diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 7133e5639d..87d9311367 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -32,6 +32,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     // @Path: ../AP_RCTelemetry/AP_VideoTX.cpp
     AP_SUBGROUPINFO(vtx, "VTX_",  4, AP_Vehicle, AP_VideoTX),
 
+#if HAL_MSP_ENABLED
+    // @Group: MSP
+    // @Path: ../AP_MSP/AP_MSP.cpp
+    AP_SUBGROUPINFO(msp, "MSP",  5, AP_Vehicle, AP_MSP),
+#endif
+
     AP_GROUPEND
 };
 
@@ -108,6 +114,9 @@ void AP_Vehicle::setup()
     visual_odom.init();
 #endif
     vtx.init();
+#if HAL_MSP_ENABLED
+    msp.init();
+#endif
 
 #if AP_PARAM_KEY_DUMP
     AP_Param::show_all(hal.console, true);
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 39b65d6376..4cc08ec554 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -42,6 +42,7 @@
 #include <AP_GyroFFT/AP_GyroFFT.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_RCTelemetry/AP_VideoTX.h>
+#include <AP_MSP/AP_MSP.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
@@ -269,6 +270,10 @@ protected:
 
     AP_ESC_Telem esc_telem;
 
+#if HAL_MSP_ENABLED
+    AP_MSP msp;
+#endif
+
 #if GENERATOR_ENABLED
     AP_Generator_RichenPower generator;
 #endif