diff --git a/.gitmodules b/.gitmodules
index dfcf64afd905..c442a5e9f211 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -91,3 +91,9 @@
 [submodule "boards/ssrc/saluki-nxp93"]
 	path = boards/ssrc/saluki-nxp93
 	url = git@github.com:tiiuae/saluki-nxp93.git
+[submodule "src/modules/px4_fw_update_client"]
+	path = src/modules/px4_fw_update_client
+	url = git@github.com:tiiuae/px4-fw-update-client.git
+[submodule "src/lib/secure_udp"]
+	path = src/lib/secure_udp
+	url = git@github.com:tiiuae/px4-lib-secure-udp.git
diff --git a/clone_public.sh b/clone_public.sh
index c5ed7d21e599..447382303a97 100755
--- a/clone_public.sh
+++ b/clone_public.sh
@@ -9,6 +9,8 @@ do
   [[ "${repo}" == *pfsoc_crypto ]]  || \
   [[ "${repo}" == *pfsoc_keystore ]]  || \
   [[ "${repo}" == *pf_crypto ]] || \
+  [[ "${repo}" == *px4_fw_update_client ]] || \
+  [[ "${repo}" == *secure_udp ]] || \
   [[ "${repo}" == *process ]] && continue
   git submodule update --init --recursive "${repo}"
 done <<< "$(git submodule status | awk '{print $2}')"
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 479b0fa141f2..58473f866634 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -75,3 +75,6 @@ add_subdirectory(version EXCLUDE_FROM_ALL)
 add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
 add_subdirectory(wind_estimator EXCLUDE_FROM_ALL)
 add_subdirectory(world_magnetic_model EXCLUDE_FROM_ALL)
+if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/secure_udp/CMakeLists.txt")
+        add_subdirectory(secure_udp EXCLUDE_FROM_ALL)
+endif()
diff --git a/src/lib/secure_udp b/src/lib/secure_udp
new file mode 160000
index 000000000000..01bd1d54b2fd
--- /dev/null
+++ b/src/lib/secure_udp
@@ -0,0 +1 @@
+Subproject commit 01bd1d54b2fda4f635d63cf860e19a149d993c99
diff --git a/src/modules/px4_fw_update_client b/src/modules/px4_fw_update_client
new file mode 160000
index 000000000000..b9d7061e3ab5
--- /dev/null
+++ b/src/modules/px4_fw_update_client
@@ -0,0 +1 @@
+Subproject commit b9d7061e3ab513f03811b94df26d3bc59a367680