diff --git a/include/zenoh-pico/api/macros.h b/include/zenoh-pico/api/macros.h
index 0f22d1972..2540bbd4c 100644
--- a/include/zenoh-pico/api/macros.h
+++ b/include/zenoh-pico/api/macros.h
@@ -52,6 +52,7 @@
                   z_owned_slice_t : z_slice_loan,                             \
                   z_owned_bytes_t : z_bytes_loan,                             \
                   z_owned_encoding_t : z_encoding_loan,                       \
+                  z_owned_task_t : z_task_loan,                               \
                   z_owned_mutex_t : z_mutex_loan,                             \
                   z_owned_condvar_t : z_condvar_loan,                         \
                   z_owned_fifo_handler_query_t : z_fifo_handler_query_loan,   \
@@ -78,6 +79,7 @@
                   z_owned_query_t : z_query_loan_mut,                     \
                   z_owned_slice_t : z_slice_loan_mut,                     \
                   z_owned_bytes_t : z_bytes_loan_mut,                     \
+                  z_owned_task_t : z_task_loan_mut,                       \
                   z_owned_mutex_t : z_mutex_loan_mut,                     \
                   z_owned_condvar_t : z_condvar_loan_mut,                 \
                   z_owned_reply_err_t : z_reply_err_loan_mut              \
@@ -109,6 +111,7 @@
                   z_owned_closure_reply_t * : z_closure_reply_drop,                 \
                   z_owned_closure_hello_t * : z_closure_hello_drop,                 \
                   z_owned_closure_zid_t * : z_closure_zid_drop,                     \
+                  z_owned_task_t *: z_task_drop,                                    \
                   z_owned_mutex_t *: z_mutex_drop,                                  \
                   z_owned_condvar_t *: z_condvar_drop,                              \
                   z_owned_fifo_handler_query_t * : z_fifo_handler_query_drop,       \
@@ -214,6 +217,7 @@
                   z_owned_slice_t : z_slice_move,                                 \
                   z_owned_bytes_t : z_bytes_move,                                 \
                   z_owned_encoding_t : z_encoding_move,                           \
+                  z_owned_task_t : z_task_move,                                   \
                   z_owned_mutex_t : z_mutex_move,                                 \
                   z_owned_condvar_t : z_condvar_move,                             \
                   z_owned_ring_handler_query_t : z_ring_handler_query_move,       \
@@ -326,6 +330,7 @@ inline const z_loaned_query_t* z_loan(const z_owned_query_t& x) { return z_query
 inline const z_loaned_slice_t* z_loan(const z_owned_slice_t& x) { return z_slice_loan(&x); }
 inline const z_loaned_bytes_t* z_loan(const z_owned_bytes_t& x) { return z_bytes_loan(&x); }
 inline const z_loaned_encoding_t* z_loan(const z_owned_encoding_t& x) { return z_encoding_loan(&x); }
+inline const z_loaned_task_t* z_loan(const z_owned_task_t& x) { return z_task_loan(&x); }
 inline const z_loaned_mutex_t* z_loan(const z_owned_mutex_t& x) { return z_mutex_loan(&x); }
 inline const z_loaned_condvar_t* z_loan(const z_owned_condvar_t& x) { return z_condvar_loan(&x); }
 inline const z_loaned_reply_err_t* z_loan(const z_owned_reply_err_t& x) { return z_reply_err_loan(&x); }
@@ -347,6 +352,7 @@ inline z_loaned_query_t* z_loan_mut(z_owned_query_t& x) { return z_query_loan_mu
 inline z_loaned_slice_t* z_loan_mut(z_owned_slice_t& x) { return z_slice_loan_mut(&x); }
 inline z_loaned_bytes_t* z_loan_mut(z_owned_bytes_t& x) { return z_bytes_loan_mut(&x); }
 inline z_loaned_encoding_t* z_loan_mut(z_owned_encoding_t& x) { return z_encoding_loan_mut(&x); }
+inline z_loaned_task_t* z_loan_mut(z_owned_task_t& x) { return z_task_loan_mut(&x); }
 inline z_loaned_mutex_t* z_loan_mut(z_owned_mutex_t& x) { return z_mutex_loan_mut(&x); }
 inline z_loaned_condvar_t* z_loan_mut(z_owned_condvar_t& x) { return z_condvar_loan_mut(&x); }
 inline z_loaned_reply_err_t* z_loan_mut(z_owned_reply_err_t& x) { return z_reply_err_loan_mut(&x); }
@@ -367,6 +373,7 @@ inline void z_drop(z_owned_sample_t* v) { z_sample_drop(v); }
 inline void z_drop(z_owned_query_t* v) { z_query_drop(v); }
 inline void z_drop(z_owned_bytes_t* v) { z_bytes_drop(v); }
 inline void z_drop(z_owned_encoding_t* v) { z_encoding_drop(v); }
+inline void z_drop(z_owned_task_t* v) { z_task_drop(v); }
 inline void z_drop(z_owned_mutex_t* v) { z_mutex_drop(v); }
 inline void z_drop(z_owned_condvar_t* v) { z_condvar_drop(v); }
 inline void z_drop(z_owned_reply_err_t* v) { z_reply_err_drop(v); }
diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index e9137e8c9..9d07e9d66 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -111,7 +111,7 @@ int8_t _z_condvar_free(_z_condvar_t *cv) { return pthread_cond_destroy(cv); }
 
 int8_t _z_condvar_signal(_z_condvar_t *cv) { return pthread_cond_signal(cv); }
 
-int8_t _z_condvar_wait(_z_condvar_t *cv, z_mutex_t *m) { return pthread_cond_wait(cv, m); }
+int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return pthread_cond_wait(cv, m); }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/