diff --git a/.gitmodules b/.gitmodules
index f23a7a3e78..25187f050e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -24,8 +24,8 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev-h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index 843d98915c..76a893a61a 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit 843d98915c85f703c8e119b16611397a35cd0014
+Subproject commit 76a893a61adacaf5ceee24f4f9546b4a45599256