diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 7d27791de5..438d274964 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -70,6 +70,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_compass,         10,    200,  39),
     SCHED_TASK(calc_airspeed_errors,   10,    100,  42),
     SCHED_TASK(update_alt,             10,    200,  45),
+    SCHED_TASK_CLASS(AP_AngleSensor_AS5600,        &plane.aoa_sensor, update, 10,    200,  46),
     SCHED_TASK(adjust_altitude_target, 10,    200,  48),
 #if AP_ADVANCEDFAILSAFE_ENABLED
     SCHED_TASK(afs_fs_check,           10,    100,  51),
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index df180b6f74..f3d6a4b10f 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -74,6 +74,7 @@
 #include <AP_OSD/AP_OSD.h>
 
 #include <AP_Rally/AP_Rally.h>
+#include <AP_AngleSensor/AS5600.h> //Magnetic Encoder library, line added by Cole
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_Parachute/AP_Parachute.h>
@@ -100,6 +101,8 @@
 #include "tuning.h"
 #endif
 
+
+
 // Configuration
 #include "config.h"
 
@@ -239,6 +242,8 @@ private:
     AP_RPM rpm_sensor;
 #endif
 
+    AP_AngleSensor_AS5600 aoa_sensor{2, 0x36};                                             //This is code added by Cole
+
     AP_TECS TECS_controller{ahrs, aparm, landing, MASK_LOG_TECS};
     AP_L1_Control L1_controller{ahrs, &TECS_controller};
 
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 5aabf77331..e90b808b62 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -175,6 +175,8 @@ void Plane::init_ardupilot()
     g2.ice_control.init();
 #endif
 
+    //Code added by Cole, initialize AS5600 sensor
+    aoa_sensor.init();
 }
 
 #if AP_FENCE_ENABLED
diff --git a/ArduPlane/wscript b/ArduPlane/wscript
index 930fec0b53..b4964c9a50 100644
--- a/ArduPlane/wscript
+++ b/ArduPlane/wscript
@@ -24,6 +24,7 @@ def build(bld):
             'AP_LTM_Telem',
             'AP_Devo_Telem',
             'AC_AutoTune',
+            'AP_AngleSensor',
             'AP_Follow',
             'AC_PrecLand',
             'AP_IRLock',