diff --git a/.gitmodules b/.gitmodules
index 5fd30b97f3..8a9e5129b0 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
diff --git a/src/modules/micrortps_bridge/micro-CDR b/src/modules/micrortps_bridge/micro-CDR
index 56b2696e4a..21d3cfe3ae 160000
--- a/src/modules/micrortps_bridge/micro-CDR
+++ b/src/modules/micrortps_bridge/micro-CDR
@@ -1 +1 @@
-Subproject commit 56b2696e4a9bb43d2aef9690fc5c6a2d6b1af8ee
+Subproject commit 21d3cfe3ae570d1674da0105ab23b80958e0449a