diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 2795a3f19e..8386785b89 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -650,6 +650,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("FS_OPTIONS", 48, ParametersG2, fs_options, 0),
 
+#if HAL_TORQEEDO_ENABLED
+    // @Group: TRQD_
+    // @Path: ../libraries/AP_Torqeedo/AP_Torqeedo.cpp
+    AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo),
+#endif
+
     AP_GROUPEND
 };
 
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 05384dbefd..71202cbecb 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -6,6 +6,7 @@
 #include "AC_Sprayer/AC_Sprayer.h"
 #include "AP_Gripper/AP_Gripper.h"
 #include "AP_Rally.h"
+#include "AP_Torqeedo/AP_Torqeedo.h"
 
 // Global parameter class.
 //
@@ -403,6 +404,11 @@ public:
 
     // FS options
     AP_Int32 fs_options;
+
+#if HAL_TORQEEDO_ENABLED
+    // torqeedo motor driver
+    AP_Torqeedo torqeedo;
+#endif
 };
 
 extern const AP_Param::Info var_info[];
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 4a2d8da0b8..deb7ac485e 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -69,6 +69,7 @@
 #include <AP_OSD/AP_OSD.h>
 #include <AP_WindVane/AP_WindVane.h>
 #include <AP_Motors/AP_MotorsUGV.h>
+#include <AP_Torqeedo/AP_Torqeedo.h>
 
 #ifdef ENABLE_SCRIPTING
 #include <AP_Scripting/AP_Scripting.h>
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 4c77f6f3bb..a6e9cf74b5 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -93,6 +93,11 @@ void Rover::init_ardupilot()
     // init wheel encoders
     g2.wheel_encoder.init();
 
+#if HAL_TORQEEDO_ENABLED
+    // init torqeedo motor driver
+    g2.torqeedo.init();
+#endif
+
     relay.init();
 
 #if HAL_MOUNT_ENABLED
diff --git a/Rover/wscript b/Rover/wscript
index 6f934ce711..3af5c60a09 100644
--- a/Rover/wscript
+++ b/Rover/wscript
@@ -26,6 +26,7 @@ def build(bld):
             'AP_OSD',
             'AP_WindVane',
             'AP_Motors',
+            'AP_Torqeedo',
         ],
     )