diff --git a/.gitmodules b/.gitmodules
index 1d5553e873..a22573aa12 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -19,3 +19,6 @@
 [submodule "modules/libcanard"]
 	path = modules/libcanard
 	url = git://github.com/ArduPilot/libcanard.git
+[submodule "modules/gsoap"]
+	path = modules/gsoap
+	url = https://github.com/ArduPilot/gsoap
diff --git a/modules/gsoap b/modules/gsoap
new file mode 160000
index 0000000000..aeb7660d4d
--- /dev/null
+++ b/modules/gsoap
@@ -0,0 +1 @@
+Subproject commit aeb7660d4d9cd0d24aad4c447f253c3f416646f6