diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index e0c6e1bb9d..309d76d42b 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -118,6 +118,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(temperature_sensor, "TEMP", 16, AP_Vehicle, AP_TemperatureSensor),
 #endif
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    // @Group: NMEA_
+    // @Path: ../AP_NMEA_Output/AP_NMEA_Output.cpp
+    AP_SUBGROUPINFO(nmea, "NMEA_", 17, AP_Vehicle, AP_NMEA_Output),
+#endif
+
     AP_GROUPEND
 };
 
@@ -274,6 +280,10 @@ void AP_Vehicle::setup()
     ais.init();
 #endif
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    nmea.init();
+#endif
+
 #if AP_FENCE_ENABLED
     fence.init();
 #endif
@@ -359,6 +369,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if COMPASS_CAL_ENABLED
     SCHED_TASK_CLASS(Compass,      &vehicle.compass,        cal_update,     100, 200, 75),
 #endif
+#if HAL_NMEA_OUTPUT_ENABLED
+    SCHED_TASK_CLASS(AP_NMEA_Output, &vehicle.nmea,         update,                   50, 50, 180),
+#endif
 #if HAL_RUNCAM_ENABLED
     SCHED_TASK_CLASS(AP_RunCam,    &vehicle.runcam,         update,                   50, 50, 200),
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index fbd2024f4b..0a8d2b8029 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -55,6 +55,7 @@
 #include <SITL/SITL.h>
 #include <AP_CustomRotations/AP_CustomRotations.h>
 #include <AP_AIS/AP_AIS.h>
+#include <AP_NMEA_Output/AP_NMEA_Output.h>
 #include <AC_Fence/AC_Fence.h>
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #include <Filter/LowPassFilter.h>
@@ -352,6 +353,10 @@ protected:
     AP_AIS ais;
 #endif
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    AP_NMEA_Output nmea;
+#endif
+
 #if AP_FENCE_ENABLED
     AC_Fence fence;
 #endif