diff --git a/.gitmodules b/.gitmodules
index a22573aa12891..98ae5d023ca24 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -22,3 +22,6 @@
 [submodule "modules/gsoap"]
 	path = modules/gsoap
 	url = https://github.com/ArduPilot/gsoap
+[submodule "modules/pyuavcan"]
+	path = modules/pyuavcan
+	url = https://github.com/ArduPilot/pyuavcan
diff --git a/modules/pyuavcan b/modules/pyuavcan
new file mode 160000
index 0000000000000..325f8df0dedc8
--- /dev/null
+++ b/modules/pyuavcan
@@ -0,0 +1 @@
+Subproject commit 325f8df0dedc8d008b82d34a69490a9afab0fc2e