diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 491882cb15..7f6117fcf8 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -47,7 +47,8 @@ Rover::Rover(void) :
     ground_start_count(20),
     throttle(500),
 #if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry(ahrs, battery),
+    inertial_nav(ahrs),
+    frsky_telemetry(ahrs, battery, sonar, inertial_nav),
 #endif
     home(ahrs.get_home()),
     G_Dt(0.02)
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 49cca6be0a..2a1853a48b 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -287,6 +287,8 @@ private:
     AP_BattMonitor battery;
 
 #if FRSKY_TELEM_ENABLED == ENABLED
+    // Inertial Navigation
+    AP_InertialNav_NavEKF inertial_nav;
     // FrSky telemetry support
     AP_Frsky_Telem frsky_telemetry;
 #endif
diff --git a/APMrover2/make.inc b/APMrover2/make.inc
index 8feecd24b9..a742dec9a8 100644
--- a/APMrover2/make.inc
+++ b/APMrover2/make.inc
@@ -38,6 +38,7 @@ LIBRARIES += AP_Navigation
 LIBRARIES += APM_Control
 LIBRARIES += AP_L1_Control
 LIBRARIES += AP_BoardConfig
+LIBRARIES += AP_InertialNav
 LIBRARIES += AP_Frsky_Telem
 LIBRARIES += AP_Notify
 LIBRARIES += AP_BattMonitor
diff --git a/APMrover2/wscript b/APMrover2/wscript
index e63f470672..93192aa203 100644
--- a/APMrover2/wscript
+++ b/APMrover2/wscript
@@ -10,6 +10,7 @@ def build(bld):
             'APM_Control',
             'AP_Arming',
             'AP_Camera',
+            'AP_InertialNav',
             'AP_Frsky_Telem',
             'AP_L1_Control',
             'AP_Menu',