ZENOH_PUBSUB_ESTIMATOR_INNOVATIONS
 	select ZENOH_PUBSUB_ESTIMATOR_SELECTOR_STATUS
@@ -1017,6 +1062,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_FOLLOW_TARGET_ESTIMATOR
 	select ZENOH_PUBSUB_FOLLOW_TARGET_STATUS
 	select ZENOH_PUBSUB_FUEL_TANK_STATUS
+	select ZENOH_PUBSUB_GAIN_COMPRESSION
 	select ZENOH_PUBSUB_GENERATOR_STATUS
 	select ZENOH_PUBSUB_GEOFENCE_RESULT
 	select ZENOH_PUBSUB_GEOFENCE_STATUS
@@ -1101,6 +1147,9 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_QSHELL_REQ
 	select ZENOH_PUBSUB_QSHELL_RETVAL
 	select ZENOH_PUBSUB_RADIO_STATUS
+	select ZENOH_PUBSUB_RANGING_BEACON
+	select ZENOH_PUBSUB_RAPTOR_INPUT
+	select ZENOH_PUBSUB_RAPTOR_STATUS
 	select ZENOH_PUBSUB_RATE_CTRL_STATUS
 	select ZENOH_PUBSUB_RC_CHANNELS
 	select ZENOH_PUBSUB_RC_PARAMETER_MAP
@@ -1183,6 +1232,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_VEHICLE_TORQUE_SETPOINT
 	select ZENOH_PUBSUB_VELOCITY_LIMITS
 	select ZENOH_PUBSUB_VTOL_VEHICLE_STATUS
+	select ZENOH_PUBSUB_VTX
 	select ZENOH_PUBSUB_WHEEL_ENCODERS
 	select ZENOH_PUBSUB_WIND
 	select ZENOH_PUBSUB_YAW_ESTIMATOR_STATUS