diff --git a/.gitmodules b/.gitmodules
index ff6918a69b..fbfe76753a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,8 +34,8 @@
 [submodule "modules/Micro-XRCE-DDS-Client"]
 	path = modules/Micro-XRCE-DDS-Client
 	url = https://github.com/ardupilot/Micro-XRCE-DDS-Client.git
-	branch = develop
+	branch = master
 [submodule "modules/Micro-CDR"]
 	path = modules/Micro-CDR
 	url = https://github.com/ardupilot/Micro-CDR.git
-	branch = develop
+	branch = master
diff --git a/modules/Micro-XRCE-DDS-Client b/modules/Micro-XRCE-DDS-Client
index c28bf96f6e..a2937bc5af 160000
--- a/modules/Micro-XRCE-DDS-Client
+++ b/modules/Micro-XRCE-DDS-Client
@@ -1 +1 @@
-Subproject commit c28bf96f6e93ad1e01b8f0d74ea255e6bd8b07d2
+Subproject commit a2937bc5af606b2434e9a841adbf5c003fc1ec38