diff --git a/.gitmodules b/.gitmodules
index 525328b71596..b1a2882652a7 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -100,3 +100,6 @@
 [submodule "src/lib/secure_udp"]
 	path = src/lib/secure_udp
 	url = git@github.com:tiiuae/px4-lib-secure-udp.git
+[submodule "src/lib/rust_px4_nuttx"]
+	path = src/lib/rust_px4_nuttx
+	url = git@github.com:tiiuae/rust_px4_nuttx_lib.git
diff --git a/src/lib/rust_px4_nuttx b/src/lib/rust_px4_nuttx
new file mode 160000
index 000000000000..65526d588d81
--- /dev/null
+++ b/src/lib/rust_px4_nuttx
@@ -0,0 +1 @@
+Subproject commit 65526d588d818007cd08878e0b5d52cb02802014