diff --git a/.gitmodules b/.gitmodules
index 6d24678ed7..fa2bb19aef 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "modules/uavcan"]
 	path = modules/uavcan
-	url = https://github.com/ArduPilot/uavcan.git
+	url = https://github.com/DroneCAN/libuavcan.git
 [submodule "modules/waf"]
 	path = modules/waf
 	url = https://github.com/ArduPilot/waf.git
@@ -19,3 +19,18 @@
 [submodule "modules/libcanard"]
 	path = modules/libcanard
 	url = https://github.com/ArduPilot/libcanard.git
+[submodule "modules/DroneCAN/DSDL"]
+	path = modules/DroneCAN/DSDL
+	url = https://github.com/DroneCAN/DSDL.git
+[submodule "modules/DroneCAN/dronecan_dsdlc"]
+	path = modules/DroneCAN/dronecan_dsdlc
+	url = https://github.com/DroneCAN/dronecan_dsdlc
+[submodule "modules/DroneCAN/libcanard"]
+	path = modules/DroneCAN/libcanard
+	url = https://github.com/DroneCAN/libcanard
+[submodule "modules/DroneCAN/pydronecan"]
+	path = modules/DroneCAN/pydronecan
+	url = https://github.com/DroneCAN/pydronecan
+[submodule "modules/DroneCAN/uavcan"]
+	path = modules/DroneCAN/uavcan
+	url = https://github.com/DroneCAN/libuavcan.git
diff --git a/modules/ChibiOS b/modules/ChibiOS
index 45395b6a95..93e6e03d82 160000
--- a/modules/ChibiOS
+++ b/modules/ChibiOS
@@ -1 +1 @@
-Subproject commit 45395b6a95a3c9f7a7f2c9b22bff474bcfb98a43
+Subproject commit 93e6e03d82629940ab9a7bafa58e838d4329dcb2
diff --git a/modules/DroneCAN/DSDL b/modules/DroneCAN/DSDL
new file mode 160000
index 0000000000..c09dac9dd3
--- /dev/null
+++ b/modules/DroneCAN/DSDL
@@ -0,0 +1 @@
+Subproject commit c09dac9dd35133edc8ba08f59b71c64d0e6328bd
diff --git a/modules/DroneCAN/dronecan_dsdlc b/modules/DroneCAN/dronecan_dsdlc
new file mode 160000
index 0000000000..285a56e827
--- /dev/null
+++ b/modules/DroneCAN/dronecan_dsdlc
@@ -0,0 +1 @@
+Subproject commit 285a56e82741886b2bc7a5878d907aa443337cd8
diff --git a/modules/DroneCAN/libcanard b/modules/DroneCAN/libcanard
new file mode 160000
index 0000000000..95cb5c3b23
--- /dev/null
+++ b/modules/DroneCAN/libcanard
@@ -0,0 +1 @@
+Subproject commit 95cb5c3b23f5b4b049eac57631b127ed6a2247dc
diff --git a/modules/DroneCAN/pydronecan b/modules/DroneCAN/pydronecan
new file mode 160000
index 0000000000..4c5b1eb297
--- /dev/null
+++ b/modules/DroneCAN/pydronecan
@@ -0,0 +1 @@
+Subproject commit 4c5b1eb297eadb78ea14f582ccb2b7b4343b9483
diff --git a/modules/DroneCAN/uavcan b/modules/DroneCAN/uavcan
new file mode 160000
index 0000000000..5eec022030
--- /dev/null
+++ b/modules/DroneCAN/uavcan
@@ -0,0 +1 @@
+Subproject commit 5eec0220302dfaa23602d7ee901cde0579fbf9e2
diff --git a/modules/uavcan b/modules/uavcan
index 3ef4b88d96..de3174b0f3 160000
--- a/modules/uavcan
+++ b/modules/uavcan
@@ -1 +1 @@
-Subproject commit 3ef4b88d96466bbcf886f74d0ae169a4c8c1bdb0
+Subproject commit de3174b0f3aa9f55bc8ddfa1e7736c6a465cda18