diff --git a/.gitmodules b/.gitmodules
index d1e2a6445231614e7a2be6f2d609676a7ec10b3b..40f2d7d4f5122af56cb760167593ef1daba966cb 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -20,3 +20,18 @@
 [submodule "crazyflie_software/crazyflie-firmware-2021.06/vendor/unity"]
 	path = crazyflie_software/crazyflie-firmware-2021.06/vendor/unity
 	url = https://github.com/ThrowTheSwitch/Unity.git
+[submodule "crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/FreeRTOS"]
+	path = crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/FreeRTOS
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git
+[submodule "crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/CMSIS"]
+	path = crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/CMSIS
+	url = https://github.com/ARM-software/CMSIS_5.git
+[submodule "crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/cmock"]
+	path = crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/cmock
+	url = https://github.com/ThrowTheSwitch/CMock.git
+[submodule "crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/libdw1000"]
+	path = crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/libdw1000
+	url = https://github.com/bitcraze/libdw1000.git
+[submodule "crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/unity"]
+	path = crazyflie_software_bigquad/crazyflie-firmware-2021.06/vendor/unity
+	url = https://github.com/ThrowTheSwitch/Unity.git