diff --git a/.gitmodules b/.gitmodules
index a6fbca83a4ad0..8c7cc94fcd8e3 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,3 +34,11 @@
 [submodule "modules/DroneCAN/libcanard"]
 	path = modules/DroneCAN/libcanard
 	url = https://github.com/DroneCAN/libcanard
+[submodule "modules/Micro-XRCE-DDS-Client"]
+	path = modules/Micro-XRCE-DDS-Client
+	url = https://github.com/ardupilot/Micro-XRCE-DDS-Client.git
+	branch = develop
+[submodule "modules/Micro-CDR"]
+	path = modules/Micro-CDR
+	url = https://github.com/ardupilot/Micro-CDR.git
+	branch = develop
diff --git a/modules/Micro-CDR b/modules/Micro-CDR
new file mode 160000
index 0000000000000..3d1b17703c7cf
--- /dev/null
+++ b/modules/Micro-CDR
@@ -0,0 +1 @@
+Subproject commit 3d1b17703c7cf4f22def2910bc845bdb5152d7b5
diff --git a/modules/Micro-XRCE-DDS-Client b/modules/Micro-XRCE-DDS-Client
new file mode 160000
index 0000000000000..c28bf96f6e93a
--- /dev/null
+++ b/modules/Micro-XRCE-DDS-Client
@@ -0,0 +1 @@
+Subproject commit c28bf96f6e93ad1e01b8f0d74ea255e6bd8b07d2