diff --git a/.gitmodules b/.gitmodules
index 1c7dd3256332..4dc5ff5d8142 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -115,3 +115,15 @@
 [submodule "Tools/packaging"]
 	path = Tools/saluki_packaging
 	url = git@github.com:tiiuae/saluki_low_level_sw_build.git
+[submodule "src/lib/noise_transport_core"]
+	path = src/lib/noise_transport_core
+	url = git@github.com:tiiuae/noise_transport_core.git
+[submodule "src/lib/noise_transport_px4_lib"]
+	path = src/lib/noise_transport_px4_lib
+	url = git@github.com:tiiuae/noise_transport_px4_lib.git
+[submodule "src/lib/rust_px4_nuttx_lib"]
+	path = src/lib/rust_px4_nuttx_lib
+	url = git@github.com:tiiuae/rust_px4_nuttx_lib.git
+[submodule "src/modules/noise_transport_px4_proxy"]
+	path = src/modules/noise_transport_px4_proxy
+	url = git@github.com:tiiuae/noise_transport_px4_proxy.git
diff --git a/boards/ssrc/saluki-v2 b/boards/ssrc/saluki-v2
index 181f4486a269..252805f87150 160000
--- a/boards/ssrc/saluki-v2
+++ b/boards/ssrc/saluki-v2
@@ -1 +1 @@
-Subproject commit 181f4486a269588b8c4e50076e2b9ba94ef15e3f
+Subproject commit 252805f87150852339ae1e83df0c3967951dc33b
diff --git a/packaging/Dockerfile.build_env b/packaging/Dockerfile.build_env
index cc2b07466d25..3dc22edd5fd5 100644
--- a/packaging/Dockerfile.build_env
+++ b/packaging/Dockerfile.build_env
@@ -1,6 +1,8 @@
 # px4-firmware builder environment
 FROM ghcr.io/tiiuae/px4-firmware-builder-base:latest
 
+RUN apt-get update && apt-get install -y --no-install-recommends libclang1
+
 ARG UID=1000
 ARG GID=1000
 
@@ -18,6 +20,10 @@ USER builder
 ENV RUSTUP_HOME=/opt/rust CARGO_HOME=/home/builder/.cargo
 ENV PATH=$PATH:/opt/rust/bin
 
+# Rust bindgen
+RUN cargo install bindgen-cli
+ENV PATH=$PATH:/home/builder/.cargo/bin
+
 VOLUME /px4-firmware/sources
 WORKDIR /px4-firmware/sources
 
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 3349cb52e628..25408013d05c 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -80,3 +80,6 @@ add_subdirectory(world_magnetic_model EXCLUDE_FROM_ALL)
 if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/secure_udp/CMakeLists.txt")
         add_subdirectory(secure_udp EXCLUDE_FROM_ALL)
 endif()
+if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/noise_transport_px4_lib/CMakeLists.txt")
+        add_subdirectory(noise_transport_px4_lib EXCLUDE_FROM_ALL)
+endif()
diff --git a/src/lib/noise_transport_core b/src/lib/noise_transport_core
new file mode 160000
index 000000000000..2693d01d7081
--- /dev/null
+++ b/src/lib/noise_transport_core
@@ -0,0 +1 @@
+Subproject commit 2693d01d708162f0d7bbcef76a6cdef297f56b71
diff --git a/src/lib/noise_transport_px4_lib b/src/lib/noise_transport_px4_lib
new file mode 160000
index 000000000000..37c8697c6004
--- /dev/null
+++ b/src/lib/noise_transport_px4_lib
@@ -0,0 +1 @@
+Subproject commit 37c8697c60047cbd148d842e25f80651f135faeb
diff --git a/src/lib/rust_px4_nuttx b/src/lib/rust_px4_nuttx
index 65526d588d81..c9a2ed849996 160000
--- a/src/lib/rust_px4_nuttx
+++ b/src/lib/rust_px4_nuttx
@@ -1 +1 @@
-Subproject commit 65526d588d818007cd08878e0b5d52cb02802014
+Subproject commit c9a2ed8499968bd50bd39a5fd3fc9d6d2ca94043
diff --git a/src/modules/noise_transport_px4_proxy b/src/modules/noise_transport_px4_proxy
new file mode 160000
index 000000000000..5e0bb238fd57
--- /dev/null
+++ b/src/modules/noise_transport_px4_proxy
@@ -0,0 +1 @@
+Subproject commit 5e0bb238fd579a1ac7dae73268da2979e5f71d41