diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 024dfd6fb7..0132a3193d 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1621,7 +1621,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2800,
+		       2700,
 		       (main_t)&Mavlink::start_helper,
 		       (char * const *)argv);
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 573d5aecf2..0c34fc58a8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1549,7 +1549,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
 	param.sched_priority = SCHED_PRIORITY_MAX - 80;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 2900);
+	pthread_attr_setstacksize(&receiveloop_attr, 2100);
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);