cerebri: Rebase and apply latest changes

Signed-off-by: Luis Ubieda <luisf@croxel.com>

Author: ubieda

drivers/synapse/topic/include/synapse_topic_list.h

@@ -55,7 +55,6 @@ ZROS_TOPIC_DECLARE(topic_clock_offset_ethernet, synapse_pb_Time);
 ZROS_TOPIC_DECLARE(topic_cmd_vel, synapse_pb_Twist);
 ZROS_TOPIC_DECLARE(topic_cmd_vel_ethernet, synapse_pb_Twist);
 ZROS_TOPIC_DECLARE(topic_force_sp, synapse_pb_Vector3);
-ZROS_TOPIC_DECLARE(topic_imu, synapse_pb_Imu);
 ZROS_TOPIC_DECLARE(topic_imu0, synapse_pb_Imu);
 ZROS_TOPIC_DECLARE(topic_imu1, synapse_pb_Imu);
 ZROS_TOPIC_DECLARE(topic_imu_q31_array, synapse_pb_ImuQ31Array);
@@ -77,5 +76,10 @@ ZROS_TOPIC_DECLARE(topic_status, synapse_pb_Status);
 ZROS_TOPIC_DECLARE(topic_velocity_sp, synapse_pb_Vector3);
 ZROS_TOPIC_DECLARE(topic_wheel_odometry, synapse_pb_WheelOdometry);
 
+/********************************************************************
+ * alias
+ ********************************************************************/
+#define topic_imu topic_imu0
+
 #endif // SYNAPSE_TOPIC_LIST_H_
 // vi: ts=4 sw=4 et

drivers/synapse/topic/src/synapse_topic_list.c

@@ -190,7 +190,6 @@ ZROS_TOPIC_DEFINE(clock_offset_ethernet, synapse_pb_ClockOffset);
 ZROS_TOPIC_DEFINE(cmd_vel, synapse_pb_Twist);
 ZROS_TOPIC_DEFINE(cmd_vel_ethernet, synapse_pb_Twist);
 ZROS_TOPIC_DEFINE(force_sp, synapse_pb_Vector3);
-ZROS_TOPIC_DEFINE(imu, synapse_pb_Imu);
 ZROS_TOPIC_DEFINE(imu0, synapse_pb_Imu);
 ZROS_TOPIC_DEFINE(imu1, synapse_pb_Imu);
 ZROS_TOPIC_DEFINE(imu_q31_array, synapse_pb_ImuQ31Array);

west.yml

@@ -19,7 +19,7 @@ manifest:
     - name: zephyr
       remote: cognipilot
       west-commands: scripts/west-commands.yml
-      revision: f5aaca82a6ff6952d82b012ed5d99ecc72f8e7ca # main-with-patches 12/02/25
+      revision: 54b63152053707eb21810c2e54a09905b432257f # main-with-patches 12/16/25
       import:
         - name-allowlist:
           - nanopb
@@ -50,7 +50,7 @@ manifest:
       path: modules/hal/nxp
     - name: zros_drivers
       remote: cognipilot
-      revision: 0e1c56dc7c0adca454a6627fd412c69992adffa0 # main 12/02/25
+      revision: pull/26/head
       path: modules/lib/zros_drivers
     - name: zephyr_boards
       remote: cognipilot