diff --git a/.gitmodules b/.gitmodules
index 44f87ebcff94df62d090d218e8ed0f0f07cdc46c..2f4d2d15be193ea9dece01d4fbfeac72c5b5dc78 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -20,3 +20,6 @@
 [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/MicroCART_Crazyflie_Firmware"]
+	path = crazyflie_software/MicroCART_Crazyflie_Firmware
+	url = ../MicroCART_Crazyflie_Firmware.git
diff --git a/crazyflie_software/MicroCART_Crazyflie_Firmware b/crazyflie_software/MicroCART_Crazyflie_Firmware
new file mode 160000
index 0000000000000000000000000000000000000000..401b9bfb4e17c0d736b104afe1a678dbab0cbe65
--- /dev/null
+++ b/crazyflie_software/MicroCART_Crazyflie_Firmware
@@ -0,0 +1 @@
+Subproject commit 401b9bfb4e17c0d736b104afe1a678dbab0cbe65