diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 53d124d05d..8c831ae0a7 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1188,6 +1188,10 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
     // @Group: EKF_
     // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
     GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
+
+    // @Group: EK2_
+    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
+    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
 #endif
     
     // @Group: RSSI_
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 2911b7d761..7453eec390 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -199,6 +199,7 @@ public:
         k_param_NavEKF,  // Extended Kalman Filter Inertial Navigation Group
         k_param_mission, // mission library
         k_param_serial_manager, // serial manager library
+        k_param_NavEKF2,  // EKF2
 
         //
         // 150: Navigation parameters
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 4ee5a60256..839f9b9336 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -79,6 +79,7 @@
 #include <AP_SpdHgtControl/AP_SpdHgtControl.h>
 #include <AP_TECS/AP_TECS.h>
 #include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_Mission/AP_Mission.h>     // Mission command library
 
 #include <AP_Notify/AP_Notify.h>      // Notify library
@@ -208,7 +209,8 @@ private:
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF EKF{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF};
+    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF, EKF2};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif
diff --git a/ArduPlane/make.inc b/ArduPlane/make.inc
index af0b34db1a..b9821ef02f 100644
--- a/ArduPlane/make.inc
+++ b/ArduPlane/make.inc
@@ -38,6 +38,7 @@ LIBRARIES += AP_Vehicle
 LIBRARIES += AP_SpdHgtControl
 LIBRARIES += AP_TECS
 LIBRARIES += AP_NavEKF
+LIBRARIES += AP_NavEKF2
 LIBRARIES += AP_Mission
 LIBRARIES += AP_Notify
 LIBRARIES += AP_BattMonitor