diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index f2faf711ba..6b72d560fa 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -209,7 +209,7 @@ GPS::init()
 		goto out;
 
 	/* start the GPS driver worker task */
-	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 1280, (main_t)&GPS::task_main_trampoline, nullptr);
+	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
 		warnx("task start failed: %d", errno);
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 5da288661b..efcf4d12b9 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -761,7 +761,7 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index d318c70170..c39833713d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -246,7 +246,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     2088,
+					     3000,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 
@@ -711,7 +711,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 1728);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f71dd9a3f4..a371a499ef 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -872,7 +872,7 @@ receive_start(int uart)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 1816);
+	pthread_attr_setstacksize(&receiveloop_attr, 3000);
 
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 3acf3e2626..d7243c6232 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -838,7 +838,7 @@ uorb_receive_start(void)
 	pthread_attr_init(&uorb_attr);
 
 	/* Set stack size, needs less than 2k */
-	pthread_attr_setstacksize(&uorb_attr, 1648);
+	pthread_attr_setstacksize(&uorb_attr, 2048);
 
 	pthread_t thread;
 	pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 718e1c1f11..e045ce4cca 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -133,7 +133,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
-					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 2568,
+					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
 		exit(0);
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index afc5b072c3..ccc516f396 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -93,8 +93,7 @@ void cpuload_initialize_once()
 #endif /* CONFIG_SCHED_WORKQUEUE */
 
 	// perform static initialization of "system" threads
-	for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++)
-	{
+	for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) {
 		system_load.tasks[system_load.total_count].start_time = now;
 		system_load.tasks[system_load.total_count].total_runtime = 0;
 		system_load.tasks[system_load.total_count].curr_start_time = 0;
diff --git a/src/modules/systemlib/cpuload.h b/src/modules/systemlib/cpuload.h
index c7aa18d3c4..16d132fdb8 100644
--- a/src/modules/systemlib/cpuload.h
+++ b/src/modules/systemlib/cpuload.h
@@ -40,15 +40,15 @@ __BEGIN_DECLS
 #include <nuttx/sched.h>
 
 struct system_load_taskinfo_s {
-	uint64_t total_runtime;      ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
-	uint64_t curr_start_time;     ///< Start time of the current scheduling slot
-	uint64_t start_time;         ///< FIRST start time of task
-	FAR struct tcb_s *tcb;               ///<
-	bool valid;                  ///< Task is currently active / valid
+	uint64_t total_runtime;			///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
+	uint64_t curr_start_time;		///< Start time of the current scheduling slot
+	uint64_t start_time;			///< FIRST start time of task
+	FAR struct tcb_s *tcb;			///<
+	bool valid;						///< Task is currently active / valid
 };
 
 struct system_load_s {
-	uint64_t start_time;         ///< Global start time of measurements
+	uint64_t start_time;			///< Global start time of measurements
 	struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
 	uint8_t initialized;
 	int total_count;