diff --git a/.gitmodules b/.gitmodules
index 24bcda3a26..1d5553e873 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -16,3 +16,6 @@
 [submodule "modules/ChibiOS"]
 	path = modules/ChibiOS
 	url = git://github.com/ArduPilot/ChibiOS.git
+[submodule "modules/libcanard"]
+	path = modules/libcanard
+	url = git://github.com/ArduPilot/libcanard.git
diff --git a/modules/libcanard b/modules/libcanard
new file mode 160000
index 0000000000..99163fc236
--- /dev/null
+++ b/modules/libcanard
@@ -0,0 +1 @@
+Subproject commit 99163fc2369e5e5f75f8473f0b950b3418830d3f