diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 3005e40d3a..b79373b364 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -634,6 +634,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_WITH_ESC_TELEM
     SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem,      update,                  100,  50, 230),
 #endif
+#if AP_SERVO_TELEM_ENABLED
+    SCHED_TASK_CLASS(AP_Servo_Telem, &vehicle.servo_telem,  update,                   50,  50, 231),
+#endif
 #if HAL_GENERATOR_ENABLED
     SCHED_TASK_CLASS(AP_Generator, &vehicle.generator,      update,                   10,  50, 235),
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index f56262e0c3..cba506cb9b 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -51,6 +51,7 @@
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include <AP_Hott_Telem/AP_Hott_Telem.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
+#include <AP_Servo_Telem/AP_Servo_Telem.h>
 #include <AP_GyroFFT/AP_GyroFFT.h>
 #include <AP_Networking/AP_Networking.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
@@ -415,6 +416,10 @@ protected:
     AP_ESC_Telem esc_telem;
 #endif
 
+#if AP_SERVO_TELEM_ENABLED
+    AP_Servo_Telem servo_telem;
+#endif
+
 #if AP_OPENDRONEID_ENABLED
     AP_OpenDroneID opendroneid;
 #endif