diff --git a/boards/nxp/mr-canhubk3/default.px4board b/boards/nxp/mr-canhubk3/default.px4board
index d46a7370f8..e34cc194a9 100644
--- a/boards/nxp/mr-canhubk3/default.px4board
+++ b/boards/nxp/mr-canhubk3/default.px4board
@@ -15,6 +15,7 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_ZENOH=y
+CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
diff --git a/boards/nxp/mr-tropic/default.px4board b/boards/nxp/mr-tropic/default.px4board
index c46e24f477..40c966fe67 100644
--- a/boards/nxp/mr-tropic/default.px4board
+++ b/boards/nxp/mr-tropic/default.px4board
@@ -81,6 +81,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_MODULES_ZENOH=y
+CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
diff --git a/boards/nxp/tropic-community/default.px4board b/boards/nxp/tropic-community/default.px4board
index 28144c2b8d..dd609e553a 100644
--- a/boards/nxp/tropic-community/default.px4board
+++ b/boards/nxp/tropic-community/default.px4board
@@ -77,6 +77,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_MODULES_ZENOH=y
+CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
diff --git a/boards/px4/fmu-v6x/zenoh.px4board b/boards/px4/fmu-v6x/zenoh.px4board
index 4cd6071e6d..a37900a64b 100644
--- a/boards/px4/fmu-v6x/zenoh.px4board
+++ b/boards/px4/fmu-v6x/zenoh.px4board
@@ -3,3 +3,4 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_MODULES_ZENOH=y
+CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y
diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board
index be4e4183d5..67aeef7a33 100644
--- a/boards/px4/fmu-v6xrt/default.px4board
+++ b/boards/px4/fmu-v6xrt/default.px4board
@@ -90,6 +90,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_MODULES_ZENOH=y
+CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
diff --git a/boards/px4/sitl/zenoh.px4board b/boards/px4/sitl/zenoh.px4board
index 20ff39d1b0..a010a60b2a 100644
--- a/boards/px4/sitl/zenoh.px4board
+++ b/boards/px4/sitl/zenoh.px4board
@@ -1,2 +1,3 @@
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_MODULES_ZENOH=y
+CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y
diff --git a/docs/en/middleware/zenoh.md b/docs/en/middleware/zenoh.md
index e4ef2c9976..7d35887e82 100644
--- a/docs/en/middleware/zenoh.md
+++ b/docs/en/middleware/zenoh.md
@@ -59,7 +59,7 @@ For more information about key expressions, refer to the [rmw_zenoh design docum
 
 Before setting up the Zenoh communication, first make sure that your firmware contains the driver that implements the [`zenoh` driver](../modules/modules_driver.md#zenoh), which provides the implementation of the _PX4 Zenoh-Pico Node_.
 
-You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file.
+You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` [KConfig file](../hardware/porting_guide_config.md).
 For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91).
 
 If `CONFIG_MODULES_ZENOH=y` is not preset you can add this key to your board configuration and rebuild.
@@ -89,6 +89,11 @@ inclusion of the message type hash (RIHS01, as defined in REP-2016) in the Zenoh
 Note that this will break compatibility with ROS 2 Jazzy and later.
 :::
 
+::: tip
+Per-publisher option overrides can be enabled or disabled at compile time using the `CONFIG_ZENOH_PUB_OPTION_OVERRIDE` KConfig key.
+When this is disabled, PX4 uses only global publisher option parameters, and per-publisher CLI/config overrides are not available.
+:::
+
 ### Enable Zenoh on PX4 Startup
 
 Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
@@ -132,6 +137,21 @@ This folder contains three key files:
 - **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
 - **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
 
+#### Publisher Options
+
+Zenoh publisher behaviour can be controlled through global PX4 parameters:
+
+- [ZENOH_PUB_CC](../advanced_config/parameter_reference.md#ZENOH_PUB_CC): congestion control (`Drop` or `Block`) - controls what happens when the transport path is congested. `Drop` prefers freshness/latency and may drop messages, while `Block` preserves delivery by applying backpressure to the publisher.
+- [ZENOH_PUB_REL](../advanced_config/parameter_reference.md#ZENOH_PUB_REL): reliability (`Reliable` or `BestEffort`) - selects the Zenoh reliability mode used by the router path and seen by the underlying ROS 2 `rmw_zenoh` transport.
+- [ZENOH_PUB_EXPR](../advanced_config/parameter_reference.md#ZENOH_PUB_EXPR): express mode (`Disabled` or `Enabled`) - when enabled, Zenoh does not wait to batch this operation with others. This usually reduces latency at the cost of higher bandwidth/overhead.
+- [ZENOH_PUB_PRIO](../advanced_config/parameter_reference.md#ZENOH_PUB_PRIO): priority (`RealTime`, `InteractiveHigh`, `InteractiveLow`, `DataHigh`, `Data`, `DataLow`, `Background`) - sets relative message priority for routing/scheduling under load.
+
+These are applied to all Zenoh publishers.
+
+If `CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y`, individual publishers can override one or more global publisher options.
+Default configuration [dds_topics.yaml](../middleware/dds_topics.md) already provides overrides for several publishers.
+Individual publisher options can be overriden through the mapping configuration shown in the next section
+
 ### 4. Modifying Topic Mappings
 
 Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
@@ -154,6 +174,25 @@ The main operations and their commands are:
   zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance]
   ```
 
+  When `CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y`, publisher options can also be passed:
+
+  ```sh
+  zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance] [options]
+  ```
+
+  Options are comma-separated `key=value` pairs:
+
+  - `cc=drop|block` (congestion control)
+  - `express=true|false` (batching behaviour)
+  - `prio=real_time|interactive_high|interactive_low|data_high|data|data_low|background` (priority)
+  - `rel=reliable|best_effort` (reliability)
+
+  Example:
+
+  ```sh
+  zenoh config add publisher /fmu/out/vehicle_status vehicle_status 0 "cc=block,express=true,rel=best_effort"
+  ```
+
 - Subscribe to a Zenoh topic and forward it to a uORB topic:
 
   ```sh
diff --git a/src/modules/uxrce_dds_client/generate_dds_topics.py b/src/modules/uxrce_dds_client/generate_dds_topics.py
index 73fd057d73..64cf957527 100644
--- a/src/modules/uxrce_dds_client/generate_dds_topics.py
+++ b/src/modules/uxrce_dds_client/generate_dds_topics.py
@@ -102,6 +102,17 @@ def process_message_type(msg_type):
     # topic_simple: eg vehicle_status
     msg_type['topic_simple'] = msg_type['topic'].split('/')[-1]
 
+    # Optional per-publisher QoS options from YAML 'options:' field.
+    # Converts e.g. {cc: block, express: true} -> "cc=block,express=true"
+    opts = msg_type.get('options', None)
+    if opts and isinstance(opts, dict):
+        # Normalize booleans to lowercase strings expected by the parser.
+        msg_type['pub_options_str'] = ','.join(
+            f"{k}={str(v).lower() if isinstance(v, bool) else v}" for k, v in opts.items()
+        )
+    else:
+        msg_type['pub_options_str'] = ''
+
 def process_message_instance(msg_type):
     if 'instance' in msg_type:
         # if instance is given, check if it is a non negative integer
diff --git a/src/modules/zenoh/Kconfig b/src/modules/zenoh/Kconfig
index 8408d08092..1db97e7a30 100644
--- a/src/modules/zenoh/Kconfig
+++ b/src/modules/zenoh/Kconfig
@@ -43,6 +43,15 @@ if MODULES_ZENOH
                 expression (supported by ROS2 Jazzy and later).
                 Set to false to use in ROS2 Humble and earlier.
 
+    config ZENOH_PUB_OPTION_OVERRIDE
+        bool "Enable per-publisher option overrides"
+        default n
+        ---help---
+                Enable per-publisher overrides for Zenoh publisher options
+                (cc/express/prio/rel) via config file and CLI.
+                Disable this to reduce flash usage and use only global
+                publisher parameters (ZENOH_PUB_CC/REL/EXPR/PRIO).
+
     # Choose exactly one item
     choice ZENOH_PUBSUB_SELECTION
             prompt "Publishers/Subscribers selection"
diff --git a/src/modules/zenoh/dds_topics.yaml b/src/modules/zenoh/dds_topics.yaml
index 6f6f3dc00a..1bde5af93a 100644
--- a/src/modules/zenoh/dds_topics.yaml
+++ b/src/modules/zenoh/dds_topics.yaml
@@ -2,17 +2,42 @@
 #
 # This file maps all the topics that are to be used on the Zenoh client.
 #
+# Per-publisher options can be overridden via an optional 'options' dict:
+#
+#   - topic: /fmu/out/example
+#     type: px4_msgs::msg::Example
+#     options:
+#       cc: block          # congestion_control: drop | block
+#       express: true      # is_express: true | false
+#       prio: real_time    # priority: real_time | interactive_high | interactive_low |
+#                          #           data_high | data | data_low | background
+#       rel: reliable      # reliability: reliable | best_effort
+#
+# Omitting 'options' (or individual keys) inherits from global PX4 parameters
+# ZENOH_PUB_CC / ZENOH_PUB_REL / ZENOH_PUB_EXPR / ZENOH_PUB_PRIO.
 #####
 publications:
 
   - topic: /fmu/out/register_ext_component_reply
     type: px4_msgs::msg::RegisterExtComponentReply
+    options:
+      cc: block
+      rel: reliable
+      express: true
 
   - topic: /fmu/out/arming_check_request
     type: px4_msgs::msg::ArmingCheckRequest
+    options:
+      cc: block
+      rel: reliable
+      express: true
 
   - topic: /fmu/out/mode_completed
     type: px4_msgs::msg::ModeCompleted
+    options:
+      cc: block
+      rel: reliable
+      express: true
 
   - topic: /fmu/out/battery_status
     type: px4_msgs::msg::BatteryStatus
@@ -46,24 +71,48 @@ publications:
 
   - topic: /fmu/out/vehicle_attitude
     type: px4_msgs::msg::VehicleAttitude
+    options:
+      cc: drop
+      rel: best_effort
+      express: true
 
   - topic: /fmu/out/vehicle_control_mode
     type: px4_msgs::msg::VehicleControlMode
 
   - topic: /fmu/out/vehicle_command_ack
     type: px4_msgs::msg::VehicleCommandAck
+    options:
+      cc: block
+      rel: reliable
+      express: true
 
   - topic: /fmu/out/vehicle_global_position
     type: px4_msgs::msg::VehicleGlobalPosition
+    options:
+      cc: drop
+      rel: best_effort
+      express: true
 
   - topic: /fmu/out/vehicle_gps_position
     type: px4_msgs::msg::SensorGps
+    options:
+      cc: drop
+      rel: best_effort
+      express: true
 
   - topic: /fmu/out/vehicle_local_position
     type: px4_msgs::msg::VehicleLocalPosition
+    options:
+      cc: drop
+      rel: best_effort
+      express: true
 
   - topic: /fmu/out/vehicle_odometry
     type: px4_msgs::msg::VehicleOdometry
+    options:
+      cc: drop
+      rel: best_effort
+      express: true
 
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus
diff --git a/src/modules/zenoh/default_topics.c.em b/src/modules/zenoh/default_topics.c.em
index f80b18dff6..5ac9f31106 100644
--- a/src/modules/zenoh/default_topics.c.em
+++ b/src/modules/zenoh/default_topics.c.em
@@ -18,7 +18,7 @@ import os
 
 const char* default_pub_config =
 @[    for pub in publications]@
-	"@(pub['topic']);@(pub['topic_simple']);0\n"
+	"@(pub['topic']);@(pub['topic_simple']);0@[if pub.get('pub_options_str')];@(pub['pub_options_str'])@[end if]\n"
 @[    end for]@
 ;
 
diff --git a/src/modules/zenoh/publishers/zenoh_publisher.cpp b/src/modules/zenoh/publishers/zenoh_publisher.cpp
index c83caa266f..aef04f5823 100644
--- a/src/modules/zenoh/publishers/zenoh_publisher.cpp
+++ b/src/modules/zenoh/publishers/zenoh_publisher.cpp
@@ -59,7 +59,8 @@ int Zenoh_Publisher::undeclare_publisher()
 	return 0;
 }
 
-int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr, uint8_t *gid)
+int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr, uint8_t *gid,
+				       z_publisher_options_t *opts)
 {
 	z_view_keyexpr_t ke;
 
@@ -68,7 +69,7 @@ int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr,
 		return -1;
 	}
 
-	if (z_declare_publisher(z_loan(s), &_pub, z_loan(ke), NULL) < 0) {
+	if (z_declare_publisher(z_loan(s), &_pub, z_loan(ke), opts) < 0) {
 		printf("Unable to declare publisher for key expression!\n");
 		return -1;
 	}
diff --git a/src/modules/zenoh/publishers/zenoh_publisher.hpp b/src/modules/zenoh/publishers/zenoh_publisher.hpp
index b787f39737..e9dfc38922 100644
--- a/src/modules/zenoh/publishers/zenoh_publisher.hpp
+++ b/src/modules/zenoh/publishers/zenoh_publisher.hpp
@@ -56,7 +56,8 @@ public:
 	Zenoh_Publisher();
 	virtual ~Zenoh_Publisher();
 
-	virtual int declare_publisher(z_owned_session_t s, const char *keyexpr, uint8_t *gid);
+	virtual int declare_publisher(z_owned_session_t s, const char *keyexpr, uint8_t *gid,
+				      z_publisher_options_t *opts);
 
 	virtual int undeclare_publisher();
 
diff --git a/src/modules/zenoh/zenoh.cpp b/src/modules/zenoh/zenoh.cpp
index 92aeba9d2b..d1ea6940ae 100644
--- a/src/modules/zenoh/zenoh.cpp
+++ b/src/modules/zenoh/zenoh.cpp
@@ -361,15 +361,38 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
 		char topic[TOPIC_INFO_SIZE];
 		char type[TOPIC_INFO_SIZE];
 		int instance;
+		z_publisher_options_t global_opts;
+		z_publisher_options_default(&global_opts);
+		global_opts.congestion_control = (z_congestion_control_t)_zenoh_pub_cc.get();
+		global_opts.is_express = (bool)_zenoh_pub_expr.get();
+		global_opts.priority = (z_priority_t)_zenoh_pub_prio.get();
+#ifdef Z_FEATURE_UNSTABLE_API
+		global_opts.reliability = (z_reliability_t)_zenoh_pub_rel.get();
+#endif
 
 		for (i = 0; i < _pub_count; i++) {
+
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+			z_publisher_options_t pub_opts = global_opts;
+#endif
+
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+
+			if (_config.getPublisherMapping(topic, type, &instance, &pub_opts)) {
+#else
+
 			if (_config.getPublisherMapping(topic, type, &instance)) {
+#endif
 				_zenoh_publishers[i] = genPublisher(type, instance);
 				const uint8_t *rihs_hash = getRIHS01_Hash(type);
 
 				if (rihs_hash && _zenoh_publishers[i] != 0 &&
 				    generate_rmw_zenoh_topic_keyexpr(topic, rihs_hash, type, keyexpr) > 0) {
-					_zenoh_publishers[i]->declare_publisher(_s, keyexpr, (uint8_t *)&_px4_guid);
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+					_zenoh_publishers[i]->declare_publisher(_s, keyexpr, (uint8_t *)&_px4_guid, &pub_opts);
+#else
+					_zenoh_publishers[i]->declare_publisher(_s, keyexpr, (uint8_t *)&_px4_guid, &global_opts);
+#endif
 					_zenoh_publishers[i]->setPollFD(&pfds[i]);
 #ifdef CONFIG_ZENOH_RMW_LIVELINESS
 
@@ -536,7 +559,15 @@ Zenoh demo bridge
 	PRINT_MODULE_USAGE_COMMAND("stop");
 	PRINT_MODULE_USAGE_COMMAND("status");
 	PRINT_MODULE_USAGE_COMMAND("config");
+
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+	PX4_INFO_RAW("     add publisher  <zenoh_topic> <uorb_topic> [uorb_instance] [options]  Publish uORB topic to Zenoh\n");
+	PX4_INFO_RAW("          [options]  key=value pairs: cc=drop|block, express=true|false,\n");
+	PX4_INFO_RAW("                                      prio=real_time|interactive_high|interactive_low|data_high|data|data_low|background,\n");
+	PX4_INFO_RAW("                                      rel=reliable|best_effort (e.g. \"cc=block,express=true\")\n");
+#else
 	PX4_INFO_RAW("     add publisher  <zenoh_topic> <uorb_topic> <optional uorb_instance>  Publish uORB topic to Zenoh\n");
+#endif
 	PX4_INFO_RAW("     add subscriber <zenoh_topic> <uorb_topic> <optional uorb_instance>  Publish Zenoh topic to uORB\n");
 	PX4_INFO_RAW("     delete publisher  <zenoh_topic>\n");
 	PX4_INFO_RAW("     delete subscriber <zenoh_topic>\n");
diff --git a/src/modules/zenoh/zenoh.h b/src/modules/zenoh/zenoh.h
index 7e2b6d5f5d..871c2a35bd 100644
--- a/src/modules/zenoh/zenoh.h
+++ b/src/modules/zenoh/zenoh.h
@@ -88,7 +88,11 @@ public:
 
 private:
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::ZENOH_DOMAIN_ID>) _zenoh_domain_id
+		(ParamInt<px4::params::ZENOH_DOMAIN_ID>) _zenoh_domain_id,
+		(ParamInt<px4::params::ZENOH_PUB_CC>) _zenoh_pub_cc,
+		(ParamInt<px4::params::ZENOH_PUB_REL>) _zenoh_pub_rel,
+		(ParamInt<px4::params::ZENOH_PUB_EXPR>) _zenoh_pub_expr,
+		(ParamInt<px4::params::ZENOH_PUB_PRIO>) _zenoh_pub_prio
 	)
 
 	int generate_rmw_zenoh_node_liveliness_keyexpr(const z_id_t *id, char *keyexpr);
diff --git a/src/modules/zenoh/zenoh_config.cpp b/src/modules/zenoh/zenoh_config.cpp
index 1a88194348..cdcf8ec682 100644
--- a/src/modules/zenoh/zenoh_config.cpp
+++ b/src/modules/zenoh/zenoh_config.cpp
@@ -95,8 +95,13 @@ Zenoh_Config::~Zenoh_Config()
 	}
 }
 
-int Zenoh_Config::AddPubSub(char *topic, char *datatype, int instance_no, const char *filename)
+int Zenoh_Config::AddPubSub(char *topic, char *datatype, int instance_no, const char *filename,
+			    const char *options_str)
 {
+#ifndef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+	(void)options_str;
+#endif
+
 	{
 		char f_topic[TOPIC_INFO_SIZE];
 		char f_type[TOPIC_INFO_SIZE];
@@ -120,7 +125,18 @@ int Zenoh_Config::AddPubSub(char *topic, char *datatype, int instance_no, const
 			FILE *fp = fopen(filename, "a");
 
 			if (fp) {
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+
+				if (options_str && options_str[0] != '\0') {
+					fprintf(fp, "%s;%s;%d;%s\n", topic, datatype, instance_no, options_str);
+
+				} else {
+					fprintf(fp, "%s;%s;%d\n", topic, datatype, instance_no);
+				}
+
+#else
 				fprintf(fp, "%s;%s;%d\n", topic, datatype, instance_no);
+#endif
 
 			} else {
 				return -1;
@@ -292,12 +308,60 @@ int Zenoh_Config::cli(int argc, char *argv[])
 			if (strcmp(argv[2], "publisher") == 0) {
 				int instance = 0;
 
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+				const char *options_str = nullptr;
+
 				if (argc == 6) {
+					int parsed_instance;
+
+					if (sscanf(argv[5], "%d", &parsed_instance) == 1 && parsed_instance >= 0) {
+						instance = parsed_instance;
+
+					} else {
+						options_str = argv[5];
+					}
+
+				} else if (argc == 7) {
 					if (sscanf(argv[5], "%d", &instance) != 1 || instance < 0) {
-						printf("Invalid instance %s (must be an integer, 0 for the default instance or a specific instance's index)\n",
-						       argv[5]);
+						printf("Invalid instance %s (must be a non-negative integer)\n", argv[5]);
 						return 0;
 					}
+
+					options_str = argv[6];
+
+				} else if (argc > 7) {
+					printf("Too many arguments\n");
+					return 0;
+				}
+
+				if (options_str && !parsePublisherOptions(options_str, nullptr)) {
+					return 0;
+				}
+
+				if (AddPubSub(argv[3], argv[4], instance, ZENOH_PUB_CONFIG_PATH, options_str) > 0) {
+					if (options_str) {
+						printf("Added %s %s to publishers (instance %d, options: %s)\n", argv[3], argv[4], instance,
+						       options_str);
+
+					} else {
+						printf("Added %s %s to publishers (instance %d)\n", argv[3], argv[4], instance);
+					}
+
+				} else {
+					printf("Could not add uORB %s:%d -> %s to publishers\n",  argv[3], instance, argv[4]);
+				}
+
+#else
+
+				if (argc == 6) {
+					if (sscanf(argv[5], "%d", &instance) != 1 || instance < 0) {
+						printf("Invalid instance %s (must be a non-negative integer)\n", argv[5]);
+						return 0;
+					}
+
+				} else if (argc > 6) {
+					printf("Too many arguments\n");
+					return 0;
 				}
 
 				if (AddPubSub(argv[3], argv[4], instance, ZENOH_PUB_CONFIG_PATH) > 0) {
@@ -307,6 +371,8 @@ int Zenoh_Config::cli(int argc, char *argv[])
 					printf("Could not add uORB %s:%d -> %s to publishers\n",  argv[3], instance, argv[4]);
 				}
 
+#endif
+
 			} else if (strcmp(argv[2], "subscriber") == 0) {
 				int instance = 0;
 
@@ -443,9 +509,128 @@ int Zenoh_Config::closePubSubMapping()
 }
 
 
-// Very rudamentary here but we've to wait for a more advanced param system
-int Zenoh_Config::getPubSubMapping(char *topic, char *type, int *instance, const char *filename)
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+bool Zenoh_Config::parsePublisherOptions(const char *options_str, z_publisher_options_t *opts)
 {
+	if (options_str == nullptr || options_str[0] == '\0') {
+		return true;
+	}
+
+	char buf[ZENOH_PUB_OPTIONS_SIZE];
+	strncpy(buf, options_str, sizeof(buf) - 1);
+	buf[sizeof(buf) - 1] = '\0';
+
+	int len = strlen(buf);
+
+	while (len > 0 && (buf[len - 1] == '\n' || buf[len - 1] == '\r' || buf[len - 1] == ' ')) {
+		buf[--len] = '\0';
+	}
+
+	bool valid = true;
+	char *saveptr_pair = nullptr;
+	char *pair = strtok_r(buf, ",", &saveptr_pair);
+
+	while (pair != nullptr) {
+		char *eq = strchr(pair, '=');
+
+		if (eq != nullptr) {
+			*eq = '\0';
+			const char *key = pair;
+			const char *val = eq + 1;
+
+			if (strcmp(key, "cc") == 0) {
+				if (strcmp(val, "block") == 0) {
+					if (opts) { opts->congestion_control = Z_CONGESTION_CONTROL_BLOCK; }
+
+				} else if (strcmp(val, "drop") == 0) {
+					if (opts) { opts->congestion_control = Z_CONGESTION_CONTROL_DROP; }
+
+				} else {
+					PX4_WARN("Invalid cc value '%s' (valid: block, drop)", val);
+					valid = false;
+				}
+
+			} else if (strcmp(key, "express") == 0) {
+				if (strcmp(val, "true") == 0) {
+					if (opts) { opts->is_express = true; }
+
+				} else if (strcmp(val, "false") == 0) {
+					if (opts) { opts->is_express = false; }
+
+				} else {
+					PX4_WARN("Invalid express value '%s' (valid: true, false)", val);
+					valid = false;
+				}
+
+			} else if (strcmp(key, "prio") == 0) {
+				if (strcmp(val, "real_time") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_REAL_TIME; }
+
+				} else if (strcmp(val, "interactive_high") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_INTERACTIVE_HIGH; }
+
+				} else if (strcmp(val, "interactive_low") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_INTERACTIVE_LOW; }
+
+				} else if (strcmp(val, "data_high") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_DATA_HIGH; }
+
+				} else if (strcmp(val, "data") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_DATA; }
+
+				} else if (strcmp(val, "data_low") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_DATA_LOW; }
+
+				} else if (strcmp(val, "background") == 0) {
+					if (opts) { opts->priority = Z_PRIORITY_BACKGROUND; }
+
+				} else {
+					PX4_WARN("Invalid prio value '%s' (valid: real_time, interactive_high, interactive_low, data_high, data, data_low, background)",
+						 val);
+					valid = false;
+				}
+
+#ifdef Z_FEATURE_UNSTABLE_API
+
+			} else if (strcmp(key, "rel") == 0) {
+				if (strcmp(val, "reliable") == 0) {
+					if (opts) { opts->reliability = Z_RELIABILITY_RELIABLE; }
+
+				} else if (strcmp(val, "best_effort") == 0) {
+					if (opts) { opts->reliability = Z_RELIABILITY_BEST_EFFORT; }
+
+				} else {
+					PX4_WARN("Invalid rel value '%s' (valid: reliable, best_effort)", val);
+					valid = false;
+				}
+
+#endif
+
+			} else {
+				PX4_WARN("Unknown publisher option key '%s' (valid: cc, express, prio, rel)", key);
+				valid = false;
+			}
+
+		} else {
+			PX4_WARN("Malformed option '%s' (expected key=value)", pair);
+			valid = false;
+		}
+
+		pair = strtok_r(nullptr, ",", &saveptr_pair);
+	}
+
+	return valid;
+}
+#endif
+
+
+// Very rudamentary here but we've to wait for a more advanced param system
+int Zenoh_Config::getPubSubMapping(char *topic, char *type, int *instance, const char *filename, char *options_str)
+{
+#ifndef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+	(void)options_str;
+#endif
+
 	char buffer[MAX_LINE_SIZE];
 
 	if (fp_mapping == NULL) {
@@ -456,12 +641,17 @@ int Zenoh_Config::getPubSubMapping(char *topic, char *type, int *instance, const
 		while (fgets(buffer, MAX_LINE_SIZE, fp_mapping) != NULL) {
 
 			if (buffer[0] != '\n') {
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+				const char *fields[4];
+				int nfields = parse_csv_line(buffer, fields, 4);
+#else
 				const char *fields[3];
 				int nfields = parse_csv_line(buffer, fields, 3);
+#endif
 
 
 				if (nfields >= 2) {
-					if (nfields == 3) {
+					if (nfields >= 3) {
 						if (sscanf(fields[2], "%d", instance) != 1) {
 							PX4_WARN("Malformed zenoh config instance %s (instance field should be an integer following the type)\n", fields[2]);
 							return -1;
@@ -471,6 +661,20 @@ int Zenoh_Config::getPubSubMapping(char *topic, char *type, int *instance, const
 						*instance = -1;
 					}
 
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+
+					if (options_str != nullptr) {
+						if (nfields >= 4 && fields[3] != nullptr) {
+							strncpy(options_str, fields[3], ZENOH_PUB_OPTIONS_SIZE - 1);
+							options_str[ZENOH_PUB_OPTIONS_SIZE - 1] = '\0';
+
+						} else {
+							options_str[0] = '\0';
+						}
+					}
+
+#endif
+
 					strncpy(type, fields[1], TOPIC_INFO_SIZE);
 					strncpy(topic, fields[0], TOPIC_INFO_SIZE);
 					return 1;
@@ -518,14 +722,35 @@ void Zenoh_Config::dump_config()
 		char type[TOPIC_INFO_SIZE];
 		int instance_no;
 
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+		char options_str[ZENOH_PUB_OPTIONS_SIZE];
+#endif
+
 		printf("Publisher config:\n");
 
+
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+
+		while (getPubSubMapping(topic, type, &instance_no, ZENOH_PUB_CONFIG_PATH, options_str) > 0) {
+			printf("Topic: %s\n", topic);
+			printf("Type: %s\n", type);
+			printf("Instance: %d\n", instance_no);
+
+			if (options_str[0] != '\0') {
+				printf("Options: %s\n", options_str);
+			}
+		}
+
+#else
+
 		while (getPubSubMapping(topic, type, &instance_no, ZENOH_PUB_CONFIG_PATH) > 0) {
 			printf("Topic: %s\n", topic);
 			printf("Type: %s\n", type);
 			printf("Instance: %d\n", instance_no);
 		}
 
+#endif
+
 		printf("\nSubscriber config:\n");
 
 		while (getPubSubMapping(topic, type, &instance_no, ZENOH_SUB_CONFIG_PATH) > 0) {
diff --git a/src/modules/zenoh/zenoh_config.hpp b/src/modules/zenoh/zenoh_config.hpp
index e92abdb1c7..c818f97a59 100644
--- a/src/modules/zenoh/zenoh_config.hpp
+++ b/src/modules/zenoh/zenoh_config.hpp
@@ -61,8 +61,13 @@
 #define KEYEXPR_MSG_NAME "px4_msgs::msg::dds_::"
 #define KEYEXPR_MSG_NAME_SIZE sizeof(KEYEXPR_MSG_NAME)
 #define TOPIC_INFO_SIZE (96)
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+#define ZENOH_PUB_OPTIONS_SIZE (64)
+#define MAX_LINE_SIZE (2 * TOPIC_INFO_SIZE + ZENOH_PUB_OPTIONS_SIZE + 4)
+#else
 #define MAX_LINE_SIZE (2 * TOPIC_INFO_SIZE)
-#define KEYEXPR_SIZE (MAX_LINE_SIZE + KEYEXPR_MSG_NAME_SIZE + KEYEXPR_RIHS01_SIZE + 128)
+#endif
+#define KEYEXPR_SIZE (2 * TOPIC_INFO_SIZE + KEYEXPR_MSG_NAME_SIZE + KEYEXPR_RIHS01_SIZE + 128)
 
 class Zenoh_Config
 {
@@ -81,9 +86,22 @@ public:
 	{
 		return getLineCount(ZENOH_SUB_CONFIG_PATH);
 	}
-	int getPublisherMapping(char *topic, char *type, int *instance)
+	int getPublisherMapping(char *topic, char *type, int *instance, z_publisher_options_t *opts = nullptr)
 	{
+		(void)opts;
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+		char options_str[ZENOH_PUB_OPTIONS_SIZE];
+		int ret = getPubSubMapping(topic, type, instance, ZENOH_PUB_CONFIG_PATH, options_str);
+
+		if (ret > 0 && opts != nullptr) {
+			parsePublisherOptions(options_str, opts);
+		}
+
+		return ret;
+
+#else
 		return getPubSubMapping(topic, type, instance, ZENOH_PUB_CONFIG_PATH);
+#endif
 	}
 	// existing_instance will be either 0 (should create a new instance) or nonzero (should reuse the existing 0 instance)
 	int getSubscriberMapping(char *topic, char *type, int *existing_instance)
@@ -94,8 +112,12 @@ public:
 
 
 private:
-	int getPubSubMapping(char *topic, char *type, int *new_instance, const char *filename);
-	int AddPubSub(char *topic, char *datatype, int new_instance, const char *filename);
+#ifdef CONFIG_ZENOH_PUB_OPTION_OVERRIDE
+	bool parsePublisherOptions(const char *options_str, z_publisher_options_t *opts);
+#endif
+	int getPubSubMapping(char *topic, char *type, int *new_instance, const char *filename, char *options_str = nullptr);
+	int AddPubSub(char *topic, char *datatype, int new_instance, const char *filename,
+		      const char *options_str = nullptr);
 	int DeletePubSub(char *topic, const char *filename);
 	int SetNetworkConfig(char *mode, char *locator);
 	int getLineCount(const char *filename);
diff --git a/src/modules/zenoh/zenoh_params.yaml b/src/modules/zenoh/zenoh_params.yaml
index e7473cab6e..b7f0d39677 100644
--- a/src/modules/zenoh/zenoh_params.yaml
+++ b/src/modules/zenoh/zenoh_params.yaml
@@ -9,3 +9,52 @@ parameters:
       default: 0
       min: 0
       max: 232
+    ZENOH_PUB_CC:
+      description:
+        short: Zenoh publisher congestion control (global default)
+      type: int32
+      default: 0
+      min: 0
+      max: 1
+      values:
+        0: Drop
+        1: Block
+      reboot_required: true
+    ZENOH_PUB_REL:
+      description:
+        short: Zenoh publisher reliability (global default)
+      type: int32
+      default: 0
+      min: 0
+      max: 1
+      values:
+        0: Reliable
+        1: BestEffort
+      reboot_required: true
+    ZENOH_PUB_EXPR:
+      description:
+        short: Zenoh publisher express mode (global default)
+      type: int32
+      default: 0
+      min: 0
+      max: 1
+      values:
+        0: Disabled
+        1: Enabled
+      reboot_required: true
+    ZENOH_PUB_PRIO:
+      description:
+        short: Zenoh publisher priority (global default)
+      type: int32
+      default: 5
+      min: 1
+      max: 7
+      values:
+        1: RealTime
+        2: InteractiveHigh
+        3: InteractiveLow
+        4: DataHigh
+        5: Data
+        6: DataLow
+        7: Background
+      reboot_required: true