diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 99ce030a2a..eac44d3957 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -371,6 +371,10 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(osd, "OSD", AP_OSD),
 #endif
 
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&rover, {group_info : AP_Vehicle::var_info} },
+
     AP_VAREND
 };
 
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index c3fb7eca7f..e523f72d72 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -212,6 +212,8 @@ public:
         k_param_logger = 253,  // Logging Group
 
         // 254,255: reserved
+
+        k_param_vehicle = 257, // vehicle common block of parameters
         };
 
     AP_Int16    format_version;
diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 372e88fa58..995e199500 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -350,5 +350,6 @@ void Rover::publish_osd_info()
 #endif
 
 Rover rover;
+AP_Vehicle& vehicle = rover;
 
 AP_HAL_MAIN_CALLBACKS(&rover);
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index c2656309d9..bd26d7e9c2 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -132,6 +132,9 @@ void Rover::init_ardupilot()
     camera_mount.init();
 #endif
 
+    // run all the vehicle initialization routines
+    init_vehicle();
+
     /*
       setup the 'main loop is dead' check. Note that this relies on
       the RC library being initialised.
diff --git a/APMrover2/wscript b/APMrover2/wscript
index f8d6b8e14f..169b29d1f4 100644
--- a/APMrover2/wscript
+++ b/APMrover2/wscript
@@ -9,7 +9,6 @@ def build(bld):
         ap_libraries=bld.ap_common_vehicle_libraries() + [
             'APM_Control',
             'AP_Arming',
-            'AP_Camera',
             'AP_L1_Control',
             'AP_Mount',
             'AP_Navigation',