diff --git a/.gitmodules b/.gitmodules
index 7adbe483ce..78d334ffd1 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -19,3 +19,6 @@
 [submodule "gtest"]
 	path = modules/gtest
 	url = git://github.com/ArduPilot/googletest
+[submodule "modules/ChibiOS"]
+	path = modules/ChibiOS
+	url = git://github.com/ArduPilot/ChibiOS.git
diff --git a/modules/ChibiOS b/modules/ChibiOS
new file mode 160000
index 0000000000..0f1f490464
--- /dev/null
+++ b/modules/ChibiOS
@@ -0,0 +1 @@
+Subproject commit 0f1f49046445c40ada4208fdd24539c009a669ba