diff --git a/core/frontend/src/types/autopilot.ts b/core/frontend/src/types/autopilot.ts
index 031494af34..5ed516d66b 100644
--- a/core/frontend/src/types/autopilot.ts
+++ b/core/frontend/src/types/autopilot.ts
@@ -93,6 +93,7 @@ export enum EndpointType {
     tcpout = 'tcpout',
     serial = 'serial',
     zenoh = 'zenoh',
+    zenohraw = 'zenohraw',
 }
 
 export function vehicleTypeFromString(vehicle_type: string): Vehicle {
@@ -111,6 +112,7 @@ export function userFriendlyEndpointType(type: EndpointType): string {
     case EndpointType.tcpout: return 'TCP Client'
     case EndpointType.serial: return 'Serial'
     case EndpointType.zenoh: return 'Zenoh'
+    case EndpointType.zenohraw: return 'Zenoh Raw'
     default: return 'Undefined type'
   }
 }
diff --git a/core/services/ardupilot_manager/autopilot_manager.py b/core/services/ardupilot_manager/autopilot_manager.py
index b64682ce7a..3cdd715c1a 100644
--- a/core/services/ardupilot_manager/autopilot_manager.py
+++ b/core/services/ardupilot_manager/autopilot_manager.py
@@ -99,6 +99,15 @@ def __init__(self) -> None:
                 persistent=True,
                 protected=True,
             ),
+            Endpoint(
+                name="ZenohRaw",
+                owner=self.settings.app_name,
+                connection_type=EndpointType.ZenohRaw,
+                place="0.0.0.0",
+                argument=7117,
+                persistent=True,
+                protected=True,
+            ),
             Endpoint(
                 name="Internal Link",
                 owner=self.settings.app_name,
diff --git a/core/services/ardupilot_manager/mavlink_proxy/Endpoint.py b/core/services/ardupilot_manager/mavlink_proxy/Endpoint.py
index fac8486a35..dc8d5a3345 100644
--- a/core/services/ardupilot_manager/mavlink_proxy/Endpoint.py
+++ b/core/services/ardupilot_manager/mavlink_proxy/Endpoint.py
@@ -15,6 +15,7 @@ class EndpointType(str, Enum):
     TCPClient = "tcpout"
     Serial = "serial"
     Zenoh = "zenoh"
+    ZenohRaw = "zenohraw"
 
 
 @dataclass
@@ -43,6 +44,7 @@ def is_mavlink_endpoint(cls: Type["Endpoint"], values: Any) -> Any:
             EndpointType.TCPServer,
             EndpointType.TCPClient,
             EndpointType.Zenoh,
+            EndpointType.ZenohRaw,
         ]:
             if not (validators.domain(place) or validators.ipv4(place) or validators.ipv6(place)):
                 raise ValueError(f"Invalid network address: {place}")
diff --git a/core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py b/core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py
index ac26e93452..1aebd2d55e 100644
--- a/core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py
+++ b/core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py
@@ -27,19 +27,26 @@ def _get_version(self) -> Optional[str]:
     def assemble_command(self, master_endpoint: Endpoint) -> str:
         # Convert endpoint format to mavlink-router format
         def convert_endpoint(endpoint: Endpoint) -> str:
+            endpoint_str = None
+
             if endpoint.connection_type == EndpointType.Serial:
-                return f"serial:{endpoint.place}:{endpoint.argument}"
+                endpoint_str = f"serial:{endpoint.place}:{endpoint.argument}"
             if endpoint.connection_type == EndpointType.TCPServer:
-                return f"tcps:{endpoint.place}:{endpoint.argument}"
+                endpoint_str = f"tcps:{endpoint.place}:{endpoint.argument}"
             if endpoint.connection_type == EndpointType.TCPClient:
-                return f"tcpc:{endpoint.place}:{endpoint.argument}"
+                endpoint_str = f"tcpc:{endpoint.place}:{endpoint.argument}"
             if endpoint.connection_type == EndpointType.UDPServer:
-                return f"udps:{endpoint.place}:{endpoint.argument}"
+                endpoint_str = f"udps:{endpoint.place}:{endpoint.argument}"
             if endpoint.connection_type == EndpointType.UDPClient:
-                return f"udpc:{endpoint.place}:{endpoint.argument}"
+                endpoint_str = f"udpc:{endpoint.place}:{endpoint.argument}"
             if endpoint.connection_type == EndpointType.Zenoh:
-                return f"zenoh:{endpoint.place}:{endpoint.argument}"
-            raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
+                endpoint_str = f"zenoh:{endpoint.place}:{endpoint.argument}"
+            if endpoint.connection_type == EndpointType.ZenohRaw:
+                endpoint_str = f"zenohraw:{endpoint.place}:{endpoint.argument}"
+
+            if endpoint_str is None:
+                raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
+            return endpoint_str
 
         filtered_endpoints = Endpoint.filter_enabled(self.endpoints())
         endpoints = " ".join([convert_endpoint(endpoint) for endpoint in [master_endpoint, *filtered_endpoints]])
@@ -70,6 +77,7 @@ def _validate_endpoint(endpoint: Endpoint) -> None:
             EndpointType.TCPClient,
             EndpointType.Serial,
             EndpointType.Zenoh,
+            EndpointType.ZenohRaw,
         ]
         if endpoint.connection_type not in valid_connection_types:
             raise ValueError(f"Connection_type '{endpoint.connection_type}' not supported by {MAVLinkServer.name()}.")
diff --git a/core/tools/mavlink_server/bootstrap.sh b/core/tools/mavlink_server/bootstrap.sh
index 5dc2ecfae4..f29be93038 100755
--- a/core/tools/mavlink_server/bootstrap.sh
+++ b/core/tools/mavlink_server/bootstrap.sh
@@ -3,7 +3,7 @@
 # Immediately exit on errors
 set -e
 
-VERSION="0.7.4"
+VERSION="0.9.0"
 PROJECT_NAME="mavlink-server"
 REPOSITORY_ORG="bluerobotics"
 REPOSITORY_NAME="$PROJECT_NAME"