diff --git a/src/lib/matrix b/src/lib/matrix
index c387e52970..34fccdd680 160000
--- a/src/lib/matrix
+++ b/src/lib/matrix
@@ -1 +1 @@
-Subproject commit c387e52970b95af8f79795eaeb201e3dcba7284c
+Subproject commit 34fccdd6806fbdf7635a6365d7ef112f3bbaab9a
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 28d7c246d8..361a8510af 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -673,7 +673,7 @@ Navigator::start()
 	_navigator_task = px4_task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT + 5,
-					 1600,
+					 1300,
 					 (px4_main_t)&Navigator::task_main_trampoline,
 					 nullptr);