diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 689d44e6aa..48d4cde362 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -175,7 +175,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		attitude_estimator_ekf_task = px4_task_spawn_cmd("attitude_estimator_ekf",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
-					      7700,
+					      7000,
 					      attitude_estimator_ekf_thread_main,
 					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		return 0;
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 60641f1bc0..25acbf1ff4 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -256,7 +256,7 @@ int AttitudeEstimatorQ::start()
 	_control_task = px4_task_spawn_cmd("attitude_estimator_q",
 					   SCHED_DEFAULT,
 					   SCHED_PRIORITY_MAX - 5,
-					   2500,
+					   2000,
 					   (px4_main_t)&AttitudeEstimatorQ::task_main_trampoline,
 					   nullptr);
 
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7af9ce2f6e..9fd1534e15 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -297,7 +297,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = px4_task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT + 40,
-					     3600,
+					     3000,
 					     commander_thread_main,
 					     (char * const *)&argv[0]);
 
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index ea0a1ffada..059d55f427 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1018,7 +1018,7 @@ int Ekf2::start()
 	// On the DSP we seem to get random crashes with a stack size below 13000.
 	const unsigned stack_size = 15000;
 #else
-	const unsigned stack_size = 9000;
+	const unsigned stack_size = 8500;
 #endif
 
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index d084517b3e..8a1bd9319b 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -151,7 +151,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		position_estimator_inav_task = px4_task_spawn_cmd("position_estimator_inav",
-					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5300,
+					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4600,
 					       position_estimator_inav_thread_main,
 					       (argv && argc > 2) ? (char *const *) &argv[2] : (char *const *) NULL);
 		return 0;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 4b24e78f5a..7437c2eaa2 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -2478,7 +2478,7 @@ Sensors::start()
 	_sensors_task = px4_task_spawn_cmd("sensors",
 					   SCHED_DEFAULT,
 					   SCHED_PRIORITY_MAX - 5,
-					   2200,
+					   1500,
 					   (px4_main_t)&Sensors::task_main_trampoline,
 					   nullptr);