diff --git a/.gitmodules b/.gitmodules
index 84bec09c9b..f7ebf19193 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -31,3 +31,6 @@
 [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
diff --git a/modules/DroneCAN/libcanard b/modules/DroneCAN/libcanard
new file mode 160000
index 0000000000..99163fc236
--- /dev/null
+++ b/modules/DroneCAN/libcanard
@@ -0,0 +1 @@
+Subproject commit 99163fc2369e5e5f75f8473f0b950b3418830d3f