diff --git a/.gitmodules b/.gitmodules
index f229c222e9..8741337b63 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,11 @@
 [submodule "mavlink/include/mavlink/v1.0"]
 	path = mavlink/include/mavlink/v1.0
 	url = https://github.com/mavlink/c_library_v1.git
+	branch = master
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
+	branch = master
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
@@ -16,33 +18,44 @@
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
+	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/sitl_gazebo.git
+	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
+	branch = master
 [submodule "src/lib/DriverFramework"]
 	path = src/lib/DriverFramework
 	url = https://github.com/PX4/DriverFramework.git
+	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
+	branch = master
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
+	branch = master
 [submodule "src/lib/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4-NuttX/nuttx.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4-NuttX/apps.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
+	branch = master
diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0
index 61a161e9d5..191029c482 160000
--- a/mavlink/include/mavlink/v1.0
+++ b/mavlink/include/mavlink/v1.0
@@ -1 +1 @@
-Subproject commit 61a161e9d550df9d464f85ad47e3cf7b32d5bd94
+Subproject commit 191029c48227f7a5b0900493c54ee831080183f5
diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0
index fe4d705c72..0667deeba1 160000
--- a/mavlink/include/mavlink/v2.0
+++ b/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit fe4d705c72c4ac90332904f9203ff52f70d45b8b
+Subproject commit 0667deeba1b156681a843ce40f77d1fd0d735513