diff --git a/src/drivers/mpu6000/CMakeLists.txt b/src/drivers/mpu6000/CMakeLists.txt
index c4cabd418d..13009f31b0 100644
--- a/src/drivers/mpu6000/CMakeLists.txt
+++ b/src/drivers/mpu6000/CMakeLists.txt
@@ -33,7 +33,7 @@
 px4_add_module(
 	MODULE drivers__mpu6000
 	MAIN mpu6000
-	STACK_MAIN 1200
+	STACK_MAIN 1300
 	COMPILE_FLAGS
 		-Weffc++
 		-Os
diff --git a/src/drivers/ms5611/CMakeLists.txt b/src/drivers/ms5611/CMakeLists.txt
index 7359bd9507..1cfa739a2e 100644
--- a/src/drivers/ms5611/CMakeLists.txt
+++ b/src/drivers/ms5611/CMakeLists.txt
@@ -50,6 +50,7 @@ endif()
 px4_add_module(
 	MODULE drivers__ms5611
 	MAIN ms5611
+	STACK_MAIN 1200
 	COMPILE_FLAGS
 		-Os
 	SRCS ${srcs}
diff --git a/src/drivers/pwm_out_sim/CMakeLists.txt b/src/drivers/pwm_out_sim/CMakeLists.txt
index d12a5fdfcf..573d9a7afb 100644
--- a/src/drivers/pwm_out_sim/CMakeLists.txt
+++ b/src/drivers/pwm_out_sim/CMakeLists.txt
@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__pwm_out_sim
 	MAIN pwm_out_sim
 	STACK_MAIN 1200
+	STACK_MAX 1200
 	COMPILE_FLAGS
 		-Os
 	SRCS
diff --git a/src/drivers/pwm_out_sim/pwm_out_sim.cpp b/src/drivers/pwm_out_sim/pwm_out_sim.cpp
index 20f9618c98..7be5a82e60 100644
--- a/src/drivers/pwm_out_sim/pwm_out_sim.cpp
+++ b/src/drivers/pwm_out_sim/pwm_out_sim.cpp
@@ -252,7 +252,7 @@ PWMSim::init()
 	_task = px4_task_spawn_cmd("pwm_out_sim",
 				   SCHED_DEFAULT,
 				   SCHED_PRIORITY_DEFAULT,
-				   1000,
+				   1200,
 				   (px4_main_t)&PWMSim::task_main_trampoline,
 				   nullptr);
 
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 16d1376b38..b0f3adf506 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -1302,7 +1302,7 @@ FixedwingAttitudeControl::start()
 	_control_task = px4_task_spawn_cmd("fw_att_control",
 					   SCHED_DEFAULT,
 					   SCHED_PRIORITY_MAX - 5,
-					   1300,
+					   1400,
 					   (px4_main_t)&FixedwingAttitudeControl::task_main_trampoline,
 					   nullptr);
 
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 417975faab..349f670059 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2286,7 +2286,7 @@ Mavlink::start(int argc, char *argv[])
 	px4_task_spawn_cmd(buf,
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
-			   2800,
+			   3000,
 			   (px4_main_t)&Mavlink::start_helper,
 			   (char *const *)argv);
 
diff --git a/src/modules/navigator/CMakeLists.txt b/src/modules/navigator/CMakeLists.txt
index 89530ca119..18d41d79ca 100644
--- a/src/modules/navigator/CMakeLists.txt
+++ b/src/modules/navigator/CMakeLists.txt
@@ -33,7 +33,7 @@
 px4_add_module(
 	MODULE modules__navigator
 	MAIN navigator
-	STACK_MAIN 1200
+	STACK_MAIN 1300
 	COMPILE_FLAGS
 		-Os
 	SRCS
diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt
index e26df79246..0b5993a9ea 100644
--- a/src/modules/sensors/CMakeLists.txt
+++ b/src/modules/sensors/CMakeLists.txt
@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE modules__sensors
 	MAIN sensors
 	PRIORITY "SCHED_PRIORITY_MAX-5"
-	STACK_MAIN 1300
+	STACK_MAIN 2000
 	COMPILE_FLAGS
 		-O3
 	SRCS
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index cbc3e062ac..a84552c93b 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -2276,7 +2276,7 @@ Sensors::start()
 	_sensors_task = px4_task_spawn_cmd("sensors",
 					   SCHED_DEFAULT,
 					   SCHED_PRIORITY_MAX - 5,
-					   2000,
+					   2200,
 					   (px4_main_t)&Sensors::task_main_trampoline,
 					   nullptr);
 
diff --git a/src/modules/uORB/CMakeLists.txt b/src/modules/uORB/CMakeLists.txt
index c8180c29f8..508318c7d1 100644
--- a/src/modules/uORB/CMakeLists.txt
+++ b/src/modules/uORB/CMakeLists.txt
@@ -68,7 +68,7 @@ endif()
 px4_add_module(
 	MODULE modules__uORB
 	MAIN uorb
-	STACK_MAIN 2048
+	STACK_MAIN 2100
 	COMPILE_FLAGS
 		-Os
 	SRCS ${SRCS}