diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8637b563987..b28235d078c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - (#529) `Peripheral` and `PeripheralRef` removed and replaced with a simple pattern similar to the `esp-hal` one.
   - Check https://github.com/esp-rs/esp-idf-hal/pull/529 for details on that change
 - HTTP: added `task_caps` option into server `Configuration`
+- Update `heapless` dependency
 
 ### Fixed
 - `WifiDriver::get_ap_info` not takes `&self` instead of `&mut self`. Convenience method `EspWifi::get_ap_info` that delegates
diff --git a/Cargo.toml b/Cargo.toml
index 82cd4037258..875a9c11268 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,6 +18,7 @@ rust-version = "1.82"
 [patch.crates-io]
 esp-idf-sys = { git = "https://github.com/esp-rs/esp-idf-sys" }
 esp-idf-hal = { git = "https://github.com/esp-rs/esp-idf-hal" }
+embedded-svc = { git = "https://github.com/esp-rs/embedded-svc" }
 
 [lib]
 harness = false
@@ -48,7 +49,7 @@ libstart = ["esp-idf-hal/libstart"]
 use_serde = ["embedded-svc/use_serde"]
 
 [dependencies]
-heapless = { version = "0.8", default-features = false }
+heapless = { version = "0.9", default-features = false }
 num_enum = { version = "0.7", default-features = false }
 enumset = { version = "1", default-features = false }
 log = { version = "0.4", default-features = false }
diff --git a/examples/bt_ble_gap_scanner.rs b/examples/bt_ble_gap_scanner.rs
index a43d2cb358e..fd366e92ed3 100644
--- a/examples/bt_ble_gap_scanner.rs
+++ b/examples/bt_ble_gap_scanner.rs
@@ -89,7 +89,7 @@ mod example {
 
     #[derive(Default)]
     struct State {
-        discovered: heapless::FnvIndexSet<BluetoothAddress, 64>,
+        discovered: heapless::index_set::FnvIndexSet<BluetoothAddress, 64>,
     }
 
     #[derive(Clone)]