diff --git a/.gitmodules b/.gitmodules
index 5f5fb38..a3334a3 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,7 +2,7 @@
 	path = PX4-Autopilot
 	url = https://github.com/Peize-Liu/PX4-Autopilot.git
 	branch = develop
-[submodule "NxtPX4-Hardware"]
-	path = NxtPX4-Hardware
+[submodule "Nxt-FC-Hardware"]
+	path = Nxt-FC-Hardware
 	url = https://github.com/Peize-Liu/NxtPX4-Hardware.git
 	branch = main
diff --git a/Nxt-FC-Hardware b/Nxt-FC-Hardware
new file mode 160000
index 0000000..fad7860
--- /dev/null
+++ b/Nxt-FC-Hardware
@@ -0,0 +1 @@
+Subproject commit fad7860aa12501ed6f7dff6d967b4c9bf1c30f9f
diff --git a/NxtPX4-Hardware b/NxtPX4-Hardware
deleted file mode 160000
index f176514..0000000
--- a/NxtPX4-Hardware
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit f1765145df12a5abe1b3d7de596af98a56962559
diff --git a/PX4-Autopilot b/PX4-Autopilot
index 895570d..5ba2e91 160000
--- a/PX4-Autopilot
+++ b/PX4-Autopilot
@@ -1 +1 @@
-Subproject commit 895570dc0d3514ecfb7261f09b73dd382223d491
+Subproject commit 5ba2e91ff227fe4da0133371e88dc81b038bb81e