diff --git a/ports/realsense2/fix_config_osx.patch b/ports/realsense2/fix_config_osx.patch
deleted file mode 100644
index d96f4bea58b989..00000000000000
--- a/ports/realsense2/fix_config_osx.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
-index 3e5929b..57dbe76 100644
---- a/CMake/unix_config.cmake
-+++ b/CMake/unix_config.cmake
-@@ -35,7 +35,6 @@ macro(os_set_flags)
-     
-     if(APPLE)
-         set(FORCE_RSUSB_BACKEND ON)
--        set(BUILD_WITH_TM2 ON)
-     endif()
-     
-     if(FORCE_RSUSB_BACKEND)
diff --git a/ports/realsense2/portfile.cmake b/ports/realsense2/portfile.cmake
index 149cdd6ba60547..61b55e2817bd56 100644
--- a/ports/realsense2/portfile.cmake
+++ b/ports/realsense2/portfile.cmake
@@ -1,12 +1,11 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO IntelRealSense/librealsense
-    REF v2.53.1
-    SHA512 ea975cf919f483dc6669bd3fbce6c301df2ffadbe592972fdec8051de373374a5243565cb87b592f21f017c5ca319634617bacb0c49557136fda3620c59f2101
+    REF v2.54.1
+    SHA512 9b7146a5f6a4152d95286f679e0f5314ab0b040f67a030e42dfe01ad995af486d3d158d1ac7ef0bbe783a90e067d32e4bb4ba1a524fe75a89be6c7fe9c3a30ed
     HEAD_REF master
     PATCHES
         fix_openni2.patch
-        fix_config_osx.patch
 )
 
 file(COPY "${SOURCE_PATH}/src/win7/drivers/IntelRealSense_D400_series_win7.inf" DESTINATION "${SOURCE_PATH}")
@@ -14,7 +13,6 @@ string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "static" BUILD_CRT_LINKAGE)
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
     FEATURES
-        tm2   BUILD_WITH_TM2
         tools BUILD_TOOLS
 )
 
@@ -50,6 +48,9 @@ vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/realsense2)
 if(VCPKG_TARGET_IS_WINDOWS)
     vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/realsense2/realsense2Targets.cmake" "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel" "\${_IMPORT_PREFIX}")
     vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/realsense2/realsense2Targets.cmake" "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg" "\${_IMPORT_PREFIX}")
+	
+	file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/common/fw")
+	file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/common/fw/fw.res" DESTINATION "${CURRENT_PACKAGES_DIR}/common/fw")
 endif()
 vcpkg_copy_pdbs()
 
diff --git a/ports/realsense2/vcpkg.json b/ports/realsense2/vcpkg.json
index 12975171102d7f..b3d7d5f40849e0 100644
--- a/ports/realsense2/vcpkg.json
+++ b/ports/realsense2/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "realsense2",
-  "version": "2.53.1",
+  "version": "2.54.1",
   "description": "Intel® RealSense™ SDK 2.0 is a cross-platform library for Intel® RealSense™ depth cameras (D400 series and the SR300).",
   "homepage": "https://github.com/IntelRealSense/librealsense",
   "license": "Apache-2.0",
@@ -25,9 +25,6 @@
         "openni2"
       ]
     },
-    "tm2": {
-      "description": "Build Intel® RealSense™ T265 device"
-    },
     "tools": {
       "description": "Build Intel® RealSense™ tools"
     }
diff --git a/versions/baseline.json b/versions/baseline.json
index c204a3d96608cd..a94014a5f80de3 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -7077,7 +7077,7 @@
       "port-version": 4
     },
     "realsense2": {
-      "baseline": "2.53.1",
+      "baseline": "2.54.1",
       "port-version": 0
     },
     "recast": {
diff --git a/versions/r-/realsense2.json b/versions/r-/realsense2.json
index dc6ce814093a2c..dcb999dbdd9747 100644
--- a/versions/r-/realsense2.json
+++ b/versions/r-/realsense2.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "ba09c586ba854502c24f6abf1b3307e964c8ae16",
+      "version": "2.54.1",
+      "port-version": 0
+    },
     {
       "git-tree": "90cd2f16e28c916f46da66fea9e6de742a26b0c2",
       "version": "2.53.1",