diff --git a/.gitmodules b/.gitmodules
index fbfe76753a..6a900f5fba 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -39,3 +39,6 @@
 	path = modules/Micro-CDR
 	url = https://github.com/ardupilot/Micro-CDR.git
 	branch = master
+[submodule "modules/lwip"]
+	path = modules/lwip
+	url = https://github.com/ArduPilot/lwip.git
diff --git a/modules/ChibiOS b/modules/ChibiOS
index d8c45abde5..6a85082c71 160000
--- a/modules/ChibiOS
+++ b/modules/ChibiOS
@@ -1 +1 @@
-Subproject commit d8c45abde5fb398ef9da6fc8fc36992f2ae7b15c
+Subproject commit 6a85082c715457d1e0cc9627f9939f349de1143e
diff --git a/modules/lwip b/modules/lwip
new file mode 160000
index 0000000000..0a0452b2c3
--- /dev/null
+++ b/modules/lwip
@@ -0,0 +1 @@
+Subproject commit 0a0452b2c39bdd91e252aef045c115f88f6ca773