diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 4ad2e0ae5a..cbd74ea185 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -530,6 +530,10 @@ void AP_Vehicle::setup()
         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Failed to Initialize", AP_DDS_Client::msg_prefix);
     }
 #endif
+
+#if AP_IBUS_TELEM_ENABLED
+    ibus_telem.init();
+#endif
 }
 
 void AP_Vehicle::loop()
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 97246dda8f..2e08815991 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -80,6 +80,8 @@
 #include <AP_Gripper/AP_Gripper.h>
 #endif
 
+#include <AP_IBus_Telem/AP_IBus_Telem.h>
+
 class AP_DDS_Client;
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@@ -350,6 +352,10 @@ protected:
     AP_Gripper gripper;
 #endif
 
+#if AP_IBUS_TELEM_ENABLED
+    AP_IBus_Telem ibus_telem;
+#endif
+
 #if AP_RSSI_ENABLED
     AP_RSSI rssi;
 #endif