diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
index a2e81faf4e..b79a5a1e2e 100644
--- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
@@ -75,7 +75,7 @@ static constexpr wq_config_t INS3{"wq:INS3", 6000, -17};
 
 static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};
 
-static constexpr wq_config_t uavcan{"wq:uavcan", 2176, -19};
+static constexpr wq_config_t uavcan{"wq:uavcan", 2576, -19};
 
 static constexpr wq_config_t UART0{"wq:UART0", 1400, -21};
 static constexpr wq_config_t UART1{"wq:UART1", 1400, -22};
diff --git a/src/drivers/uavcan/libuavcan b/src/drivers/uavcan/libuavcan
index 04377cc270..b1dc99279a 160000
--- a/src/drivers/uavcan/libuavcan
+++ b/src/drivers/uavcan/libuavcan
@@ -1 +1 @@
-Subproject commit 04377cc2704eb7e2fae36fffa5e67063cc40b4c0
+Subproject commit b1dc99279a468ae0de31dbc608d3090c7d73d16b
diff --git a/src/drivers/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp
index a11590b838..ec7bd11657 100644
--- a/src/drivers/uavcan/uavcan_servers.cpp
+++ b/src/drivers/uavcan/uavcan_servers.cpp
@@ -72,6 +72,9 @@
 /*
  * UavcanNode
  */
+
+#define UAVCAN_FIRMWARE_CACHE_PATH UAVCAN_FIRMWARE_PATH"/c/"
+
 UavcanServers *UavcanServers::_instance;
 
 UavcanServers::UavcanServers(uavcan::INode &main_node) :
@@ -217,7 +220,7 @@ UavcanServers::init()
 
 	/* Start fw file server back */
 
-	ret = _fw_server.start();
+	ret = _fw_server.start(UAVCAN_FIRMWARE_CACHE_PATH);
 
 	if (ret < 0) {
 		PX4_ERR("BasicFileServer init: %d, errno: %d", ret, errno);