diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index ee975120bd..23192976d2 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -63,6 +63,7 @@
 #include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_Mission/AP_Mission.h>         // Mission command library
 #include <AP_Rally/AP_Rally.h>           // Rally point library
 #include <AC_PID/AC_PID.h>             // PID library
@@ -186,7 +187,8 @@ private:
 
     // Inertial Navigation EKF
     NavEKF EKF{&ahrs, barometer, sonar};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF};
+    NavEKF2 EKF2{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL sitl;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 37d375b86e..e748410650 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1054,6 +1054,10 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
     GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
 
+    // @Group: EK2_
+    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
+    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
+    
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp
     GOBJECT(mission, "MIS_",       AP_Mission),
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 8278d0c091..93444af57d 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -54,6 +54,7 @@ public:
         k_param_software_type,
         k_param_ins_old,                        // *** Deprecated, remove with next eeprom number change
         k_param_ins,                            // libraries/AP_InertialSensor variables
+        k_param_NavEKF2,
 
         // simulation
         k_param_sitl = 10,
diff --git a/ArduCopter/make.inc b/ArduCopter/make.inc
index b2a3c84136..f4c6f166a1 100644
--- a/ArduCopter/make.inc
+++ b/ArduCopter/make.inc
@@ -25,6 +25,7 @@ LIBRARIES += AP_Curve
 LIBRARIES += AP_InertialSensor
 LIBRARIES += AP_AHRS
 LIBRARIES += AP_NavEKF
+LIBRARIES += AP_NavEKF2
 LIBRARIES += AP_Mission
 LIBRARIES += AP_Rally
 LIBRARIES += AC_PID