diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index e7ecb2f492..8345750958 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -97,7 +97,8 @@ public:
         k_param_fs_batt_mah,
         k_param_angle_rate_max,         // remove
         k_param_rssi_range,
-        k_param_rc_feel_rp,             // 40
+        k_param_rc_feel_rp,
+        k_param_NavEKF,                 // 41 - Extended Kalman Filter Inertial Navigation Group
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index a2062939f7..ede67c0ea3 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -1011,6 +1011,12 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
     GOBJECT(rcmap, "RCMAP_",        RCMapper),
 
+#if AP_AHRS_NAVEKF_AVAILABLE
+    // @Group: EKF_
+    // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
+    GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
+#endif
+
     AP_VAREND
 };