diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
index 1f1ddd9edc..a8995fe530 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -350,6 +350,20 @@ typedef enum EKF_STATUS_FLAGS
 } EKF_STATUS_FLAGS;
 #endif
 
+/** @brief  */
+#ifndef HAVE_ENUM_PID_TUNING_AXIS
+#define HAVE_ENUM_PID_TUNING_AXIS
+typedef enum PID_TUNING_AXIS
+{
+	PID_TUNING_ROLL=1, /*  | */
+	PID_TUNING_PITCH=2, /*  | */
+	PID_TUNING_YAW=3, /*  | */
+	PID_TUNING_ACCZ=4, /*  | */
+	PID_TUNING_STEER=5, /*  | */
+	PID_TUNING_AXIS_ENUM_END=6, /*  | */
+} PID_TUNING_AXIS;
+#endif
+
 /** @brief  */
 #ifndef HAVE_ENUM_MAG_CAL_STATUS
 #define HAVE_ENUM_MAG_CAL_STATUS
@@ -365,20 +379,6 @@ typedef enum MAG_CAL_STATUS
 } MAG_CAL_STATUS;
 #endif
 
-/** @brief  */
-#ifndef HAVE_ENUM_PID_TUNING_AXIS
-#define HAVE_ENUM_PID_TUNING_AXIS
-typedef enum PID_TUNING_AXIS
-{
-	PID_TUNING_ROLL=1, /*  | */
-	PID_TUNING_PITCH=2, /*  | */
-	PID_TUNING_YAW=3, /*  | */
-	PID_TUNING_ACCZ=4, /*  | */
-	PID_TUNING_STEER=5, /*  | */
-	PID_TUNING_AXIS_ENUM_END=6, /*  | */
-} PID_TUNING_AXIS;
-#endif
-
 #include "../common/common.h"
 
 // MAVLINK VERSION
diff --git a/modules/PX4Firmware b/modules/PX4Firmware
index 51858c810a..34e1d543e4 160000
--- a/modules/PX4Firmware
+++ b/modules/PX4Firmware
@@ -1 +1 @@
-Subproject commit 51858c810a3cb086d7c2041328bd32adec9fa724
+Subproject commit 34e1d543e49c2756b8fa4b81ef30468497ea792a
diff --git a/modules/PX4NuttX b/modules/PX4NuttX
index 7c5ef883fc..d447403a17 160000
--- a/modules/PX4NuttX
+++ b/modules/PX4NuttX
@@ -1 +1 @@
-Subproject commit 7c5ef883fc3307b44bef9d5f7b51cb144cdf400a
+Subproject commit d447403a17ff7433ba99d65c5ce60324f5791ce2