diff --git a/.gitmodules b/.gitmodules
index 33802e83ae..e7ba158106 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -31,3 +31,6 @@
 [submodule "modules/CrashDebug"]
 	path = modules/CrashDebug
 	url = https://github.com/adamgreen/CrashDebug
+[submodule "modules/DroneCAN/pydronecan"]
+	path = modules/DroneCAN/pydronecan
+	url = https://github.com/DroneCAN/pydronecan
diff --git a/modules/DroneCAN/pydronecan b/modules/DroneCAN/pydronecan
new file mode 160000
index 0000000000..4f6f216571
--- /dev/null
+++ b/modules/DroneCAN/pydronecan
@@ -0,0 +1 @@
+Subproject commit 4f6f216571afe0570bab19107b6a5e2c0cf4b516