diff --git a/.gitmodules b/.gitmodules
index 50f26b3a99..178cf86771 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -19,6 +19,9 @@
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = https://github.com/PX4/sitl_gazebo.git
 [submodule "unittests/googletest"]
 	path = unittests/googletest
 	url = https://github.com/google/googletest.git
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
new file mode 160000
index 0000000000..d362e661b4
--- /dev/null
+++ b/Tools/sitl_gazebo
@@ -0,0 +1 @@
+Subproject commit d362e661b46474153f43f51a6eb947d4fda1bebe