diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index ad66e49ded..b5202ea722 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -622,6 +622,13 @@ void AP_ICEngine::set_starter(bool on)
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
     tca9554_starter.set_starter(on);
 #endif
+
+#if AP_RELAY_ENABLED
+    AP_Relay *relay = AP::relay();
+    if (relay != nullptr) {
+        relay->set(AP_Relay_Params::FUNCTION::ICE_STARTER, on);
+    }
+#endif // AP_RELAY_ENABLED
 }