diff --git a/src/modules/uavcan/libuavcan b/src/modules/uavcan/libuavcan
index ed47da5b2a..dcbb573972 160000
--- a/src/modules/uavcan/libuavcan
+++ b/src/modules/uavcan/libuavcan
@@ -1 +1 @@
-Subproject commit ed47da5b2af550fd353680c3a9c03b774d0017fd
+Subproject commit dcbb573972f80343ee68eed743506ac09605de3b
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 926e7e285f..2655328598 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -1458,11 +1458,13 @@ int uavcan_main(int argc, char *argv[])
 
 			int rv = inst->fw_server(UavcanNode::Stop);
 
+			/* Let's recover any memory we can */
+
+			inst->shrink();
 			if (rv < 0) {
 				warnx("Firmware Server Failed to Stop %d", rv);
 				::exit(rv);
 			}
-
 			::exit(0);
 
 		} else {