diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index ae83948aef536b..6849d22eb8bfc3 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -408,9 +408,9 @@ def config_option(self):
     Feature('Airspeed Drivers', 'SDP3X', 'AP_AIRSPEED_SDP3X_ENABLED', 'Enable SDP3X AIRSPEED', 0, 'AIRSPEED'),
     Feature('Airspeed Drivers', 'DRONECAN_ASPD', 'AP_AIRSPEED_DRONECAN_ENABLED', 'Enable DroneCAN AIRSPEED', 0, 'AIRSPEED,DroneCAN'),   # NOQA: E501
 
-    Feature('Actuators', 'Servo telem', 'AP_SERVO_TELEM_ENABLED', 'Enable servo telemetry library', 0, None),
+    Feature('Actuators', 'ServoTelem', 'AP_SERVO_TELEM_ENABLED', 'Enable servo telemetry library', 0, None),
     Feature('Actuators', 'Volz', 'AP_VOLZ_ENABLED', 'Enable Volz Protocol', 0, None),
-    Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, "DroneCAN,Volz"),  # noqa: E501
+    Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, "DroneCAN,Volz,ServoTelem"),  # noqa: E501
     Feature('Actuators', 'RobotisServo', 'AP_ROBOTISSERVO_ENABLED', 'Enable RobotisServo protocol', 0, None),
     Feature('Actuators', 'SBUS Output', 'AP_SBUSOUTPUT_ENABLED', 'Enable SBUS output on serial ports', 0, None),
     Feature('Actuators', 'FETTecOneWire', 'AP_FETTEC_ONEWIRE_ENABLED', 'Enable FETTec OneWire ESCs', 0, None),
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index c0707ebe79d8c5..6895a116bd1c2c 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -1448,7 +1448,7 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
         .voltage = msg.voltage * 0.2,
         .current = msg.current * 0.025,
         .duty_cycle = msg.motor_pwm * (100.0/255.0),
-        .motor_temperature_cdeg = (int16_t(msg.motor_temperature) - 50)) * 100,
+        .motor_temperature_cdeg = (int16_t(msg.motor_temperature) - 50) * 100,
         .valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
                        AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
                        AP_Servo_Telem::TelemetryData::Types::CURRENT |
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
index 3e594bac079c23..14b71150218cac 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.h
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -350,7 +350,7 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     Canard::ObjCallback<AP_DroneCAN, com_himark_servo_ServoInfo> himark_servo_ServoInfo_cb{this, &AP_DroneCAN::handle_himark_servoinfo};
     Canard::Subscriber<com_himark_servo_ServoInfo> himark_servo_ServoInfo_cb_listener{himark_servo_ServoInfo_cb, _driver_index};
 #endif
-#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED && AP_SERVO_TELEM_ENABLED
+#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
     Canard::ObjCallback<AP_DroneCAN, com_volz_servo_ActuatorStatus> volz_servo_ActuatorStatus_cb{this, &AP_DroneCAN::handle_actuator_status_Volz};
     Canard::Subscriber<com_volz_servo_ActuatorStatus> volz_servo_ActuatorStatus_listener{volz_servo_ActuatorStatus_cb, _driver_index};
 #endif
@@ -418,7 +418,7 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
 #if AP_SERVO_TELEM_ENABLED
     void handle_actuator_status(const CanardRxTransfer& transfer, const uavcan_equipment_actuator_Status& msg);
 #endif
-#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED && AP_SERVO_TELEM_ENABLED
+#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
     void handle_actuator_status_Volz(const CanardRxTransfer& transfer, const com_volz_servo_ActuatorStatus& msg);
 #endif
     void handle_ESC_status(const CanardRxTransfer& transfer, const uavcan_equipment_esc_Status& msg);