diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index b72899bf72..67c629b241 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -61,6 +61,8 @@
 
 #include <AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.h>
 
+#include <AP_RPM/RPM_DroneCAN.h>
+
 extern const AP_HAL::HAL& hal;
 
 // setup default pool size
@@ -396,6 +398,9 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
 #if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
     AP_TemperatureSensor_DroneCAN::subscribe_msgs(this);
 #endif
+#if AP_RPM_DRONECAN_ENABLED
+    AP_RPM_DroneCAN::subscribe_msgs(this);
+#endif
 
     act_out_array.set_timeout_ms(5);
     act_out_array.set_priority(CANARD_TRANSFER_PRIORITY_HIGH);