diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 7b7f18b990..332c722489 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -164,6 +164,9 @@ def ap_program(bld,
         program_dir=program_dir,
         **kw
     )
+    if 'use' in kw and bld.env.STATIC_LINKING:
+        # ensure we link against vehicle library
+        tg.env.STLIB += [kw['use']]
 
     for group in program_groups:
         _grouped_programs.setdefault(group, []).append(tg)