diff --git a/.gitmodules b/.gitmodules
index 630eac1ccd..bb550790fd 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -58,3 +58,6 @@
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
 	branch = master
+[submodule "src/platforms/posix/lockstep_scheduler"]
+	path = src/platforms/posix/lockstep_scheduler
+	url = git@github.com:julianoes/lockstep-scheduler.git
diff --git a/src/platforms/posix/lockstep_scheduler b/src/platforms/posix/lockstep_scheduler
new file mode 160000
index 0000000000..533a331f68
--- /dev/null
+++ b/src/platforms/posix/lockstep_scheduler
@@ -0,0 +1 @@
+Subproject commit 533a331f6811309afd4023154a847d069a6509a5