diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index a8df6aee92..a2618d3312 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -99,6 +99,11 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(fence, "FENCE_", 14, AP_Vehicle, AC_Fence),
 #endif
 
+#if AP_OPENDRONEID_ENABLED
+    // @Group: DID_
+    // @Path: ../AP_OpenDroneID/AP_OpenDroneID.cpp
+    AP_SUBGROUPINFO(opendroneid, "DID_", 15, AP_Vehicle, AP_OpenDroneID),
+#endif
     AP_GROUPEND
 };
 
@@ -229,6 +234,10 @@ void AP_Vehicle::setup()
     generator.init();
 #endif
 
+#if AP_OPENDRONEID_ENABLED
+    opendroneid.init();
+#endif
+
 // init EFI monitoring
 #if HAL_EFI_ENABLED
     efi.init();
@@ -329,6 +338,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_GENERATOR_ENABLED
     SCHED_TASK_CLASS(AP_Generator, &vehicle.generator,      update,                   10,  50, 235),
 #endif
+#if AP_OPENDRONEID_ENABLED
+    SCHED_TASK_CLASS(AP_OpenDroneID, &vehicle.opendroneid,  update,                   10,  50, 236),
+#endif
 #if OSD_ENABLED
     SCHED_TASK(publish_osd_info, 1, 10, 240),
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 3b5f6db4da..8ab1648874 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -40,6 +40,7 @@
 #include <AP_SerialManager/AP_SerialManager.h>      // Serial manager library
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 #include <AP_Camera/AP_RunCam.h>
+#include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include <AP_Hott_Telem/AP_Hott_Telem.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include <AP_GyroFFT/AP_GyroFFT.h>
@@ -364,6 +365,10 @@ protected:
     AP_ESC_Telem esc_telem;
 #endif
 
+#if AP_OPENDRONEID_ENABLED
+    AP_OpenDroneID opendroneid;
+#endif
+
 #if HAL_MSP_ENABLED
     AP_MSP msp;
 #endif