diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 507f9f8ee1..7ec09fa80a 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -590,6 +590,10 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),
 
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&sub, {group_info : AP_Vehicle::var_info} },
+
     AP_VAREND
 };
 
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 23b09db248..821b3be4c6 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -210,6 +210,7 @@ public:
         k_param_lights_steps,
         k_param_pilot_speed_dn,
 
+        k_param_vehicle = 257, // vehicle common block of parameters
     };
 
     AP_Int16        format_version;
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 7b11cdf990..2e705d7581 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -51,3 +51,4 @@ Sub::Sub()
 }
 
 Sub sub;
+AP_Vehicle& vehicle = sub;
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 32f6670d11..4b7e8b0af6 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -99,6 +99,9 @@ void Sub::init_ardupilot()
 
     relay.init();
 
+    // run all the vehicle initialization routines
+    init_vehicle();
+
     /*
      *  setup the 'main loop is dead' check. Note that this relies on
      *  the RC library being initialised.
diff --git a/ArduSub/wscript b/ArduSub/wscript
index e9c4b3cd92..04b1f4fa52 100644
--- a/ArduSub/wscript
+++ b/ArduSub/wscript
@@ -19,6 +19,8 @@ def build(bld):
             'AP_TemperatureSensor',
             'AP_Arming',
             'AP_KDECAN',
+            'AP_RCMapper',
+            'AP_OSD',
         ],
     )