diff --git a/.gitmodules b/.gitmodules
index 1c7dd3256332..8373c9bd83bb 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -29,6 +29,9 @@
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
+[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
+	path = Tools/simulation/jsbsim/jsbsim_bridge
+	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
 	url = https://github.com/opencyphal/libcanard.git
diff --git a/Tools/simulation/jsbsim/jsbsim_bridge b/Tools/simulation/jsbsim/jsbsim_bridge
new file mode 160000
index 000000000000..68de2cc63ded
--- /dev/null
+++ b/Tools/simulation/jsbsim/jsbsim_bridge
@@ -0,0 +1 @@
+Subproject commit 68de2cc63ded9a0d6641d45e9eb3ed2b43454cba