diff --git a/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin b/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin
new file mode 100644
index 0000000000000..6f5079808e9d9
Binary files /dev/null and b/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin differ
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
index 5e4a73feaff4e..3d7644855fa11 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
@@ -10,8 +10,6 @@ undef PA10
 PA10 LED OUTPUT LOW
 
 # order of UARTs
-#undef SERIAL_ORDER
-
 SERIAL_ORDER EMPTY EMPTY EMPTY USART2
 
 # USART2 for debug (disabled)
diff --git a/modules/DroneCAN/DSDL b/modules/DroneCAN/DSDL
index 0856687a5acb4..993be80a62ec9 160000
--- a/modules/DroneCAN/DSDL
+++ b/modules/DroneCAN/DSDL
@@ -1 +1 @@
-Subproject commit 0856687a5acb42b55d29bbad8f4fc9e19b4989fc
+Subproject commit 993be80a62ec957c01fb41115b83663959a49f46
diff --git a/modules/mavlink b/modules/mavlink
index 4c64b9522f9bb..83e75ffdb2709 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 4c64b9522f9bb9815b089ab98cf2f33f11bded52
+Subproject commit 83e75ffdb2709f4821b9746477639e2ae6df103f