diff --git a/.gitmodules b/.gitmodules
index 2d406b1017..9da68a39d7 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -17,11 +17,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-12.12.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-12.12.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
diff --git a/platforms/nuttx/NuttX/apps b/platforms/nuttx/NuttX/apps
index e37940d853..4319b404bc 160000
--- a/platforms/nuttx/NuttX/apps
+++ b/platforms/nuttx/NuttX/apps
@@ -1 +1 @@
-Subproject commit e37940d8535f603a16b8f6f21c21edaf584218aa
+Subproject commit 4319b404bcfd5df1d363cb6456ed6e8977199b67
diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index 29450774d7..07c330874d 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit 29450774d75a2ad4748ac93b2d8759f1ada48883
+Subproject commit 07c330874da8f39d576114042b17efdf1c465b86