diff --git a/.sonarcloud.properties b/.sonarcloud.properties
index 2a0c4e7..be25f71 100644
--- a/.sonarcloud.properties
+++ b/.sonarcloud.properties
@@ -1 +1 @@
-sonar.sources=Cyphal,Udral,ds015,examples
+sonar.sources=Cyphal,Udral,ds015,zubax,examples
diff --git a/Udral/actuator.cpp b/Udral/actuator.cpp
index 3530d61..ae3fb60 100644
--- a/Udral/actuator.cpp
+++ b/Udral/actuator.cpp
@@ -75,8 +75,4 @@ void ReadinessSubscriber::callback(const CanardRxTransfer& transfer) {
     _last_recv_time_ms = HAL_GetTick();
 }
 
-void ZubaxCompactFeedbackPublisher::publish(const ZubaxCompactFeedback& msg) {
-    push(zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES, (const uint8_t*)&msg);
-}
-
 }  // namespace cyphal
diff --git a/Udral/actuator.hpp b/Udral/actuator.hpp
index 67ec035..4163a82 100644
--- a/Udral/actuator.hpp
+++ b/Udral/actuator.hpp
@@ -37,26 +37,6 @@ struct ReadinessSubscriber: public CyphalSubscriber {
     uint32_t _last_recv_time_ms{0};
 };
 
-
-// https://telega.zubax.com/interfaces/cyphal.html#compact
-#pragma pack(push, 1)
-struct ZubaxCompactFeedback {
-    uint32_t dc_voltage             : 11;
-    int32_t dc_current              : 12;
-    int32_t phase_current_amplitude : 12;
-    int32_t velocity                : 13;
-    int8_t demand_factor_pct        : 8;
-};
-#pragma pack(pop)
-
-struct ZubaxCompactFeedbackPublisher: public CyphalPublisher {
-    ZubaxCompactFeedbackPublisher(Cyphal* driver_, CanardPortID port_id) : CyphalPublisher(driver_, port_id) {};
-    void publish(const ZubaxCompactFeedback& msg);
-    static constexpr float RPM_TO_RAD_PER_SEC = 0.1047198;
-private:
-    static constexpr size_t zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES = 7;
-};
-
 }  // namespace cyphal
 
 #endif  // UDRAL_ACTUATOR_HPP_
diff --git a/sonar-project.properties b/sonar-project.properties
index 86dcee0..7080be4 100644
--- a/sonar-project.properties
+++ b/sonar-project.properties
@@ -1,6 +1,6 @@
 sonar.projectKey=RaccoonlabDev_cyphal_application
 sonar.organization=raccoonlabdev
-sonar.sources=Cyphal,Udral,ds015,examples
+sonar.sources=Cyphal,Udral,ds015,zubax,examples
 sonar.cfamily.build-wrapper-output=bw-output
 sonar.host.url=https://sonarcloud.io
 sonar.cfamily.gcov.reportsPath=build
diff --git a/zubax/compact_feedback.cpp b/zubax/compact_feedback.cpp
new file mode 100644
index 0000000..557b6c0
--- /dev/null
+++ b/zubax/compact_feedback.cpp
@@ -0,0 +1,15 @@
+/// This software is distributed under the terms of the MIT License.
+/// Copyright (c) 2024 Dmitry Ponomarev.
+/// Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+
+#include "compact_feedback.hpp"
+#include "main.h"
+#include "params.hpp"
+
+namespace zubax::telega {
+
+void CompactFeedbackPublisher::publish(const CompactFeedback& msg) {
+    push(zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES, (const uint8_t*)&msg);
+}
+
+}  // namespace zubax::telega
diff --git a/zubax/compact_feedback.hpp b/zubax/compact_feedback.hpp
new file mode 100644
index 0000000..b1d2798
--- /dev/null
+++ b/zubax/compact_feedback.hpp
@@ -0,0 +1,34 @@
+/// This software is distributed under the terms of the MIT License.
+/// Copyright (c) 2023 Dmitry Ponomarev.
+/// Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+
+#ifndef ZUBAX_COMPACT_FEEDBACK_HPP_
+#define ZUBAX_COMPACT_FEEDBACK_HPP_
+
+#include "cyphal.hpp"
+#include "cyphal_publishers.hpp"
+
+namespace zubax::telega {
+
+// https://telega.zubax.com/interfaces/cyphal.html#compact
+#pragma pack(push, 1)
+struct CompactFeedback {
+    uint32_t dc_voltage             : 11;
+    int32_t dc_current              : 12;
+    int32_t phase_current_amplitude : 12;
+    int32_t velocity                : 13;
+    int8_t demand_factor_pct        : 8;
+};
+#pragma pack(pop)
+
+struct CompactFeedbackPublisher: public cyphal::CyphalPublisher {
+    CompactFeedbackPublisher() : cyphal::CyphalPublisher(cyphal::Cyphal::get_instance(), 65535) { }
+    void publish(const CompactFeedback& msg);
+    static constexpr float RPM_TO_RAD_PER_SEC = 0.1047198;
+private:
+    static constexpr size_t zubax_telega_CompactFeedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES = 7;
+};
+
+}  // namespace zubax::telega
+
+#endif  // ZUBAX_COMPACT_FEEDBACK_HPP_