diff --git a/Tools/scripts/CAN/can_sitl.sh b/Tools/scripts/CAN/can_sitl.sh
new file mode 100755
index 0000000000..00907e626d
--- /dev/null
+++ b/Tools/scripts/CAN/can_sitl.sh
@@ -0,0 +1,44 @@
+#!/bin/bash
+# this script sets up SITL to be able to attach to real CAN devices
+# once run, you can configure SITL for CAN just like a real board, with the CAN parameters
+#
+# CAN_P1_DRIVER=1
+# CAN_D1_PROTOCOL=1
+
+# once running you can also attach uavcan_gui_tool to vcan0 to monitor the CAN bus
+
+[ $# -eq 1 ] || {
+    echo "Usage: can_sitl.sh DEVICE"
+    echo "for example can_sitl.sh /dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_3700330018514D563935392000000000-if00"
+    exit 1
+}
+
+DEVPATH="$1"
+
+if readlink $DEVPATH > /dev/null; then
+    DEVNAME=$(basename $(readlink $DEVPATH))
+else
+    DEVNAME=$(basename $DEVPATH)
+fi
+
+set -e
+
+# cleanup from a previous run
+sudo killall -9 slcand 2> /dev/null || true
+for m in slcan can-gw vcan can_raw can; do
+    sudo rmmod $m 2> /dev/null || true
+done
+
+sudo modprobe vcan
+sudo ip link add dev vcan0 type vcan
+sudo ip link set up vcan0
+sudo modprobe slcan
+sudo modprobe can-gw
+sudo slcan_attach -f -s8 -o "$DEVPATH"
+sudo slcand "$DEVNAME" slcan0
+sudo ifconfig slcan0 up
+sudo cangw -A -s vcan0 -d slcan0 -e
+sudo cangw -A -s slcan0 -d vcan0 -e
+
+echo "slcan0 setup"
+ifconfig slcan0