diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 4dbc66c4bff61b..a86b42b3d9a70a 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -35,6 +35,7 @@ echo "Compiler: $c_compiler"
 
 pymavlink_installed=0
 mavproxy_installed=0
+dronecan_installed=0
 
 function install_pymavlink() {
     if [ $pymavlink_installed -eq 0 ]; then
@@ -45,6 +46,15 @@ function install_pymavlink() {
     fi
 }
 
+function install_dronecan() {
+    if [ $dronecan_installed -eq 0 ]; then
+        echo "Installing dronecan"
+        git submodule update --init --recursive --depth 1
+        (cd modules/DroneCAN/pydronecan && python3 setup.py build install --user)
+        dronecan_installed=1
+    fi
+}
+
 function install_mavproxy() {
     if [ $mavproxy_installed -eq 0 ]; then
         echo "Installing MAVProxy"
@@ -70,6 +80,7 @@ function run_autotest() {
 
     install_mavproxy
     install_pymavlink
+    install_dronecan
     unset BUILDROOT
     echo "Running SITL $NAME test"
 
@@ -418,6 +429,7 @@ for t in $CI_BUILD_TARGET; do
         echo "Checking autotest options"
         install_mavproxy
         install_pymavlink
+        install_dronecan
         ./Tools/autotest/autotest.py --help
         ./Tools/autotest/autotest.py --list
         ./Tools/autotest/autotest.py --list-subtests